Mitsubishi Electric MELSEC-Q QD75M User Manual

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MELSEC-Q QD75M Positioning Module User's Manual (Details)

-QD75M1

-QD75M2

-QD75M4

SAFETY INSTRUCTIONS

(Always read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle t he product correctly . The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER

CAUTION

Note that the !CAUTION level may lead to a serious consequence according to the circumstances. Always follow the instructions of both levels because they are important to personal safety .

Please save this manual to make it accessible when required and always forward it to the end user.

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

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

[Design Instructions]

DANGER

Provide a safety circuit out side the progr ammable logic contr oller so t hat t he entire sy st em will

operate safely even when an external power supply error or PLC fault occurs.

Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. (1) Configure an emergency stop circuit and interlock circuit such as a positioning upper

limit/lower limit to prevent mechanical damage outside the PLC.

(2) The machine OPR operation is controlled by the OPR direction and OPR speed data.

Deceleration starts when the near-point dog turns ON. Thus, if the OPR direct ion is incorrectly set, deceleration w ill not star t and t he machine will cont inue to tr av el. Configure an interlock circuit to prevent mechanical damage outside the PLC.

(3) When the module detects an error, normally deceleration stop or sudden stop w ill take

place according to the parameter stop group settings. Set the parameters to the positioning system specifications. Make sure that the OPR parameter and positioning data are within the parameter setting values.

A - 1

[Design Instructions]

CAUTION

Do not bundle or adjacently lay the control wire or communication cable with the main circuit or

power wire.

Separate these by 100mm (3.94in.) or more.

Failure to observe this could lead to malfunctioning caused by noise.

[Mounting Instructions]

CAUTION

Use the PLC within the general specifications environment given in this manual.

Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

While pressing the installation lever located at the bottom of module, insert the module fixing

tab into the fixing hole in the base unit until it stops. Then, securely mount the module wit h the fixing hole as a supporting point. Incorrect loading of the module can cause a malfunction, failure or drop.

When using the module in the environment of much vibration, tighten the module with a screw. Tighten the screws within the specified torque range. Undertightening can cause a drop, short circuit or malfunction. Overtightening can cause a drop, short circuit or malfunction due to damage to the screws or module.

Completely turn off the externally supplied power used in the syst em before installing or

removing the module. Not doing so may damage the product.

Do not directly touch the module's conductive parts and electronic components of the module.

Touching the conductive parts and electronic components of the module could cause an operation failure or give damage to the module.

Make sure that the connectors for the servo amplifier and peripheral devices have been

securely installed until a click is heard. Not doing so could lead to a poor connection, resulting in erroneous input and output.

When the servo amplifier is not installed, install the connector cover without fail.

Failure to observe this could lead to a malfunction.

[Wiring Instructions]

DANGER

Always confirm the terminal layout before connecting the wires to the module.

A - 2

[Startup/Maintenance Instructions]

CAUTION

Completely turn off the externally supplied power used in the syst em before clearing or

tightening the screws.

Not doing so may cause electric shocks.

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

Completely turn off the externally supplied power used in the syst em before installing or

removing the module.

Not doing so may cause an operation failure or damage to the module.

Before starting test operation, set the parameter speed limit value to the slow est v alue, and

make sure that operation can be stopped immediately if a hazardous state occurs.

Always make sure to touch the grounded metal to discharge the electricity charged in the body ,

etc., before touching the module. Failure to do so may cause a failure or malfunctions of the module.

[Precautions for use]

CAUTION

Note that when the reference axis speed is designated for interpolation operation, the speed of

the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value).

[Disposal Instructions]

CAUTION

When disposing of the product, handle it as industrial waste.

A - 3

REVISIONS

Print Date

Manual Number Revision

Dec., 2002 IB (NA) 0300062-A First edition

Apr., 2004 IB (NA) 0300062-B

Partial corrections and additions SAFETY INSTRUCTIONS, CONTENTS, Generic Terms and Abbreviations, Section 1.1.1, Section 1.1.4 to Section 1.1.6, Section 1.2, Section 2.1, Section 2.2 to Section 2.4, Section 3.1 to Section 3.5, Section 4.1.1, Section 4.1.2, Section 4.3.1, Section

4.4.1, Section 5.1.1 to Section 5.1.3, Section 5.1.5 to Section 5.1.9, Section 5.2.1 to Section 5.2.10, Section 5.3 to Section 5.6, Section

6.1 to Section 6.3, Section 6.5.1 to Section 6.5.6, Section 7.1 to Section 7.2, Section 8.1 to Section 8.2, Section 9.1.1 to Section

9.1.3, Section 9.1.5, Section 9.1.6, Section 9.2, Section 10.1 to Section 10.6, Section 11.1.1 to Section 11.2.4, Section 11.3 to Section 11.4, Section 12.1 to Section 12.7, Section 13.1 to Section

13.4, Section 14.1 to Section 14.6, Section 15.1 to Section 15.3, Appendix 1 to Appendix 8, INDEX

Jun., 2005 IB (NA) 0300062-C

Partial corrections and additions SAFETY INSTRUCTIONS, CONTENTS, About manuals, Section

1.1.1, Section 1.1.4, Section 1.2.3, Section 2.2, Section 2.3, Section

3.2.1, Section 3.2.4, Section 3.4.3, Section 3.5, Section 4.1.2, Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.1, Section

5.1.5, Section 5.1.8, Section 5.1.9, Section 5.2.3, Section 5.2.4, Section 5.2.5, Section 5.2.6, Section 5.2.7, Section 5.2.9, Section

5.5, Section 5.6.2, Section 5.7.1, Section 6.1, Section 6.2, Section

6.5.6, Section 7.2, Section 8.1.1, Section 8.2.3, Section 8.2.4, Section 9.1.4, Section 9.2.3, Section 9.2.4, Section 9.2.16, Section

11.2.3, Section 11.4.1, Section 11.4.3, Section 12.2.1, Section

12.2.2, Section 12.3.2, Section 12.4.4, Section 12.5.3, Section

12.5.4, Section 12.3.2, Section 12.7.8, Section 12.8.2, Section 13.4, Section 14.3, Section 14.5, Section 15.2.1, Section 15.3, Appendix 1 , Appendix 5.2, Appendix 6, Appendix 7, INDEX

The manual number is given on the bottom left of the back cover.

Japanese Manual Version IB-0300030

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2002 MITSUBISHI ELECT RIC CO RPO RAT IO N

A - 4

INTRODUCTION

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

SAFETY INSTRUCTIONS............................................................................................................................A- 1

REVISIONS...................................................................................................................................................A- 4

INTRODUCTION...........................................................................................................................................A- 5

CONTENTS...................................................................................................................................................A- 5

About Manuals ..............................................................................................................................................A- 13

Using This Manual.........................................................................................................................................A- 13

Conformation to the EMC Directive..............................................................................................................A- 13

Generic Terms and Abbreviations................................................................................................................A- 14

Component List .............................................................................................................................................A- 14

Section 1 Product Specifications and Handling

1. Product Outline 1- 1 to 1- 28

1.1 Positioning control....................................................................................................................................1- 2

1.1.1 Features of QD75..............................................................................................................................1- 2

1.1.2 Purpose and applications of positioning control............................................................................... 1- 5

1.1.3 Mechanism of positioning control .....................................................................................................1- 7

1.1.4 Overview of positioning control functions.........................................................................................1- 8

1.1.5 Outline design of positioning system...............................................................................................1- 18

1.1.6 Communicating signals between QD75 and each module.............................................................1- 19

1.2 Flow of system operation........................................................................................................................1- 22

1.2.1 Flow of all processes........................................................................................................................1- 22

1.2.2 Outline of starting .............................................................................................................................1- 24

1.2.3 Outline of stopping ...........................................................................................................................1- 26

1.2.4 Outline for restarting.........................................................................................................................1- 27

2. System Configuration 2- 1 to 2- 8

2.1 General image of system.........................................................................................................................2- 2

2.2 Component list .........................................................................................................................................2- 4

2.3 Applicable system .................................................................................................................................... 2- 6

2.4 How to check the function version and SERIAL No. ..............................................................................2- 8

3. Specifications and Functions 3- 1 to 3- 22

3.1 Performance specifications......................................................................................................................3- 2

3.2 List of functions .......................................................................................................................................3- 4

3.2.1 QD75 control functions......................................................................................................................3- 4

3.2.2 QD75 main functions......................................................................................................................... 3- 6

A - 5

3.2.3 QD75 sub functions and common functions ....................................................................................3- 8

3.2.4 Combination of QD75 main functions and sub functions................................................................3- 12

3.3 Specifications of input/output signals with PLC CPU ............................................................................3- 14

3.3.1 List of input/output signals with PLC CPU.......................................................................................3- 14

3.3.2 Details of input signals (QD75

3.3.3 Details o f ou tp ut sig nal s (P L C CPU

3.4 Specifications of interfaces with external devices..................................................................................3- 18

3.4.1 Electrical specifications of input signals ..........................................................................................3- 18

3.4.2 Signal layout for external device connection connector..................................................................3- 19

3.4.3 List of input signal details.................................................................................................................3- 20

3.4.4 Interface internal circuit....................................................................................................................3- 21

3.5 External circuit design.............................................................................................................................3- 22

4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 16

4.1 Outline of installation, wiring and maintenance....................................................................................... 4- 2

4.1.1 Installation, wiring and maintenance procedures............................................................................. 4- 2

4.1.2 Names of each part...........................................................................................................................4- 3

4.1.3 Handling precautions ........................................................................................................................4- 5

4.2 Installation ................................................................................................................................................4- 7

4.2.1 Precautions for installation................................................................................................................4- 7

4.3 Wiring........................................................................................................................................................4- 9

4.3.1 Precautions for wiring........................................................................................................................4- 9

4.4 Confirming the installation and wiring.....................................................................................................4- 14

4.4.1 Items to confirm when installation and wiring are completed.........................................................4- 14

4.5 Maintenance............................................................................................................................................4- 15

4.5.1 Precautions for maintenance...........................................................................................................4- 15

4.5.2 Disposal instructions ........................................................................................................................4- 15

PLC CPU) ..................................................................................3- 15

QD75)................................................................................3- 17

5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-162

5.1 Types of data............................................................................................................................................5- 2

5.1.1 Parameters and data required for control.........................................................................................5- 2

5.1.2 Setting items for positioning parameters..........................................................................................5- 5

5.1.3 Setting items for OPR parameters....................................................................................................5- 7

5.1.4 Setting items for servo parameters...................................................................................................5- 8

5.1.5 Setting items for positioning data.....................................................................................................5- 10

5.1.6 Setting items for block start data .....................................................................................................5- 12

5.1.7 Setting items for condition data .......................................................................................................5- 13

5.1.8 Types and roles of monitor data......................................................................................................5- 14

5.1.9 Types and roles of control data .......................................................................................................5- 18

5.2 List of parameters ...................................................................................................................................5- 22

5.2.1 Basic parameters 1 ..........................................................................................................................5- 22

5.2.2 Basic parameters 2 ..........................................................................................................................5- 26

5.2.3 Detailed parameters 1......................................................................................................................5- 28

5.2.4 Detailed parameters 2......................................................................................................................5- 36

5.2.5 OPR basic parameters.....................................................................................................................5- 48

5.2.6 OPR detailed parameters ................................................................................................................5- 54

A - 6

5.2.7 Servo basic parameters...................................................................................................................5- 58

5.2.8 Servo adjustment parameters..........................................................................................................5- 64

5.2.9 Servo expansion parameters...........................................................................................................5- 74

5.2.10 Servo expansion parameters 2...................................................................................................... 5- 78

5.3 List of positioning data ............................................................................................................................5- 82

5.4 List of block start data ............................................................................................................................. 5- 98

5.5 List of condition data ..............................................................................................................................5-104

5.6 List of monitor data.................................................................................................................................5-110

5.6.1 System monitor data .......................................................................................................................5-110

5.6.2 Axis monitor data.............................................................................................................................5-120

5.7 List of control data..................................................................................................................................5-138

5.7.1 System control data ........................................................................................................................5-138

5.7.2 Axis control data..............................................................................................................................5-140

6. Sequence Program Used for Positioning Control 6- 1 to 6- 72

6.1 Precautions for creating program...........................................................................................................6- 2

6.2 List of devices used................................................................................................................................. 6- 5

6.3 Creating a program .................................................................................................................................6- 15

6.3.1 General configuration of program....................................................................................................6- 15

6.3.2 Positioning control operation program.............................................................................................6- 16

6.4 Positioning program examples...............................................................................................................6- 20

6.5 Program details.......................................................................................................................................6- 53

6.5.1 Initialization program ........................................................................................................................6- 53

6.5.2 Start details setting program............................................................................................................6- 54

6.5.3 Start program....................................................................................................................................6- 56

6.5.4 Continuous operation interrupt program..........................................................................................6- 65

6.5.5 Restart program ...............................................................................................................................6- 67

6.5.6 Stop program....................................................................................................................................6- 70

7. Memory Configuration and Data Process 7- 1 to 7- 20

7.1 Configuration and roles of QD75 memory ..............................................................................................7- 2

7.1.1 Configuration and roles of QD75 memory........................................................................................7- 2

7.1.2 Buffer memory area configuration .................................................................................................... 7- 5

7.2 Data transmission process ...................................................................................................................... 7- 8

A - 7

Section 2 Control Details and Setting

8. OPR Control 8- 1 to 8- 14

8.1 Outline of OPR control.............................................................................................................................8- 2

8.1.1 Two types of OPR control.................................................................................................................8- 2

8.2 Machine OPR........................................................................................................................................... 8- 4

8.2.1 Outline of the machine OPR operation.............................................................................................8- 4

8.2.2 Machine OPR method.......................................................................................................................8- 5

8.2.3 OPR method (1): Near-point dog method ........................................................................................8- 6

8.2.4 OPR method (2): Count method 1) ..................................................................................................8- 8

8.2.5 OPR method (3): Count method 2) .................................................................................................8- 10

8.2.6 OPR method (4): Data set method..................................................................................................8- 12

8.3 Fast OPR.................................................................................................................................................8- 13

8.3.1 Outline of the fast OPR operation....................................................................................................8- 13

9. Major Positioning Control 9- 1 to 9-116

9.1 Outline of major positioning controls .......................................................................................................9- 2

9.1.1 Data required for major positioning control ......................................................................................9- 4

9.1.2 Operation patterns of major positioning controls .............................................................................9- 5

9.1.3 Designating the positioning address................................................................................................ 9- 15

9.1.4 Confirming the current value............................................................................................................9- 16

9.1.5 Control unit "degree" handling.........................................................................................................9- 18

9.1.6 Interpolation control..........................................................................................................................9- 21

9.2 Setting the positioning data ...................................................................................................................9- 25

9.2.1 Relation between each control and positioning data ......................................................................9- 25

9.2.2 1-axis linear control ..........................................................................................................................9- 27

9.2.3 2-axis linear interpolation control.....................................................................................................9- 29

9.2.4 3-axis linear interpolation control.....................................................................................................9- 33

9.2.5 4-axis linear interpolation control.....................................................................................................9 -39

9.2.6 1-axis fixed-feed control................................................................................................................... 9- 44

9.2.7 2-axis fixed-feed control (interpolation) ...........................................................................................9- 46

9.2.8 3-axis fixed-feed control (interpolation) ...........................................................................................9- 48

