Mitsubishi Q, QD70P4, QD70, QD70P8, SW1D5C-QPTU-E User Manual

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Type QD70 Positioning Module

Type QD70 Positioning Module User's Manual

Mitsubishi Programmable Logic Controller

QD70P4 QD70P8

GX Configurator-PT

(SW1D5C-QPTU-E)

A - 1 A - 1

SAFETY INSTRUCTIONS

(Always read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER

CAUTION

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

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

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.

[DESIGN INSTRUCTION]

DANGER

Provide a safety circuit outside the programmable logic controller so that the entire system 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 control

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

(2) The 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 direction is incorrectly set, deceleration will not start and the machine will continue to travel. Configure an interlock circuit to prevent mechanical damage outside the PLC.

(3) When the module detects an error, deceleration st op will t ake place.

Make sure that the OPR data and positioning data are within the parameter setting values.

A - 2 A - 2

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 INSTRU CT ION S ]

CAUTION

Use the PLC within the general specifications environment given in t his manual.

Using the PLC outside the general specification range environment could lead t o elect ric shocks, fires, malfunctioning, product damage or deterioration.

Hold down the module loading lever at the bottom of the module and insert the module fixing

hooks into the base unit fixing holes securely to load the module. Improper loading of the module can cause a malfunction, failure or drop. For use in vibratory environment, tighten the module with screws. 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.

Always load or unload the module after switching power off externally in all phases. Not doing

so may damage the product.

[WIRING INSTRUCTIONS]

DANGER

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

[STARTUP/MAINTENANCE INSTRUCTIONS]

DANGER

Always turn all phases of the power supply OFF externally before cleaning or tightening the

screws. Failure to turn all phases OFF could lead to electric shocks.

A - 3 A - 3

[STARTUP/MAINTENANCE INSTRUCTIONS]

CAUTION

Never disassemble or modify the module.

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

Always turn all phases of the power supply OFF externally before installing or removing the

module. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

Before starting test operation, set the parameter speed limit value to the slowest value, and

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

[DISPOSAL INSTRUCTIONS]

CAUTION

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

A - 4 A - 4

REVISIONS

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

Print Date

Manual Number Revision Jun., 2001 SH (NA)-080171-A First edition Feb., 2002 SH (NA)-080171-B

Modifications

About Manuals, Section 2.3, Section 2.4, Section 4.6.1, Section 5.3, Section 5.7, Section 6.2.2, Section 8.2.3, Section 8.2.4, Section

8.2.5, Section 8.2.6, Section 10.3, Appendix 8

Jul., 2002 SH (NA)-080171-C

Modifications

CONTENS, Section .1.1.1, Section 4.2, Section 11.3, Section 11.4, Section 11.5, Section 13.2, Appendix 2, Appendix 8, INDEX

Japanese Manual Version SH-080138-D

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.



2001 MITSUBISHI ELECTRIC CORPORATION

A - 5 A - 5

INTRODUCTION

Thank you for purchasing the Mitsubishi 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.

CONTENTS

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

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

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

About Manuals ...............................................................................................................................................A- 9

Using This Manual..........................................................................................................................................A- 9

Conformation to the EMC Directive and Low Voltage Instruction ................................................................A- 9

Generic Terms and Abbreviations................................................................................................................A- 10

Component List .............................................................................................................................................A- 10

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

1 PRODUCT OUTLINE 1- 1 to 1- 10

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

1.1.1 Features of QD70..............................................................................................................................1- 1

1.1.2 Mechanism of positioning control ......................................................................................... ............1- 2

1.1.3 Outline design of positioning control system....................................................................................1- 4

1.1.4 Communicating signals between QD70 and each module..............................................................1- 7

1.2 Positioning control....................................................................................................................................1- 9

1.2.1 Outline of starting ...................................................................................................... ........................1- 9

1.2.2 Outline of stopping ...........................................................................................................................1- 10

2 SYSTEM CONFIGURATION 2- 1 to 2- 5

2.1 General image of system.........................................................................................................................2- 1

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

2.3 Applicable system....................................................................................................................................2- 3

2.4 How to check the function version and the software version ................................................................. 2- 4

3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 11

3.1 Performance specifications......................................................................................................................3- 1

3.2 List of functions ........................................................................................................................................3- 2

3.3 Specifications of input/output signal with PLC CPU ...............................................................................3- 4

3.3.1 List of input/output signals with PLC CPU........................................................................................3- 4

3.3.2 Details of input signal (QD70

PLC CPU) .....................................................................................3- 5

3.3.3 Details of output signals (PLC CPU

QD70).................................................................................3- 6

3.4 Specifications of input/output interfaces with external device ................................................................3- 7

