Mitsubishi Electric MELSEC-L LD75P, MELSEC-L LD75D User Manual

MELSEC-L LD75P/LD75D Positioning Module
User's Manual

-LD75P1

-LD75P2

-LD75P4

-LD75D1

-LD75D2

-LD75D4

SAFETY PRECAUTIONS

WARNING

CAUTION

Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,
resulting in minor or moderate injury or property damage.

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention
to safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. For the safety precautions of the
programmable controller system, refer to the user's manual for the CPU module used.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to

serious consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future
reference.

[Design Precautions]

WARNING

● Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.

(2) Machine OPR (Original Point Return) is controlled by two kinds of data: an OPR direction and an

OPR speed. Deceleration starts when the near-point dog signal turns on. If an incorrect OPR
direction is set, motion control may continue without deceleration. To prevent machine damage
caused by this, configure an interlock circuit external to the programmable controller.

(3) When the positioning module detects an error, the motion slows down and stops or the motion

suddenly stops, depending on the stop group setting in parameter. Set the parameter according to
the positioning system specifications. In addition, set the OPR parameter and positioning data
within the parameter setting range.

(4) Outputs may remain on or off, or be undefined due to a failure of a component such as an

insulated element or transistor in an output circuit, where the CPU module cannot detect any
error. Configure an external circuit for monitoring output signals in a system where an incorrect
output could cause a serious accident.

1

[Design Precautions]

WARNING

● Do not write any data to the "system area" of the buffer memory in the intelligent function module.
Also, do not use any "use prohibited" signals as an output signal from the CPU module to the
intelligent function module.
Doing so may cause malfunction of the programmable controller system.

● An absolute position restoration by the positioning function may turn off the servo-on signal (servo off)
for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem,
provide an electromagnetic brake to lock the motor during absolute position restoration.

[Design Precautions]

CAUTION

● Do not install the control lines or communication cables together with the main circuit lines or power
cables.
Keep a distance of 100mm or more between them.
Failure to do so may result in malfunction due to noise.

[Installation Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before mounting or removing a
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

[Installation Precautions]

CAUTION

● Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines provided with the CPU module or head module. Failure to do so may result in electric
shock, fire, malfunction, or damage to or deterioration of the product.

● To interconnect modules, engage the respective connectors and securely lock the module joint levers
until they click. Incorrect interconnection may cause malfunction, failure, or drop of the module.

[Wiring Precautions]

WARNING

● Check the terminal layout before wiring to the module, and connect the cables correctly.

2

[Wiring Precautions]

CAUTION

● Use applicable solderless terminals.
Failure to do so may result in malfunction or damage to the module or cables.

● Tighten the connector screws within the specified torque range.
Undertightening can cause short circuit, fire, or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or
malfunction.

● Connectors for external devices must be crimped with the tool specified by the manufacturer or must
be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.

● Place the cables in a duct or clamp them.
If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or
cables or malfunction due to poor contact.

● When disconnecting the cable from the module, do not pull the cable by the cable part.
For the cable with connector, hold the connector part of the cable.
Pulling the cable connected to the module may result in malfunction or damage to the module or
cable.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.

● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips,
from entering the module during wiring. Do not remove the film during wiring. Remove it for heat
dissipation before system operation.

3

[Startup and Maintenance Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the connector screws. Failure to do so may result in electric shock.

[Startup and Maintenance Precautions]

CAUTION

● Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire.

● Shut off the external power supply (all phases) used in the system before mounting or removing a

module. Failure to do so may cause the module to fail or malfunction.

● After the first use of the product (module, display unit, and terminal block), the number of
connections/disconnections is limited to 50 times (in accordance with IEC 61131-2). Exceeding the
limit may cause malfunction.

● Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.

● Before handling the module, touch a conducting object such as a grounded metal to discharge the
static electricity from the human body. Failure to do so may cause the module to fail or malfunction.

[Operating Precautions]

CAUTION

● When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent function
module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.

● Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may be faster than the set speed (may exceed the speed limit).

[Disposal Precautions]

CAUTION

● When disposing of this product, treat it as industrial waste.

4

CONDITIONS OF USE FOR THE PRODUCT

(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.

(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.

MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")

Prohibited Applications include, but not limited to, the use of the PRODUCT in;

• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.

• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.

• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.

5

INTRODUCTION

Thank you for purchasing the Mitsubishi Electric MELSEC-L series programmable controllers.

This manual describes the functions and programming of the positioning module.

Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the

functions and performance of the MELSEC-L series programmable controller to handle the product correctly.

When applying the program examples introduced in this manual to an actual system, ensure the applicability and

confirm that it will not cause system control problems.

Please make sure that the end users read this manual.

● Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y00 to X/Y1F are
assigned for an L series positioning module. I/O numbers must be assigned to apply the program examples introduced in
this manual to an actual system. For I/O number assignment, refer to the following.
 MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)

● Operating procedures are explained using GX Works2. When using GX Developer, refer to  Page 767, Appendix 7.

6

COMPLIANCE WITH EMC AND LOW VOLTAGE

DIRECTIVES

(1) For programmable controller system

To ensure that Mitsubishi Electric programmable controllers maintain EMC and Low Voltage Directives when

incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the

following manuals.

•  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

•  MELSEC-L CC-Link IE Field Network Head Module User's Manual

•  Safety Guidelines (This manual is included with the CPU module or head module.)

The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage

Directives.

(2) For the product

To ensure that this product maintains EMC and Low Voltage Directives, please refer to  Page 84, Section

4.3.1.

7

RELEVANT MANUALS

(1) CPU module user's manual

Manual name

<manual number (model code)>

MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and
Inspection)
<SH-080890ENG, 13JZ36>

MELSEC-L CPU Module User's Manual (Function Explanation, Program
Fundamentals)
<SH-080889ENG, 13JZ35>

(2) Head module User's Manual

Manual name

<manual number (model code)>

MELSEC-L CC-Link IE Field Network Head Module User's Manual
<SH-080919ENG, 13JZ48>

MELSEC-Q CC-Link IE Field Network Master/Local Module User's Manual
<SH-080917ENG, 13JZ47>

Description

Specifications of the CPU modules, power supply modules, display unit,
branch module, extension module, SD memory cards, and batteries,
information on how to establish a system, maintenance and inspection, and
troubleshooting (Sold separately)

Functions and devices of the CPU module, and programming (Sold
separately)

Description

Specifications, procedures before operation, system configuration, installation,
wiring, settings, and troubleshooting of the head module (Sold separately)

Overview of the CC-Link IE Field Network, and specifications, procedures
before operation, system configuration, installation, settings, functions,
programming, and troubleshooting of the CC-Link IE Field Network
master/local module (Sold separately)

(3) Operating manual

Manual name

<manual number (model code)>

GX Works2 Version 1 Operating Manual (Common)
<SH-080779ENG, 13JU63>

GX Works2 Version 1 Operating Manual (Intelligent Function Module)
<SH-080921ENG, 13JU69>

GX Developer Version 8 Operating Manual
<SH-080373E, 13JU41>

GX Configurator-QP Version 2 Operating Manual
<SH-080172, 13JU19>

*1 The manual is included in the CD-ROM of the software package in a PDF-format file.

Printed manuals are sold separately. To order manuals, please provide the manual number (model code) listed in the
table above.

Description

System configuration, parameter settings, and online operations of GX
Works2, which are common to Simple projects and Structured projects (Sold
separately)

Parameter settings, monitoring, and operations of the pre-defined protocol
support function of intelligent function modules, using GX Works2 (Sold
separately)

Operating methods of GX Developer, such as programming, printing,
monitoring, and debugging (Sold separately)

Data creation (such as parameters and positioning data) and operations of
transferring data to modules, positioning monitor, and tests using GX

Configurator-QP (Sold separately)

*1

8

Memo

9

CONTENTS

CONTENTS

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

MANUAL PAGE ORGANIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

PACKING LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

PART 1 PRODUCT SPECIFICATIONS AND HANDLING

CHAPTER 1 PRODUCT OUTLINE 22

1.1 Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1.1.1 Features of LD75 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

1.1.2 Purpose and applications of positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

1.1.3 Mechanism of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

1.1.4 Outline design of positioning system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

1.1.5 Communicating signals between LD75 and each module . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

1.2 Flow of System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

1.2.1 Flow of all processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

1.2.2 Outline of starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

1.2.3 Outline of stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

1.2.4 Outline of restarting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

1.3 Restrictions on Using a Stepping Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CHAPTER 2 SYSTEM CONFIGURATION 44

2.1 General Image of System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

2.2 Configuration List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

2.3 Applicable System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

2.4 Checking Serial Number and Function Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

2.5 Restrictions When the LD75 Is Connected to Head Module . . . . . . . . . . . . . . . . . . . . . . . . . . 48

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 49

3.1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3.2 List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

3.2.1 LD75 control functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

3.2.2 LD75 main functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

3.2.3 LD75 sub functions and common functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

3.2.4 Combination of LD75 main functions and operation pattern . . . . . . . . . . . . . . . . . . . . . . . . . .58

3.2.5 Combination of LD75 main functions and sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

3.3 Specifications of Input/Output Signals with CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

3.3.1 List of input/output signals with CPU module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

3.3.2 Details of input signals (LD75 to CPU module) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

3.3.3 Details of output signals (CPU module to LD75) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68

3.4 Specifications of Input/Output Interfaces with External Devices. . . . . . . . . . . . . . . . . . . . . . . . 69

10

3.4.1 Electrical specifications of input/output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

3.4.2 Signal layout for external device connection connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

3.4.3 List of input/output signal details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74

3.4.4 Input/output interface internal circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT 79

4.1 Outline of Installation, Wiring, and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4.1.1 Installation, wiring and, maintenance procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4.1.2 Names of each part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

4.1.3 Handling precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

4.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

4.2.1 Installation precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

4.3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

4.3.1 Wiring precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

4.3.2 Wiring of the differential driver common terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

4.4 Checking Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

4.4.1 Items to check when installation and wiring are completed . . . . . . . . . . . . . . . . . . . . . . . . . . .91

4.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4.5.1 Maintenance precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92

4.5.2 Disposal precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92

CHAPTER 5 DATA USED FOR POSITIONING CONTROL 93

5.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.1.1 Parameters and data required for control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.1.2 Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

5.1.3 Setting items for OPR parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

5.1.4 Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

5.1.5 Setting items for block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5.1.6 Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113

5.1.7 Types and roles of monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

5.1.8 Types and roles of control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

5.2 List of Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.2.1 Basic parameters 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118

5.2.2 Basic parameters 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

5.2.3 Detailed parameters 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

5.2.4 Detailed parameters 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133

5.2.5 OPR basic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140

5.2.6 OPR detailed parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148

5.3 List of Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5.4 List of Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

5.5 List of Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

5.6 List of Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

5.6.1 System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

5.6.2 Axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

5.7 List of Control Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

5.7.1 System control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

11

5.7.2 Axis control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213

CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 235

6.1 Precautions for Creating Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

6.2 List of Devices Used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

6.3 Creating a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

6.3.1 General configuration of program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257

6.3.2 Positioning control operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .258

6.4 Positioning Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

6.4.1 When using the LD75 in a standard system configuration. . . . . . . . . . . . . . . . . . . . . . . . . . .261

6.4.2 When the LD75 is connected to head module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272

6.5 Program Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

6.5.1 Initialization program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286

6.5.2 Start details setting program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287

6.5.3 Start program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288

6.5.4 Continuous operation interrupt program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296

6.5.5 Restart program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .298

6.5.6 Stop program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301

CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 305

7.1 Configuration and Roles of LD75 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

7.1.1 Configuration and roles of LD75 memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305

7.1.2 Buffer memory area configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307

7.2 Data Transmission Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

PART 2 CONTROL DETAILS AND SETTING

CHAPTER 8 OPR CONTROL 316

8.1 Outline of OPR Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

8.1.1 Two types of OPR control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316

8.2 Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318

8.2.1 Outline of the machine OPR operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318

8.2.2 Machine OPR method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319

8.2.3 OPR method (1): Near-point dog method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .321

8.2.4 OPR method (2): Stopper method 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323

8.2.5 OPR method (3): Stopper method 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .327

8.2.6 OPR method (4): Stopper method 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .330

8.2.7 OPR method (5): Count method 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332

8.2.8 OPR method (6): Count method 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .335

8.3 Fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

8.3.1 Outline of the fast OPR operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .337

12

CHAPTER 9 MAJOR POSITIONING CONTROL 339

9.1 Outline of Major Positioning Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

9.1.1 Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .341

9.1.2 Operation patterns of major positioning controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .342

9.1.3 Designating the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .352

9.1.4 Confirming the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353

9.1.5 Control unit "degree" handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .355

9.1.6 Interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .359

9.2 Setting the Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

9.2.1 Relation between each control and positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .364

9.2.2 1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .366

9.2.3 2-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .368

9.2.4 3-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372

9.2.5 4-axis linear interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .376

9.2.6 1-axis fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379

9.2.7 2-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .381

9.2.8 3-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .384

9.2.9 4-axis fixed-feed control (interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .388

9.2.10 2-axis circular interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . .391

9.2.11 2-axis circular interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . .395

9.2.12 3-axis helical interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . . .402

9.2.13 3-axis helical interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . . .408

9.2.14 1-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .416

9.2.15 2-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419

9.2.16 3-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .422

9.2.17 4-axis speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .425

9.2.18 Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

9.2.19 Speed-position switching control (ABS mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435

9.2.20 Position-speed switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .441

9.2.21 Current value changing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447

9.2.22 NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .451

9.2.23 JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452

9.2.24 LOOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .454

9.2.25 LEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .455

CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL 456

10.1 Outline of High-Level Positioning Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456

10.1.1 Data required for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .457

10.1.2 "Block start data" and "condition data" configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .458

10.2 High-Level Positioning Control Execution Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

10.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

10.3.1 Relation between various controls and block start data. . . . . . . . . . . . . . . . . . . . . . . . . . . . .461

10.3.2 Block start (Normal start) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .462

10.3.3 Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .464

10.3.4 Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .465

10.3.5 Simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .466

13

10.3.6 Repeated start (FOR loop). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .467

10.3.7 Repeated start (FOR condition) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .468

10.3.8 Restrictions when using the NEXT start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .469

10.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

10.4.1 Relation between various controls and the condition data. . . . . . . . . . . . . . . . . . . . . . . . . . .470

10.4.2 Condition data setting examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .472

10.5 Multiple Axes Simultaneous Start Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

10.6 Start Program for High-Level Positioning Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

10.6.1 Starting high-level positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .475

10.6.2 Example of a start program for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . .476

CHAPTER 11 MANUAL CONTROL 479

11.1 Outline of Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

11.1.1 Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .479

11.2 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

11.2.1 Outline of JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .481

11.2.2 JOG operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484

11.2.3 Setting the required parameters for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .485

11.2.4 Creating start programs for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .486

11.2.5 JOG operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .488

11.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

11.3.1 Outline of inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .491

11.3.2 Inching operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494

11.3.3 Setting the required parameters for inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .495

11.3.4 Creating a program to enable/disable the inching operation . . . . . . . . . . . . . . . . . . . . . . . . .496

11.3.5 Inching operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .498

11.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

11.4.1 Outline of manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .499

11.4.2 Manual pulse generator operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . .503

11.4.3 Setting the required parameters for manual pulse generator operation. . . . . . . . . . . . . . . . .504

11.4.4 Creating a program to enable/disable the manual pulse generator operation . . . . . . . . . . . .505

CHAPTER 12 CONTROL SUB FUNCTIONS 507

12.1 Outline of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

12.1.1 Outline of sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .508

12.2 Sub Functions Specifically for Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

12.2.1 OPR retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510

12.2.2 OP shift function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .515

12.3 Functions for Compensating the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

12.3.1 Backlash compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .518

12.3.2 Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .520

12.3.3 Near pass function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .525

12.3.4 Output timing selection of near pass control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .527

12.4 Functions to Limit the Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

12.4.1 Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .530

12.4.2 Torque limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .532

14

12.4.3 Software stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .535

12.4.4 Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .541

12.5 Functions to Change the Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

12.5.1 Speed change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .543

12.5.2 Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .550

12.5.3 Acceleration/deceleration time change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553

12.5.4 Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .557

12.5.5 Target position change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .559

12.6 Absolute Position Restoration Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

12.7 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

12.7.1 Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .572

12.7.2 Skip function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .577

12.7.3 M code output function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .580

12.7.4 Teaching function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .586

12.7.5 Command in-position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .593

12.7.6 Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .596

12.7.7 Pre-reading start function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .598

12.7.8 Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .602

12.7.9 Stop command processing for deceleration stop function . . . . . . . . . . . . . . . . . . . . . . . . . . .606

CHAPTER 13 COMMON FUNCTIONS 609

13.1 Outline of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

13.2 Parameter Initialization Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

13.3 Execution Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612

13.4 External I/O Signal Logic Switching Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

13.5 External I/O Signal Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

13.6 History Monitor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616

13.7 Module Error Collection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

CHAPTER 14 DEDICATED INSTRUCTIONS 619

14.1 List of Dedicated Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

14.2 Interlock During Dedicated Instruction Is Executed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625

14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

14.6 ZP.PFWRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

14.7 ZP.PINIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

CHAPTER 15 TROUBLESHOOTING 640

15.1 Checking Errors Using GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640

15.2 Checking Errors Using a Display Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

15.3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644

15.4 Error and Warning Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

15.4.1 Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .647

15

15.4.2 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648

15.4.3 Resetting errors and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649

15.4.4 Checking the warning details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .649

15.5 List of Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

15.6 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676

APPENDICES 682

Appendix 1 Function Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682

Appendix 1.1 Function comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .682