9.2.9 4-axis fixed-feed control (interpolation) ..........................................................................................9- 52

9.2.10 2-axis circular interpolation control with sub point designation ....................................................9- 54

9.2.11 2-axis circular interpolation control with center point designation ................................................9- 60

9.2.12 1-axis speed control.......................................................................................................................9- 68

9.2.13 2-axis speed control.......................................................................................................................9- 71

9.2.14 3-axis speed control.......................................................................................................................9- 74

9.2.15 4-axis speed control.......................................................................................................................9- 78

9.2.16 Speed-position switching control (INC mode)...............................................................................9- 83

9.2.17 Speed-position switching control (ABS mode)..............................................................................9- 91

9.2.18 Position-speed switching control ...................................................................................................9- 99

9.2.19 Current value changing.................................................................................................................9-106

9.2.20 NOP instruction .............................................................................................................................9-111

A - 8

9.2.21 JUMP instruction...........................................................................................................................9-112

9.2.22 LOOP.............................................................................................................................................9-114

9.2.23 LEND .............................................................................................................................................9-115

10. High-Lev el Po si ti oni ng Co nt rol 10- 1 to 1 0 - 2 6

10.1 Outline of high-level positioning control ..............................................................................................10- 2

10.1.1 Data required for high-level positioning control............................................................................10- 3

10.1.2 "Block start data" and "condition data" configuration...................................................................10- 4

10.2 High-level positioning control execution procedure ............................................................................10- 6

10.3 Setting the block start data ..................................................................................................................10- 7

10.3.1 Relation between various controls and block start data..............................................................10- 7

10.3.2 Block start (normal start) ..............................................................................................................10- 8

10.3.3 Condition start ..............................................................................................................................10- 10

10.3.4 Wait start.......................................................................................................................................10- 11

10.3.5 Simultaneous start ......................................................................................................................10- 12

10.3.6 Repeated start (FOR loop) .........................................................................................................10- 13

10.3.7 Repeated start (FOR condition) ..................................................................................................10- 14

10.3.8 Restrictions when using the NEXT start......................................................................................10- 15

10.4 Setting the condition data ...................................................................................................................10- 16

10.4.1 Relation between various controls and the condition data.........................................................10- 16

10.4.2 Condition data setting examples .................................................................................................10- 19

10.5 Multiple axes simultaneous start control............................................................................................10- 20

10.6 Start program for high-level positioning control .................................................................................10- 23

10.6.1 Starting high-level positioning control..........................................................................................10- 23

10.6.2 Example of a start program for high-level positioning control ....................................................10- 24

11. Manual Control 11- 1 to 11- 36

11.1 Outline of manual control ....................................................................................................................11- 2

11.1.1 Three manual control methods.....................................................................................................11- 2

11.2 JOG operation......................................................................................................................................11- 4

11.2.1 Outline of JOG operation..............................................................................................................11- 4

11.2.2 JOG operation execution procedure ............................................................................................11- 7

11.2.3 Setting the required parameters for JOG operation.....................................................................11- 8

11.2.4 Creating start programs for JOG operation.................................................................................11- 10

11.2.5 JOG operation example...............................................................................................................11- 13

11.3 Inching operation.................................................................................................................................11- 17

11.3.1 Outline of inching operation.........................................................................................................11- 17

11.3.2 Inching operation execution procedure.......................................................................................11- 20

11.3.3 Setting the required parameters for inching operation ...............................................................11- 21

11.3.4 Creating a program to enable/disable the inching operation......................................................11- 22

11.3.5 Inching operation example...........................................................................................................11- 25

11.4 Manual pulse generator operation......................................................................................................11- 27

11.4.1 Outline of manual pulse generator operation..............................................................................11- 27

11.4.2 Manual pulse generator operation execution procedure............................................................11- 31

11.4.3 Setting the required parameters for manual pulse generator operation ....................................11- 32

11.4.4 Creating a program to enable/disable the manual pulse generator operation...........................11- 33

A - 9

12. Control Sub Functions 12- 1 to 12- 98

12.1 Outline of sub functions .......................................................................................................................12- 2

12.1.1 Outline of sub functions ................................................................................................................12- 2

12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4

12.2.1 OPR retry function.........................................................................................................................12- 4

12.2.2 OP shift function ...........................................................................................................................12- 8

12.3 Functions for compensating the control.............................................................................................12- 11

12.3.1 Backlash compensation function.................................................................................................12- 11

12.3.2 Electronic gear function ...............................................................................................................12- 13

12.3.3 Near pass function .......................................................................................................................12- 20

12.4 Functions to limit the control...............................................................................................................12- 23

12.4.1 Speed limit function......................................................................................................................12- 23

12.4.2 Torque limit function.....................................................................................................................12- 25

12.4.3 Software stroke limit function.......................................................................................................12- 29

12.4.4 Hardware stroke limit function .....................................................................................................12- 35

12.5 Functions to change the control details..............................................................................................12- 37

12.5.1 Speed change function ................................................................................................................12- 37

12.5.2 Override function..........................................................................................................................12- 44

12.5.3 Acceleration/deceleration time change function .........................................................................12- 47

12.5.4 Torque change function ...............................................................................................................12- 51

12.6 Absolute position system....................................................................................................................12- 54

12.7 Other functions....................................................................................................................................12- 56

12.7.1 Step function.................................................................................................................................12- 56

12.7.2 Skip function.................................................................................................................................12- 61

12.7.3 M code output function.................................................................................................................12- 64

12.7.4 Teaching function.........................................................................................................................12- 68

12.7.5 Target position change function ..................................................................................................12- 74

12.7.6 Command in-position function.....................................................................................................12- 78

12.7.7 Acceleration/deceleration processing function............................................................................12- 81

12.7.8 Pre-reading start function.............................................................................................................12- 84

12.7.9 Deceleration start flag function...................................................................................................12- 89

12.7.10 Stop command processing for deceleration stop function.....................................................12- 93

12.8 Servo ON/OFF ....................................................................................................................................12- 96

12.8.1 Servo ON/OFF .............................................................................................................................12- 96

12.8.2 Follow up function ........................................................................................................................12- 97

12.9 Precautions for MR-J2M-B connection ..............................................................................................12- 98

13. Common Functions 13- 1 to 13- 8

13.1 Outline of common functions...............................................................................................................13- 2

13.2 Parameter initialization function........................................................................................................... 13- 3

13.3 Execution data backup function ..........................................................................................................13- 5

13.4 External I/O signal logic switching function.........................................................................................13- 7

13.5 External I/O signal monitor function ....................................................................................................13- 8

A - 10

14. Dedicated Instructions 14- 1 to 14- 18

14.1 List of dedicated instructions ...............................................................................................................14- 2

14.2 Interlock during dedicated instruction is executed..............................................................................14- 2

14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4...............................................................................................14- 3

14.4 TEACH1, TEACH2, TEACH 3, TEACH 4...........................................................................................14- 7

14.5 PFWRT................................................................................................................................................14- 11

14.6 PINIT....................................................................................................................................................14- 15

15. Troubleshooting 15- 1 to 15-106

15.1 Error and warning details.....................................................................................................................15- 2

15.2 List of errors .........................................................................................................................................15- 6

15.2.1 QD75 detection error.....................................................................................................................15- 6

15.2.2 MR-H-BN detection error.............................................................................................................15- 34

15.2.3 MR-J2-B detection error...............................................................................................................15- 46

15.2.4 MR-J2S-B detection error............................................................................................................15- 56

15.2.5 MR-J2-Jr detection error..............................................................................................................15- 66

15.2.6 MR-J2M-B detection error ...........................................................................................................15- 76

15.3 List of warnings ...................................................................................................................................15- 90

15.3.1 QD75 detection warning ..............................................................................................................15- 90

15.3.2 MR-H-BN detection warning........................................................................................................15- 96

15.3.3 MR-J2-B detection warning .........................................................................................................15- 98

15.3.4 MR-J2S-B detection warning......................................................................................................15-100

15.3.5 MR-J2-Jr detection warning........................................................................................................15-102

15.3.6 MR-J2M-B detection warning .....................................................................................................15-104

15.4 LED display functions ........................................................................................................................15-106

Appendices Appendix- 1 to Appendix-76

Appendix 1 Functions........................................................................................................................Appendix- 3

Appendix 1.1 Multiple CPU correspond function..........................................................................Appendix- 3

Appendix 1.2 The combination of software package for QD75 and QCPU................................Appendix- 3

Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses.................................Appendix- 4

Appendix 3 Connection with servo amplifiers .................................................................................Appendix- 28

Appendix 3.1 Connection of SSCNET cables.............................................................................Appendix- 28

Appendix 3.2 Wiring of SSCNET cables .....................................................................................Appendix- 30

Appendix 4 Connection with external device connector.................................................................Appendix- 34

Appendix 4.1 Connector...............................................................................................................Appendix- 34

Appendix 4.2 Wiring of manual pulse generator cable ...............................................................Appendix- 36

Appendix 5 Comparisons with conventional positioning modules..................................................Appendix- 37

Appendix 5.1 Comparisons with QD75P model..........................................................................Appendix- 37

Appendix 5.2 Comparisons with A1SD75M1/A1SD75M2/ A1SD75M3 models........................Appendix- 38

A - 11

Appendix 6 Positioning control troubleshooting ..............................................................................Appendix- 57

Appendix 7 List of buffer memory addresses..................................................................................Appendix- 63

Appendix 8 External dimension drawing.........................................................................................Appendix- 75

INDEX Index- 1 to Index - 10

INDEX.....................................................................................................................................................Index - 1

A - 12

About Manuals

The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

Related Manuals

Manual Name

Type QD75M Positioning M odule U ser's Manual (Hardware)

Describes the performance, specifications, Input interface, component names, and startup procedure of the respective positioning modules: Type QD75M (The manual is supplied with the module.)

GX Configurator-QP Operating Manual

Describes how to use GX Configurator-QP for the following and other purposes: creating data (parameters, positioning data, etc.), sending the data to the module, monitoring the positioning operations, and testing. (The manual is supplied with the software.)

Using This Manual

The symbols used in this manual are shown below.

Pr. Da.

....... Symbol indicating positioning parameter and OPR parameter item.

....... Symbol indicating positioning data, block start data and condition

data item.

Md. Cd.

....... Symbol indicating monitor data item.

....... Symbol indicating control data item.

(A serial No. is inserted in the

mark.)

Conformation to the EMC Directive

The CE logo is printed on the rating plate on the main body of the PLC that conforms to the EMC directive and low voltage instruction. To make this product conform to the EMC directive and low voltage instruction, please refer to section 4.3.1 "Precautions for wiring" of the chapter 4 "Installation, Wiring and Maintenance of the Product" and the EMC Installation Guidelines (IB(NA)67339).

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" or "h" are represented in hexadecimal.

(Example) 10.........Decimal

10H......Hexadecimal

Manual Number

(Model Code)

IB-0300031

(1XB750)

SH-080172

(13JU19)

A - 13

Generic Terms and Abbreviations

Unless specially noted, the following generic terms and abbreviations are used in this manual.

Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75 can be mounted. QD75

MR-H-BN Servo amplifier: Abbreviation for MR-H-BN/MR-HB. MR-J2-Jr Servo amplifier: Abbreviation for MR-J2-03B5. MR-J2-B Servo amplifier: Abbreviation for MR-J2-B/MR-J2S-B/MR-J2-Jr/MR -J2M-B. Peripheral device

GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later). GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later). Servo amplifier (drive unit) Abbreviation for SSCNET compatible servo amplifier (drive unit). Manual pulse generator Abbreviation for manual pulse generator (MR-HDP01) (prepared by user).

DOS/V personal computer IBM PC/AT® and compatible DOS/V compliant personal computer. Personal computer Generic term for DOS/V personal computer.

Workpiece Generic term for moving body such as workpiece and tool, and for various control targets. Axis 1, axis 2, axis 3, axis 4 1-axis, 2-axis, 3-axis, 4-axis OPR Generic term for "Home position return". OP Generic term for "Home position".

SSCNET

(Note)

Generic term for positioning module QD75M1, QD75M 2 and Q D75M4. The module type is described to indicate a specific module.

Generic term for DOS/V personal computer that can run the following "GX Dev eloper" and "GX Configurator-QP".

Indicates each axis connected to QD75.

Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2, axis 2 and axis 3, and axis 3 and axis 1.)

High speed synchronous communication network between QD75 and serv o amplifier.

(Note): SSCNET: Servo System Controller NETwork

Component List

The table below shows the component included in respective positioning modules:

Module name

QD75M1 QD75M2 QD75M4 QD75M1 positioning module 1 QD75M2 positioning module 1 QD75M4 positioning module 1

Quantity

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Section 1

Section 1 Product Specifications and Handling

Section 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD75 specifications

and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a PLC program required for positioning control (5) To understand the memory configuration and data transmission process

When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.

Read "Section 2" for details on each control.

Chapter 1 Product outline .............................................................................................. 1- 1 to 1- 28

Chapter 2 System configuration .................................................................................... 2- 1 to 2- 8

Chapter 3 Specifications and Functions........................................................................ 3- 1 to 3- 22

Chapter 4 Installation, Wiring and Maintenance of the Product ................................... 4- 1 to 4- 16

Chapter 5 Data Used for Positioning Control................................................................ 5- 1 to 5-162

Chapter 6 PLC Program Used for Positioning Control ................................................. 6- 1 to 6- 72

Chapter 7 Memory Configuration and Data Process.................................................... 7- 1 to 7- 20

MEMO

Chapter 1 Product Outline

The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose.

By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly.

1.1 Positioning control ........................................................................................................1- 2

1.1.1 Features of QD75 ...........................................................................................1- 2

1.1.2 Purpose and applications of positioning control ............................................1- 5

1.1.3 Mechanism of positioning control...................................................................1- 7

1.1.4 Overview of positioning control functions.......................................................1- 8

1.1.5 Outline design of positioning system.............................................................1- 18

1.1.6 Communicating signals between QD75 and each module ..........................1- 19

1.2 Flow of system operation ............................................................................................1- 22

1.2.1 Flow of all processes .....................................................................................1- 22

1.2.2 Outline of starting...........................................................................................1- 24

1.2.3 Outline of stopping.........................................................................................1- 26

1.2.4 Outline for restarting ......................................................................................1- 27

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1 PRODUCT OUTLINE

1.1 Positioning control

1.1.1 Features of QD75

The features of the QD75 are shown below.

(1) Av ailability of one, two, and four axis modules

(2) Wide variety of positioning control functions

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(a) One, two and four axis positioning modules are available.

They can be selected according to the PLC CPU type and the number of required control axes. (Refer to Section 2.2.)

(b) For connecting any of the QD75 modules to the base unit, a single slot and

32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the PLC CPU, up to 64 modules can be used. (Refer to Section 2.3.)

(a) A wide variety of positioning control functions essential to any positioning

system are supported: positioning to an arbitrary position, fixed-feed control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.)

1) Up to 600 positioning data items, including such information as positioning addresses, control systems, and operation patterns, can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible.)

2) Independent control of each axis can be achieved in linear control mode (executable simultaneously over four axes). Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.

3) Coordinated control over multiple axes can take the form of either the linear interpolation through the speed or position control of two to four axes or the circular interpolation involving two axes. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.

(b) For each positioning data, the user can specify any of the following control

systems: position control, speed control, speed-position switching control, position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.)

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1 PRODUCT OUTLINE

(3) Quick startup (Refer to Section 3.1.)