3.4.1 Electrical specifications of input/output signals................................................................................ 3- 7

3.4.2 Signal layout for external device connection connector...................................................................3- 9

3.4.3 List of input/output signal details......................................................................................................3- 10

3.4.4 Input/output interface internal circuit................................................................................................3- 11

A - 6 A - 6

4 DATA USED FOR POSITIONI NG CON TROL ( LIS T OF BU FFER MEM ORY ADDRE SSES ) 4- 1 to 4- 31

4.1 Type of data .............................................................................................................................................4- 1

4.1.1 Parameters and data required for control.........................................................................................4- 1

4.1.2 Setting items for parameters.............................................................................................................4- 3

4.1.3 Setting items for OPR data...............................................................................................................4- 4

4.1.4 Setting items for JOG data................................................................................................................4- 5

4.1.5 Setting items for positioning data...................................................................................................... 4- 6

4.1.6 Type and roles of monitor data.........................................................................................................4- 7

4.1.7 Type and roles of control data ..........................................................................................................4- 8

4.2 List of parameters ....................................................................................................................................4- 9

4.3 List of OPR data......................................................................................................................................4- 14

4.4 List of JOG data ......................................................................................................................................4- 20

4.5 List of positioning data ............................................................................................................................4- 21

4.6 List of monitor data..................................................................................................................................4- 27

4.6.1 Axis monitor data..............................................................................................................................4- 27

4.6.2 Module information monitor data.....................................................................................................4- 29

4.7 List of control data...................................................................................................................................4- 30

4.7.1 Axis control data...............................................................................................................................4- 30

5 SETUP AND PROCEDURES BEFORE OPERATION 5- 1 to 5- 20

5.1 Handling precautions ...............................................................................................................................5- 1

5.2 Procedures before operation ...................................................................................................................5- 3

5.3 Part identification nomenclature ..............................................................................................................5- 4

5.4 Wiring .......................................................................................................................................................5- 7

5.4.1 Wiring precautions.............................................................................................................................5- 7

5.5 Confirming the wiring ..............................................................................................................................5- 12

5.5.1 Confirmation items at completion of wiring......................................................................................5- 12

5.6 Switch setting for intelligent function module.........................................................................................5- 14

5.7 Simple reciprocating operation...............................................................................................................5- 18

6 UTILITY PACKAGE(GX Configurator-PT) 6- 1 to 6- 17

6.1 Utility package functions .......................................................................................................................... 6- 1

6.2 Installing and uninstalling the utility package..........................................................................................6- 2

6.2.1 User precautions ...............................................................................................................................6- 2

6.2.2 Operating environment......................................................................................................................6- 4

6.3 Explanation of utility package operations................................................................................................6- 5

6.3.1 How to perform common utility package operations........................................................................ 6- 5

6.3.2 Operation overview ...........................................................................................................................6- 7

6.3.3 Starting the intelligent function module utility ................................................................................... 6- 9

6.4 Initial setting.............................................................................................................................................6- 11

6.5 Auto refresh setting.................................................................................................................................6- 13

6.6 Monitor/test..............................................................................................................................................6- 15

6.6.1 Monitor/Test screen..........................................................................................................................6- 15

7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7- 1 to 7- 20

7.1 Precautions for creating program............................................................................................................7- 1

7.2 List of devices used..................................................................................................................................7- 3

A - 7 A - 7

7.3 Creating a program ..................................................................................................................................7- 5

7.3.1 General configuration of program.....................................................................................................7- 5

7.3.2 Positioning control operation program..............................................................................................7- 6

7.4 Positioning control program examples....................................................................................................7- 8

7.5 Program details.......................................................................................................................................7- 12

7.5.1 Initialization program ........................................................................................................................7- 12

7.5.2 Start method setting program ..........................................................................................................7- 13

7.5.3 Start program....................................................................................................................................7- 13

7.5.4 Sub program.....................................................................................................................................7- 18

SECTION 2 CONTROL DETAILS AND SETTING

8 OPR CONTROL 8- 1 to 8- 16

8.1 Outline of OPR control.............................................................................................................................8- 1

8.1.1 Two types of OPR control.................................................................................................................8- 1

8.2 Machine OPR control...............................................................................................................................8- 2

8.2.1 Outline of the machine OPR operation.............................................................................................8- 2

8.2.2 Machine OPR method.......................................................................................................................8- 3

8.2.3 OPR method (1): Near-point dog method ........................................................................................8- 4

8.2.4 OPR method (2): Stopper 1 .............................................................................................................. 8- 6

8.2.5 OPR method (3): Stopper 2 .............................................................................................................. 8- 8