Appendix 2 Format Sheets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684

Appendix 2.1 Positioning module operation chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .684

Appendix 2.2 Parameter setting value entry table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .686

Appendix 3 Positioning Data (No.1 to 600) List of Buffer Memory Addresses. . . . . . . . . . . . . . . . . 693

Appendix 4 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725

Appendix 4.1 Connection examples with servo amplifiers manufactured

by MITSUBISHI Electric Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .725

Appendix 4.2 Connection examples with stepping motors manufactured

by ORIENTALMOTOR Co., Ltd.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .729

Appendix 4.3 Connection examples with servo amplifiers manufactured

by Panasonic Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .731

Appendix 4.4 Connection examples with servo amplifiers manufactured

by SANYO DENKI Co., Ltd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .733

Appendix 4.5 Connection examples with servo amplifiers manufactured

by YASKAWA Electric Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .734

Appendix 5 Differences with Q Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735

Appendix 6 When Using GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737

Appendix 6.1 Adding a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .738

Appendix 6.2 Parameter setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .739

Appendix 6.3 Setting auto refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .745

Appendix 6.4 Positioning monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .746

Appendix 6.5 Positioning test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .756

Appendix 6.6 Wave trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .763

Appendix 6.7 Location trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .765

Appendix 7 When Using GX Developer or GX Configurator-QP . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

Appendix 7.1 Operation of GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .767

Appendix 7.2 Operation of GX Configurator-QP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .768

Appendix 8 MELSEC Explanation of Positioning Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769

Appendix 9 Positioning Control Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789

Appendix 10List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 793

Appendix 11 External Dimension Drawing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 802

INDEX 805

REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 814

16

MANUAL PAGE ORGANIZATION

Ex.

The following manuals are also related to this product.

The following symbols represent the buffer memories supported for axis 1 to 4.

(A serial No. is inserted in the "*" mark.)

Symbol Description Reference

[Pr. *] Symbol indicating positioning parameter and OPR parameter item.

[Da. *] Symbol indicating positioning data, block start data and condition data item.

[Md. *] Symbol indicating monitor data item.

[Cd. *] Symbol indicating control data item.

Representation of numerical values used in this manual.

• Buffer memory addresses, error codes and warning codes are represented in decimal.

• X/Y devices are represented in hexadecimal.

• Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" are

represented in hexadecimal.

10  Decimal

10H  Hexadecimal

Page 93, CHAPTER 5

17

TERMS

Unless otherwise specified, this manual uses the following terms.
For the unique terms of the positioning module, refer to  Page 769, Appendix 8.

Ter m Description

CPU module The abbreviation for the MELSEC-L series CPU module

GX Configurator-QP A setting and monitoring tool (for positioning modules)

GX Developer

GX Works2

LCPU Another term for the MELSEC-L series CPU module

LD75 Another term for the MELSEC-L series positioning module

LD75D Generic term for positioning module LD75D1, LD75D2, LD75D4

LD75P Generic term for positioning module LD75P1, LD75P2, LD75P4

Intelligent function module

Drive unit (servo amplifier)

Programming tool A generic term for GX Works2 and GX Developer

Head module The Abbreviation for the LJ72GF15-T2 CC-Link IE Field Network head module

Master/local module Abbreviation for the QJ71GF11-T2 CC-Link IE Field Network master/local module

The product name of the software package for the MELSEC programmable controllers

A MELSEC-Q/L series module that has functions other than input or output, such as A/D converter module and D/A
converter module

A unit used to amplify the power and control the motor in the operation by the positioning function since the signals,
such as pulses, that are output from the positioning function of the CPU module or from the positioning module, are low
voltage and small current. The unit, also called a servo amplifier, is provided with a servomotor and step motor.

18

PACKING LIST

LD75P1 Before Using the Product

LD75P2 Before Using the Product

LD75P4 Before Using the Product

The following items are included in the package of this product. Before use, check that all the items are included.

(1) LD75P1

(2) LD75P2

(3) LD75P4

19

(4) LD75D1

LD75D1 Before Using the Product

LD75D2 Before Using the Product

LD75D4 Before Using the Product

(5) LD75D2

(6) LD75D4

20

PART 1 PRODUCT SPECIFICATIONS

AND HANDLING

Part 1 consists of the following chapters.

CHAPTER 1 PRODUCT OUTLINE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

CHAPTER 2 SYSTEM CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT . . . . . . . . 79

CHAPTER 5 DATA USED FOR POSITIONING CONTROL . . . . . . . . . . . . . . . . . . . . . . . 93

CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL . . . . . . . . . . . . . . . . . 235

CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS . . . . . . . . . . . . . . . . 305

21

CHAPTER 1 PRODUCT OUTLINE

1.1 Positioning Control

1.1.1 Features of LD75

The LD75 has the following features.

(1) Selection of modules

The pulse output types of the available modules are either the open collector output system or the differential

driver output system. A module can be selected from the following depending on the drive unit type and the

number of axes.

• Open collector output system: LD75P1/LD75P2/LD75P4

• Differential driver output system: LD75D1/LD75D2/LD75D4

(2) High-speed start time

High-speed start time (1.5ms for 1-axis linear control) during positioning control is achieved.

(3) High-speed pulse output

The modules with a differential driver (LD75D) incorporate the improvements in pulse output speed and

maximum distance to the drive unit.

•LD75D: 4Mpulse/s, 10m max.

(4) Wide variety of positioning control functions

The main functions (such as OPR control, positioning control, and manual control) which are required for any

positioning system and the sub functions which limit and add functions to those controls are supported.

(a) Enhanced OPR control

• Additional features of OPR control
Six machine OPR methods are provided: one near-point dog method, three stopper methods, and two

count methods. Select an applicable method according to the system.

• OPR retry function
The OPR retry function is provided so that the machine OPR control can be performed from any position,

regardless of the machine stop position when the system is powered on.

(b) Wide variety of control methods

Twenty kinds of positioning controls, such as position control, speed control, speed-position switching control,

position-speed switching control, and other controls, are provided.

• Independent control of each axis
Controls, such as position control and speed control, can be performed independently for each axis at

any given timing.

• Interpolation control
Interpolation controls using multiple axes can be performed. (2- to 4-axis linear control, 2-axis circular

interpolation control, 2- to 4-axis speed control, 3-axis helical interpolation control)

22

CHAPTER 1 PRODUCT OUTLINE

(c) Large amount of data

Up to 600 positioning data (combinations of data, such as control system, positioning address, and command

speed) per axis can be set.

(d) Continuous processing of multiple positioning data

Multiple positioning data can be processed continuously within one positioning operation.

Continuous positioning control can be executed over multiple blocks, where each block consists of multiple

positioning data.

This reduces the number of executions of positioning, management of execution status, and others.

(e) Acceleration/deceleration processing

Two acceleration/deceleration processing methods are provided: trapezoidal acceleration/deceleration and S-

curve acceleration/deceleration. The acceleration/deceleration curve can be selected according to the machine

characteristic. (Note that there is a restriction on executing the S-curve acceleration/deceleration for the
system using stepping motors. ( Page 43, Section 1.3))

(5) High maintainability

Maintainability is enhanced in the LD75.

(a) Data retention without battery

Data such as the positioning data and parameters can be stored in the flash ROM inside the LD75. This feature

allows the module to retain the data without a battery.

1

(b) Module error collection function

Like the QD75, the LD75 stores 16 error logs. Also the LD75 notifies error details to the CPU module when an

error occurs. Storing the error information in the CPU module allows the user to check the error from the

programming tool even after the module is powered off or reset.

(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 instructions simplifies programs.

(7) Setting, monitoring, and testing through GX Works2

Parameters and positioning data for the LD75 can be set using GX Works2.

Moreover, using the test function of GX Works2, users can check the wiring status and the validity of the preset

parameters and positioning data by performing test operation before creating a program for positioning control.

The control monitor function of GX Works2 allows user to debug programs efficiently.

1.1 Positioning Control

23

1.1.2 Purpose and applications of positioning control

Conveyor

Conveyor control

Servomotor

(with brakes)

Servo amplifier

Reduction
gears

Ball screw

Position detector

Unloader control

Palletizer

(From LD75)

LD75

"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.

(1) Punch press (X, Y feed positioning)

Y axis
servomotor

Gear and ball screw

Servo
amplifier

Servo amplifier

Press head

Y axis

X axis

Y axis

X axis
servomotor

160mm

320mm

Press punching

12s

X axis
Gear and rack & pinion

X axis

Y axis

LD75

15m/min
(2000r/min)

15m/min
(1875r/min)

• To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with

the X axis and Y axis servos.

• After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is

then punched with the press.

• When the material type or shape changes, the press head die is changed, and the positioning pattern is

changed.

(2) Palletizer

24

• Using the servo for one axis, the palletizer is positioned at a high accuracy.

• The amount to lower the palletizer according to the material thickness is saved.

CHAPTER 1 PRODUCT OUTLINE

Servomotor

Servo
amplifier

Coupling

Reduction
gears

Positioning pin

ATC tool
magazine

Tool
(12 pcs., 20 pcs.)

Rotation direction
for calling
11, 12, 1, 2 or 3

<No. of tools: 20><No. of tools: 12>

LD75

Current
value
retrieval
position

Current
value
retrieval
position

Rotation direction
for calling
17 to 20, 1 to 5

Rotation direction
for calling 7 to 16

Rotation direction
for calling
5, 6, 7, 8, 9 or 10

LD75

B conveyor

C conveyor

A conveyor

Aging rack

Servo amplifier

Unloader

Loader

Servomotor

Servo amplifier

Servomotor
(with brakes)

Loader/unloader

Lifter

Counter­weight

Reduction
gears

(3) Compact machining center (ATC magazine positioning)

• The ATC tool magazine for a compact machining center is positioned.

• The relation of the magazine's current value and target value is calculated, and positioning is carried out with

forward run or reverse run to achieve the shortest access time.

(4) Lifter (Storage of Braun tubes onto aging rack)

1

• During the aging process of braun tubes, storage onto the rack is carried out by positioning with the AC

servo.

• The up/down positioning of the lifter is carried out with the 1-axis servo, and the horizontal position of the

aging rack is positioned with the 2-axis servo.

1.1 Positioning Control

25

(5) Index table (High-accuracy indexing of angle)

LD75

Digital switch

Index table

Worm gears

Detector
Servomotor

Servo
amplifier

LD75

Servomotor

Motor

Workpiece

Grinding stone

Motor

Inverter

Inverter

Servo
amplifier

220VAC

60Hz

Operation panel

Fix the grinding stone,
feed the workpiece,
and grind.

a. Total feed
amount ( m)
b. Finishing
feed amount ( m)
c. Compensation
amount ( m)

d. Rough grind­ ing speed ( m/s)
e. Fine grinding
speed ( m/s)

• The index table is positioned at a high accuracy using the 1-axis servo.

(6) Inner surface grinder

26

• The grinding of the workpiece's inner surface is controlled with the servo and inverter.

• The rotation of the workpiece is controlled with the 1-axis inverter, and the rotation of the grinding stone is

controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo.

CHAPTER 1 PRODUCT OUTLINE

GX Works2

Motor

Workpiece

CPU
module

Stores the created program.

Outputs the start signal and stop signal to
the LD75 following the stored program.

LD75 errors, etc., are detected.

Creates control order and
conditions as a program.

Sets the parameters and positioning
data for control.

Outputs the start command for JOG
operation, etc., during test
operation with the test function.

Monitors the positioning
operation.

Outputs signals such as the start
signal, stop signal, limit signal and
control changeover signal to the LD75.

External
signal

Manual pulse
generator

Issues commands by
transmitting pulses.

Stores the parameter and data.

Outputs pulses to the servo according to the
instructions from the CPU module, GX Works2,
external signals and manual pulse generator.

Receives pulse commands from the LD75, and drives
the motor.

Outputs the drive unit READY signal and zero signal
to the LD75.

Carries out the actual work according to commands
from the servo.

LD75
positioning
module

Servo
amplifier

1.1.3 Mechanism of positioning control

Positioning control using the LD75 is carried out with "pulse signals". (The LD75 is a module that generates pulses).

In the positioning system using the LD75, various software and devices are used for the following roles.

The LD75 realizes complicated positioning control when it reads in various signals, parameters and data and is

controlled with the CPU module.

1

1.1 Positioning Control

27

The principle of "position control" and "speed control" operation is shown below.

Total No. of pulses
required to move
designated distance

=

Designated distance

Movement amount of machine (load)
side when motor rotates once

No. of pulses
required for motor to
rotate once

The No. of pulses required for the motor to rotate once is the "encoder resolution"

described in the motor catalog specification list.

Positioning
module

Servo
amplifier

Servo
motor

Detector
(Pulse
encoder)

Feedback pulses

Speed = Pulses frequency
Movement amount = No.of pulses
Feedback pulses =
Pulses generated by detector

(1) Position control

The total No. of pulses required to move the designated distance is obtained in the following manner.

When this total No. of pulses is issued from the LD75 to the servo amplifier, control to move the designated

distance can be executed.

The machine side movement amount when one pulse is issued to the servo amplifier is called the "movement

amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning

precision.

(2) Speed control

The "Total No. of pulses" mentioned above is invariably required for controlling the distance. For positioning or

speed control, the speed must be controlled as well.

The speed is determined by the frequency of pulses sent from the LD75 to the drive unit.

The LD75 controls the position with the "total No. of pulses", and the speed with the "pulse frequency".

28

Pulse frequency [pulse/s]

A

ta

0.4 0.41.2

Movement amount t = 2

This area is the total
No. of commanded
pulses.

td

(s)

CHAPTER 1 PRODUCT OUTLINE

1.1.4 Outline design of positioning system

The outline of the positioning system operation and design, using the LD75, is shown below.

(1) Positioning system using LD75

CPU module

Program

Peripheral
devices
interface

GX Works2

Read, write, etc.

Read, write, etc.

Read, write, etc.

(a) Positioning operation by the LD75

Positioning module

LD75

Forward run
pulse train

Setting
data

Reverse run
pulse train

Deviation
counter

Drive unit Servomotor

D/A
converter

Speed
command

Interface

Feedback pulse

Servo
amplifier

1

M

PLG

1. The LD75 output is a pulse train.

The pulse train output by the LD75 is counted by and stored in the deviation counter in the drive unit.
The D/A converter outputs an analog DC current proportionate to the count maintained by the deviation
counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal.

2. The motor rotation is controlled by the speed control signal from the drive unit.

As the motor rotates, the pulse encoder (PLG) attached to the motor generates feedback pulses, the
frequency of which is proportionate to the rotation speed.
The feedback pulses are fed back to the drive unit and decrements the pulse droop, the pulse count
maintained by the deviation counter.
The motor keeps on rotating as the pulse droop is maintained at a certain level.