(4) SSCNET makes the connection to the servo amplifier possibl e

(5) Easy application to the absolute positi on sy stem

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executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2.) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. (Refer to Section 10.3.2.)

(d) OPR control is given additional features (Refer to Section 8.2.)

Four different machine OPR methods are provided: the near point dog method, two count methods, and the data set method.

(e) Two acceleration/deceleration control methods are provided: automatic

trapezoidal acceleration/deceleration and S-pattern acceleration/ deceleration. (Refer to Section 12.7.7.)

A positioning operation starts up quickly taking as little as 6 ms to 7. When operation using simultaneous start function or interpolation operation is executed, the axes start without delay. (Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and

simultaneous start function Axis 3 start Axis 2 and Axis 4 are started by the : No delay in Axis 2 and interpolation operation Axis 4 start

(a) The QD75 can be directly connected to the servo amplifier using the

MELSERVO (Mit subi sh i' s serv o a mplifie r: M R-H-B N, MR -H-BN4 , M R-J2-B , MR-J2S-B, MR-J2-Jr, MR-J2M-B) and SSCNET.

(b) Because the SSCNET cable is used to connect the QD75 and the servo

amplifier, or servo amplifiers, saving wiring can be realized. The cable between the QD75 and servo amplifier or servo amplifiers can be extended up to 30m.

to/from the servo amplifier using the SSCNET.

(d) The actual current value and error description contained in the servo can

be checked by the buffer memory of the QD75.

(a) The absolute position-corresponding servo amplifier is connected to have

an application to the absolute position system.

(b) Once the OP have been established, the OPR operation can also be made

unnecessary when the power is supplied.

establish the OP.

(d) When the setting unit is "degree", the absolute position system with

unlimited length feed can be configured.

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1 PRODUCT OUTLINE

(6) Control can be realiz ed with the mechanical system input

(7) Easy maintenance

(8) Support of intelligent function module dedicated instructions

(9) Setups, monitoring, and testing thr oug h GX C onfig ur ator- QP

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The external inputs, such as external start, stop, and speed/position switching is used to perform the positioning control without using the PLC program.

Each QD75 positioning module incorporates the following improvements in maintainability:

(a) Data such as the positioning data and parameters can be stored on a flash

ROM inside the QD75, eliminating the need of a battery for retaining data. (Refer to Section 7.1.1.)

(b) Error messages are classified in more detail to facilitate the initial

troubleshooting procedure. (Refer to Section 15.1.)

output, offering more complete error and warning histories. (Refer to Section 5.6.1.)

Dedicated instructions such as the positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies PLC programs.(Refer to Chapter

14.)

Using GX Configurator-QP, the user can control the QD75 parameters and positioning data without having to be conscious of the buffer memory addresses. Moreover, GX Configurator-QP has a test function which allows the user to check the wiring before creating a PLC program for positioning control, or test operation the QD75 using created parameters and positioning data for checking their integrity. The control monitor function of GX Configurator-QP allows the user to debug programs efficiently.

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1 PRODUCT OUTLINE

1.1.2 Purpose and applications of positioning control

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.

Punch press (X, Y feed positioning

Gear and ball screw

Y axis servomotor

Servo amplifier

Y axis

Palletizer

Press head

Servo amplifier

Conveyor control

Servomotor (with brakes)

Servo amplifier

Y axis

X axis servomotor

Reduction gears

Ball screw

(From QD75)

Conveyor

)

X axis

Y axis

X axis Gear and rack & pinion

160mm

320mm

Press punching

12s

PLC MELSEC-Q

X axis

Position detector

Palletizer

Unloader control

QD75

15m/min (2000r/min)

15m/min (1875r/min)

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•

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.

•

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.

PLC MELSEC-Q

QD75

Compact machining center (ATC magazine positioning)

Servo amplifier

QD75

Servomotor

Coupling

Positioning pin

PLC MELSEC-Q

Reduction gears

ATC tool magazine

Tool (12 pcs., 20 pcs.)

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

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

Current value

410

retrieval position

Rotation direction for cal ling 5, 6, 7, 8, 9 or 10

220

Rotation direction for calling 17 to 20, 1 to 5

Current

value

retrieval

position

Rotation direction for calling 7 to 16

1 - 5

•

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.

1 PRODUCT OUTLINE

Lifter (Storage of Braun tubes onto aging rack)

B conveyor

Lifter

Counterweight

Reduction gears

Servomotor (with brakes)

A conveyor

Loader

C conveyor

Servomotor

Servo amplifier

Aging rack

Index table (High-accuracy indexing of angle)

PLC MELSEC-Q

Digital switch

QD75

Unloader

Loader/unloader

Servo amplifier

PLC MELSEC-Q

QD75

Servo amplifie

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•

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.

•

The index table is positioned at a high accuracy

using the 1-axis servo.

Index table

Worm gears

Inner surface grinder

PLC MELSEC-Q

Inverter

220VAC 60Hz

QD75

Servomotor

Servo amplifier

Motor

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

Operation panel

Workpiece

a b c

Grinding stone

d e

Detector Servomotor

Motor

Inverter

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

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

•

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.

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1 PRODUCT OUTLINE

1.1.3 Mechanism of positioning control

In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.

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Creates control order and conditions as a sequence program.

GX Developer

GX Configurator

-QP

Sets the parameters and positioning data for control.

Outputs the start command for JOG operation, etc., during test operat i on with t he test mo de.

Monitors the positioning operation.

PLC CPU

QD75 positioning module

Servo amplifier

Stores the created program. The QD75 outputs the start signal and

stop signal following the stored program. QD75 errors, etc., are detected.

Outputs signals such as the start signal, stop signal, limit signal and control changeover signal to the QD75.

External signal

Stores the parameter and data. Outputs datas to the servo according to the

instructions from the PLC CPU, GX Configurator-QP, external signals and manual pulse generator.

Manual pulse generator

Receives positioning commands and control commands from QD75, and drives the motor.

Outputs the positioning data of the motor data and etc. to the QD75 by the SSCNET.

Issues commands by transmitting pulses.

Motor

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

Workpiece

(Note): For QD75M1, 2 and 4, use SW2D5C-QD75P or later of the GX Configurator.

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1 PRODUCT OUTLINE

1.1.4 Overview of positioni ng contr ol functions

The outline of the "overview of positioning control" and "overview of individual positioning control and continuous positioning control", "overview of block positioning control" and "overview of acceleration/deceleration processing control" is shown below.

Positioning control

An overview of positioning using positioning data described below.

(1) Linear control

(a) 1-axis linear control

This performs positioning from the start point address (location the axis is presently stopped) defined on the specified axis to the specified position.

[Control using the absolute system]

1) This performs positioning from the start point address to the specified

position.

2) The start point address and the specified address determine the

movement direction.

[Example] The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000:

2000 5000 8000

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Positioning when the specified address is 2000

Positioning when the specified address is 8000

Start point address

[Control using the increment system]

1) This performs positioning from the specified increment of travel from the

start point address.

2) The sign of the travel increment determines the direction of travel.

• For positive travel increment…….Positioning in the positive direction

(direction of address increase)

• For negative travel increment…...Positioning in the negative direction

(direction of address decrease) [Example]

The following figure shows the operations when the start point address is 5000 and the travel increments are 3000 and -3000:

2000 5000 8000

Movement direction for a negative movement amount.

Movement direction for a positive movement amount.

Positioning when the specified address is -3000.

Positioning when the specified address is 3000.

Start point address

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1 PRODUCT OUTLINE

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(b) 2-axis linear interpolation control

(Note)

This controls interpolation along a linear locus from the start point address (current stop position) defined by two axes.

[Control using the absolute system]

1) This performs linear interpolation using two axes from the start point

address to the endpoint address.

2) The start point address and the specified address determine the

direction of travel. [Example] The operation when the start point address is 800 for axis 1 and 2000 for axis 2 and the positioning address specified to 2000 for axis 1 and 8000 for axis 2, is shown below.

Axis 1

2000

Start point address (2000, 800)

800

2000

Specified address (8000, 2000)

Positioning operation

8000

Axis 2

[Control using the increment system]

1) This performs positioning from the specified increment of travel from the

start point address.

2) The sign of the travel increment determines the direction of travel.

• For positive travel increment…….Positioning in the positive direction (direction of address increase)

• For negative travel increment…….Positioning in the negative direction (direction of address decrease) [Example] The operation when the start point address is 800 for axis 1 and 2000 for axis 2 and the positioning address specified to 1200 for axis 1 and

2000

6000 for axis 2, is shown below.

Axis 1

Start point address (2000, 800)

End position when the travel incremen is 1200 for axis 1 and 6000 for axis 2.

800

2000

Positioning operation

8000

Axis 2

REMARK

(Note): The interpolation speed during linear interpolation control can be selected

from "synthesized axis" and "reference-axis speed" using the detailed parameter 1. (Refer to the Section 5.2.3 information about setting "

Interpolation speed designation method" of the detailed parameter 1.)

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(2) Circular interpolati on control

(Note)

There are two types of circular interpolation controls: circular interpolation with a specified sub point and circular interpolation with the specified center point. (a) Circular interpolation with a specified sub point

Circular interpolation is performed using the specified endpoint address and sub point (passing point) address. Two methods are available: absolute system and increment system.

Forward direction

Reverse direction

Sub point

Start point address

Reverse direction

End point

Center point (Calculated by the QD75)

Forward direction

(b) Circular interpolation with the specified center point

Circular interpolation is performed using the specified endpoint address and center point address. Two methods are available: absolute system and increment system. Also, the direction of movement can be selected from clockwise or counterclockwise.

Forward direction

End poi nt

Reverse direction

Stop position

Reverse direction

Center point

Forward direction

REMARK

(Note): The interpolation speed during circular interpolation control may only be set

to "synthesized speed" for the interpolation speed of the detailed parameter

1. (Refer to the Section 5.2.3 information about setting " speed designation method" of the detailed parameter 1.)

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Pr.20

Interpolation

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(3) Fixed-feed control

Positioning direction

[1-axis fixed-feed control]

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This performs positioning for the specified increment of travel. The fixed-feed control includes 1-axis control and 2-axis control through linear interpolation using the specified two axes.

Operation timing

Stop position

Forward directionReverse direction

Movement direction for a negative movement amount

[2-axis fixed-feed control]

Forward

direction

Travel along axis 1

Reverse direction

Stop position

Reverse direction

Movement direction for a positive movement amount

Travel along axis 2

Positioning direction

Forward direction

Start command

Start

OFF

(4) Speed control

After command is executed, control continues with the command speed until the stop command is input.

Positioning start signal

BUSY signal

Axis stop signal

OFF

(By the PLC program creation)

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1 PRODUCT OUTLINE

(5) Speed-position switching contr ol

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This starts positioning under speed control, and switches to position control according to the input of the QD75 speed-position switching signal and perform positioning for the specified increment of travel.

Specified travel increment

Dwell time

(By the PLC program creation)

Positioning start signal

BUSY signal

Speed-position switching signal (external signal)

Speed-position switching enable flag

Speed control Position control

OFF

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1 PRODUCT OUTLINE

Individual positioning control and continuous positioning control

The QD75 performs positioning according to the user-set positioning data, which is a set of information comprised of the control method (position control, speed control, speed-position switching control), positioning address, operation pattern, and so on. Up to 600 of positioning data are assigned respectively to positioning data Nos. 1 to 600 per axis and registered to the QD75. The operation pattern set in each positioning data by the user determines whether to perform positioning operation with one positioning data item or to perform continuous positioning operation with multiple positioning data items.

(1) Independent positioning control (oper ati on patter n = 00: posi ti oning

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complete)

The operation completed upon completion of positioning for the specified positioning data. The positioning completion of this operation pattern is also used as the operation pattern for the last positioning data of continuous positioning and continuous-locus positioning.

Positioning complete (00)

Dwell time

Positioning start signal

Positioning start complete signal

BUSY signal

Positioning complete signal

OFF

(By the PLC progr am creation)

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1 PRODUCT OUTLINE

(2) Continuous positioning control ( operati on patter n = 01: posit ioni ng

Address(+) direction

Address(-) direction

Positininig start signal

Positioning start complete signal

BUSY signal

Positioning complete signal

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continues)

The operation stops temporarily upon the completion of positioning for the specified positioning data, and then continues with the next positioning data number. This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers.

Positioning continues (01)

OFF

Positioning continues (01)

Positioning

complete

(00)

Dwell time

(By the PLC progr am creation)

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(3) Continuous path control (operation patter n = 11: posi ti oning

Address(+) direction

Address(-) direction

Positininig start signal

Positioning start complete signal

BUSY signal

Positioning complete signal

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continue)

After executing positioning using the specified positioning data, the operation changes its speed to that of the next positioning data number and continues positioning. This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed.

Positioning continue (11)

OFF

Positioning continue (11)

Positioning

complete

(00)

Dwell time

(By the PLC program creation)

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1 PRODUCT OUTLINE

Block positioning control

Block positioning is a control that continuously executes the positioning of specified

blocks. One block equivalent to a series of positioning data up to the completion of

positioning (operation pattern = 00) by Independent or continuous positioning control. A maximum of 50 blocks per axis can be specified. Using a one-time start command from the QCPU or external, complex positioning

control can be performed. The block positioning control can be performed by specifying the positioning start

Address(+) direction

Address(-) direction

number and positioning start information in the buffer memory.

Positioning complete (00)

One block

Positioning continues (01)

Positioning continue (11)

One block One block

Positioning

complete (00)

Dwell time

Positioning continue (11)

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Positioning

complete (00)

Positininig start signal

Start complete signal

BUSY signal

Positioning complete

nal

OFF

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Overview of acceleration/deceleration processing control

Acceleration/deceleration processing for the positioning processing, manual pulse-

generator processing, OPR processing and JOG processing is performed using the

user-specified method, acceleration time and deceleration time.

(1) Acceleration/deceleration method

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There are two types of acceleration and deceleration processing: the automatic trapezoidal acceleration/deceleration processing method and S-pattern acceleration/deceleration processing method. A detailed parameter is used to set which method is used. The specified acceleration/deceleration method is applied to all accelerations and decelerations when starting and completing positioning processing, OPR processing and JOG processing, as well as when changing the speed. (a) Automatic trapezoidal acceleration/deceleration processing method

This is a method in which linear acceleration/deceleration is carried out based on the acceleration time, deceleration time, and speed limit value set by the user.

Velocity

Tim

(b) S-pattern acceleration/deceleration processing method

This method reduces the load on the motor when starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and

Pr.35

S-pattern proportion" (1 to 100%) set by the user.

elocity

Time

(2) Acceleration time, deceleration time, sudden- stop decel er ation ti me

(a) For types each of the acceleration time and deceleration time for positioning

control can be set using basic parameters 2 and detailed parameters 2.

• Acceleration time…….The time elapses before the speed of 0 reaches the limit value.

• Deceleration time…….The time elapses before the speed at the limit value reaches 0.

(b) The sudden-stop deceleration time (1 to 8388608 ms) is set using the

acceleration time/deceleration time setting size selection of detailed parameters 2.

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1.1.5 Outline design of positioning system

The outline of the positioning system operation and design, using the QD75, is shown below.

(1) Positioning system using QD75

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PLC CPU

Read, write and etc.