3. When the LD75 terminates the output of a pulse train, the motor decelerates as the pulse droop

decreases and stops when the count drops to zero.

Thus, the motor rotation speed is proportionate to the pulse frequency, while the overall motor rotation
angle is proportionate to the total number of pulses output by the LD75.
Therefore, when a movement amount per pulse is given, the overall movement amount can be
determined by the number of pulses in the pulse train.
The pulse frequency, on the other hand, determines the motor rotation speed (feed speed).

1.1 Positioning Control

29

(b) Pulse train output from the LD75

V

R

L

P0

P

Pulse encoder
(PLG)

Workpiece

Worm gear

Table

Servomotor

1. As shown in the figure below, 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.

3. The LD75 decreases the pulse frequency (sparser pulses) to decelerate the motor before it finally

stops the output.

There will be a little difference in timing between the decrease in the pulse frequency and the actual
deceleration and stopping of the motor.

This difference, called "the stop settling time", is required for gaining a stopping accuracy.

Servomotor
speed

Speed V Pulse droop

amount

Pulse
distribution

Accel­eration

Pulse train Rough Dense Rough

Decel­eration

Time t

Stop
settling time

(2) Movement amount and speed in a system using worm gears

A: Movement amount per pulse (mm/pulse)

Vs: Command pulse frequency (pulse/s)

n: Pulse encoder resolution (pulse/rev)

L: Worm gear lead (mm/rev)

R: Deceleration ratio

V: Movable section speed (mm/s)

N: Motor speed (r/min)

K: Position loop gain (1/s)

: Deviation counter droop pulse amount

P0: OP (pulse)

P: Address (pulse)

30

CHAPTER 1 PRODUCT OUTLINE

A =

L

[mm/pulse]

R

n

Vs =

V

[pulse/s]

A

=

Vs

[pulse]

K

ε

(a) Calculations of the movement amount per pulse, command pulse frequency, and the

deviation counter droop pulse amount

The movement amount per pulse, command pulse frequency, and the deviation counter droop pulse amount

are determined as follows:
 Movement amount per pulse

The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse

encoder resolution.

The movement amount, therefore, is given as follows: (Number of pulses output)  (Movement amount

per pulse).

×

 Command pulse frequency

The command pulse frequency is determined by the speed of the moving part and movement amount

per pulse:

 Deviation counter droop pulse amount

The deviation counter droop pulse amount is determined by the command pulse frequency and position

loop gain.

1

(b) Selection of unit for positioning is possible from mm, inch, degree, pulse

The LD75 allows the user to select from the following four units as the unit used by positioning commands to

any of the axes (1 to 4, if the module supports four axes): mm, inch, degree, and pulse. The unit selected for

one axis may differ from the unit selected for another axis.

When such data as the acceleration/deceleration time, positioning speed, and positioning address are correctly

set in consideration of the chosen unit, the LD75 can calculate the number of pulses required for a movement

amount to the target positioning address and execute the positioning by outputting a pulse train that includes

the calculated number of pulses.

1.1 Positioning Control

31

1.1.5 Communicating signals between LD75 and each module

The outline of the signal communication between the LD75 and CPU module, GX Works2 and drive unit, etc., is shown

below. (GX Works2 communicates with the LD75 via the CPU module to which it is connected.)

PLC CPU

Y0
X0

X1
Y8, YA, YC, YE
Y9, YB, YD, YF

Y14, Y15, Y16, Y17

Y10, Y11, Y12, Y13
X14, X15, X16, X17

XC, XD, XE, XF

X10, X11, X12, X13

Y4, Y5, Y6, Y7

X4, X5, X6, X7

X8, X9, XA, XB

PLC READY signal

LD75 READY signal

Syncronization flag

Forward run JOG start signal

Reverse run JOG start signal

Execution prohibition flag

Positioning start signal

Positioning complete signal

BUSY signal

Start complete signal

Axis stop signal

M code ON signal

Error detection signal

Interface with
CPU module

LD75

External
interface

Drive unit READY signal

Upper/lower limit signal

Near-point dog signal

Zero signal

Deviation counter clear

Pulse train

Manual pulse generator A-phase

Manual pulse generator B-phase

Stop signal

External command signal

External
signal

Drive
unit

Manual pulse
generator

External
signal

Peripheral
device
interface

GX Works2

Data write/read

Parameter write/read

Positioning data write/read

Block start data write/read

OPR operation (test)

JOG/Inching operation (test)

Positioning operation (test)

Operation monitor

32

CHAPTER 1 PRODUCT OUTLINE

(1) LD75  CPU module

The LD75 and CPU module communicate the following data.

Communication

Control signal

Data (read/write)

*1

LD75  CPU module CPU module  LD75

Signal indicating LD75 state

• LD75 READY signal

• BUSY signal

• Parameter

• Positioning data

• Block start data

• Control data

• Monitor data

*1 Refer to  Page 66, Section 3.3 for details.

Direction

Signals related to commands

• PLC READY signal

• Various start signals

• Stop signal

• Parameter

• Positioning data

• Block start data

• Control data

(2) LD75  GX Works2

The LD75 and GX Works2 communicate the following data via the CPU module:

Communication

Data (read/write)

Test operation 

Operation monitor • Monitor data 

• Parameter

• Positioning data

• Block start data

LD75  GX Works2 GX Works2  LD75

Direction

• Parameter

• Positioning data

• Block start data

• OPR control start command

• Positioning control start command

• JOG/Inching operation start command

• Teaching start command

• Manual pulse generator operation enable/disable
command

1

1.1 Positioning Control

(3) LD75  Drive unit

The LD75 and drive unit communicate the following data via the external device connection connector.

Communication

Control signal

Pulse train • Pulse train output 

Signals related to commands

• Deviation counter clear signal

LD75  Drive unit Drive unit  LD75

Direction

Signals indicating drive unit state

• Drive unit READY signal

33

(4) LD75  Manual pulse generator

The LD75 and manual pulse generator communicate the following data via the external device connection

connector.

(The manual pulse generator should be connected to an external device connection connector for axis 1 or for

axes 1 and 2.)

Communication

Pulse signal 

LD75  Manual pulse generator Manual pulse generator  LD75

(5) LD75  External signal

The LD75 and external signal communicate the following data via the external device connection connector.

Communication

Control signal 

LD75  External signal External signal  LD75

Direction

• Manual pulse generator A-phase

• Manual pulse generator B-phase

Direction

Signals from detector

• Near-point dog signal

• Upper/lower limit signal

• Zero signal

Control signals from external device

• Stop signal

• External command signal

34

CHAPTER 1 PRODUCT OUTLINE

1)

2)

3)

4)

7)

9)

10)

11)

8)

6)

5)

LD75

Connection confirmation

Test operation

Monitor

Disposal

Maintenance

Servo, etc.

Understand the functions and performance, and determine
the positioning operation method (system design)

Installation, wiring

Creation of program
for operation

Writing of setting data

Monitoring and
debugging of
operation
program

Writing of program

Actual operation

Design

Preparation

Operation

Setting of the:

Parameters
Positioning data
Block start data
Condition data

GX Works2
(GX Configurator-QP)

GX Works2
(GX Developer)

CPU module

Monitoring with
test function,
and debugging
of setting data

Maintenance

1.2 Flow of System Operation

1.2.1 Flow of all processes

The positioning control processes, using the LD75, are shown below.

1

1.2 Flow of System Operation

35

No. Details Reference

Understand the product functions and usage methods, the configuration devices and

1)
specifications required for positioning control, and design the system.

Connect the LD75 to the CPU module, wire the LD75 and external connection devices (drive

2)
unit, etc.), connect the CPU module and GX Works2.

Using GX Works2, set the parameters, positioning data, block start data and condition data

3)
required for the positioning control to be executed.

Using GX Works2, create the program required for positioning operation. (When not setting

4)
using GX Works2, also create the program for setting data.)

5) Write the parameters and positioning data, etc., created with GX Works2 into the LD75.

Using GX Works2, write the created program into the CPU module. (When not setting using

6)
GX Works2, also write in the program for setting data.)

Carry out test operation and adjustments in the test function to check the connection with the

7)

LD75 and external connection device, and to confirm that the designated positioning
operation is executed correctly. (Debug the set "parameters" and "positioning data", etc.)

Carry out test operation and adjustment to confirm that the designated positioning operation

8)

is executed correctly. (Debug the created program. When not setting using GX Works2, also
debug the set data.)

Actually operate the positioning operation. At this time, monitor the operation state as

9)
required. If an error or warning occurs, remedy.

10) Service the LD75 as required. • Page 79, CHAPTER 4

11) Dispose of the LD75. • Page 79, CHAPTER 4

• Page 22, CHAPTER 1

• Page 44, CHAPTER 2

• Page 49, CHAPTER 3

• Page 316, CHAPTER 8 to Page 609, CHAPTER 13

• Page 79, CHAPTER 4

• Page 93, CHAPTER 5

• Page 316, CHAPTER 8 to Page 609, CHAPTER 13

• Page 737, Appendix 6

•  GX Works2 Version 1 Operating Manual

(Intelligent Function Module)

• Page 235, CHAPTER 6

•  GX Works2 Version 1 Operating Manual

(Common)

• Page 305, CHAPTER 7

•  GX Works2 Version 1 Operating Manual

(Common)

• Page 305, CHAPTER 7

•  GX Works2 Version 1 Operating Manual

(Common)

• Page 737, Appendix 6

•  GX Works2 Version 1 Operating Manual

(Intelligent Function Module)

• Page 609, CHAPTER 13

• Page 737, Appendix 6

•  GX Works2 Version 1 Operating Manual

(Intelligent Function Module)

• Page 93, CHAPTER 5

• Page 640, CHAPTER 15

•  GX Works2 Version 1 Operating Manual

(Intelligent Function Module)

36

CHAPTER 1 PRODUCT OUTLINE

Preparation

Control
functions

Flow of starting

Installation and connection of module

Setting of hardware

·Machine OPR control

·Manual pulse generator operation

OPR control Manual control

Control data

Start signal

Control start

Control end

Set the OPR parameters.

Pr.43

Pr.57

(

)to

Set the block start data.

Pr.1 (Set the positioning parameters. Pr.42to , )

Set the positioning start No.

( Cd.3 )

( Cd.17 )

Set the positioning data.

Set the positioning
starting point No.

( Cd.4 )

Set the manual pulse
generator enable flag to "1".

Operation

Stop

Da.1

Da.10

()

to

Da.11 Da.19()to

Major positioning
control

High-level
posicontrol

·Fast OPR control

·Inching operation

Positioning
parameters

OPR
parameters

Positioning
data

Block start
data

Pr.150

Set the JOG speed

Set the inching movement
amount to other than 0.

( Cd.16 )

( Cd.16 )

( Cd.21 )

( Cd.20 )

Set the inching
movement amount to 0.

Set the manual pulse
generator 1 pulse input
magnification.

Input the start signal.
Method (1) Turn ON the LD75 start signal from the CPU module

Method (2) Issue the Z.PSTRT instruction from the CPU module.
Method (3) Turn the LD75 external start signal ON

Turn the LD75 JOG
start signal ON from
the CPU module

Operate the
manual pulse
generator

·Position control

·Speed control

·Speed-position
switching control

·Position-speed
switching control

·Other control

·Block start
(Normal start)

·Condition start

·Wait start

·Simultaneous
start

·Repeated start

·JOG operation

1)

2)

3)

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.

1

1.2 Flow of System Operation

37

LD75

Setting method

: Indicates programs that must be created.

Operatinig program

Write

Write

Write

Write

<GX Works2>

<GX Works2>

CPU
module

CPU
module

<GX Works2>

<GX Works2>

Set the parameter and data for executing main function,
and the sub functions that need to be set beforehand.

Create a program for setting data

Create a program for executing
main function

Create a program for outputting
control signals, such as start
signal, to LD75.

· Speed change

· Current value changing

· Torque limit

· Restart, etc.

Create a program for
the sub functions.

Set with GX Works2

When set with "GX Works2",
this does not need to be created.

1)

2)

3)

38

CHAPTER 1 PRODUCT OUTLINE

1.2.3 Outline of stopping

Each control is stopped in the following cases.

• When each control is completed normally.

• When the drive unit READY signal is turned OFF.

• When a CPU module error occurs

• When the PLC READY signal is turned OFF.

• When an error occurs in the LD75.

• When control is intentionally stopped (Stop signal from CPU module turned ON, stop signal from an external

device, etc.)

The outline for the stopping process in these cases is shown below. (Excluding when each control is completed

normally.)

(1) OPR control

Forced stop

Fatal stop
(Stop group 1)

Emergency stop
(Stop group 2)

Relatively safe stop
(Stop group 3)

Intentional stop
(Stop group 3)

Stop caus e Stop axis

Drive unit READY signal
OFF

Hardware stroke limit
upper/lower limit error
occurrence

CPU module error
occurrence

PLC READY signal OFF Turns OFF

Error in test function No change

Axis error detection
(Error other than stop
group 1 or 2)

"Stop signal" ON from
external source

"Axis stop signal" ON
from CPU module

"Stop signal" from GX

*1

Works2

Each axis No change Error Immediate stop

Each axis No change Error

All axes

Each axis No change Error

Each axis No change

signal after stop

M code ON

No change

Axis operation

status ([Md.26])

after stopping

Error

Stopped

(Standby)

Machine OPR control Fast OPR control

Deceleration stop/sudden stop
(Select with "[Pr.37] Stop group 1 sudden stop
selection".)

Deceleration stop/sudden stop
(Select with "[Pr.38] Stop group 2 sudden stop
selection".)

Deceleration stop/sudden stop
(Select with "[Pr.39] Stop group 3 sudden stop
selection".)

Stop process

1

1.2 Flow of System Operation

*1 This means the stop using a stop button on the positioning test dialog box when using the positioning test function of GX

Works2.

39

(2) Positioning control

Stop cause Stop axis

Forced stop

Fatal stop
(Stop group 1)

Emergency stop
(Stop group 2)

Relatively safe stop
(Stop group 3)

Intentional stop
(Stop group 3)

Drive unit READY signal
OFF

Hardware stroke limit
upper/lower limit error
occurrence

CPU module error
occurrence

PLC READY signal OFF Turns OFF

Error in test function No change

Axis error detection
(Error other than stop

group 1 or 2)

"Stop signal" ON from
external source

"Axis stop signal" ON
from CPU module

"Stop signal" from GX

*2

Works2

*1 When multiple positioning data is executed by the continuous positioning control and there is invalid setting value in a

positioning data, an error occurs and deceleration is performed at the previous positioning data. In this case, sudden
stop is not performed even when it is set for the stop group 3. If any of the following error occurs, the operation is
immediately stopped after executing up to previous positioning data of the positioning data where an error occurred.

• No command speed (error code: 503)

• Outside linear movement amount range (error code: 504)

• Large arc error deviation (error code: 506)

• Software stroke limit + (error code: 507)

• Software stroke limit - (error code: 508)

• Sub point setting error (error code: 525)

• End point setting error (error code: 526)

• Center point setting error (error code: 527)

• Outside radius range (error code: 544)

• Illegal setting of ABS direction in unit of degree (error code: 546)

*2 This means the stop using a stop button on the positioning test dialog box when using the positioning test function of GX

Works2.

M code ON

signal after stop

Each axis No change Error Immediate stop

Each axis No change Error

No change

All axes

Each axis No change Error

*1

Each axis No change

Axis operation

status ([Md.26])

after stopping

Error

Stopped

(Standby)

Major positioning

control

Deceleration stop/sudden stop
(Select with "[Pr.37] Stop group 1 sudden stop
selection".)

Deceleration stop/sudden stop
(Select with "[Pr.38] Stop group 2 sudden stop
selection".)

Deceleration stop/sudden stop
(Select with "[Pr.39] Stop group 3 sudden stop
selection".)

Stop process

High-level p ositioning

control

40

CHAPTER 1 PRODUCT OUTLINE

(3) Manual control

Stop caus e Stop axis

Forced stop

Fatal stop
(Stop group 1)

Emergency stop
(Stop group 2)

Relatively safe stop
(Stop group 3)

Intentional stop
(Stop group 3)

Drive unit READY signal
OFF

Hardware stroke limit
upper/lower limit error
occurrence

CPU module error
occurrence

PLC READY signal OFF Turns OFF

Error in test function No change

Axis error detection
(Error other than stop
group 1 or 2)

"Stop signal" ON from
external source

"Axis stop signal" ON
from CPU module

"Stop signal" from GX

Works2

1

M code ON

signal after stop

Each axis No change Error Immediate stop Deceleration stop

Each axis No change Error

No change

All axes

Each axis No change Error

Each axis No change

*1

Axis operation

status ([Md.26])

after stopping

Error

Stopped

(Standby)

JOG operation

Inching operation

Deceleration
stop/sudden stop
(Select with "[Pr.37]
Stop group 1 sudden
stop selection".)

Deceleration
stop/sudden stop
(Select with "[Pr.38]
Stop group 2 sudden
stop selection".)

Deceleration
stop/sudden stop
(Select with "[Pr.39]
Stop group 3 sudden
stop selection".)

Stop process

Manual pulse

generator operation

Deceleration stop

Deceleration stop

Deceleration stop

*1 This means the stop using a stop button on the positioning test dialog box when using the positioning test function of GX

Works2.

1.2 Flow of System Operation

41

1.2.4 Outline of restarting

Start point
address

Stop position due to stop cause

Designated end
point position

Axis 1

4

00

200

100

100 300 700

Axis 2

Stop position due to stop cause

Stop position
after restart

Axis 1

400

200

100

100 300 700

Axis 2

Restart

Operation during
restart

Start point
address

Stop position due to stop cause

Designated end
point position

Axis 1

4

00

200

100

100 300 700

Axis 2

Stop position due to stop cause

Stop position
after restart

Axis 1

500

200

100

100 300 900

Axis 2

Positioning
start

Operation during
positioning start

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 the stopped position by using the "[Cd.6] Restart command".

If issued during a continuous positioning or continuous path control operation, the restart command will cause the

positioning to be re-executed using the current position (pointed by the positioning data No. associated with the

moment when the movement was interrupted) as the start point.

(1) When "[Cd.6] Restart command" is ON

• If the "[Md.26] Axis operation status" is "Stopped", positioning to the end point of the positioning data will be

restarted from the stopped position regardless of the absolute system or incremental system.

• When "[Md.26] Axis operation status" is not "Stopped", the warning "Restart not possible" (warning code:

104) will be applied, and the restart command will be ignored.

(a) Example for incremental system

The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is

shown below.

(2) Reference

42

If the positioning start signal [Y10 to Y13]/external command signal*1 is turned ON while the "[Md.26] Axis

operation status" is "Standby" or "Stopped", positioning will be restarted from the start of the positioning start data

regardless of the absolute system or incremental system.

(Same as normal positioning.)

*1 When the external command signal is set to "External positioning start"

(a) Example for incremental system

The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is

600 is shown below.

CHAPTER 1 PRODUCT OUTLINE

1.3 Restrictions on Using a Stepping Motor

Note the following restrictions on using a stepping motor:

• For an axis where a stepping motor is connected, executing the S-curve acceleration/deceleration may

cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur.

• The circular interpolation control and 3-axis helical interpolation control cannot be used for an axis where a

stepping motor is connected. Although setting the bias speed at start is required by the characteristics of the

stepping motor, the setting of the bias speed at start is disabled for circular interpolation control. Ensure to

use a servomotor for all axes where interpolation controls are carried out when the circular interpolation

control or 3-axis helical interpolation control is carried out.

• The backlash compensation function cannot be used for an axis where a stepping motor is connected. If the

function is used, the motor may lose steps.

1

1.3 Restrictions on Using a Stepping Motor

43

CHAPTER 2 SYSTEM CONFIGURATION

2.1 General Image of System

The general image of the system, including the LD75, CPU module and peripheral devices is shown below.
(Refer to  Page 47, Section 2.2 and Page 48, Section 2.3 for the devices in the illustration.)

44

(1) When connected to a CPU module

CHAPTER 2 SYSTEM CONFIGURATION

2

2.1 General Image of System

45

(2) When connected to a head module

Power supply module Head module LD75P4 END cover

Manual pulse generator

Drive unit

GX Works2

Machine system inputs (switches)

Near-point dog
Limit switch
External command signal
Stop signal

46

CHAPTER 2 SYSTEM CONFIGURATION

LD75

No. of control axes

P Open collector output system
D Differential driver output system

2.2 Configuration List

The positioning system using the LD75 is configured of the following devices.

No. Product name Model name Remarks

LD75P1
LD75P2

1 Positioning module

2GX Works2  For details, refer to  GX Works2 Version 1 Operating Manual (Common).

3 Personal computer

4 USB cable 

5 Ethernet cable 

6Drive unit  (Prepared by user)

7 Manual pulse generator 

LD75P4
LD75D1
LD75D2
LD75D4

Personal computer which

supports Windows



(Prepared by user)
For details, refer to  GX Works2 Version 1 Operating Manual (Common).

(Prepared by user)
A USB cable is needed for connecting the CPU module with a personal computer.
For details, refer to  GX Works2 Version 1 Operating Manual (Common).

(Prepared by user)
An Ethernet cable is needed for connecting the CPU module with a personal computer.

(Prepared by user)
Recommended: MR-HDP01 (Mitsubishi Electric)

2

(1) Specifications of recommended manual pulse generator

Item Specifications

Model name MR-HDP01

Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4)

Output method Voltage-output (power supply voltage -1V or more), Output current = Max. 20mA

Power supply voltage

Current consumption 60mA

Output level

Life time 100 revolutions (at 200r/min)

Permitted axial loads

Operation temperature -10 to 60

Weight 0.4kg

Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min

Pulse signal status 2 signals: A phase, B phase, 90 phase difference

Start friction torque 0.06Nm (at 20 (68))

"H" level: power supply voltage

"L" level: 0.5V or less (with maximum leading-in)

4.5 to 13.2VDC

Radial load: Max. 19.6N

Thrust load: Max. 9.8N

*1 Use the stabilized power supply of 4.5 to 6.1VDC for the power supply of the manual pulse generator.

*1

*1

-1V or more (in no-load)

2.2 Configuration List

47

2.3 Applicable System

(1) Connectable module

(a) Number of connectable modules

The LD75 is regarded as two modules by the CPU module or head module. Therefore, the number of

connectable modules is the half of that of other modules.

For the number of connectable modules, refer to the following.

•  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

•  MELSEC-L CC-Link IE Field Network Head Module User's Manual

(b) Restriction by the serial number

The LD75 cannot be used depending on the serial number of the head module. For the applicable serial

number, refer to the following.

•  MELSEC-L CC-Link IE Field Network Head Module User's Manual

(2) Applicable software versions

For the applicable software versions, refer to the following.

•  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

•  MELSEC-L CC-Link IE Field Network Head Module User's Manual

2.4 Checking Serial Number and Function Version

For how to check the serial number and function version of the LD75, refer to the following.

•  MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

•  MELSEC-L CC-Link IE Field Network Head Module User's Manual

2.5 Restrictions When the LD75 Is Connected to Head

Module

The following describes the restriction when the LD75 is connected to a head module.

• Dedicated instruction cannot be used.

48

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance Specifications

Item

No. of control axes 1 axis 2 axes 4 axes

Interpolation function None

Control system

Control unit mm, inch, degree, pulse

Positioning data

Backup Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)

Positioning system

Positioning range

Positioning

Speed command

Acceleration/decele
ration process

Acceleration/decele
ration time

Sudden stop
deceleration time

PTP (Point To Point) control, path control (all of linear, circular, and helical can be set), speed control, speed-position
switching control, position-speed switching control

600 data/axis
(Can be set with GX Works2 or program.)

[PTP control: Incremental system/absolute system]

Speed-position switching control: Incremental system/absolute system
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system

[In absolute system]

[In incremental system]

[In speed-position switching control (INC mode)/ position-speed switching control]

[n speed-position switching control (ABS mode)

0.01 to 20000000.00 (mm/min)

0.001 to 2000000.000 (inch/min)

0.001 to 2000000.000 (degree/min)
1 to 4000000 (pulse/s)

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

1 to 8388608 (ms)
Four patterns can be set for each of acceleration time and deceleration time

1 to 8388608 (ms)

LD75P1/LD75D1

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• 0 to 359.99999 (degree)

• -2147483648 to 2147483647 (pulse)

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• -21474.83648 to 21474.83647 (degree)

• -2147483648 to 2147483647 (pulse)

• 0 to 214748364.7 (m)

• 0 to 21474.83647 (inch)

• 0 to 21474.83647 (degree)

• 0 to 2147483647 (pulse)

• 0 to 359.99999 (degree)

*1

2-axis circular interpolation

Model

LD75P2/LD75D2

2-axis linear interpolation

*2

]

*1

*2

LD75P4/LD75D4

2-, 3-, or 4-axis linear interpolation

2-axis circular interpolation

3-axis helical interpolation

*1

3

3.1 Performance Specifications

49

Model

LD75P2/LD75D2

*1

LD75P4/LD75D4

Starting time

Item

1-axis linear control: 1.5ms
1-axis speed control: 1.5ms
2-axis linear interpolation control (Composite speed): 1.5ms
2-axis linear interpolation control (Reference axis speed): 1.5ms
2-axis circular interpolation control: 2.0ms
2-axis speed control: 1.5ms
3-axis linear interpolation control (Composite speed): 1.7ms
3-axis linear interpolation control (Reference axis speed): 1.7ms

*3

3-axis helical interpolation control: 2.6ms
3-axis speed control: 1.7ms
4-axis linear interpolation control: 1.8ms
4-axis speed control: 1.8ms
 Factors in starting time extension
The following times will be added to the starting time in the described conditions:

LD75P1/LD75D1

• S-curve acceleration/deceleration is selected: 0.1ms

• Other axis is in operation: 0.5ms

• During continuous positioning control: 0.3ms

• During continuous path control: 0.3ms

*1

*1 LD75P represents the open collector output system, and LD75D represents the differential driver output system.
*2 In speed-position switching control (ABS mode), the control unit available is "degree" only.

(For details, refer to  Page 435, Section 9.2.19.)

*3 Using the "Pre-reading start function", the virtual start time can be shortened.

(For details, refer to  Page 598, Section 12.7.7.)

Item

External wiring connection system 40-pin connector

Applicable wire size 0.3 (AWG22) (for A6CON1 or A6CON4), 0.088 to 0.24 (28 to 24AWG) (for A6CON2)

Applicable connector for external device A6CON1, A6CON2, A6CON4 (sold separately)

Max. output pulse

Max. connection distance between servos

Internal current consumption (5VDC)

Flash ROM write count Max. 100000 times

No. of occupied I/O points 32 points (I/O assignment: intelligent 32 points)

No. of occupied module 2

Outline dimensions 90.0 (H)  45.0 (W)  95.0 (D) mm

Weight 0.18kg

LD75P1/LD75D1

LD75P1, LD75P2, LD75P4: 200kpulse/s
LD75D1, LD75D2, LD75D4: 4Mpulse/s

LD75P1, LD75P2, LD75P4: 2m
LD75D1, LD75D2, LD75D4: 10m

LD75P1: 0.44A

LD75D1: 0.51A

*4

Model

LD75P2/LD75D2

LD75P2: 0.48A

LD75D2: 0.62A

*4

LD75P4/LD75D4

LD75P4: 0.55A
LD75D4: 0.76A

*4 LD75P represents the open collector output system, and LD75D represents the differential driver output system.

*1

*4

(1) Differential driver common terminal specifications (LD75D only)

• Applicable wire size: 0.3 to 1.25 (22 to 16AWG)

Applicable solderless terminal (bar solderless terminal):  Page 89, Section 4.3.2

50

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.2 List of Functions

3.2.1 LD75 control functions

The LD75 has several functions. In this manual, the LD75 functions are categorized and explained as follows.

(1) Main functions

(a) 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. This is used to return a workpiece, located at a position other than the OP

when the power is turned ON or after positioning stop, to the OP. The "OPR control" is preregistered in the

LD75 as the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start data No. 9002 (Fast
OPR). ( Page 316, CHAPTER 8)

(b) Major positioning control

This control is carried out using the "Positioning data" stored in the LD75. Positioning control, such as position

control and speed control, is executed by setting the required items in this "positioning data" and starting that

positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out
control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, ) can be set. ( Page

339, CHAPTER 9)

3

(c) High-level positioning control

This control executes the "positioning data" stored in the LD75 using the "block start data". The following types

of applied positioning control can be carried out.

• Random blocks, handling several continuing positioning data items as "blocks", can be executed in the

designated order.

• "Condition judgment" can be added to position control and speed control.

• The operation of the designated positioning data No. that is set for multiple axes can be started

simultaneously. (Pulses are output simultaneously to multiple servos.)

• The designated positioning data can be executed repeatedly,

etc., ( Page 456, CHAPTER 10)

(d) Manual control

By inputting a signal into the LD75 from an external source, the LD75 will output a random pulse train and carry

out control. Use this manual control to move the workpiece to a random position (JOG operation), and to finely
adjust the positioning (inching operation, manual pulse generator operation), etc. ( Page 479, CHAPTER

11)

(2) Sub functions

When executing the main functions, control compensation, limits and functions can be added. ( Page 507,

CHAPTER 12)

3.2 List of Functions

51

(3) Common functions

Position control

· 1-axis linear control

· 2-, 3-, or 4-axis linear
interpolation control

· 1-axis fixed-feed control

· 2-, 3-, or 4-axis fixed-feed
control

· 2-axis circular interpolation
control

· 3-axis helical interpolation
control

Main functions

Sub functions

OPR control

Control registered in LD75

[Positioning start No.]

[9002]

[9001]

Machine OPR

Fast OPR

(Functions characteristic to
machine OPR)

OP shift function

<Functions that compensate
control>

Backlash compensation
function

Near pass function

<Functions that limit control>

Speed limit function
Torque limit function
Software stroke limit function
Hardware stroke limit function

<Functions that change
control details>

Speed change function
Override function
Acceleration/deceleration

time change function

Torque change function

<Absolute position restoration
function>

<Other functions>

Step function
Skip function
Continuous operation

interrupt function

M code output function
Teaching function

Target position change
function

Command in-position
function

Acceleration/deceleration
processing function

Pre-reading start function

Stop command processing
for deceleration stop function

Output timing selection of
near pass control

Major positioning control

Control using "Positioning data"

<Control system>

<Operation pattern>

High-level positioning control

[Block start data]

Block start
(Normal start)

Condition start
Wait start
Simultaneous start
Repeated start

(FOR loop)
Repeated start
(FOR condition)
Multiple axes
simultaneous start
control

Manual control

Control with signals input from external source

Common
functions

[Positioning start signal]

JOG start signal ON

JOG operation, Inching
operation

Other control

Speed-position switching control
Position-speed switching control

[Positioning start No.]

[9004]

Speed control

· 1-axis linear control

· 2-axis linear interpolation
control

· 3-axis linear interpolation
control

· 4-axis linear interpolation
control

· Current value changing,
NOP instruction

· JUMP instruction,
LOOP to LEND

Independent
positioning control
(Positioning
complete)

Continuous
positioning control

Continuous path
control

Control using "Positioning data"
+ "Block start data"

Major positioning
control

Pulse input from manual pulse
generator

Manual pulse generator
operation

Parameter initialization function

Execution data backup function I/O logic switching function
History monitoring function Module error collection function

External I/O signal monitor function

OPR retry function

Electronic gear function

Deceleration start flag
function

Common control using the LD75 for "parameter initialization" or "backup of execution data" can be carried out.
( Page 609, CHAPTER 13)

52

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.2.2 LD75 main functions

The outline of the main functions for positioning control with the LD75 is described below.

(Refer to PART 2 for details on each function.)

Main functions Details Reference

Mechanically establishes the positioning start point using a near­point dog or stopper.
(Positioning start No. 9001)

Positions a target to the OP address ([Md.21] Machine feed
value) stored in the LD75 using machine OPR. (Positioning start
No. 9002)

Positions a target using a linear path to the address set in the
positioning data or to the position designated with the movement
amount.