Positioning command

Control command

Monitor data

QD75

Interface

S S C

Positioning command

Control command

Monitor data

MR-H-BN/MR-H B/MR-J2- B/MR-J2S- B/MR-J2-Jr/MR-J2M-B

Speed control

Speed feedback

Current control

Current feedback

SSCNET

Positioning control

Position feedback

S S

C N E T

Manual puse generator A-phese/B-phese

External output signal (Refer to Section 3.3.2)

FLS (Upper limit signal) RLS (Lower limit signal) CHG (External command signal/switching signal) STOP (Stop signal) DOG (Near-point dog signal)

Inverter

Interface

Servo motor

PLG

Fig. 1.2 Outline of the operation of positioning system using QD75

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1.1.6 Communicating signals betw een QD 75 and each modul e

The outline of the signal communication between the QD75 (positioning module) and PLC CPU, peripheral device and servo amplifier, etc., is shown below. (A peripheral device communicates with the QD75 via the PLC CPU to which it is

PLC CPU

Y0 X0 Y1 X1

Y8,YA,YC,YE

Y9,YB,YD,YF

Y14,Y15,Y16,Y17

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

connected)

PLC READY signal

QD75 READY signal

All axis servo ON signal

Syncronization flag Forward run JOG start signal Reverse run JOG start signal

Execution prohibi ti on flag

Positioning start signal

Positioning complete signal

QD75

External interface

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SSCNET

Operating information of the servo amplifer Positioning command, control command Servo parameter

Manual puse generator A-phase Manual puse generator B-phase

Servo amplifer

Manual pulse generator

XC,XD,XE,XF

X10,X11,X12,X13

Y4,Y5,Y6,Y7

X4,X5,X6,X7

X8,X9,XA,XB

Peripherral device interface

BUSY signal Start compl ete signal Axis stop signal

M code ON signal

Error detection signal

Data write/read

Parameter write/read Positioning data write/read Block start data write/read

Home position return operation (Test) JOG operation, inching oper at io n (Test)

Positioning operation(Test)

Operation monitor

Interface with PLC CPU

Upper/lower limit signal Near-point dog signal External comm and signal/

switching signal Stop signal

External signal

Peripheral device

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1 PRODUCT OUTLINE

QD75 PLC CPU

Communication

Control signal

Data (read/write)

Refer to Section 3.3 "Specifications of input/output signals with PLC CPU" for details.

The QD75 and PLC CPU communicate the following data via the base unit.

Direction

QD75 Peripheral device

Communication Data (read/write)

Test operation –

Operation monitor • Monitor data –

The QD75 and peripheral device communicate the following data via the PLC CPU:

Direction

QD75 Servo amplifier

Communication

SSCNET

The QD75 and servo amplifier communicate the following data via the SSCNET.

Direction

QD75

Signal indicating QD75 state

• QD75 READY signal

• BUSY signal and etc.

• Parameter

• Positioning data

• Block start data

• Control data

• Monitor data

QD75

• Parameter

• Positioning data

QD75

• Positioning commands

• Control commands

• Servo parameter

PLC CPU PLC CPU QD75

Peripheral device Peripheral device QD75

Servo amplifier Servo amplifier QD75

MELSEC-Q

Signal related to commands

• PLC READY signal

• Various start signals

• Stop signals

• All axis servo ON signal and etc.

• Parameter

• Positioning data

• Block start data

• Control data

• Parameter

• Positioning data

• OPR control start command

• Positioning control start command

• JOG/Inching operation start command

• Teaching start command

• Manual pulse generator operation enable/disable command

• Operating information of the servo amplifier

• Servo parameter

1 - 20

1 PRODUCT OUTLINE

QD75 Manual pulse generator

The QD75 and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection

Communication Pulse signal –

connector for axis 1 or for axes 1 and 2.)

Direction

QD75 External signal

The QD75 and external signal communicate the following data via the external

Communication

Control signal –

device connection connector.

Direction

QD75

MELSEC-Q

Manual pulse generator Manual pulse generator QD 75

• Manual pulse generator A-phase

• Manual pulse generator B-phase

External signal External signal QD 75

•

Upper/lower limit signal

•

External command signal/switching

signal

•

Stop signal

•

Near-point dog signal

1 - 21

1 PRODUCT OUTLINE

1.2 Flow of system operation

1.2.1 Flow of all processes

The positioning control processes, using the QD75, are shown below.

MELSEC-Q

Design

Preparation

GX Configurator-QP

1) Understand the functions and performance, and determine the p osi tioning operation method

(system design)

3) Setting of the:

· Parameters

· Positioning data

· Block start data

· Condition data

· Servo parameter

Writing of setting data

QD75

2) Installation, wiring

Servo, etc.

5) 6)

PLC CPU

4) Creation of PLC

program for operation

Refer to (Note)

GX Develop e r

Writing of program

7) 8) Monitoring with

test operation, and debugging of setting data

Operation

Maintenance

Monitor

10)

11)

Connection confirmation

Test operation

Actual operation

Maintenance

Disposal

Monitoring and debugging of operation program

Monitor

(Note)

When not using GX Configurator

-QP, carry out setting, monitoring and debugging of the data in 3) with GX Developer.

1 - 22

1 PRODUCT OUTLINE

MELSEC-Q

Details Reference

Understand the product functions and usage methods, the configuration devices

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

The following work is carried out with the processes shown on the previous page.

•

Chapter 1

•

Chapter 2

•

Chapter 3

•

Chapter 8 to Chapter 13

Install the QD75 onto the base unit, wire the QD75 and external connection dev ices

(drive unit, etc.).

Using GX Configurator-QP, set the parameter, servo parameters, positioning data,

block start data and condition data required for the positioning control to be executed.

Using GX Developer, create the PLC program required for positioning operation.

(When not using GX Configurator-QP, also create the PLC program for setting data.)

Write the parameters and positioning data, etc., created with GX Configurator-QP

into the QD75.

Using GX Developer, write the created PLC program into the PLC C PU . (When not

using GX Configurator-QP, also write in the PLC program for setting data.)

Carry out test operation and adjustments in the test mode to check the connection with the QD75 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 is executed correctly. (Debug the created PLC program. When not using GX Configurator-QP, also debug the set data.

•

Chapter 4

•

Chapter 5

•

Chapter 8 to Chapter 13

•

GX Configurator-QP

Operating Manual

•

Chapter 6

•

GX Developer Operating

Manual

•

Chapter 7

•

GX Configurator-QP

Operating Manual

•

Chapter 7

•

GX Developer Operating

Manual

•

GX Configurator-QP

Operating Manual

•

Chapter 13

•

GX Developer Operating

Manual

•

GX Developer Operating

Manual

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

as required. If an error or warning occurs, remedy.

10) Service the QD75 as required.

11) Dispose of the QD75.

1 - 23

•

Chapter 5

•

Chapter 15

•

GX Configurator-QP

Operating Manual

•

GX Developer Operating

Manual

•

Chapter 4

•

Chapter 4

1 PRODUCT OUTLINE

1.2.2 Outline of starting

The outline for starting each control is shown with the following flowchart.

It is assumed that each module is installed, and the required system configuration, etc., has been prepared.

Flow of starting

MELSEC-Q

Preparation

Control functions

Positioning parameters

OPR parameters

Servo parameters

PLC READY

All axis servo ON

Positioning data

Block start data

Installation and connection of module Setting of hardware

Major positioning control

Position control Speed control Speed-position switching control Position-speed switching control Other control

Set the positioning data .

( Da.1 to Da.10 )

High-level positioning control

Block start (Normal start) Condition start Wait start Simultaneous s t art Repeated start

Set the positioning parameters. ( Pr.1 to Pr.42 , Pr.200 , Pr.201 )

Set the servo parameters. ( Pr.100 to Pr.161 )

Turn the PLC READY signal ON(Y0 ON)

Turn the All axis servo ON signal(Y1 ON)

Set the block start data.

( Da.11 to Da.19 )

Machine OPR control

Set the OPR parameters.

( Pr.43 to Pr.57 )

OPR control Manual control

JOG operation

Fast OPR control

Inching operation

Manual pulse generator operation

Control data

Start signal

Control start

Control end

Input the start signal.

Method (1) Turn ON the QD75 start signal from the PLC CPU Method (2) Issue the PSTRT instruction from the PLC CPU. Method (3) Turn the QD75 external start signal ON

Set the positioning start No. ( Cd.3 )

Set the positioning starting point No.

( Cd.4 )

1 - 24

Operation

Stop

Set the JOG speed

( Cd.17 )

Set the inching movement amount to 0.

( Cd.16 )

Turn the QD75 JOG start signal ON from the PLC CPU

Set the inching movement amount to 0.

( Cd.16 )

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

( Cd.21 )

Set the manual pulse generator 1 pulse input magnification.

( Cd.20 )

Operate the manual pulse generator

1 PRODUCT OUTLINE

Setting method

: Indicates the PLC program that must be created.

MELSEC-Q

Set with GX Configurator-QP

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

Create PLC program for setting data

When set with "GX Configurator-QP", this does not need to be created.

Create PLC program f or executing main fun ction

Create PLC program for outputting control signals, such as start signal, to QD75.

Write

PLC CPU

QD75

Write

· Speed change

· Current value cha nging

· Torque limit

· Restart, etc.

Operation PLC program

Create a PLC program for the sub functions.

1 - 25

Write

PLC

CPU

1 PRODUCT OUTLINE

1.2.3 Outline of stopping

MELSEC-Q

Stop cause

Forced stop

Fatal stop (Stop group 1)

Emergency stop (Stop group 2)

Relatively safe stop (Stop group 3)

Intentional stop (Stop group 3)

Each control is stopped in the following cases. (1) When each control is completed normally.

(2) When the Servo READY signal is turned OFF. (3) When a PLC CPU error occurs. (4) When the PLC READY signal is turned OFF. (5) When an error occurs in the QD75. (6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop

The outline for the stopping process in these cases is shown below. (Excluding (1) for normal stopping.)

Servo READY OFF

• Servo amplifier power supply OFF

• Servo alarm

• Emergency

stop to the servo amplifier

Hardware stroke limit upper/lower limit error occurrence

Error occurs in PLC CPU

PLC READY signal OFF

Error in test mode

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

“Stop signal” from peripheral device

"Stop signal" ON from external device

"Axis stop signal" ON from PLC CPU

signal from an external device, etc.).

Axis

Each axis

All axes

Each axis

Stop

axis

M code

ON signal

after stop

No change

Turns OFF

No change

operation

status

after

stopping

Md.26

(

During error

When stopped (While waiting)

OPR control Manual control

Machine

OPR

control

)

Servo OFF or free run (The operation stops with dynamic brake or

electromagnetic brake.)

Deceleration stop/sudden stop (Select with "

sudden stop selection" )

Deceleration stop/sudden stop (Select with "

sudden stop selection" )

Deceleration stop/sudden stop (Select with "

sudden stop selection" )

Fast

OPR

control

Stop process

Major positioning control

Pr.37

Pr.38

High-level positioning control

Sudden stop group1

Sudden stop group2

JOG/ Inching operation

Pr.39 Sudden stop group3

Manual pulse generator operation

Deceleration stop

1 - 26

1 PRODUCT OUTLINE

Reference

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

1.2.4 Outline for restarting

When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the "

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.

When "

(1) If the "

(2) When "

[Example for incremental system]

Axis 1

MELSEC-Q

Cd.6

Restart command".

Cd.6

Restart command" is ON

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.

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

axis 2 movement amount is 600 is shown below.

Axis 1

Stop position due to stop cause

Start point address

200 100

100 300 700

Designated end point position

Axis 2

Restart

Stop position due to stop cause

400

200 100

100 300 700

Stop position after restart

Operation during restart

Axis 2

Reference

If the positioning start signal [Y10 to Y13]/external command signal while the "

Md.26

Axis operation status" is waiting or stopped, positioning will be

restarted from the start of the positioning start data regardless of the absolute system or incremental system. (

: When the external command signal is set to "External positioning start") (Same as normal positioning.)

1 - 27

is turned ON

1 PRODUCT OUTLINE

[Example for incremental system]

Axis 1

Stop position due to stop cause

Start po int address

200 100

100 300 700

MELSEC-Q

(a) The positioning start operation when the axis 1 movement amount is 300

and the axis 2 movement amount is 600 is shown below.

Axis 1

Designated end point position

Axis 2

Stop position due to stop cause

500 Positioning start

200

100

100 300 900

Stop position after restart

Operation during positioning start

Axis 2

1 - 28

Chapter 2 System Configuration

In this chapter, the general image of the system configuration of the positioning control using QD75, the configuration devices, applicable CPU and the precautions of configuring the system are expla ine d. Prepare the required configuration devices to match the positioning control system.

2.1 General image of system .............................................................................................2- 2

2.2 Component list..............................................................................................................2- 4

2.3 Applicable system.........................................................................................................2- 6

2.4 How to check the function version and SERIAL No. ..................................................2- 8

2 - 1

2 SYSTEM CONFIGURATION

2.1 General image of system

The general image of the system, including the QD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".

MELSEC-Q

Extension cable

CPU module 1

Main base unit 2

Positioning module

I/O module

Extension system

USB cable

RS-232 cable

REMARK

1 Refer to Section "2.3 Applicable system" for the CPU modules that can be used. 2 Refer to the CPU module User's Manual for the base units that can be used. 3 For the items with , use the software package of "2" or later.

2 - 2

2 SYSTEM CONFIGURATION

MELSEC-Q

Servo amplifer

Manual pulse generator

SSCNET cable

Cable

Machine system inputs (switches)

Upper/lower stroke limit switch External-command signal/switching signal Stop signal Near-point dog signal

Motor

Peripheral device

GX Configurator

-QP

Personal computer

(For details, refer to GX Configurator

-QP Operating Manual.)

2 - 3

SW D5C

-QD75P-E

2 SYSTEM CONFIGURATION

2.2 Component list

MELSEC-Q

No. Part name Type Remarks

1 Positioning module

GX Configurator-

3 Personal computer

4 RS-232 cable QC30R2

5 USB cable –

6 Servo amplifier – (Prepared by user)

Manual pulse

generator SSCNET cable

(For connecting

between the QD75 and the servo amplifier)

Cable (For connecting

between the QD75 and the external device)

1: The SSCNET cable connecting the QD75 and servo amplifier, external device connection connector has been

prepared. Refer to the below table.

The positioning system using the QD75 is configured of the following devices.

QD75M1 QD75M2 QD75M4

D5C-QD75P-

E DOS/V personal

computer

–

QD75M

Number of contro l axes

Refer to GX Configurator-QP Operating Manual for details. (Prepared by user)

Refer to GX Configurator-QP Operating Manual for details. (Prepared by user) An RS-232 cable is needed for connecting the CPU module with a

personal computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.

(Prepared by user) A USB cable is needed for connecting the CPU module with a personal

computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.

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

(Prepared by user) Cables are needed to connect the QD75 with the servo amplifier.

(Prepared by user) Cables are needed to connect the QD75 with the external device. (Prepare them referring to the manuals for the connected devices and

information given in 3.4.2 of this manual.)

M: SSCNET model

2 - 4

2 SYSTEM CONFIGURATION

Part name T y pe Remarks

• Connection between QD75M and (MR-J2-B/MR-J2S-B/MR -J2- Jr/MR-J2M-B)

MR-J2HBUSM

SSCNET cable

MR-J2HBUSM-A

MR-HBUSM

Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (sold separately )

Applicable wire size

:  = Cable length (05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 5: 5m (16.40ft.) )

(Note): The overall extension of the SSCNET cable is up to 30m.

0.3 mm AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)

(when A6CON1and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used),

Specifications of recommended manual pulse generator

Model name MR-HDP01 Pulse resolution 25PLS/rev (100 PLS/rev after magnification by 4)

Output method Power supply voltage 4.5 to 13.2VDC

Current consumption 60mA Life time 1000000 revolutions (at 200r/min)

Permitted axial loads Operation temperature -10 to 60°C (14 to 140°F )

Weight 0.4 (0.88) [kg(lb)] Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min Pulse signal status 2 signals: A phase, B: phase, 90° phase difference Friction torque 0.1N/m (at 20°C (68°F))

• Connection between (MR-J2-B/M R -J2S-B/MR-J2-Jr/MR-J2M-B) and (MR-J2-B/MR -J2S -B/ MR-J2-Jr/MR-J2M- B) .

(0.5m(1.64ft.), 1m(3.28ft.), 5m(16.4ft.) )

• MR-J2CN1: connector set (sold separately)

• Connection between QD75M/MR-J2-B/MR-J2S-B /MR-J2-Jr/MR- J2M-B and MR-H-BN/M R-H-BN 4.

(0.5m(1.64ft.), 1m(3.28ft.), 5m(16.4ft.) )

• MR-J2CN1-A: connector set (sold separately)

• Connection between MR-H-BN/M R -H-BN 4 and M R -H-BN /MR-H-BN4

(0.5m(1.64ft.), 1m(3.28ft.), 5m(16.4ft.) )

• MR-HBCNS: connector set (sold separately)

Item Specification

Voltage-output (power supply voltage -1V or more),

Output current Max. 20mA

Radial load: Max. 19.6N

Thrust load: Max. 9.8N

MELSEC-Q

2 - 5

2 SYSTEM CONFIGURATION

2.3 Applicable system

The QD75 can be used in the following system.

(1) Applicable modules and the number of installabl e modul es

The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75 and the number of installable modules.

Applicable modules Number of installable modules Remarks

CPU module

QJ72LP25-25 Network module

QJ72LP25GE

1 Refer to the QCPU User's Manual (Hardw are Design, Maintenance and Inspection) of

the CPU module used.

2 Refer to the Q Corresponding MELSECNET/H Network System Reference Manual

(Remote I/O Network).

(2) Usable base unit

The QD75 can be installed in any of the I/O slots ( When installing the QD75, always consider the power supply capacity since a shortage of the power supply capacity may occur depending on the combination

with the other installed module and the number of installed module.

3 Within the I/O point range of the CPU module and network module (for remote

I/O station).

(3) Compatibility with Multiple PLC system

When using the QD75 in a Multiple PLC system, first refer to the QCPU (Q mode) User's Manual (Multiple CPU system).

Q00JCPU Max. 8 modules

Q00CPU Q01CPU

Q02CPU Q02HCPU Q06HCPU Q12HCPU Q25HCPU

Q12PHCPU Q25PHCPU

QJ72BR15

QJ72LP25G

Max. 24 modules

Max. 64 modules

MELSEC-Q

( 1)

Installable in the Q mode

only

(

MELSECNET/H remote I/O

station (

) of a base unit.

2 - 6

2 SYSTEM CONFIGURATION

(4) Supported software packages

The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer is required for use of the QD75.

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/ Q12H/Q25HCPU

Q12PH/Q25PHCPU

For use on MELSECNET/H remote I/O station

Single PLC

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

MELSEC-Q

Software version

GX Developer GX C onfigurator-Q P

Version 7 or more

Version 8 or more

Version 2.10L or more

Version 4 or more

Version 6 or more

Version 7.10L or more

Version 6 or more Version 2.10L or more

Version 2.13P or

2 - 7

2 SYSTEM CONFIGURATION

2.4 How to check the function version and SERIAL No.

The function version and the SERIAL No. of the QD75 can be checked in the following methods.

[1] Method using the rated plate on the module side face [2] Method using the software

[1] Method using the rated plate on the module side face

Check the alphabet of "SERIAL".

MELSEC-Q

027510

SERIAL No. (The first six digits) Function version

[2] Method using the software

Check the alphabet at the end of "Product information" displayed on System monitor "Module's Detailed Information" of GX Developer

information" of GX Configurator-QP

or on "OS

SERIAL No. Function version

1: This check can be made using the version of SW4D5C-GPPW-E or more. For details, refer

to GX Developer Operating Manual.

2: For details, refer to GX Configurator-QP Operating Manual.

2 - 8

Chapter 3 Specifications and Functions

The various specifications of the QD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions",

"Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before desig ning the positioning system .

3.1 Performance specifications..........................................................................................3- 2

3.2 List of functions ............................................................................................................3- 4

3.2.1 QD75 control functions...................................................................................3- 4

3.2.2 QD75 main functions......................................................................................3- 6

3.2.3 QD75 sub functions and common functions..................................................3- 8

3.2.4 Combination of QD75 main functions and sub functions.............................3- 12

3.3 Specifications of input/output signals with PLC CPU.................................................3- 14

3.3.1 List of input/output signals with PLC CPU ....................................................3- 14

3.3.2 Details of input signals (QD75

3.3.3 Details of output signals (PLC CPU

3.4 Specifications of input/output interfaces with external devices..................................3- 18

3.4.1 Electrical specifications of input signals........................................................3- 18

3.4.2 Signal layout for external device connection connector...............................3- 19

3.4.3 List of input signal details...............................................................................3- 20

3.4.4 Interface internal circuit..................................................................................3- 21

3.5 External circuit design.................................................................................................3- 22

PLC CPU)................................................3- 15

QD75)...............................................3-17

3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance specifications

MELSEC-Q

Item No. of control axes 1 axis 2 axes 4 axes

Interpolation function None

Control system Control unit mm, inch, degree, PLS Positioning data

Backup

Positioning system

Positioning range

Positioning

Speed command

Acceleration/ deceleration process Acceleration/ deceleration time Sudden stop deceleration time

: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to "Section 9.2.17 Speed-

position switching control (ABS mode)".

Model

PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speedposition switching control, position-speed switching control

600 data (positioning data Nos. 1 to 600)/axis (Can be set with peripheral device or PLC program.) Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) 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

• –214748364.8 to 214748364.7 (µm)

• –21474.83648 to 21474.83647 (inch)

• 0 to 359.99999 (degree)

• –2147483648 to 2147483647 (PLS)

In incremental system

• –214748364.8 to 214748364.7 (µm)

• –21474.83648 to 21474.83647 (inch)

• –21474.83648 to 21474.83647 (degree)

• –2147483648 to 2147483647 (PLS)

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

• 0 to 214748364.7 (µm)

• 0 to 21474.83647 (inch)

• 0 to 21474.83647 (degree)

• 0 to 2147483647 (PLS)

In speed-position switching control (ABS mode) 1

• 0 to 359.99999 (degree)

0.01 to 20000000.00 (mm/min)

0.001 to 2000000.000 (inch/min)

0.001 to 2000000.000 (degree/min) 1 to 10000000 (PLS/s)

Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration 1 to 8388608 (ms)

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

QD75M1 QD75M2 QD75M4

2-axis linear interpolation

2-axis circular interpolation

2-, 3-, or 4-axis linear

interpolation

2-axis circular interpolation

3 - 2

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Item

Starting time (ms) 2

External wiring connection system 40-pin connector Applicable wire size Applicable connector for external

device

SSCNET cable

SSCNET cable over all length (m) 30 Internal current consumption (5VDC) Flash ROM write count Max. 100000 times No. of occupied I/O points (points) 32 (I/O assignment: 32 points for intelligent function module) Outline dimensions (mm(inch)) Weight (kg) 0.15 0.15 0.16

2: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to "Section 12.7.8 Pre-reading start

function".

:  = Cable length (05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 5: 5m (16.40ft.) )

Model

1-axis linear control 6 1-axis speed control 6 2-axis linear interpolation control (Composite speed) 7 2-axis linear interpolation control (Reference axis speed) 7 2-axis circular interpolation control 7 2-axis speed control 6 3-axis linear interpolation control (Composite speed) 7 3-axis linear interpolation control (Reference axis speed) 7 3-axis speed control 6 4-axis linear interpolation control 7

4-axis speed control 7

0.3 mm AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)

A6CON1, A6CON2, A6CON3, A6CON4 (sold separately)

MR-HBUSM 3

MR-J2HBUSM 3

MR-J2HBUSM-A

98 (3.86) (H)

QD75M1 QD75M2 QD75M4

Factors in starting time extension

The following times will be added to the starting time in the described conditions:

• S-pattern acceleration/ deceleration is selected: 0.5

• Other axis is in operation: 1.5

• During continuous positioning control: 0.2

• During continuous path control: 1.0

(when A6CON1 and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used),

• Connection between MR-H-BN/MR-H-BN4 and MR-H-BN/MR-H-BN4 (0.5m(1.64ft.), 1m(3 .2 8 ft.) , 5 m(1 6 .4 ft.) )

• MR-HBCNS: connector set (sold separately)

• Connection between QD75M and (MR-J2-B/MR-J2S-B/MR-J2-Jr/ MR-J2M-B)

• Connection between (MR-J2-B/MR-J2S-B/MR-J2-Jr/MR-J2M-B) and (MR-J2-B/MR-J2S-B/MR-J2 - Jr /MR-J2M-B). (0.5m(1.64ft.), 1m(3 .2 8 ft.) , 5 m(1 6 .4 ft.) )

• MR-J2CN1: connector set (sold separately)

• Connection between QD75M/MR-J2-B/MR-J2S-B/MR-J2- Jr /MR-J2M-B and MR-H-BN/MR-H-BN4.

(0.5m(1.64ft.), 1m(3 .2 8 ft.) , 5 m(1 6 .4 ft.) )

• MR-J2CN1-A: connector set (sold separately)

QD75M1 : 0.40A QD75M2 : 0.40A QD75M4 : 0.40A

27.4 (1.08) (W) × 90 (3.54) (D)

3 - 3

3 SPECIFICATIONS AND FUNCTIONS

3.2 List of functions

3.2.1 QD75 control functions

The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows.

Main functions

(1) OPR control

"OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point. 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 QD75 as the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to Chapter 8 "OPR Control".)

(2) Major positioning control

This control is carried out using the "Positioning data" stored in the QD75. 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. (Refer to Chapter 9 "Major Positioning Control".)

(3) High-level positioning control

This control executes the "positioning data" stored in the QD75 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.,

(Refer to Chapter 10 "High-level Positioning Control".)

(4) Manual control

By inputting a signal into the QD75 from an external device, the QD75 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. (Refer to Chapter 11 "Manual Control".)

Sub functions

When executing the main functions, control compensation, limits and functions can be added. (Refer to Chapter 12 "Control Sub Functions".)

Common functions

Common control using the QD75 for "parameter initialization" or "backup of execution data" can be carried out. (Refer to Chapter 13 "Common Functions".)

MELSEC-Q

3 - 4

3 SPECIFICATIONS AND FUNCTIONS

Main functions

MELSEC-Q

Sub functions

OPR control

[Positioning start No.]

[9001]

[9002]

Major positioning control

Position control

Speed control

Speed-position switching contro l Position-speed switching control

Other 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

·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

High-level positioning control

Major positioning control

[Positioning start No.]

[9004]

Manual control

[Block start data]

[Positioning start signal]

JOG start signal ON Pulse input from manual

pulse generator

Control registered in QD75

Control using "Positioning data"

Machine OPR Fast OPR

Independent positioning control (Positioning complete)

Continuous positioning control

Continuous path control

Control using "positioning data" + "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

Control with signals input from external device

JOG operation, Inching op er ation Manual pulse generator

operation

(Functions characteristic to machine OPR)

OPR

retry function

OP shift function <Functions that compensate

control>

Backlash compensation function

Electronic gear function Near pass function

<Functions that limit control> Speed limit functi on Torque limit function

Software stroke limit function

Hardware stroke limit function

Speed change function Override function Acceleration/deceleration

time change function Torque change function

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 Deceleration start flag function Stop command processing for deceleration stop function Follow up function

Common functions

Parameter initialization function Execution data backup function External I/O signal logic switching function External I/O signal monitor function

3 - 5

3 SPECIFICATIONS AND FUNCTIONS

3.2.2 QD75 main functions

The outline of the main functions for positioning control with the QD75 is described

Machine OPR control

Fast OPR control

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

Major positioning 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

Linear 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 Carries out loop control with repeated LOOP to LEND. 9.2.22 LEND

below. (Refer to "Section 2" for details on each function.)

Main functions Details

MELSEC-Q

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

Positions a target to the OP address ( feed value) stored in the QD75 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" 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.

Continuously outputs the command 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 command corresponding to the designated command speed) by turning the "position-speed switching signal" ON.

Changes the Current feed value ( 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.

Md.20

Md.21

Machine

Current feed value"

Md.20

) to the address

Reference

section

8.2

8.3

9.2.2

9.2.3

9.2.4

9.2.5

9.2.6

9.2.7

9.2.8

9.2.9

9.2.10

9.2.11

9.2.12

9.2.13

9.2.14

9.2.15

9.2.16

9.2.17

9.2.18

9.2.19

9.2.20

9.2.21

9.2.23

3 - 6

3 SPECIFICATIONS AND FUNCTIONS

Main functions Details

Block start (Normal start)

Condition start

Wait start

Simultaneous start

High-level positioning control

Repeated start (FOR loop)

Repeated start (FOR condition)

Multiple axes simultaneous start control

JOG operation

Inching operation

Manual control

Manual pulse generator operation

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 a pulse to servo amplifier while the JOG start signal is ON.

Outputs pulses corresponding to minute movement amount by manual operation to servo amplifier.

(Performs fine adjustment with the JOG start signal.) Outputs pulses commanded with the manual pulse generator to

servo amplifier. (Carry out fine adjustment, etc., at the pulse level.)

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".

Da.1

Operation pattern

Independent positioning control (positioning complete)

Continuous positioning control

Continuous path control

Outlines of the "operation patterns" are given below.

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 ex ecuted.

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 nex t following positioning data will be executed.

Details

MELSEC-Q

Reference

section

10.3.2

10.3.3

10.3.4

10.3.5

10.3.6

10.3.7

10.5

11.2

11.3

11.4

Reference

section

9.1.2

3 - 7

3 SPECIFICATIONS AND FUNCTIONS

3.2.3 QD75 sub functions and common functions

MELSEC-Q

Sub functions

The functions that assist positioning control using the QD75 are described below.

Sub function Details

Functions characteristic to machine OPR

Functions that compensate control

Functions that limit control

Functions that change control details

Absolute position system This function restores the absolute position. 12.6

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.

OPR retry function

OP shift function

Backlash compensation function

Electronic gear function

Near pass function

Speed limit 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.

(Refer to Section 2 for details on each function.

This function retries the machine OPR with the upper/lower limit switches during OPR. This allow s machine OP R to be carried out even if the axis is not returned to before the nearpoint 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. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.

This function suppresses the machine vibration when the

speed changes during continuous path control in the interpolation control.

If the command speed exceeds " during control, this function limits the commanded speed to within the "

If the torque generated by the servomotor exceeds " Torque limit setting value" during control, this function limits the generated torque to within the " 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 QD75 external device connector.