Positions a target by the movement amount designated with the
amount set in the positioning data.
(With fixed-feed control, the "[Md.20] Current feed value" is set to
"0" when the control is started. With 2-, 3-, or 4-axis fixed-feed
control, the fixed-feed is fed along a linear path obtained by
interpolation.)

Positions a target using an arc path to the address set in the
positioning data, or to the position designated with the movement
amount, sub point or center point.

Positions a target using a helical path to a position specified with
the address, movement amount, sub point, or center point set in
the positioning data.

Continuously outputs the pulses corresponding to the command
speed set in the positioning data.

First, carries out speed control, and then carries out position
control (positioning with designated address or movement
amount) by turning the "speed-position switching signal" ON.

First, carries out position control, and then carries out speed
control (continuous output of the pulses corresponding to the
designated command speed) by turning the "position-speed
switching signal" ON.

Changes the Current feed value ([Md.20]) to the address set in
the positioning data.
The following two methods can be used.
(The machine feed value cannot be changed.)

• Current value changing using positioning data

• Current value changing using current value changing start No.
(No. 9003)

No execution control system. When NOP instruction is set, this
instruction is not executed and the operation of the next data is
started.

Unconditionally or conditionally jumps to designated positioning
data No.

Returns to the beginning of the loop control with repeated LOOP
to LEND.

OPR control

Major
positioning
control

Machine OPR control

Fast OPR control

Linear control
(1-axis linear control)
(2-axis linear interpolation
control)
(3-axis linear interpolation
control)
(4-axis linear interpolation
control)

Position
control

Speed control

Speed-position switching control

Position-speed switching control

Other control

Fixed-feed control
(1-axis fixed-feed control)
(2-axis fixed-feed control)
(3-axis fixed-feed control)
(4-axis fixed-feed control)

2-axis circular
interpolation control

3-axis helical interpolation
control

Speed control
(1-axis speed control)
(2-axis speed control)
(3-axis speed control)
(4-axis speed control)

Current value changing

NOP instruction

JUMP instruction

LOOP Carries out loop control with repeated LOOP to LEND. Page 454, Section 9.2.24

LEND

Page 318, Section 8.2

Page 337, Section 8.3

Page 366, Section 9.2.2
Page 368, Section 9.2.3
Page 372, Section 9.2.4
Page 376, Section 9.2.5

Page 379, Section 9.2.6
Page 381, Section 9.2.7
Page 384, Section 9.2.8
Page 388, Section 9.2.9

Page 391, Section 9.2.10
Page 395, Section 9.2.11

Page 402, Section 9.2.12
Page 408, Section 9.2.13

Page 416, Section 9.2.14
Page 419, Section 9.2.15
Page 422, Section 9.2.16
Page 425, Section 9.2.17

Page 428, Section 9.2.18
Page 435, Section 9.2.19

Page 441, Section 9.2.20

Page 447, Section 9.2.21

Page 451, Section 9.2.22

Page 452, Section 9.2.23

Page 455, Section 9.2.25

3

3.2 List of Functions

53

Main functions Details Reference

With one start, executes the positioning data in a random block
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".
When the condition is established, the "block start data" is
executed. When not established, that "block start data" is
ignored, and the next point's "block start data" is executed.

Carries out condition judgment set in the "condition data" for the
designated positioning data, and then executes the "block start
data".
When the condition is established, the "block start data" is
executed. When not established, stops the control until the
condition is established. (Waits.)

Simultaneously executes the positioning data having the No. for
the axis designated with the "condition data". (Outputs pulses at
the same timing.)

Repeats the program from the block start data set with the "FOR
loop" to the block start data set in "NEXT" for the designated No.
of times.

Repeats the program from the block start data set with the "FOR
condition" to the block start data set in "NEXT" until the conditions
set in the "condition data" are established.

Starts the operation of multiple axes simultaneously according to
the pulse output level.
(Positioning start No. 9004, same as the "simultaneous start"
above)

Outputs pulses corresponding to minute movement amount by
manual operation to drive unit.
(Performs fine adjustment with the JOG start signal.)

Outputs pulses commanded with the manual pulse generator to
drive unit. (Carry out fine adjustment, etc., at the pulse level.)

Page 462, Section 10.3.2

Page 464, Section 10.3.3

Page 465, Section 10.3.4

Page 466, Section 10.3.5

Page 467, Section 10.3.6

Page 468, Section 10.3.7

Page 473, Section 10.5

Page 491, Section 11.3

Page 499, Section 11.4

High-level
positioning
control

Manual
control

Block start (Normal start)

Condition start

Wait start

Simultaneous start

Repeated start (FOR loop)

Repeated start (FOR condition)

Multiple axes simultaneous start control

JOG operation Outputs a pulse to drive unit while the JOG start signal is ON. Page 481, Section 11.2

Inching operation

Manual pulse generator operation

With the "major positioning control" ("high-level positioning control"), whether or not to continuously execute the

positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below.

[Da.1] Operation pattern Details Reference

Independent positioning control
(Positioning complete)

Continuous path control

When "independent positioning control" is set for the operation pattern of the started
positioning data, only the designated positioning data will be executed, and then the
positioning will end.

When "continuous positioning control" is set for the operation pattern of the started positioning
data, after the designated positioning data is executed, the program will stop once, and then
the next following positioning data will be executed.

When "continuous path control" is set for the operation pattern of the started positioning data,
the designated positioning data will be executed, and then without decelerating, the next
following positioning data will be executed.

Page 342, Section 9.1.2Continuous positioning control

54

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.2.3 LD75 sub functions and common functions

(1) Sub functions

The functions that assist positioning control using the LD75 are described below.

(Refer to PART 2 for details on each function.)

Sub function Details Reference

This function retries the machine OPR with the upper/lower limit

OPR retry function

Functions characteristic
to machine OPR

OP shift function

Backlash compensation function

Electronic gear function

Functions that
compensate control

Near pass function

Output timing selection of near
pass control

Speed limit function

Functions that limit
control

Functions that change
control details

Absolute position restoration function

Torque limit function

Software stroke limit function

Hardware stroke limit function

Speed change function

Override function

Acceleration/deceleration time
change function

Torque change function This function changes the "torque limit value" during control. Page 557, Section 12.5.4

Target position change function

*1

*2

*3

switches during machine OPR. This allows machine OPR to be
carried out even if the axis is not returned to before the near-point
dog with JOG operation, etc.

After returning to the machine OP, this function compensates the
position by the designated distance from the machine OP position
and sets that position as the OP address.

This function compensates the mechanical backlash. Feed
pulses equivalent to the set backlash amount are output each
time the movement direction changes.

By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
pulse.
A flexible positioning system that matches the machine system
can be structured with this function.

This function suppresses the machine vibration when the
positioning data is switched during continuous path control in the
interpolation control.

This function allows the user to select the timing to output the
difference (l) between the actual and the set positioning end
addresses in continuous path control, in which the difference (l)
is output during the execution of the next positioning data.

If the command speed exceeds "[Pr.8] Speed limit value" during
control, this function limits the commanded speed to within the
"[Pr.8] Speed limit value" setting range.

If the torque generated by the servomotor exceeds "[Pr.17]
Torque limit setting value" during control, this function limits the
generated torque to within the "[Pr.17] Torque limit setting value"
setting range.

If a command outside of the upper/lower limit stroke limit setting
range, set in the parameters, is issued, this function will not
execute positioning for that command.

This function carries out deceleration stop with the limit switch
connected to the LD75 external device connector.

This function changes the speed during positioning.
Set the new speed in the speed change buffer memory ([Cd.14]
New speed value), and change the speed with the Speed change
request ([Cd.15]).

This function changes the speed within a percentage of 1 to
300% during positioning. This is executed using "[Cd.13]
Positioning operation speed override".

This function changes the acceleration/deceleration time during
speed change.

This function changes the target position during positioning.
Position and speed can be changed simultaneously.

This function restores the absolute position of designated axis. Page 563, Section 12.6

Page 510, Section 12.2.1

Page 515, Section 12.2.2

Page 518, Section 12.3.1

Page 520, Section 12.3.2

Page 525, Section 12.3.3

Page 527, Section 12.3.4

Page 530, Section 12.4.1

Page 532, Section 12.4.2

Page 535, Section 12.4.3

Page 541, Section 12.4.4

Page 543, Section 12.5.1

Page 550, Section 12.5.2

Page 553, Section 12.5.3

Page 559, Section 12.5.5

3

3.2 List of Functions

55

Other Functions

Sub function Details Reference

This function temporarily stops the operation to confirm the

Step function

Skip function

M code output function

Teaching function

Command in-position function

Acceleration/deceleration process
function

Continuous operation interrupt
function

Pre-reading start function This function shortens the virtual start time. Page 598, Section 12.7.7

Deceleration start flag function

Stop command processing for
deceleration stop function

positioning operation during debugging, etc.
The operation can be stopped at each "automatic deceleration" or
"positioning data".

This function stops (decelerates to a stop) the positioning being
executed when the skip signal is input, and carries out the next
positioning.

This function issues a command for a sub work (clamp or drill
stop, tool change, etc.) corresponding to the M code No. (0 to

65535) that can be set for positioning data.

This function stores the address positioned with manual control
into the positioning address having the designated positioning
data No. ([Cd.39]).

At each automatic deceleration, this function calculates the
remaining distance for the LD75 to reach the positioning stop
position. When the value is less than the set value, the
"command in-position flag" is set to "1".
When using another auxiliary work before ending the control, use
this function as a trigger for the sub work.

This function adjusts the control acceleration/deceleration.
(acceleration/deceleration time and curve).

This function interrupts continuous operation. When this request
is accepted, the operation stops when the execution of the
current positioning data is completed.

Function that 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", to make the stop timing known.

Function that selects a deceleration curve when a stop cause
occurs during deceleration stop processing to speed 0.

Page 572, Section 12.7.1

Page 577, Section 12.7.2

Page 580, Section 12.7.3

Page 586, Section 12.7.4

Page 593, Section 12.7.5

Page 596, Section 12.7.6

Page 296, Section 6.5.4

Page 602, Section 12.7.8

Page 606, Section 12.7.9

*1 The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with

parameters.

*2 Using "Torque limit function" requires a "D/A conversion module" and a "drive unit capable of torque limit command with

analog voltage".

*3 An I/O module (or general-purpose I/O function of LCPU) with arbitrary number of points and "the drive unit capable of

configuring an absolute position detection system, which is a Mitsubishi Electric General-Purpose AC Servo and has an
absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3-A," are

required to execute the "absolute position restoration function".

56

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

(2) Common functions

The outline of the functions executed as necessary are described below.

(Refer to PART 2 for details on each function.)

Common functions Details Reference

This function returns the "parameters" stored in the LD75 buffer memory and

Parameter initialization function

Execution data backup function

External I/O signal logic switching function

External I/O signal monitor function

History monitoring function This function monitors errors, warnings, and start history of all axes. Page 616, Section 13.6

Module error collection function

flash ROM to the default values.
The following two methods can be used.

• Method using program

• Method using GX Works2

This functions stores the "setting data", currently being executed, into the flash
ROM.
The following two methods can be used.

• Method using program

• Method using GX Works2

This function switches I/O signal logic according to externally connected
devices.
This function enables the use of the system that does not use b (N.C.)-contact
signals, such as Drive unit READY or Upper/lower limit signal, by setting
parameters to positive logic.

This function monitors the external I/O signal monitor information in the
module's detailed information which can be displayed on the system monitor of
GX Works2

This function collects errors occurred in the LD75 in the CPU module.
Holding the error contents in the CPU module, this function enables to check the
error history even after the CPU module is powered off or reset.

Page 610, Section 13.2

Page 612, Section 13.3

Page 614, Section 13.4

Page 615, Section 13.5

Page 618, Section 13.7

3

3.2 List of Functions

57

3.2.4 Combination of LD75 main functions and operation pattern

With positioning control using the LD75, the main functions and operation pattern can be combined and used as

necessary. A list of the main function and operation pattern combinations is given below.
: Combination possible, : Combination limited, : Combination not possible

OPR control

Major positioning control

Manual control

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear interpolation
control

Position control

Speed control (1- to 4-axis)  (Only independent positioning control can be set)

Speed-position switching control  (Continuous path control cannot be set)

Position-speed switching control  (Only independent positioning control can be set)

Other control

JOG operation, inching operation 

Manual pulse generator operation 

1-axis fixed-feed control  (Continuous path control cannot be set)

2-, 3-, or 4-axis fixed-feed control
(interpolation)

2-axis circular interpolation control 

3-axis helical interpolation control 

Current value changing  (Continuous path control cannot be set)

NOP instruction 

JUMP instruction

LOOP to LEND

Combination with operation pattern*1.



 (Continuous path control cannot be set)



*1 The operation pattern is one of the "positioning data" setting items.

58

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.2.5 Combination of LD75 main functions and sub functions

With positioning control using the LD75, 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.

(1) Combination with OPR retry function

: Combination possible, : Combination not possible

OPR retry function

OPR control

Major
positioning
control

Manual control

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

OPR retry function OP shift function















3

3.2 List of Functions

59

(2) Combination with functions that compensate control

: Combination possible, : Combination not possible

Backlash

compensation

function

 

 

 

 

 

 

 

OPR control

Major
positioning
control

Manual control

Main functions

Machine OPR control 

Fast OPR control  

1-axis linear control  

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control  

Position control

Speed control (1- to 4-axis)  

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation  

Manual pulse generator operation  

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Functions that compensate control

Electronic gear

function

Near pass

function

*1

Output timing

selection of near

pass control



*1 The near pass function is featured as standard and is valid only for setting continuous path control for position control.

60

(3) Combination with functions to limit the control

: Always combine, : Combination possible, : Combination not possible

OPR control

Major
positioning
control

Manual control

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Speed limit

function















CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

Functions that limit control

Torque limit

function

Software stroke

limit function

Hardware stroke

limit function

3

3.2 List of Functions

61

(4) Combination with functions to change the restrictions

: Combination possible, : Combination limited, : Combination not possible

Functions that change control details

OPR control

Major
positioning
control

Manual control

Main functions

Machine OPR control

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Speed change

function

*1

















*2



Override function

Acceleration/dece

leration time

change function

*1



*2



*1



*2



Torque change

function





*1 Invalid during creep speed.
*2 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration

processing.)

62

(5) Combination with functions to change other functions

(a) For step, skip, M code output, and teaching function

: Combination possible, : Combination limited, : Combination not possible

OPR control

Major
positioning
control

Manual control

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control 

Other control

JOG operation, inching operation 

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing 

NOP instruction 

JUMP instruction

LOOP to LEND

Step function Skip function













CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

Other Functions

M code output

function







*1



Teaching function



3

3.2 List of Functions

*1 Valid when using the positioning data but invalid when using the positioning start No. 9003.

63

(b) For target position change, command in-position, acceleration/deceleration

OPR control

Major
positioning
control

Manual control

processing, and pre-reading start function

: Combination possible, : Combination limited, : Combination not possible

Other Functions

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Target position

change function

*1

















Command in-

position function



Acceleration/dece

leration process

function

*2



Pre-reading start

function



*1 Invalid during continuous path control.
*2 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration

processing.)

64

(c) For deceleration start flag and stop command processing for deceleration stop

OPR control

Major
positioning
control

Manual control

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

function

: Combination possible, : Combination limited, : Combination not possible

Other Functions

Main functions

Machine OPR control 

Fast OPR control 

1-axis linear control 

2-, 3-, or 4-axis linear
interpolation control

1-axis fixed-feed control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

2-, 3-, or 4-axis fixed-feed
control (interpolation)

2-axis circular interpolation
control

3-axis helical interpolation
control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Deceleration start flag function

*1



*1







*2







*1 Valid for the reference axis only.
*2 Valid for only the case where a deceleration start is made during position control.

Stop command processing for

deceleration stop function

3







3.2 List of Functions

65

3.3 Specifications of Input/Output Signals with CPU Module

3.3.1 List of input/output signals with CPU module

The LD75 uses 32 input points and 32 output points for exchanging data with the CPU module.

The input/output signals when theLD75 is mounted to the CPU module and is assigned to the I/O numbers X/Y00 to

X/Y1F are shown below. Device X refers to the signals input from the LD75 to the CPU module, and device Y refers to

the signals output from the CPU module to the LD75.