This function changes the speed during positioning. Set the new speed in the speed change buffer memory

Cd.14

( Speed change request (

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

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

Pr.8

Speed limit value" setting range.

New speed value), and change the speed with the

Cd.15

Pr.8

Pr.17

Speed limit value"

Pr.17

Torque limit setting

Cd.13

Reference

section

12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.4.1

12.4.2

12.4.3

12.4.4

12.5.1

12.5.2

12.5.3

12.5.4

3 - 8

3 SPECIFICATIONS AND FUNCTIONS

Sub function Details

This function temporarily stops the operation to confirm the

Step function

Skip function

M code output function

Teaching 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 each positioning data.

This function stores the address positioned with manual control into the positioning address having the designated positioning

data No. (

Cd.39

MELSEC-Q

Reference

section

12.7.1

12.7.2

12.7.3

12.7.4

Other functions

Target position change function

Command in-position function

Acceleration/deceleration process function

Continuous operation interrupt function

Pre-reading start function This function shortens the virtual start time. 12.7.8

Deceleration start flag function

Stop command processing for deceleration stop function

Follow up function

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

At each automatic deceleration, this function calculates the remaining distance for the QD75 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. 12.7.7 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.

This function monitors the motor rotation amount with the servo turned OFF, and reflects it on the current feed value.

12.7.5

12.7.6

6.5.4

12.7.9

12.7.10

12.8.2

3 - 9

3 SPECIFICATIONS AND FUNCTIONS

Common functions

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

Common functions Details

Parameter initialization function

Execution data backup function

External I/O signal logic switching function

External I/O signal monitor function

1: Usable on GX Developer (SW6D5C-GPPW-E or later).

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

This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values. The following two methods can be used.

1) Method using PLC program

2) Method using GX Configurator-QP

This functions stores the "setting data", currently being executed, into the flash ROM.

1) Method using PLC program

2) Method using GX Configurator-QP

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 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 Developer 1.

MELSEC-Q

Reference

section

13.2

13.3

13.4

13.5

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

MEMO

3 - 11

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.2.4 Combination of QD75 main functions and sub functions

With positioning control using the QD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function

Main functions

OPR control

Major positioning control

Manual control

: Always combine, : Combination possible, : Combination limited, : Combination not possible

1 The operation pattern is one of the "positioning data" setting items. 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control. 3 Invalid during creep speed. 4 Invalid during continuous path control. 5 Inching operation does not perform acceleration/deceleration processing.

Valid for the reference axis only.

Valid for only the case where a deceleration start is made during position control.

Disabled for a start of positioning start No. 9003.

combinations is given below.

Machine OPR control Fast OPR control

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

interpolation control 1-axis fixed-feed

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

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

feed control (interpolation)

2-axis circular interpolation control

Current value changing NOP instruction

JUMP instruction LOOP to LEND

Combination with operation pattern.

(Continuous path control

cannot be set)

(Continuous path control

cannot be set)

(Only independent positioning

control can be set)

(Continuous path control

cannot be set)

(Only independent positioning

control can be set)

(Continuous path control

cannot be set)

3 - 12

Sub functions

Functions characteristic

to machine OPR

OPR retry function

OP shift function

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Functions that

compensate

control

Backlash compensation

function

Electronic gear function

Functions that limit

control

Near pass function

Speed limit function

Torque limit function

Software stroke limit

function

Functions that change

control details

Hardware stroke limit

function

Speed change function

Override function

Other functions

Acceleration/ deceleration

time change function

Torque change function

Step function

Skip function

M code output function

Teaching function

Target position change

function

Command in-position

function

Acceleration/deceleration

process function

Pre-reading start function

Deceleration start flag

function

Stop command

processing for

deceleration stop function

REMARK

•

The "common functions" are functions executed as necessary. (These are not combined

with the control.)

•

"High-level positioning control" is a control used in combination with the "major positioning

control". For combinations with the sub functions, refer to the combinations of the "major positioning control" and sub functions.

3 - 13

3 SPECIFICATIONS AND FUNCTIONS

3.3 Specifications of input/output signals with PLC CPU

3.3.1 List of input/output signals with PLC CPU

The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75 to the PLC CPU, and device Y

Device No. Signal name Device No. Signal name

X1A Y1A X1B Y1B X1C Y1C X1D Y1D X1E Y1E X1F

Important

[Y2 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 QD75 will not be guaranteed.

refers to the signals output from the PLC CPU to the QD75.

Signal direction: QD75 PLC CPU Signal direction: PLC CPU QD75

X0 QD75 READY Y0 PLC READY X1 Synchronization flag Y1 All axis servo ON X2 Y2 X3 X4 Axis 1 Y4 Axis 1 X5 Axis 2 Y5 Axis 2 X6 Axis 3 Y6 Axis 3 X7 Axis 4 X8 Axis 1 Y8 Axis 1 Forward run JOG start

X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4

XC Axis 1 Y C Axis 3 Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start

XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4

X10 Axis 1 Y10 Axis 1 X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 X14 Axis 1 Y14 Axis 1 X15 Axis 2 Y15 Axis 2 X16 Axis 3 Y16 Axis 3 X17 Axis 4 X18 Y18 X19 Y19

Use prohibited

M code ON

Error detection

BUSY

Start complete

Positioning complete

Use prohibited

MELSEC-Q

Y7 Axis 4

YB Axis 2 Reverse run JOG start

YF Axis 4 Reverse run JOG start

Y13 Axis 4

Y17 Axis 4

Y1F

Use prohibited

Axis stop

Positioning start

Execution prohibition flag

Use prohibited

3 - 14

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (QD75 PLC CPU)

MELSEC-Q

Device

No.

X0 QD75 READY ON: READY

X1 Synchronization

flag

Axis 1 X5 X6 X7

X8 X9

XA XB XC XD XE XF

X10 X11 X12 X13

M code ON OFF: M code is Axis 2 Axis 3 Axis 4

Axis 1

Error

detection

Axis 2 Axis 3 Axis 4 Axis 1

BUSY Axis 2 Axis 3 Axis 4

Axis 1

Start

complete

Axis 2 Axis 3 Axis 4

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

Signal name Details

OFF: Not READY/

Watch dog timer error

OFF: Module

access disabled

ON: Module

access enabled

not set

ON: M code is

set

OFF: No error ON: Error

occurrence

OFF: Not BUSY

ON: BUSY

OFF: Start

incomplete

ON: Start

complete

• 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.

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

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

PLC READY signal [Y0] OFF

QD75 READY signal [X0] OFF

• After the PLC is turned ON or the CPU module is reset, this signal turns ON if the access from the CPU module to the QD75 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 PLC program to the QD75.

• 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 "

• When M code is not designated (when" OFF.

• With using continuous path control for the positioning operation, the positioning will continue even when this signal does not turn OFF. However, a warning will occur. (Warning code: 503)

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

• If operation is started while the M code is ON, an error will occur.

• This signal turns ON when an error listed in Section 15.1 occurs, and turns OFF when the error is reset on "

• This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF

Da.9

when the " 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 " 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 QD75 starts the positioning process. (The start complete signal also turns ON during OPR control.)

Positioning start signal [Y10]

Dwell time" has passed after positioning stops. (This signal

Cd.5

Cd.7

M code OFF request".

Da.10

Axis error rest".

OFF

M code" is "0"), this signal will remain

Cd.21

OFF

Pr.40

Positioning complete signal output

Pr.40

Positioning complete signal output time" is "0".)

X14 X15 X16 X17

Axis 1 Axis 2 Axis 3 Axis 4

Positioning complete

OFF: Positioning

incomplete

ON: Positioning

complete

Start complete signal [X10]

• This signal turns ON for the time set in " time" from the instant when the positioning control for each positioning data No. is

completed. (It does not turn ON when "

• 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.

3 - 15

3 SPECIFICATIONS AND FUNCTIONS

Important

: The BUSY signal turns ON even when position control of movement amount 0 is

executed. However, since the ON time is short, the ON status may not to be detected in the PLC program.

: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is

completed. Thus, even if the QD75's positioning complete signal turns ON, the system may continue operation.

MELSEC-Q

3 - 16

3 SPECIFICATIONS AND FUNCTIONS

3.3.3 Detail of output signals (PLC CPU QD75)

MELSEC-Q

Device No. Signal name Details

Y0 PLC READY OFF:

Y1 All axis servo ON OFF:

Axis 1 Y5 Y6 Y7

Y8 Y9

YA YB YC YD YE

Y10 Y11 Y12 Y13

Y14 Y15 Y16 Y17

Axis stop OFF: Axis 2 Axis 3 Axis 4

Axis 1

Forward run JOG start Axis 1

Reverse run JOG start Axis 2

Forward run JOG start Axis 2

Reverse run JOG start Axis 3

Forward run JOG start Axis 3

Reverse run JOG start Axis 4

Forward run JOG start Axis 4

Reverse run JOG start Axis 1

Positioning start OFF: Axis 2 Axis 3 Axis 4

Execution prohibition

Axis 1

flag

Axis 2 Axis 3 Axis 4

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

PLC READY OFF

ON:

PLC READY ON

Servo OFF

ON:

Servo ON Axis stop not

requested

ON:

Axis stop requested

OFF:

JOG not started

ON:

JOG started

Positioning start not requested

ON:

Positioning start requested

OFF:

Not during execution prohibition

ON:

During execution prohibition

(a) This signal notifies the QD75 that the PLC CPU is normal.

• It is turned ON/OFF with the PLC 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 in the peripheral device test mode.

(b) When the data (parameter etc.) are changed, the PLC READY

signal is turned OFF depending on the parameter (Refer to Chapter 7.).

signal turns from OFF to ON.

• The parameter setting range is checked.

• The QD75 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 QD75 READY signal [X0] turns OFF.

• The operating axis stops.

• The M code ON signal [X4 to X7] for each axis turns OFF, and

Md.25

"0" is stored in "

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

from the peripheral device or PLC CPU to the flash ROM, the PLC READY signal will turn OFF.

• The servo for all the servo amplifiers connected to the QD75 is turned ON or 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

• 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 " 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 operation starting warning will occur (warning code: 100).

• 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. Used with the "Pre-reading start function". (Refer to Section

12.7.8)

Stop group 3 sudden stop selection".

Cd.17

JOG speed". When the JOG start signal turns

Valid M code".

3 - 17

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of interfaces with external dev ic es

3.4.1 Electrical specifications of input signals

MELSEC-Q

Signal name

Stop signal (STOP) Upper limit signal

(FLS) Lower limit signal

(RLS)

Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B)

Near-point dog signal (DOG) External command signal (CHG)

Input specifications

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

Pulse width

Phase difference

A phase B phase

24VDC/5mA

Working

voltage range

19.2 to

26.4VDC

4ms or more

2ms or more

(Duty ratio: 50%)

1ms or more

19.2 to

26.4VDC

voltage/current

17.5VDC or more/

3.5mA or more

2.5VDC or more/ 1mA or more

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

17.5VDC or more/

3.5mA or more

OFF

voltage/current

7VDC or less/

1.0mA or less

1VDC or less/

0.1mA or less

7VDC or less/

1.0mA or less

Input

resistance

Approx. 6.8kΩ

Approx. 1.2kΩ

Approx. 6.8kΩ

Response

time

4ms or less

1ms or less

3 - 18

3 SPECIFICATIONS AND FUNCTIONS

3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown.

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QD75M1 QD75M2

QD75M1

AX1

ERR

AX1

RUN

ERR

QD75M2

AX1 AX2

AX1RUN AX2

Pin layout

B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1

A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10 A9 A8 A7 A6 A5 A4 A3 A2 A1

Front view of the module

1: Pin No. "1 2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "No connect". 3: For 1-axis module and 2-axis module do not have AX3 and AX4 connector of the left side.

" indicates the pin No. for the right connector. Pin No. "2

Axis 4(AX4 ) Axis 3(AX3) Axis 2(AX2) Axis 1(AX1)

Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name

2B20 No connect 2A20 No connect 1B20 PULSER B– 1A20 PULSER B+ 2B19 No connect 2A19 No connect 1B19 PULSER A– 1A19 PULSER A+ 2B18 No connect 2A18 No connect 1B18 No connect 1A18 No connect 2B17 No connect 2A17 No connect 1B17 No connect 1A17 No connect 2B16 No connect 2A16 No connect 1B16 No connect 1A16 No connect 2B15 No connect 2A15 No connect 1B15 No connect 1A15 No connect 2B14 No connect 2A14 No connect 1B14 No connect 1A14 No connect 2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect 2B12 No connect 2A12 No connect 1B12 No connect 1A12 No connect 2B11 No connect 2A11 No connect 1B11 No connect 1A11 No connect 2B10 No connect 2A10 No connect 1B10 No connect 1A10 No connect

2B9 No connect 2A9 No connect 1B9 No connect 1A9 No connect 2B8 No connect 2A8 No connect 1B8 No connect 1A8 No connect 2B7 COM 2A7 COM 1B7 COM 1A7 COM 2B6 COM 2A6 COM 1B6 COM 1A6 COM 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 2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS

QD75M4

RUN

AX1 AX2 AX3

ERR AX4

QD75M4

AX1

AX3

AX2

AX4

" indicates the pin No. for the left connector.

3 - 19

3 SPECIFICATIONS AND FUNCTIONS

3.4.3 List of input signal details

MELSEC-Q

Signal name

Manual pulse generator A phase Manual pulse generator B phase

Manual pulse generator A common Manual pulse generator B common

Upper limit signal 1A1 1B1 2A1 2B1

Lower limit signal 1A2 1B2 2A2 2B2

Near-point dog signal 1A3 1B3 2A3 2B3

Stop signal 1A4 1B4 2A4 2B4

External command signal/ switching signal

Common

The details of each QD75 external device connection connector are shown below:

Pin No.

AX1 AX2 AX3 AX4

1A19 1A20

1B19 1B20

1A5 1B5 2A5 2B5

1A6

1B6

1A7

1B7

2A6 2A7

—

2B6 2B7

Signal details

(Negative logic is selected by external input 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.

[When increased] [When decreased]

A phase

B phase

Positioning address

• 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 OFF ON is detected at the rising edge.

• The near-point dog ON

• Input this signal to stop positioning.

• When this signal turns ON, the QD75 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 device.

Set the function to use this signal in " selection".

• Common for upper/lower limit, near-point dog, stop, and external command signal/switching signals.

+1+1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1

OFF is detected at the falling edge.

A phase

B phase

Positioning address

Pr.42

External command function

3 - 20

3 SPECIFICATIONS AND FUNCTIONS

3.4.4 Interface internal circuit

The outline diagrams of the internal circuits for the QD75M1 external device connection interface are shown below.

When upper-limit switch is not used

When lower-limit switch is not used

(1) Input

1A1 Upper-limit LS signal FLS

1A2

Lower-limit LS signal RLS

External wiring Pin No. Internal circuit Signal name

MELSEC-Q

Need for wiring

5 V DC

24 V DC

5 V

O V

Manual pulse generator

(MR-HDP01)

1A3

1A4

1A5

1A6

Near-point dog signal DOG

Stop signal STOP

External command signal/switching signal

CHG

Common COM

1A7

(+)

1A19

(–)

1B19

Manual pulse generator A phase

PULSER A+

PULSER A–

(+)

1A20

(–)

1B20

1A11

1A12

Manual pulse generator B phase

— — —

PULSER B+

PULSER B–

1A8 1A9

1A10

1: The symbols in Need for w iring column indicate the following meanings:

: Wiring is necessary for positioning.

•

• : Wiring is necessary depending on the situation.

2: Either polarity can be connected to the common (COM ).

3 - 21

— — —

3 SPECIFICATIONS AND FUNCTIONS

3.5 External circuit desig n

The outline diagrams of the internal circuits for the QD75M1 external device connection interface are shown below.

(1) Example when using the M R - J2- B/M R- J 2S- B

Alarm

Ra1

Forced stop

Operation ready

OFF

MELSEC-Q

3-phase 200VAC to 230VAC

CP1

CP2

NFB

24VDC Powerr supply

24VDC

24GDC

CP3

QX41QD75MQnCPUQ61P-A2

QY41P

COMCOM

Alarm

Ra1

Servo amplifer

MR-J2-B/ MR-J2S-B

L2 L3

L11 L21

Forced stop

COM MBR

EM1

U V

Ground

Electromagnetic breake

Forced stop

Servomotor

U V

Ra2

24VDC

1: Configure up the power supply circuit w hich switch off the electromagnetic contactor (MC) after detection alarm

occurrence on the PLC CPU.

2: The dynamic brake is operated, and servomotor occurs to the free run w hen EM1 (forced stop) of servo amplifier turn

OFF. At the time, the display shows the servo forced stop warning (E6). During ordinary operation, do not used forced stop signal to alternate stop and run. The service life of the servo amplifier may be shortened.

3: Power supply for the electromagnetic brake is possible to use a full w av e rectified power supply.

Ra2

3 - 22

Chapter 4 Installation, Wiring and Maintenance

of the Product

The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75,

accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

4.1 Outline of installation, wiring and maintenance...........................................................4- 2

4.1.1 Installation, wiring and maintenance procedures ..........................................4- 2

4.1.2 Names of each part ........................................................................................4- 3

4.1.3 Handling precautions......................................................................................4- 5

4.2 Installation.....................................................................................................................4- 7

4.2.1 Precautions for installation .............................................................................4- 7

4.3 Wiring .........................................................................................................................4- 9

4.3.1 Precautions for wiring .....................................................................................4- 9

4.4 Confirming the installation and wiring.........................................................................4- 14

4.4.1 Items to confirm when installation and wiring are completed.......................4- 14

4.5 Maintenance ................................................................................................................4- 15

4.5.1 Precautions for maintenance.........................................................................4- 15

4.5.2 Disposal instructions......................................................................................4- 15

4 - 1

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1 Outline of installation, wiring and maintenance

4.1.1 Installation, wiring and maintenance pr ocedur es

The outline and procedures for QD75 installation, wiring and maintenance are shown below.

Preparation

Installing the module

STEP 1

Refer to Section 4.1

STEP 2

Refer to Section 4.2

Understand the "Hand ling precautions" and "Names of each part" of the mo dule (QD75)

Install the module (QD75 ) on th e base unit.

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Wiring the module

Confirming the installation and wiring

Servicing the module

STEP 3

Refer to Section 4.3

STEP 4

Refer to Section 4.3

Wire the external device connection connector pins, and as se m ble the connector.

Connect the cable to the module (QD75)

STEP 5

Refer to Section 4.4

STEP 6

Refer to Section 4.5

STEP 7

Refer to Section 4.5

Operation of the positioning system.

Confirm the connection

Carry out maintenance

Dispose of the QD75

The cables used to connect the QD75 with the drive unit, with the mechanical system input (each input/output signal), and with the manual pulse generator are manufactured by soldering each signal wire onto th e "external device connection connector" sold separately.(Refer to "Applicable connector for external wiring" in Section 3.1 "Performance specifications" for the optional connector.)

Wire and connect the manufactured cable to QD75 after reading the precautions for wiring.

Check the co nnection usin g GX Configurator-QP.

Carry out maintenance as necessary.

When the QD75 is no longe r necessary, dispose of it with the specif ied methods.

4 - 2

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1.2 Names of each part

(1) The part names of the QD75 are shown below:

For QD75M4

(1) RUN indicator LED, ERR indicator LED

QD75M4

RUN

ERR AX4

AX3 AX4

AX1 AX2 AX3

QD75M4

AX1 AX2

(2) Axis display LED

MELSEC-Q

(3) External device connector

(40-pin connector)

AX1: Axis 1 AX2: Axis 2 AX3: Axis 3 AX4: Axis 4

Refer to Section 3.4.2 "Signal layout for external device connection connector" for details.

(4) SSCNET cable connector

No. Name Details

(1) RUN indicator LED, ERR indicator LED (2) Axis display LED (AX1 to AX4)

(3) External device connector (4) SSCNET cable connector A connector connected with servo amplifier.

Refer to the next page. A connector connected with a drive unit, mechanical system

input, or manual pulse generator.

4 - 3

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(2) The LED display indicates the following operation statuses of the QD75 and axes.

QD75M4

RUN

ERR AX4

Display Attention point Description Display Attention point Description

RUN

ERR RUN

ERR

RUN

ERR RUN

ERR

AX1 AX2

RUN is OFF.

AX3 AX4

AX1

RUN illuminates.

AX2 AX3

ERR is OFF.

AX4

Hardware failure, watch dog timer error

The module operates normally.

AX1 AX2

ERR illuminates. System error

AX3 AX4

AX1 AX2

AX1 to AX4 are

AX3

OFF.

AX4

The axes are stopped or on standby.

: Turns OFF. : Illuminates. : Flashes.

The interface for each QD75 is shown below:

(3)

QD75M1 QD75M2 QD75M4

QD75M1 QD75M2

RUN

AX1

ERR

AX1

RUN

ERR

AX1 AX2 AX3

QD75M4

RUN

ERR RUN

ERR

The symbols in the Display column indicate the following statuses:

AX1 AX2

AX1 (or other

AX3

axis) illuminates.

AX4

AX1

ERR flashes.

AX2

AX1 (or other

AX3

axis) flashes.

AX4

AX1 AX2

All LEDs illuminate.

AX3 AX4

QD75M4

AX1

RUN

AX2 AX3

ERR AX4

AX1

AX3

AX2

AX4

QD75M4

MELSEC-Q

The corresponding axis is in operation.

An error occurs on the corresponding axis.

Hardware failure

QD75M1

QD75M2

4 - 4

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1.3 Handling precautions

Handle the QD75 and cable while observing the following precautions.

Use the PLC within the general specifications environment given in this manual.

Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

Do not directly touch the conductive section and elect ronic parts of the module.

Failure to observe this could lead to module malfunctioning or trouble.

Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.

Failure to observe this could lead to fires, trouble or malfunctioning.

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

Completely turn off all lines of power supply externally before loading or unloading the module. Not

doing so could result in electric shock or damage to the product.

Because the connector has its orientation, check it before attaching or detaching the connector

straight from the front. Unless it is properly installed, a poor contact may occur, resulting in erroneous input and output.

Do not directly touch the module's conductive parts and electronic components of the module.

Touching the conductive parts and electronic components of the module could cause an operation failure or give damage to the module.

[1] Handling precautions

CAUTION

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4 - 5

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[2] Other precautions

(1) Main body

•

The main body case is made of plastic. Take care not to drop or apply

strong impacts onto the case.

•

Do not remove the QD75 PCB from the case. Failure to observe this

could lead to faults.

(2) 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.

(3) Installation environment

Do not install the module in the following type of environment.

•

Where the ambient temperature exceeds the 0 to 55°C 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.

MELSEC-Q

4 - 6

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.2 Installation

4.2.1 Precautions for installation

The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.

[1] Precautions for SSCNET cable wiring

If the duct is below the bottom of the module, leave sufficient clearance to eliminate effects on the SSCNET cable, limit the space height to 70 mm (2.76 inch) MIN.

Unit: mm(inch)

MELSEC-Q

70(2.76)

4 - 7

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[2] Precautions for installation

DANGER

Completely turn off the externally supplied power used in the syst em before clearing or

tightening the screws. Not doing so may cause electric shocks.

CAUTION

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

Completely turn off the externally supplied power used in the syst em before installing or

removing the module.

Not doing so may cause an operation failure or damage to the module.

Use the PLC within the general specifications environment given in CPU module User's

manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

Don't directly touch the conductive area or electronic components of the module.

Failure to observe this could lead to trouble or malfunctioning.

While pressing the installation lever located at the bottom of module, insert the module fixing

When using the module in the environment of much vibration, tighten the module with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning.

MELSEC-Q

4 - 8

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.3 Wiring

The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.

4.3.1 Precautions for wiring

MELSEC-Q

Switch all phases of the external power supply off w hen installing or placing wiring.

Not doing so may cause electric shock or damage to the product.

Check the layout of the terminals and then properly route the wires to the module. Solder connector for external input signal cable and SSCNET cable device properly.

Insufficient soldering may cause malfunction.

Be careful not to let foreign matter such as sawdust or wire chips get inside the module.

These may cause fires, failure or malfunction.

The top surface of the module is covered with protective films to prevent foreign objects such as

cable off cuts from entering the module when wiring. Do not remove this film until t he wiring is c omplete.

Before operating the system, be sure to remove the film to provide adequate v entilation. Securely connect the connector for the SSCNET cable to the bottom connector on the module. When removing the cable or power supply cable from the module, do not pull the cable. When

removing the cable with a connector, hold the connector on the side that is connected t o the module. Pulling the cable that is still connected to the module may cause malfunct ion or damage to t he module or cable.

The cable used for connecting the QD75 external input signal cable and SSCNET cable should

not be routed near or bundled with the main circuit cable, power cable and/or other such load – carrying cables other than those for the PLC. These cables should be separated by at least 100 mm (3.94 inch) They can cause electrical interference, surges and inductance that can lead to mis-operation.

The cable for connecting QD75 can be secured in duct or bundle fixing.

If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75 or servo amplifier or shielded cable or defective cable connections could cause mis-operation of the unit.

DANGER

CAUTION

4 - 9

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[1] Precautions for wiring

(1) Use separate cables for connecting to the QD75 and for the power cable

that create surge and inductance.

(2) The shielded cable for connecting QD75 can be secured in place.

If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75 or drive unit or shielded cable or defective cable connections could cause mis-operation of the unit.

(3) If a duct is being used and cables to connect to QD75 are separated from

the power line duct, use metal piping. Ground the pipes securely after metal piping.

(4) The cable is to use the twisted pair shielded cable (wire size 0.3 mm

shielded must be grounded on the QD75 side.

[Wiring example of shielded cable]

The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.

Connector (A6CON1)

To external devices

Shielded cable

To external device

MELSEC-Q

). The

To external device

To QD75

The length between the connector and the shielded cables should be the shortest possible.

Use the shortest possible length to ground the 2mm or more FG wire. (The shield must be grounded on the QD75 side.)

4 - 10

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Processing example of shielded cables]

Connections of FG wire and each shielded cable

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.

MELSEC-Q

Assembling of connector (A6CON1)

Wrap the coated part with a heat contractile tube.

4 - 11

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(5) To make this product conform to the EMC directive and low voltage

instruction, be sure to used of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable/ the SSCNET cable.

Inside control box

QD75

20cm(7.88inch) to 30cm(11.82inch)

AD75CK

MELSEC-Q

[How to ground shielded cable usi ng AD75C K]

Shielded cable

Shield

Ground terminal

Ground terminal instal lation screw (M4 8 screw)

Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for grounding.

4 - 12

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Wiring examples using duct (incorrect exampl e and cor rected example)]

Relay

MELSEC-Q

Wiring duct

Control panel

Servo

amplifier

Noise source

(Power sy st em ,

Noise source

(Power sy st em ,

Servo

amplifier

etc.)

Changed

Relay Relay

etc.)

Servo

amplifier

Relay

PLC

Relay

PLC

Servo

amplifier

The servo amplifiers are placed near the noise source. The connection cable between the QD75 and servo amplifiers is too long.

Wiring duct

The QD75 and servo amplifiers are placed closely. The connection cable between the QD75 and servo amplifier is separately laid from the power line (in this example, the cable is outside of the duct) and is as short as possible.

POINTS

(1) The noise reduction techniques might be decreased the noise by installing

ferrite core in the cable connected with QD75. Refer to this manual and the servo amplifier manual for the noise reduction technique related to the connection of servo amplifier and QD75.

(2) The influence of the noise is decreased by constructing the system

configuration which can suit EMC directive even when the agreement of EMC directive is unnecessary. To make this product conform to the EMC directive, please refer to chapter 3. "EMC AND LOW-VOLTAGE DIRECTIVES" of the using PLC CPU module User's Manual (Hardware).

4 - 13

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

4.4 Confirming the installation and wiring

4.4.1 Items to confirm when installation and w ir i ng ar e compl eted

Check the following points when completed with the QD75 installation and wiring.

•

Is the module correctly wired? ... "Connection confirmation"

With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function. (GX Configurator-QP is

Important

If the QD75 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" 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.

required for this "connection confirmation".)

•

Are the QD75 and servo amplifier correctly connected?

•

Are the servo amplifier and servomotor correctly connected?

•

Are the QD75 and external device (input/output signal) correctly connected?

With this "connection confirmation", "whether the direction that the QD75 recognizes as forward run matches the address increment direction in the actual positioning work", and "whether the QD75 recognizes the external input/output signals such as the near-point dog signal and stop signal" can be checked.

Refer to GX Configurator-QP Operating Manual for details on "Connection confirmation".

Note that GX Developer may also be used to "confirm the connection between the QD75 and external device (I/O signals). For details, refer to Section 13.5 "External I/O signal monitor function" and GX Developer Operating Manual (SW6D5C-GPPW-E or later).

4 - 14

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.5 Maintenance

4.5.1 Precautions for maintenance

The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.

DANGER

Completely turn off the externally supplied power used in the syst em before clearing or

tightening screws. Not doing so may cause electric shocks.

CAUTION

MELSEC-Q

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the syst em before installing or

removing the module.

Not doing so may cause an operation failure or damage to the module.

4.5.2 Disposal instructions

CAUTION

When disposing of the product, handle it as industrial waste.

4 - 15

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

MEMO

4 - 16

Chapter 5 Data Used for Positioning Control

The parameters and data used to carry out positioning control with the QD75 are explained in this chapter.

With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control. Read this section thoroughly and make settings according to each control or application.

Refer to Section 2 for details on each control.

5.1 Types of data................................................................................................................5- 2

5.1.1 Parameters and data required for control ......................................................5- 2

5.1.2 Setting items for positioning parameters........................................................5- 5

5.1.3 Setting items for OPR parameters.................................................................5- 7

5.1.4 Setting items for servo parameters ................................................................5- 8

5.1.5 Setting items for positioning data..................................................................5- 10

5.1.6 Setting items for block start data...................................................................5- 12

5.1.7 Setting items for condition data.....................................................................5- 13

5.1.8 Types and roles of monitor data....................................................................5- 14

5.1.9 Types and roles of control data.....................................................................5- 18

5.2 List of parameters........................................................................................................5- 22

5.2.1 Basic parameters 1........................................................................................5- 22

5.2.2 Basic parameters 2........................................................................................5- 26

5.2.3 Detailed parameters 1 ...................................................................................5- 28

5.2.4 Detailed parameters 2 ...................................................................................5- 36

5.2.5 OPR basic parameters ..................................................................................5- 48

5.2.6 OPR detailed parameters..............................................................................5- 54

5.2.7 Servo basic parameters.................................................................................5- 58

5.2.8 Servo adjustment parameters .......................................................................5- 64

5.2.9 Servo expansion parameters ........................................................................5- 74

5.2.10 Servo expansion parameters 2 .....................................................................5- 78

5.3 List of positioning data.................................................................................................5- 82

5.4 List of block start data .................................................................................................5- 98

5.5 List of condition data...................................................................................................5-104

5.6 List of monitor data.....................................................................................................5-110

5.6.1 System monitor data.....................................................................................5-110

5.6.2 Axis monitor data..........................................................................................5-120

5.7 List of control data......................................................................................................5-138

5.7.1 System control data......................................................................................5-138

5.7.2 Axis control data ...........................................................................................5-140

5 - 1

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 QD75 include the "setting data", "monitor data" and "control data" shown below.