Signal direction: LD75  CPU module Signal direction: CPU module  LD75

Device No. Signal name Device No. Signal name

X0 LD75 READY Y0 PLC READY

X1 Synchronization flag Y1

X3 Y3

X4 Axis 1

X5 Axis 2 Y5 Axis 2

X6 Axis 3 Y6 Axis 3

X7 Axis 4 Y7 Axis 4

X8 Axis 1

X9 Axis 2 Y9 Axis 1 Reverse run JOG start

XA Axis 3 YA Axis 2 Forward run JOG start

XB Axis 4 YB Axis 2 Reverse run JOG start

XC Axis 1

XD Axis 2 YD Axis 3 Reverse run JOG start

XE Axis 3 YE Axis 4 Forward run JOG start

XF Axis 4 YF Axis 4 Reverse run JOG start

X10 Axis 1

X11 Axis 2 Y11 Axis 2

X12 Axis 3 Y12 Axis 3

X13 Axis 4 Y13 Axis 4

X14 Axis 1

X15 Axis 2 Y15 Axis 2

X16 Axis 3 Y16 Axis 3

X17 Axis 4 Y17 Axis 4

X18

X19 Y19

X1A Y1A

X1B Y1B

X1C Y1C

X1D Y1D

X1E Y1E

X1F Y1F

Use prohibited

M code ON

Error detection

BUSY

Start complete

Positioning complete

Use prohibited

Y2

Y4 Axis 1

Y8 Axis 1 Forward run JOG start

YC Axis 3 Forward run JOG start

Y10 Axis 1

Y14 Axis 1

Y18

Use prohibitedX2

Axis stop

Positioning start

Execution prohibition flag

Use prohibited

66

[Y1 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be used by the user.
If these devices are used, the operation of the LD75 will not be guaranteed.

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (LD75 to CPU module)

The ON/OFF timing and conditions of the input signals are shown below.

Device

No.

X0 LD75 READY

Signal name Details

• When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is
checked. If no error is found, this signal turns ON.

• When the PLC READY signal [Y0] turns OFF, this signal turns OFF.

ON: READY
OFF: Not

READY/Watch
dog timer error

• When watch dog timer error occurs, this signal turns OFF.

• This signal is used for interlock in a program, etc.

ON

PLC READY signal

LD75 READY signal

[Y0]

[X0]

OFF

ON

OFF

3

X1 Synchronization flag

X4

Axis 1
X5
X6
X7

X8
X9
XA
XB

XC
XD
XE
XF

X10
X11
X12
X13

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

M code ON

Error
detection

BUSY

Star t
complete

OFF: Module access

disabled

ON: Module access

enabled

OFF: M code is not set
ON: M code is set

• After the programmable controller is turned ON or the CPU module is reset, this signal
turns ON if the access from the CPU module to the LD75 is possible.

• When "Asynchronous" is selected in the module synchronization setting of the CPU
module, this signal can be used as interlock for the access from a program to the LD 75.

• In the WITH mode, this signal turns ON when the positioning data operation is started. In
the AFTER mode, this signal turns ON when the positioning data operation is completed.

• This signal turns OFF with the "[Cd.7] M code OFF request".

• When M code is not designated (when "[Da.10] M code" is "0"), this signal will remain
OFF.

• With using continuous path control for the positioning operation, the positioning will
continue even when this signal does not turn OFF. However, the warning "M CODE ON
SIGNAL START" (warning code: 503) will occur.

• When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF.

• If the operation is started while the M code is ON, the error "M CODE ON SIGNAL
START" (error code: 536) will occur.

3.3 Specifications of Input/Output Signals with CPU Module

OFF: No error
ON: Error occurrence

*1

OFF: Not BUSY
ON: BUSY

OFF: Start incomplete
ON: Start complete

• This signal turns ON when an error listed in  Page 647, Section 15.4, and turns OFF
when the error is reset on "[Cd.5] Axis error rest".

• This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF when
the "[Da.9] Dwell time" has passed after positioning stops. (This signal remains ON during
positioning.) This signal turns OFF when the positioning is stopped with step operation.

• During manual pulse generator operation, this signal turns ON while the "[Cd.21] Manual
pulse generator enable flag" is ON.

• This signal turns OFF at error completion or positioning stop.

• This signal turns ON when the positioning start signal turns ON and the LD75 starts the
positioning process. (The start complete signal also turns ON during OPR control.)

ON

Positioning start signal [Y10]

Start complete signal [X10]

OFF

ON

OFF

X14
X15
X16
X17

Axis 1
Axis 2
Axis 3
Axis 4

Positioning

*2

complete

OFF: Positioning

incomplete

ON: Positioning

complete

• This signal turns ON for the time set in "[Pr.40] Positioning complete signal output time"
from the instant when the positioning control for each positioning data No. is completed.
For the interpolation control, the positioning completed signal of interpolation axis turns
ON during the time set to the reference axis. (It does not turn ON when "[Pr.40]
Positioning complete signal output time" is "0".)

• If positioning (including OPR), JOG/Inching operation, or manual pulse generator
operation is started while this signal is ON, the signal will turn OFF.

• This signal will not turn ON when speed control or positioning is canceled midway.

67

*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 program.

*2 "Positioning complete" of the LD75 refers to the point when the pulse output from LD75 is completed. Thus, even if the

LD75's positioning complete signal turns ON, the system may continue operation.

3.3.3 Details of output signals (CPU module to LD75)

The ON/OFF timing and conditions of the output signals are shown below.

Device

No.

Y0 PLC READY

Y4

Axis 1

Y5

Axis 2

Y6

Axis 3

Y7

Axis 4

Axis 1

Y8

Axis 1

Y9

Axis 2

YA

Axis 2

YB

Axis 3

YC

Axis 3

YD

Axis 4

YE

Axis 4

YF

Y10

Axis 1

Y11

Axis 2

Y12

Axis 3

Y13

Axis 4

Y14

Axis 1

Y15

Axis 2

Y16

Axis 3

Y17

Axis 4

Axis stop

Forward run JOG start
Reverse run JOG start
Forward run JOG start
Reverse run JOG start
Forward run JOG start
Reverse run JOG start
Forward run JOG start
Reverse run JOG start

Positioning start

Execution prohibition
flag

Signal name Details

(a) This signal notifies the LD75 that the CPU module is normal.

• It is turned ON/OFF with the program.

• The PLC READY signal is turned ON during positioning control, OPR control,
JOG operation, inching operation, and manual pulse generator operation,
unless the system is under the test function of GX Works2.

(b) When parameters are changed, the PLC READY signal is turned OFF

depending on the parameter. ( Page 305, CHAPTER 7)

(c) The following processes are carried out when the PLC READY signal turns

from OFF to ON.

OFF: PLC READY

OFF

ON: PLC READY ON

OFF: Axis stop not

requested

ON: Axis stop

requested

OFF: JOG not started
ON: JOG started

OFF: Positioning start

not requested

ON: Positioning start

requested

OFF: Not during

ex

ecut

ion

prohibition

ON: During execution

prohibition

• The parameter setting range is checked.

• The LD75 READY signal [X0] turns ON.

(d) The following processes are carried out when the PLC READY signal turns

from ON to OFF. In these cases, the OFF time should be set to 100ms or
more.

• The LD75 READY signal [X0] turns OFF.

• The operating axis stops.

• The M code ON signal [X4 to X7] for each axis turns OFF, and "0" is stored in
"[Md.25] Valid M code".

(e) When parameters or positioning data (No. 1 to 600) are written from GX

Works2 or CPU module to the flash ROM, the PLC READY signal will turn
OFF.

• When the axis stop signal turns ON, the OPR control, positioning control, JOG
operation, inching operation and manual pulse generator operation will stop.

• By turning the axis stop signal ON during positioning operation, the positioning
operation will be "stopped".

• Whether to decelerate or suddenly stop can be selected with "[Pr.39] Stop group
3 sudden stop selection".

• During interpolation control of the positioning operation, if the axis stop signal of
any axis turns ON, all axes in the interpolation control will decelerate and stop.

• When the JOG start signal is ON, JOG operation will be carried out at the
"[Cd.17] JOG speed". When the JOG start signal turns OFF, the operation will
decelerate and stop.

• When inching movement amount is set, the designated movement amount is
output for one control cycle and then the operation stops.

• OPR operation or positioning operation is started.

• The positioning start signal is valid at the rising edge, and the operation is
started.

• When the positioning start signal turns ON during BUSY, the warning "Start
during operation" (warning code: 100) will occur.

• If the execution prohibition flag is ON when the positioning start signal turns ON,
positioning control does not start until the execution prohibition flag turns OFF.
(Pulse output not provided) Used with the "Pre-reading start function". (
Page 598, Section 12.7.7)

68

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3 s or less

1ms or more

3 s or less

ON

OFF

A

3.4 Specifications of Input/Output Interfaces with External

Devices

3.4.1 Electrical specifications of input/output signals

(1) Input specifications

Signal name

Drive unit READY (READY)
Stop signal (STOP)
Upper limit signal (FLS)
Lower limit signal (RLS)

Zero signal (PG05/PG024)

Rated input

voltage/current

24VDC/5mA 19.2 to 26.4VDC

5VDC/5mA 4.5 to 6.1VDC

24VDC/5mA 12 to 26.4VDC

Differential receiver equivalent to AM26LS32 (ON/OFF level ON: 1.8V or more, OFF: 0.6V or less)

5VDC/5mA 4.5 to 6.1VDC

Pulse width

Working voltage

range

ON

voltage/current

17.5VDC or

more/3.5mA or

more

2VDC or

more/2mA or

more

10VDC or

more/3mA or

more

2.5VDC or

more/2mA or

more

OFF

voltage/current

7VDC or

less/1.7mA or

less

0.5VDC or

less/0.5mA or

less

3VDC or

less/0.2mA or

less

1VDC or

less/0.1mA or

less

Input resistance Response time

Approx. 4.7k 4ms or less

Approx. 620 1ms or less

Approx. 4.7k 1ms or less

Approx. 1.1k 1ms or less

3

3.4 Specifications of Input/Output Interfaces with External Devices

Manual pulse generator A phase
(PULSER A)
Manual pulse generator B phase
(PULSER B)

Phase difference

When the A phase leads the B phase, the positioning address (current value) increases.

Near-point dog signal (DOG) 24VDC/5mA 19.2 to 26.4VDC

External command signal (CHG) 24VDC/5mA 19.2 to 26.4VDC

4ms or more

2ms
or more

2ms or more

(Duty ratio: 50%)

phase

B phase

17.5VDC or

more/3.5mA or

more

10VDC or

more/2.7mA or

more

1ms or more

7VDC or

less/1.7mA or

less

7VDC or

less/0.8mA or

less

Approx. 4.3k 1ms or less

Approx. 7.7k 1ms or less

69

(2) Output specifications

Signal name

Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC

LD75P
Pulse output F (PULSE F)
Pulse output R (PULSE R)

LD75D
Pulse output F (+/-) (PULSE F+/-)
Pulse output R (+/-) (PULSE R+/-)

Rated load

voltage

5 to 24VDC 4.75 to 30VDC

Differential driver equivalent to AM26C31

Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ([Pr.5] Pulse

output mode) according to the drive unit specifications.

Operating load

voltage range

Max. load

current/inrush current

0.1A/1 point/0.4A 10ms
or less

50mA/1 point/200mA

10ms or less

Max. voltage

drop at ON

1VDC (TYP)

2.5VDC (MAX)

0.5VDC (TYP)

Leakage

current at

OFF

0.1mA or
less

0.1mA or
less

Response

time

2ms or less

(resistance

load)



70

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

"[Pr.5] Pulse output

mode"

*1

Terminal

name

"[Pr.23] Output signal logic selection" (bit0)

Positive logic Negative logic

Forward run Reverse run Forward run Reverse run

PULSE

SIGN

PULSE FCW

CCW

A phase

B phase

PULSE F

PULSE R

PULSE R

PULSE F

PULSE R

"[Pr.5] Pulse output

mode"

*1

Terminal

name

"[Pr.23] Output signal logic selection" (bit0)

Positive logic Negative logic

Forward run Reverse run Forward run Reverse run

PULSE

SIGN

CW

CCW

A phase

B phase

PULSE F+
PULSE F-

PULSE R+
PULSE R-

PULSE F+
PULSE F-

PULSE R+
PULSE R-

PULSE F+
PULSE F-

PULSE R+
PULSE R-

The relation of the pulse output with the "[Pr.5] Pulse output mode" and "[Pr.23] Output signal logic selection" is

shown below:

• Open collector connection (LD75P)

The voltage of a terminal having the PULSE COM terminal as a reference is shown. ( Page 78, Section 3.4.4 (2))

(The transistor output becomes OFF to High and ON to Low.)

3

• Differential driver connection (LD75D)

• The voltage of a terminal having the differential driver common terminal as a reference is shown. (

Page 78, Section 3.4.4 (3))

• For the differential driver common terminal, refer to  Page 89, Section 4.3.2.

*1 For details on "[Pr.5] Pulse output mode", refer to  Page 118, Section 5.2.1.

3.4 Specifications of Input/Output Interfaces with External Devices

71

Set the parameters, "[Pr.5] Pulse output mode" and "[Pr.23] Output signal logic selection", in accordance with the

24VDC

PULSE F

PULSE COM

PULSE R

PULSE COM

OPC

DOCOM

PP

NP

SD

MR-J3- A
servo amplifier

LD75P

PULSE F+

PULSE F-

PULSE R+

PULSE R-

PP

PG

NP

SD

MR-J3- A
servo amplifier

LD75D

NG

specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all.
Connection examples with a MELSERVO-J3 series servo amplifier are shown below.

● Open collector connection (LD75P)

[Pr.5] Pulse output mode

CW/CCW

PULSE/SIGN

A phase/B phase

● Differential driver connection (LD75D)

([Pr.23] Output signal logic selection

LD75P

(bit0))

Negative logic Negative logic

Positive logic Positive logic

Negative logic Negative logic

Positive logic Positive logic

Negative logic Negative logic

Negative logic Positive logic

Positive logic Negative logic

Positive logic Positive logic

Logic of MR-J3-A servo amplifier

Servo amplifier

72

[Pr.5] Pulse output mode

CW/CCW

PULSE/SIGN

A phase/B phase

LD75D

([Pr.23] Output signal logic selection

(bit0))

Negative logic Positive logic

Positive logic Negative logic

Negative logic Positive logic

Positive logic Negative logic

Negative logic Negative logic

Negative logic Positive logic

Positive logic Negative logic

Positive logic Positive logic

Logic of MR-J3-A servo amplifier

Servo amplifier

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

Front view of the module

2A20
2A19
2A18
2A17
2A16
2A15
2A14
2A13
2A12
2A11
2A10
2A9
2A8
2A7
2A6
2A5
2A4
2A3
2A2
2A1

1A20
1A19
1A18
1A17
1A16
1A15
1A14
1A13
1A12
1A11
1A10
1A9
1A8
1A7
1A6
1A5
1A4
1A3
1A2
1A1

2B20
2B19
2B18
2B17
2B16
2B15
2B14
2B13
2B12
2B11
2B10
2B9
2B8
2B7
2B6
2B5
2B4
2B3
2B2
2B1

1B20
1B19
1B18
1B17
1B16
1B15
1B14
1B13
1B12
1B11
1B10
1B9
1B8
1B7
1B6
1B5
1B4
1B3
1B2
1B1

3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the LD75 and external device, are

shown below.

The signal layout for the LD75 external device connection connector is shown.

LD75P4 LD75D4

3

Pin layout

Axis 4 (AX4) Axis 3 (AX3) Axis 2 (AX2) Axis 1 (AX1)

Pin No.

Signal

*1

name

Pin No.

Signal

*1

name

Pin No.

*1*2

Signal

name

Pin No.