Setting data

(Data set beforehand according to the machine and application, and stored in the flash ROM.)

MELSEC-Q

Parameters

)

Pr.1 )

Pr.57

Positioning data Positioning data

)

Da.1 )

Da.10

Block start data

)

Da.11)Da.19

Positioning parameters

)

Pr.1 )Pr.42

)

Pr.200

Servo parameters

)

Pr.100

OPR parameters

)

Pr.43)Pr.57

Pr.201

Basic parameters 1 Basic parameters 2

)

Note) If the setting of the basic parameters 1 is incorrect, the rotation direction

Set according to the machine and applicable motor when system is started up.

may be reversed, or no operation may take place. Detailed parameters 1

Detailed parameters 2

Set according to the system configuration when the system is started up.

Note) Detailed parameters 2 are data items for using the QD75 functions to the fullest. Set as required.

Servo basic parameters Servo adjustment parameters

)

Pr.161

Servo expansion parameters Servo expansion parameters 2

OPR basic parameters OPR detailed parameters

Set the block start data for "major positioning control".

Block start data

)

Da.11)Da.14

Condition data Set the condition data for "high-level positioning control".

)

Da.15)Da.19

Memo data

Set the data for "high-level positioning control".

Set the condition judgment values for the condition data used in "high-level positioning control".

Set the data that is determined by the specification of the servo being used .

Set the values required for carrying out OPR control.

The data is set with the PLC program or peripheral device.

In this chapter, the method using the peripheral device will be explained. (Refer to "Point" on the next page.)

The basic parameters 1, detailed parameters 1, and OPR parameters become valid

when the PLC READY signal [Y0] turns from OFF to ON.

The basic parameters 2 and detailed parameters 2 become valid immediately when

they are written to the buffer memory, regardless of the state of the PLC READY signal [Y0].

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.

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

The servo parameter is transmitted from QD75 to the servo amplifier when the

initialized communication carried out after the power supply is turned ON or the PLC CPU is reset. The power supply is turned ON or the PLC CPU is reset after writing servo parameter in flash ROM of QD75 if the servo parameter is transmitted to the servo amplifier. The following servo parameter in the buffer memory is transmitted to the servo amplifier when the PLC READY [Y0] turns from OFF to ON.

Pr.108

•

Auto tuning (Servo basic parameter)

Pr.112

Load inertia ratio (Servo adjustment parameter)

Pr.113

Position loop gain 1 (Servo adjustment parameter)

Pr.115

Position loop gain 2 (Servo adjustment parameter)

Pr.114

Speed loop gain 1 (Servo adjustment parameter)

Pr.116

Speed loop gain 2 (Servo adjustment parameter)

Pr.117

Speed integral compensation (Servo adjustment parameter)

Pr.119

Feed forward gain (Servo adjustment parameter)

The only valid data assigned to these parameters are the data read at the moment

when a positioning or JOG operation is started. Once the operation has started, any modification to the data is ignored. Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command.

• Acceleration time 0 to 3 and deceleration time 0 to 3: Positioning data are pre-read and pre-analyzed. Modifications to the data four or more steps after the current step are valid.

Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)

• External command function selection: The value at the time of detection is valid.

)

Md.1

Md.48

Md.100 Md.111

)

System monitor data Monitors the QD75 specifications and the operation history.

)

Md.1

Axis monitor data

)

Md.20)Md.48

Md.19

)

Md.100 Md.111

Monitors the data related to the operating axis, such as the current position and speed.

The data is monitored with the PLC program or peripheral device. In this chapter, the method using the peripheral device will be explained.

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5 DATA USED FOR POSITIONING CONTROL

Control data

(Data for user to control positioning system.)

MELSEC-Q

)

Cd.1

Cd.42

Cd.100

Cd.102

)

System control data

)

Cd.1

Cd.2

Axis control data

)

Cd.3

Cd.40

Cd.41

Cd.100

Writes/initializes the "setting data" in the module.

Cd.42

Makes settings related to the operation, and controls the speed change during operation, and stops/resta rts th e opera tio n.

Cd.102,

)

Control using the control data is carried out with the PLC 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.

POINT

(1) The "setting data" is created for each axis. (2) 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.)

(3) The "setting data" can be initialized with GX Configurator-QP or the PLC

program.

(4) It is recommended to set the "setting data" with GX Configurator-QP. When

executed with the PLC program, many PLC programs and devices must be used. This will not only complicate the program, but will also increase the scan time.

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

5.1.2 Setting items for positioning parameters

The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to Section 2. For details of setting items, refer to "5.2 List

Control Major positioning control Manual control

Position control Other control

Positioning parameter

Pr.1

Unit setting No. of pulses per rotation (AP)

Pr.2

(Unit: PLS)

Pr.3

Movement amount per rotation (AL)

Pr.4

Unit magnification (AM)

Basic parameters 1

Pr.7

Bias speed at start

Pr.8

Speed limit value

Pr.9

Acceleration time 0

parameters 2

Pr.10 Pr.11

Pr.12 Pr.13 Pr.14

Pr.15 Pr.16

Pr.17 Pr.18 Pr.19

Detailed parameters 1

Pr.20 Pr.21 Pr.22 Pr.24

Pr.200

problem.)

Deceleration time 0 Back compensation amount

Software stroke limit upper limit value – Software stroke limit lower limit value – Software stroke limit selection –

Software stroke limit valid/invalid selection

Command in-position width – Torque limit setting value M code ON signal output timing – Speed switching mode – Interpolation speed designation method – Current feed value during speed control – – – – Input signal logic selection Manual pulse generator input selection – – – – – – – – Speed-position function selection – – – – –

Basic

: Always set

: Set as required (Read "–" when not required.) : Setting not possible : Setting restricted

– : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no

of parameters".

OPR control

1-axis linear control

2/3/4-axis linear interpolation control

1-axis fixed-feed control

2/3/4-axis fixed-feed control

2-axis circular interpolation control

1 to 4 axis speed control

Speed-position or position-speed

control

Current value changing

JUMP instruction, NOP instruction,

LOOP to LEND

Manual pulse generator operation

– – – – – –

– – –

– – – – –

– – – – – –

–

– – – – – –

– – – – –

– – – – – –

– – – – –

– – – 12.7.3

JOG operation

Inching operation

12.3.2

12.4.1

12.7.7

12.3.1

12.4.3

12.7.6

12.4.2

– –

Related sub function

–

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Control Major positioning control Manual control

Position control Other control

Positioning parameter

Acceleration time 1

Pr.25

Acceleration time 2

Pr.26

Acceleration time 3

Pr.27

Deceleration time 1

Pr.28 Pr.29

Deceleration time 2

Pr.30

Deceleration time 3

Pr.31

JOG speed limit value – – – – – – – – – JOG operation acceleration time

Pr.32

selection JOG operation deceleration time

Pr.33

selection Acceleration/deceleration process

Pr.34

selection

Pr.35

S-pattern proportion

Pr.36

Sudden stop deceleration time

Detailed parameters 2

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 Allowable circular interpolation error

Pr.41

width

Pr.42

External command function selection Restart allowable range when servo OFF

Pr.201

to ON

OPR control

1-axis linear control

2/3/4-axis linear interpolation control

1-axis fixed-feed control

2/3/4-axis fixed-feed control

2-axis circular interpolation control

1 to 4 axis speed control

Speed-position or position-speed

control

Current value changing

JUMP instruction, NOP instruction,

LOOP to LEND

Manual pulse generator operation

– – – – – – – – –

– – –

– – – – – – –

– – – – – – – – – – – – – – – – – –

– – – – – –

– – – – – – – – – – – –

– – – –

– –

JOG operation

Inching operation

12.7.7

12.4.1

12.7.7

12.5.1

12.7.2

5.2.4

: Always set

: Set as required ("–" when not set)

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no

problem.)

Checking the positioning parameters

Pr.1

Pr.42

are checked with the following timing.

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75

changes from OFF to ON

(2) When the test operation button is turned ON in the test mode using GX

Configurator-QP

(3) When an error check is carried out with GX Configurator-QP

Related sub function

–

– – –

REMARK

•

"High-level positioning control" is carried out in combination with the "major

positioning control". Refer to the "major positioning control" parameter settings for details on the parameters required for "high-level positioning control".

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5 DATA USED FOR POSITIONING CONTROL

5.1.3 Setting items for OPR parameters

When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to Chapter 8 "OPR control" for details on the "OPR control", and to Section 5.2

OPR parameters

Pr.43

Pr.44 Pr.45 Pr.46

OPR basic parameters

Pr.47 Pr.48 Pr.49

Pr.50

Pr.51 Pr.52 Pr.53 Pr.54

OPR detailed parameters

Pr.56 Pr.57

: Always set

: Preset parameters are used for machine OPR control.

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default

value or within the setting range, there is no problem.) R : Set when using the "12.2.1 S : Set when using the "12.2.2

"List of parameters" for details on each setting item.

OPR control

OPR method

OPR direction OP address OPR speed Creep speed OPR retry R R R – OPR dwell time – – – –

Setting for the movement amount after nearpoint dog ON

OPR accelerati o n time selection OPR deceleration time selection OP shift amount S S S – OPR torque limit value – – – – Speed designation during OP shift S S S – Dwell time during OPR retry R R R –

OPR retry function". ("–" when not set.)

shift function". ("–" when not set.)

Machine OPR control

Near-point dog

method

–

Count method 1)

Count method 2)

Checking the OPR parameters.

Pr.43

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75

changes from OFF to ON

(2) When the test operation button is turned ON in the test mode using GX

Configurator-QP

(3) When an error check is carried out with GX Configurator-QP

Pr.57

are checked with the following timing.

Data set method

– –

–

MELSEC-Q

Fast

OPR control

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

5.1.4 Setting items for servo parameters

The servo parameters are used to control the servomotor and the data that is determined by the specification of the servo being used. The table below lists items set to the servo parameters.

Servo amplifier

Servo parameters

Pr.100

Servo series

Pr.101

Amplifier setting

Pr.102

Regenerative brake resistor

Pr.103

Motor type

Pr.104

Motor capacity

Pr.105

Servo motor speed

Pr.106

Feed back pulse

Pr.107 Pr.108 Pr.109 Pr.112 Pr.113 Pr.114 Pr.115 Pr.116 Pr.117

Pr.118

Pr.119 Pr.120

Pr.121

Pr.122 Pr.123 Pr.124

Pr.125

problem.)

Rotation direction selection Auto tuning Servo response Load inertia ratio Position loop gain 1 Speed loop gain 1 Position loop gain 2 Speed loop gain 2 Speed integral compensation

Machine resonance suppression filter

Feed forward gain In-position range

Electromagnetic brake sequence output

Analog monitor output Optional function 1 Optional function 2

Adaptive vibration suppression control/ low pass filter

Servo basic parameters

Servo adjustment parameters

: Always set

: Set as required ("–" when not set) : Setting restricted

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no

MR-H-BN MR-H-BN4 MR-J2-B MR-J2S-B MR-J2-Jr MR-J2M-B Remark

– – –

–

Refer to the

section

5.2.7

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Servo amplifier

MR-H-BN MR-H-BN4 MR-J2-B MR-J2S-B MR-J2-Jr MR-J2M-B Remark

Servo parameters

Pr.127

Monitor output 1 offset

Pr.128

Monitor output 2 offset

Pr.129

Pre-alarm data selection

Pr.130

Zero speed

Pr.131

Error excessive alarm level

Pr.132

Optional function 5

Pr.133

Optional function 6 – – –

Servo expansion parameters

Servo expansion parameters 2

: Always set

: Set as required ("–" when not set) : Setting restricted

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no

problem.)

PI-PID control switch-over position

Pr.134

droop

Pr.136

Speed differential compensation

Pr.138

Encoder output pulses – – – Slight vibration suppression control

Pr.143

selection 1 Slight vibration suppression control

Pr.144

selection 2

Pr.145

Induction voltage compensation – – –

Pr.149

Gain changing selection – – –

Pr.150

Gain changing condition – – –

Pr.151

Gain changing time constant – – – Ratio of load inertia moment to

Pr.152

servomotor inertia moment 2

Pr.153

Position loop gain 2 changing ratio – – –

Pr.154

Speed loop gain 2 changing ratio – – – Speed integral compensation

Pr.155

changing ratio

Pr.160

Optional function C – – – Machine resonance suppression

Pr.161

filter 2

– – – –

– – –

– –

–

– – – –

–

– –

–

Refer to

the section

5.2.7

5 - 9

Mitsubishi Electric MELSEC-Q QD75M User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Using This Manual

Conformation to the EMC Directive

Generic Terms and Abbreviations

Component List

Section 1 Product Specifications and Handling

Chapter 1 Product Outline

1.1 Positioning control

1.1.1 Features of QD75

1.1.2 Purpose and applications of positioning control

1.1.3 Mechanism of positioning control

1.1.4 Overview of positioni ng contr ol functions

1.1.5 Outline design of positioning system

1.1.6 Communicating signals betw een QD 75 and each modul e

1.2 Flow of system operation

1.2.1 Flow of all processes

1.2.2 Outline of starting

1.2.3 Outline of stopping

1.2.4 Outline for restarting

Chapter 2 System Configuration

2.1 General image of system

2.2 Component list

2.3 Applicable system

2.4 How to check the function version and SERIAL No.

Chapter 3 Specifications and Functions

3.1 Performance specifications

3.2 List of functions

3.2.1 QD75 control functions

3.2.2 QD75 main functions

3.2.3 QD75 sub functions and common functions

3.2.4 Combination of QD75 main functions and sub functions

3.3 Specifications of input/output signals with PLC CPU

3.3.1 List of input/output signals with PLC CPU

3.4 Specifications of interfaces with external dev ic es

3.4.1 Electrical specifications of input signals

3.4.2 Signal layout for external device connection connector

3.4.3 List of input signal details

3.4.4 Interface internal circuit

3.5 External circuit desig n

4.1 Outline of installation, wiring and maintenance

4.1.1 Installation, wiring and maintenance pr ocedur es

4.1.2 Names of each part

4.1.3 Handling precautions

4.2 Installation

4.2.1 Precautions for installation

4.3 Wiring

4.3.1 Precautions for wiring

4.4 Confirming the installation and wiring

4.4.1 Items to confirm when installation and w ir i ng ar e compl eted

4.5 Maintenance

4.5.1 Precautions for maintenance

4.5.2 Disposal instructions

Chapter 5 Data Used for Positioning Control

5.1 Types of data

5.1.1 Parameters and data required for control

5.1.2 Setting items for positioning parameters

5.1.3 Setting items for OPR parameters

5.1.4 Setting items for servo parameters