Signal

*1

name

2B20 Vacant 2A20 Vacant 1B20 PULSER B- 1A20 PULSER B+

2B19 Vacant 2A19 Vacant 1B19 PULSER A- 1A19 PULSER A+

2B18

2B17

2B16

2B15

*3

*3

*3

*3

PULSE

COM

PULSE R-

PULSE R

PULSE R+

PULSE

COM

PULSE F-

PULSE F

PULSE F+

2A18

2A17

2A16

2A15

*3

*3

*3

*3

PULSE

COM

PULSE R-

PULSE R

PULSE R+

PULSE

COM

PULSE F-

PULSE F

PULSE F+

1B18

1B17

1B16

1B15

*3

COM

1A18

*3

PULSE R-

PULSE

PULSE R

*3

PULSE R+

1A17

*3

PULSE

*3

COM

1A16

*3

PULSE F-

PULSE F

*3

PULSE F+

1A15

*3

PULSE

COM

PULSE R-

PULSE R

PULSE R+

PULSE

COM

PULSE F-

PULSE F

PULSE F+

2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM

2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR

2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM

2B11 READY 2A11 READY 1B11 READY 1A11 READY

2B10 PG0COM 2A10 PG0COM 1B10 PG0COM 1A10 PG0COM

2B9 PG05 2A9 PG05 1B9 PG05 1A9 PG05

2B8 PG024 2A8 PG024 1B8 PG024 1A8 PG024

2B7COM2A7COM1B7COM1A7COM

2B6COM2A6COM1B6COM1A6COM

2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG

2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP

2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG

2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS

3.4 Specifications of Input/Output Interfaces with External Devices

*1 Pin No. "1" indicates the pin No. for the right connector. Pin No. "2" indicates the pin No. for the left

connector.
*2 When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant".
*3 The upper line indicates the signal name for the LD75P, and the lower line indicates the signal name for the LD75D.

2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS

73

3.4.3 List of input/output signal details

+1+1+1+1+1+1+1+1 -1 -1- 1 -1 -1 -1 -1 -1

B phase

A phaseA phase

B phase

Positioning
address

Positioning
address

[When increased] [When decreased]

The details of each LD75 external device connection connector are shown below:

1A19
1A20

1B19
1B20

Pin No.

Signal details (Negative logic is selected by external I/O signal logic selection)

• Input the pulse signal from the manual pulse generator A phase and B phase.

• If the A phase leads the B phase, the positioning address will increase at the rising and





falling edges of each phase.

• If the B phase leads the A phase, the positioning address will decrease at the rising and
falling edges of each phase.

Signal name

Manual pulse generator A­phase
(PULSER A+)
Manual pulse generator B­phase
(PULSER B+)

Manual pulse generator A
common
(PULSER A-)
Manual pulse generator B
common
(PULSER B-)

AX1 AX2 AX3 AX4

Zero signal (+24V) (PG024) 1A8 1B8 2A8 2B8 • Input the zero signal for machine OPR. Use the pulse encoder's zero signal and so on.

Zero signal (+5V) (PG05) 1A9 1B9 2A9 2B9

Zero signal common
(PG0COM)

Pulse output F (+) (PULSE
F+)
Pulse output F (-) (PULSE
F-)

Pulse output R (+) (PULSE
R+)
Pulse output R (-) (PULSE
R-)

Pulse output F (PULSE F)
Pulse output F common
(PULSE COM)

Pulse output R (PULSE R)
Pulse output R common
(PULSE COM)

Upper limit signal (FLS) 1A1 1B1 2A1 2B1

Lower limit signal (RLS) 1A2 1B2 2A2 2B2

Near-point dog signal
(DOG)

Stop signal (STOP) 1A4 1B4 2A4 2B4

External command signal
(CHG)

Common (COM)

1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V).

1A15

1B15

1A16

1A17
1A18

1A15
1A16

1A17
1A18

1A3 1B3 2A3 2B3

1

A5

1A6
1A7

2A15

1B16

2A16

1B17

2A17

1B18

2A18

1B15

2A15

1B16

2A16

1B17

2A17

1B18

2A18

1B5 2A5 2B5

1B6

2A6

1B7

2A7

• Also use this signal when the machine OPR method is the stopper method and the
OPR complete is input from an external source.

• The zero signal is detected at turning from OFF to ON.

2B15
2B16

• Output the positioning pulses and pulse sign for the differential driver output system
compatible drive unit. (LD75D only)

2B17
2B18

2B15
2B16

• Output the positioning pulses and pulse sign for the open collector output system

2B17
2B18

2B6
2B7

compatible drive unit. (LD75P only)

• This signal is input from the limit switch installed at the upper limit position of the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the upper limit for finding the near-point
dog signal.

• This signal is input from the limit switch installed at the lower limit position of the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the lower limit for finding the near-point
dog signal.

• This signal is used for detecting the near-point dog during OPR.

• The near-point dog signal is detected at turning from OFF to ON.

• Input this signal to stop positioning.

• When this signal turns ON, the LD75 will stop the positioning being executed. After that,
even if this signal is turned from ON to OFF, the system will not start.

• Input a control switching signal during speed-position or position-speed switching
control.

• Use this signal as the input signal of positioning start, speed change request, and skip
request from an external source. Set the function to use this signal in "[Pr.42] External
command function selection".

• Common for upper/lower limit, near-point dog, stop, and external command signals.

74

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

OFF
ON

OFF
ON

CLEAR

OPR speed

Creep speed

Near-point dog

Zero signal

Time

Speed

After feed pulse output stops

Stopper

Pr.46

Pr.47

Pr.55

Deviation counter
clear signal output time

Signal name

Drive unit READY
(READY)

Drive unit READY common
(RDYCOM)

Deviation counter clear
(CLEAR)

Pin No.

AX1 AX2 AX3 AX4

1A 11 1 B11 2A11 2B 11

1A12 1B12 2A12 2B12 • Common for drive unit READY signal.

1A13 1B13 2A13 2B13

Signal details (Negative logic is selected by external I/O signal logic selection)

• This signal turns ON when the drive unit is normal and can accept the feed pulse.

• The LD75 checks the drive unit READY signal, and outputs the OPR request if the
system is not in the READY state.

• When the drive unit is inoperable, such as if an error occurs in the drive unit's control
power supply, this signal will turn OFF.

• If this signal is turned OFF during positioning, the system will stop. The system will not
start even if this signal is turned ON again.

• When this signal turns OFF, the OPR complete signal will also turn OFF.

• This signal is output during machine OPR. (Note that it is not output during the count
method 2).)

(Example) When machine OPR is carried out in the stopper 2) method.

3

Deviation counter clear
common (CLRCOM)

• The output time of the deviation counter clear signal is set in "[Pr.55] Deviation counter
clear signal output time".

• Use the drive unit that can reset the droop pulse amount in the internal deviation
counter when the LD75 turns this signal ON.

(Note) The deviation counter clear is a signal output by the LD75 during machine OPR. It

cannot be output randomly by the user.

1A14 1B14 2A14 2B14 • Common for deviation counter clear signal

3.4 Specifications of Input/Output Interfaces with External Devices

75

3.4.4 Input/output interface internal circuit

External wiring Pin No. Internal circuit Signal name

Need for wiring

1

1A3

Near-point dog signal DOG

SLFlangistimilreppU1A1

1A2

Lower limit signal RLS

POTSlangispotS4A1

1A5

External command
signal

CHG

1A6

Common COM

1A7

(+)

1A19

Manual pulse generator
A phase

PULSER A+

(–)

1B19

PULSER A–

(+)

1A20

Manual pulse generator
B phase

PULSER B+

(–)

1B20

PULSER B–

YDAERYDAERtinuevirD11A1

1A12

Drive unit READY
common

RDY COM

1A8

Zero signal

PG024

50GP9A1

MOC0GPnommoclangisoreZ01A1

LD75P1/LD75D1 external device connection interface are shown below.

(1) Input (Common to LD75P1 and LD75D1)

*1 The symbols in Need for wiring column indicate the following meanings:

• : Wiring is necessary for positioning.

*2 Either polarity can be connected to the common (COM).

• : Wiring is necessary depending on the situation.

76

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

(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

*1*2

External wiring

*2

ON/OFF status of near-point dog signal (DOG) as

seen from LD75

Negative logic
(Initial value)

Positive logic

(Voltage not applied)

24VDC

(Voltage applied)

24VDC

(Voltage not applied)

24VDC

(Voltage applied)

24VDC

3

DOG

OFF

COM

DOG

ON

COM

DOG

ON

COM

3.4 Specifications of Input/Output Interfaces with External Devices

DOG

OFF

COM

*1 Set the logic setting using "[Pr.22] Input signal logic selection". For details on the setting items, refer to  Page 126,

Section 5.2.3 and Page 614, Section 13.4.

*2 When using the upper limit signal (FLS) or lower limit signal (RLS), always wire it as a "b" (normally closed) contact in

the negative logic setting.
The signal will turn OFF to stop positioning.

(b) About logic setting and internal circuit

In the LD75, the case where the internal circuit (photocoupler) is OFF in the negative logic setting is defined as

"input signal OFF".

Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logic setting is defined as

"input signal ON".

<Photocoupler ON/OFF status>

• When voltage is not applied: Photocoupler OFF

• When voltage is applied: Photocoupler ON

77

(2) Output (For LD75P1)

External wiring Pin No.

1A13

1A14

1A15

1A16

1A17

1A18

CLEAR

CLEAR COM

Deviation

counter clear

Common

CW

A phase

PULSE

CCW

B phase

SIGN

Internal circuit Signal name Need for wiring

*1

5 to 24VDC

Load

*2

*2

PULSE COM

Differential

driver

common

terminal

PULSE F+

PULSE F-

PULSE R-

PULSE R+

External wiring Pin No.

Load

Internal circuit Signal name Need for wiring

1A13

5 to 24VDC

1A14

Load

1A15

1A16

Load

1A17

5 to 24VDC

1A18

*1 The symbols in Need for wiring column indicate the following meanings:

• : Wiring is necessary for positioning.

• : Wiring is necessary depending on the situation.

(3) Output (For LD75D1)

Deviation

counter clear

Common

CW

A phase

PULSE

CCW

B phase

SIGN

*1

CLEAR

CLEAR COM

PULSE F

PULSE COM

PULSE R

PULSE COM

*1 The symbols in Need for wiring column indicate the following meanings:

*2 A terminal block at the lower front of the module (Refer to Section 4.1.2) ( Page 80, Section 4.1.2)

78

• : Wiring is necessary for positioning.

• : Wiring is necessary depending on the situation.

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

(1)

(2)

(3)

(5)

(4)

(6)

YES

NO

Start

Start operation

Maintenance

End

Perform parameter

and data setting with

GX Works2?

Module mounting
Mount the LD75 to CPU module.

Wiring
Connect external devices to the LD75.

Checking wiring
Check wiring with GX Works2.

Parameter setting and auto refresh setting
Perform each setting with GX Works2.

Programming and debugging
Creat and debug programs.

CHAPTER 4 INSTALLATION, WIRING, AND

MAINTENANCE OF PRODUCT

4.1 Outline of Installation, Wiring, and Maintenance

4.1.1 Installation, wiring and, maintenance procedures

The outline and procedures for LD75 installation, wiring and maintenance are shown below.

4

(1)  Page 83, Section 4.2
(2)  Page 84, Section 4.3
(3)  Page 91, Section 4.4
(4)  Page 739, Appendix 6.2, Page 745, Appendix 6.3
(5)  Page 235, CHAPTER 6
(6)  Page 92, Section 4.5

4.1 Outline of Installation, Wiring, and Maintenance

79

4.1.2 Names of each part

1)

LD75P4 LD75D4

2)

3)

5)

1)

2)

3)

5)

4)

(1) Names of each part

The part names of the LD75 are shown below:

No. Name Description

1) RUN indicator LED, ERR. indicator LED

2) Axis display LED (AX1 to AX4)

3) External device connector

4)

5) Serial number plate Indicates the serial number of the LD75.

Differential driver common terminal
(Differential driver output system (the LD75D) only)

Refer to  Page 81, Section 4.1.2 (2).

Connector for connection with the drive unit, mechanical system input or manual
pulse generator. (40-pin connector)
AX1: Axis 1, AX2: Axis 2, AX3: Axis 3, AX4: Axis 4
For details, refer to  Page 73, Section 3.4.2.

Terminal connected to the differential receiver common of the drive unit. For details,
refer to  Page 89, Section 4.3.2.

80

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

LD75P4LD75P2 LD75D1LD75P1

LD75D4LD75D2

(2) LED display and axis operation status

The LED display indicates the following operation statuses of the LD75 and axes.

The symbols in the Display column indicate the following statuses:

: Turns OFF. : Illuminates. : Flashes.

Display Attention point Description

RUN



ERR.



RUN



ERR.



RUN



ERR.



RUN



ERR.



RUN



ERR.



RUN



ERR.



RUN



ERR.



AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

RUN: Off Hardware failure, watch dog timer error.

RUN: On
ERR.: Off

ERR.: On System error.



AX1 to AX4 are off. The axes are stopped or on standby.



AX1: On
(or other axis) illuminates.



ERR.: Flashing
AX1: Flashing
(or other axis) flashes.

All LEDs: On Hardware failure

The module operates normally.

The corresponding axis is in operation.

An error occurs on the corresponding axis.

4

4.1 Outline of Installation, Wiring, and Maintenance

(3) Interface

The interface of each LD75 is as shown below.

81

4.1.3 Handling precautions

Pay full attention to the following precautions to handle the LD75 and cables correctly.

(1) Handling precautions

CAUTION

● Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines", the manual supplied with the CPU module or head module. Failure to do
so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● Do not directly touch any conductive parts and electronic components of the module. Doing so can
cause malfunction or failure of the module.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.

● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

(2) Other precautions

(a) 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 LD75 PCB from the case. Failure to observe this could lead to faults.

(b) Cable

• Do not press on the cable with a sharp object.

• Do not twist the cable with force.

• Do not forcibly pull on the cable.

• Do not step on the cable.

• Do not place objects on the cable.

• Do not damage the cable sheath.

(c) Installation environment

Do not install the module in the following type of environment.

• Where the ambient temperature exceeds the 0 to 55 range.

• Where the ambient humidity exceeds the 5 to 95%RH range.

• Where there is sudden temperature changes, or where dew condenses.

• Where there is corrosive gas or flammable gas.

• Where there are high levels of dust, conductive powder, such as iron chips, oil mist, salt or organic

solvents.

• Where the module will be subject to direct sunlight.

• Where there are strong electric fields or magnetic fields.

• Where vibration or impact could be directly applied onto the main body.

82

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

4.2 Installation

4.2.1 Installation precautions

The precautions for installing the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3

when carrying out the work.

(1) Installation precautions

WARNING

● Shut off the external power supply for the system in all phases before mounting or removing a
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

CAUTION

4

● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

● Shut off the external power supply for the system in all phases before mounting or removing a

module. Failure to do so may cause the module to fail or malfunction.

● After the first use of the module, the number of connections/disconnections is limited to 50 times (in
accordance with IEC 61131-2). Exceeding the limit may cause malfunction.

● Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines", the manual supplied with the CPU module or head module. Failure to do
so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● To interconnect modules, engage the respective connectors and securely lock the module joint levers
until they click. Incorrect interconnection may cause malfunction, failure, or drop of the module.

4.2 Installation

83

4.3 Wiring

The precautions for wiring the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3 when

carrying out the work.

4.3.1 Wiring precautions

(1) Check the terminal layout before wiring to the LD75, and connect the cables

correctly.

For the terminal layout, refer to  Page 73, Section 3.4.2.

(2) Connectors for external devices must be crimped with the tool specified by the

manufacturer, or must be correctly soldered. Incomplete connections may

cause short circuit, fire, or malfunction.

(3) Prevent foreign matter such as dust or wire chips from entering the module.

Such foreign matter can cause a fire, failure, or malfunction.

(4) A protective film is attached to the top of the LD75 to prevent foreign matter,

such as wire chips, from entering the module during wiring. Do not remove the

film during wiring. Remove it for heat dissipation before system operation.

(5) Tighten the connector screws within the specified torque range.

Undertightening can cause short circuit, fire, or malfunction. Overtightening

can damage the screw and/or module, resulting in drop, short circuit, fire, or

malfunction.

(6) When disconnecting the cable from the LD75 or the drive unit, do not pull the

cable by the cable part. Hold the connector part of the cable. Pulling the cable

connected to the LD75 or the drive unit may result in malfunction or damage to

the module, drive unit, or cable.

(7) Do not install the external I/O signal lines of the LD75 or connection cable to

the drive unit together with the main circuit line, power line, or load line other

than that for the programmable controller. Keep a distance of 100mm or more

84

between them. Failure to do so may result in malfunction due to noise, surge,

or induction.

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

Connector

Connector (A6CON1)

To external devices
(for two drive units)

Shielded
cable

Drive
unit

To external device

To drive unit

Use the shortest possible length to
ground the 2mm

2

or more FG wire.
(The shield must be grounded on
the LD75 side.)

The length between the connector and the shielded
cables should be the shortest possible.

To LD75

(8) Place the cables in a duct or clamp them. If not, dangling cable may swing or

inadvertently be pulled, resulting in damage to the LD75, drive unit, or cables,

or malfunction due to poor contact.

(9) If the cable connected to the LD75 and the power line must be adjacently laid

(less than 100mm), use a shielded cable. Ground the shield of the cable

securely to the control panel on the LD75 side.

[Applicable connectors]

The table below shows applicable connectors for external devices. When wiring, use applicable wires and an

appropriate tightening torque.

Mitsubishi Electric 40-pin connector Wire

Model Tightening torque Wire diameter Ty pe Material Temperature rating

A6CON1

0.20 to 0.29Nm

A6CON4 0.3 (AWG22)

0.3 (AWG22)

0.088 to 0.24

(28 to 24AWG)

Stranded Copper 75 or moreA6CON2

4

[Wiring example of shielded cable]

The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.

4.3 Wiring

85

[Processing example of shielded cables]

Coat the wire with
insulaing tape.

Remove the covering from all shielded cables and bind
the appeared shield with a conductive tape.

Solder the shield of any one of the
shielded cables to the FG wire.

Wrap the coated parts
with a heat contractile
tube.

Connect a cable with the FG wire and bind all shielded cables as shown below.

Assembling of connector (A6CON1)

86

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

LD75

AD75CK

Inside control box

20 to 30cm

(10)For compliance with the EMC and Low Voltage Directives, satisfy the following

requirements.

The cable connecting the drive unit and the LD75 must be the length below.

•LD75P: 2m or shorter

•LD75P: 10m or shorter

Use shielded twisted pair cables and an AD75CK type cable clamp (manufactured by Mitsubishi Electric) to

ground the cables to the control box.

Even when compliance with the EMC Directive is not required, attaching an AD75CK type cable clamp to the

cable connected to the LD75 may reduce the influence of external noise.

4

For details on AD75CK, refer to the following.
 AD75CK-type Cable Clamping Instruction Manual

4.3 Wiring

87

[Wiring examples using duct (incorrect example and corrected example)]

Relay Relay

Relay

Programmable
controller

Relay Relay

Relay

Programmable
controller

Changed

Wiring duct

Wiring duct

Control
panel

Control
panel

Drive
unit

Drive
unit

Drive
unit

Drive
unit

Noise source

(power system, etc.)

Noise source

(power system, etc.)

LD
75

LD
75

The drive units are placed
near the noise source.
The connection cable
between the LD75 and
drive units is too long.

The LD75 and drive units
are placed closely.
The connection cable
between the LD75 and
drive units is separately
laid from the power line
(in this example, the cable
is outside of the duct) and
is as short as possible.

(11)The influence of noise may be reduced by installing ferrite cores to the cable

connected to the LD75 as a noise reduction technique. For the noise reduction

88

techniques related to connection with the servo amplifier, also refer to the

instruction manual of the servo amplifier.

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

Wiring to the differential driver common terminal

4.3.2 Wiring of the differential driver common terminal

When the differential driver output system (LD75D) 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 LD75D

and the differential receiver common terminal of the drive unit.

When the common terminal of the drive unit is photocoupler-connected, the wiring to the differential driver common

terminal of the LD75D is not needed since a potential difference between commons does not exist.
(For the drive unit specifications, refer to the  manual of the used drive unit.)

(1) List of applicable wires and recommended products

To wire the differential driver common terminal, use the wire applied to the following table.

Wire diameter Typ e Material Temperature rating

0.3 to 1.25

(22 to 16AWG)

The following table shows the recommended applicable solderless terminals and crimp-contact tools.

No. Product name Model Manufacturer Remarks

Bar solderless terminal FA-VTC125T9

1

Tool dedicated for bar
solderless terminal

Bar solderless terminal

2

Tool dedicated for bar
solderless terminal

Bar solderless terminal

3

Tool dedicated for bar
solderless terminal

Stranded wire/single wire Copper 75 or more

Terminal for 0.3 to 1.65

FA-NH65A 

AI0.5-10WH

AI0.75-10GY Terminal for 0.75

CRIMPFOX UD6-4 

TE0.5-10

TE0.75-10 Terminal for 0.75

NH-79 

Mitsubishi Electric Engineering Co., Ltd.

Terminal for 0.5

Phoenix Contact

Terminal for 0.3 to 0.5

NICHIFU terminal industries Co. ltd.

4

4.3 Wiring

The following shows an example of wiring to the differential driver common terminal of the LD75D.

For the precautions for bar solderless terminals, refer to the following.
 MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)

89

(2) Connecting and disconnecting cables

Lever

Insertion slot

Lever

Push the driver onto the hollow
of the lever (orange) straight.

The lever goes down and the
insertion slot opens.

Insertion slot

Flathead
screwdriver

Flathead
screwdriver

(a) When a bar solderless terminal is used

• Connection
A flathead screwdriver is not required. Directly insert a cable with a bar solderless terminal into the slot so

that the crimp side faces to the external device connector (faces to the left when viewed from the insertion

direction).

• Disconnection
Open the slot using a flathead screwdriver and disconnect the cable from the slot. When two cables are

connected, disconnect the cable of the upper slot first.

(b) When a bar solderless terminal is not used

• Connection
Open the slot using a flathead screwdriver and insert a cable to the slot. When two cables are to be used,

connect a cable to the lower slot first.

• Disconnection
Open the slot using a flathead screwdriver and disconnect the cable from the slot. When two cables are

connected, disconnect the cable of the upper slot first.

(3) Operating the open/close lever

The following shows how to operate the open/close lever of the differential driver common terminal.

For operation, use a commercially available small flathead screwdriver.

90

When a bar solderless terminal is not used, strip the cable jacket 8 to 11mm. If the length is too short, a secure connection
may not be obtained.

CHAPTER 4 INSTALLATION, WIRING, AND MAINTENANCE OF PRODUCT

4.4 Checking Installation and Wiring

4.4.1 Items to check when installation and wiring are completed

Check the following points when completed with the LD75 installation and wiring.

• Is the module correctly wired?

With GX Works2, the following three points are confirmed using the positioning test function.

• Are the LD75 and servo amplifier correctly connected?

• Are the servo amplifier and servomotor correctly connected?

• Are the LD75 and external device (input/output signal) correctly connected?

With this function, "whether the direction that the LD75 recognizes as forward run matches the address increment

direction in the actual positioning work", and "whether the LD75 recognizes the external input/output signals such as

the near-point dog signal and stop signal" can be checked.
For details on the positioning test, refer to  Page 756, Appendix 6.5.

4

If the LD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are not recognized,
unexpected accidents such as "not decelerating at the near-point dog during machine OPR and colliding with the stopper",
or "not being able to stop with the stop signal" may occur.
The connection confirmation by the positioning test must be carried out not only when structuring the positioning system, but
also when the system has been changed with module replacement or rewiring, etc.

4.4 Checking Installation and Wiring

91

4.5 Maintenance

4.5.1 Maintenance precautions

The precautions for servicing the LD75 are given below. Refer to this section as well as  Page 82, Section 4.1.3

when carrying out the work.

WARNING

● Shut off the external power supply for the system in all phases before cleaning the module or
retightening the connector screws. Failure to do so may result in electric shock.

CAUTION

● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

● Shut off the external power supply for the system in all phases before mounting or removing a

module. Failure to do so may cause the module to fail or malfunction.

4.5.2 Disposal precautions

CAUTION

● When disposing of the product, handle it as industrial waste.

92

CHAPTER 5 DATA USED FOR POSITIONING CONTROL

Pr.70

( Pr.1 )

(

()

(

,

()Pr.43 Pr.57

()

()

Pr.150

)

Pr.1 Pr.42Pr.57

Da.1 Da.10

Da.11 Da.19

Da.11 Da.14

Da.15 Da.19

,

Da.27

Da.29

)

,

Setting data

Parameters

to

OPR basic parameters

Set the values required for carrying out OPR
control.

Positioning data

Positioning data

Block start data

Condition data

Memo data

to

to

to

to

to

to

to

(Data set beforehand according to the machine and application, and stored in the flash ROM.)

Positioning
parameters

Basic parameters 1

Basic parameters 2

Detailed parameters 1

Detailed parameters 2

OPR
parameters

OPR detailed parameters

Set according to the machine and applicable motor when
system is started up.

Note)
If the setting of the basic parameters 1 is incorrect, the rotation direction may be reversed,
or no operation may take place.

Set according to the system configuration when the system
is started up.

Note)
Detailed parameters 2 are data items for using the LD75 functions to the fullest.
Set as required.

Set the data for "major positioning control".

Block start data

Set the block start data for "high-level positioning control".

Set the condition data for "high-level positioning control".

Set the condition judgment values for the condition data used in
"high-level positioning control".

CHAPTER 5 DATA USED FOR POSITIONING

CONTROL

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 LD75 include the "setting data", "monitor data" and

"control data" shown below.

(1) Setting data

5

5.1 Types of Data

93

(a) Data setting method

The following methods are available for data setting:

• Create the program for data setting using GX Works2 and execute it.

• Set using GX Works2.

In this manual, the method using GX Works2 will be explained.

● The "setting data" is created for each axis.

● The "setting data" parameters have determined default values, and are set to the default values before shipment from the

factory. (Parameters related to axes that are not used are left at the default value.)

● The "setting data" can be initialized with GX Works2 or the program.

● It is recommended to set the "setting data" with GX Works2. The program for data setting is complicated and many

devices must be used. This will increase the scan time.

(b) Enabling setting data

The basic parameters 1, detailed parameters 1, and OPR parameters become valid when the PLC READY

signal [Y0] turns from OFF to ON. Note, however, that the only valid value of the "[Pr.5] 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 CPU module is reset.

Once the PLC READY signal [Y0] has been turned ON, the value will not be reset even if another value is set

to the parameter and the PLC READY signal [Y0] is turned from OFF to ON.

(c) Changing data

Even when the PLC READY signal [Y0] is ON, the values or contents of the following can be changed: basic

parameters 2, detailed parameters 2, positioning data, and block start data.

(d) Valid data

The only valid data assigned to basic parameters 2, detailed parameters 2, positioning data, or block start data

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.

• For acceleration time 0 to 3 and deceleration time 0 to 3, modifications become valid from the data 4 steps

ahead of that in execution by pre-reading and pre-analyzing positioning data.

• For external command function selection, the value at the time of detection is valid.

94

(2) Monitor data

(to ), to

(to )

:to

Control data

(Data for user to control positioning system.) Cd.1 Cd.43

System control data

Performs backup of "setting data" of the LD75 or initialization of the backup data.

Cd.1 Cd.2 Cd.41 Cd.43

Axis control data

Makes settings related to the operation, and controls the speed change during
operation, and stops/restarts the operation.

Cd.3 Cd.40

CHAPTER 5 DATA USED FOR POSITIONING CONTROL

Monitor data

System monitor data

Md.1 Md.19

(to

Axis monitor data

Md.20 Md.48

(to)

(Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)

Monitors the LD75 specifications and the operation history.

to, Md.50 Md.52

Monitors the data related to the operating axis, such as the current position
and speed.

)

(a) Method of data monitoring

The following methods are available for data monitoring:

• Create the program for monitoring using GX Works2 and execute it.

• Set using GX Works2.

In this manual, the method using GX Works2 will be explained.

(3) Control data

Md.1 Md.48 , toMd.50 Md.52

:to

5

(a) Control using control data

Control using the control data is carried out with the program.

"[Cd.41] Deceleration start flag valid" is valid for only the value at the time when the PLC READY signal [Y0]

turns from OFF to ON.

5.1 Types of Data

95

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 LD75.

For details on each control, refer to CONTROL DETAILS AND SETTING (PART 2). For details on each setting item,
refer to List of Parameters ( Page 118, Section 5.2)

(1) OPR control

: Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not

required

Basic parameters 1

Basic parameters 2

Detailed parameters 1

*1

Positioning parameter OPR control

[Pr.1] Unit setting 

[Pr.2] No. of pulses per rotation (Ap) (Unit: pulse) 

[Pr.3] Movement amount per rotation (Al) 

[Pr.4] Unit magnification (Am) 

[Pr.5] Pulse output mode 

[Pr.6] Rotation direction setting 

[Pr.7] Bias speed at start 

[Pr.8] Speed limit value 

[Pr.9] Acceleration time 0 

[Pr.10] Deceleration time 0 

[Pr.11] Backlash compensation amount 

[Pr.12] Software stroke limit upper limit value 

[Pr.13] Software stroke limit lower limit value 

[Pr.14] Software stroke limit selection 

[Pr.15] Software stroke limit valid/invalid setting 

[Pr.16] Command in-position width 

[Pr.17] Torque limit setting value 

[Pr.18] M code ON signal output timing 

[Pr.19] Speed switching mode 

[Pr.20] Interpolation speed designation method 

[Pr.21] Current feed value during speed control 

[Pr.22] Input signal logic selection 

[Pr.23] Output signal logic selection 

[Pr.24] Manual pulse generator input selection 

[Pr.150] Speed-position function selection 

[Pr.70] Positioning option valid/invalid setting 

96

Detailed parameters 2

*1 This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range,

CHAPTER 5 DATA USED FOR POSITIONING CONTROL

Positioning parameter OPR control

[Pr.25] Acceleration time 1 

[Pr.26] Acceleration time 2 

[Pr.27] Acceleration time 3 

[Pr.28] Deceleration time 1 

[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] Acceleration/deceleration process selection 

[Pr.35] S-curve ratio 

[Pr.36] Sudden stop deceleration time 

[Pr.37] Stop group 1 sudden stop selection 

[Pr.38] Stop group 2 sudden stop selection 

[Pr.39] Stop group 3 sudden stop selection 

[Pr.40] Positioning complete signal output time 

[Pr.41] Allowable circular interpolation error width 

[Pr.42] External command function selection 

there is no problem.

5

5.1 Types of Data

97

(2) Major positioning control

(a) Position control

: Setting always required, : Set according to requirements, : Setting restrictions exist, : Setting not

required

Basic parameters 1

Basic parameters 2

Detailed parameters 1

*1

Positioning parameter

[Pr.1] Unit setting 

No. of pulses per rotation

[Pr.2]

(Ap) (Unit: pulse)

Movement amount per

[Pr.3]

rotation (Al)

[Pr.4] Unit magnification (Am) 

[Pr.5] Pulse output mode 

[Pr.6] Rotation direction setting 

[Pr.7] Bias speed at start 

[Pr.8] Speed limit value 

[Pr.9] Acceleration time 0 

[Pr.10] Deceleration time 0 

[Pr.11]

[Pr.12]

[Pr.13]

[Pr.14]

[Pr.15]

[Pr.16] Command in-position width 

[Pr.17] Torque limit setting value 

[Pr.18]

[Pr.19] Speed switching mode 

[Pr.20]

[Pr.21]

[Pr.22] Input signal logic selection 

[Pr.23] Output signal logic selection 

[Pr.24]

[Pr.150]

[Pr.70]

Backlash compensation
amount

Software stroke limit upper
limit value

Software stroke limit lower
limit value

Software stroke limit
selection

Software stroke limit
valid/invalid setting

M code ON signal output
timing

Interpolation speed
designation method

Current feed value during
speed control

Manual pulse generator
input selection

Speed-position function
selection

Positioning option
valid/invalid setting

1-axis linear control

2-axis linear interpolation

control

3-axis linear interpolation

control

4-axis linear interpolation

control



























Position control

1-axis fixed-feed control
2-axis fixed-feed control
3-axis fixed-feed control
4-axis fixed-feed control

2-axis circular

interpolation control

3-axis helical inter polation

control

98