8.2.6 OPR method (4): Stopper 3 .............................................................................................................8- 10

8.2.7 OPR method (5): Count 1 ................................................................................................................8- 12

8.2.8 OPR method (6): Count 2 ................................................................................................................8- 14

8.3 Fast OPR control.....................................................................................................................................8- 16

8.3.1 Outline of the fast OPR control operation........................................................................................8- 16

9 POSITIONING CONTROL 9- 1 to 9- 17

9.1 Outline of positioning controls..................................................................................................................9- 1

9.1.1 Data required for positioning control.................................................................................................9- 1

9.1.2 Operation patterns of positioning controls........................................................................................9- 2

9.1.3 Designating the positioning address.................................................................................................9- 8

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

9.2 Setting the positioning data ....................................................................................................................9- 10

9.2.1 Relation between each control and positioning data ......................................................................9- 10

9.2.2 1-axis linear control ..........................................................................................................................9- 11

9.2.3 Speed-position switching control ..................................................................................................... 9- 13

9.2.4 Current value changing....................................................................................................................9- 16

9.3 Multiple axes simultaneous start control ................................................................................................9- 17

10 JOG OPERATION 10- 1 to 10- 6

10.1 Outline of JOG operation.....................................................................................................................10- 1

10.2 JOG operation execution procedure ...................................................................................................10- 3

10.3 JOG operation example.......................................................................................................................10- 4

11 SUB FUNCTIONS 11- 1 to 11- 13

11.1 Outline of sub functions .......................................................................................................................11- 1

A - 8 A - 8

11.2 Speed limit function..............................................................................................................................11- 1

11.3 Speed change function........................................................................................................................11- 2

11.4 Software stroke limit function...............................................................................................................11- 5

11.5 Acceleration/deceleration processing function....................................................................................11- 8

11.6 Restart function...................................................................................................................................11- 12

12 COMMON FUNCTIONS 12- 1 to 12- 3

12.1 Outline of common functions ...............................................................................................................12- 1

12.2 External I/O signal switching function..................................................................................................12- 1

12.3 External I/O signal monitor function ....................................................................................................12- 2

13 TROUBLESHOOTING 13- 1 to 13- 14

13.1 Error and warning details.....................................................................................................................13- 1

13.2 List of errors .........................................................................................................................................13- 3

13.3 List of warnings ...................................................................................................................................13- 11

13.4 LED display function...........................................................................................................................13- 13

13.5 Confirming the error definition using system monitor of GX Developer............................................13- 14

APPENDIX App- 1 to App- 18

Appendix 1 External dimension drawing ...................................................................................................App- 1

Appendix 2 Operation timing and processing time in each control ..........................................................App- 2

Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation

.................................................................................................................................................App- 6

Appendix 3.1 Connection example of QD70P

and MR-H A...........................................................App- 6

Appendix 3.2 Connection example of QD70P

and MR-J2/J2S- A................................................App- 7

Appendix 3.3 Connection example of QD70P

and MR-C A...........................................................App- 8

Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.

.................................................................................................................................................App- 9

Appendix 4.1 Connection example of QD70P

and VEXTA UPD .....................................................App- 9

Appendix 5 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co.,

Ltd...........................................................................................................................................App- 10

Appendix 5.1 Connection example of QD70P

and MINAS A series ...............................................App- 10

Appendix 6 Connection examples with servo amplifiers manufactured by Yamayo Electric Co., Ltd...App- 11

Appendix 6.1 Connection example of QD70P

and PZ series..........................................................App- 11

Appendix 7 Connection examples with servo amplifiers manufactured by Yasukawa Electric Co., Ltd

................................................................................................................................................App- 12

Appendix 7.1 Connection example of QD70P

and Σ- series .........................................................App- 12

Appendix 8 Comparisons with type QD75 positioning module................................................................App- 13

Appendix 9 List of buffer memory addresses...........................................................................................App- 16

INDEX Index- 1 to Index- 5

A - 9 A - 9

About Manuals

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

Detailed Manuals

Manual Name

Manual Number

(Model Code)

Type QD70 Positioning Module User's Manual (Hardware)

Describes the performance, specifications, I/O interface, component names, and startup procedure of the respective positioning modules: QD70P4 and QD70P8. (The manual is supplied with the module.)

IB-0800169

(13JT42)

Using This Manual

The symbols used in this manual are shown below.

Pr.

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

OPR.

....... Symbol indicating OPR data item.

JOG.

....... Symbol indicating JOG data item.

Da.

...... Symbol indicating positioning data item.

Md.

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

Cd.

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

(A serial No. is inserted in the

mark. )

Numeric values used in this manual

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

• The X/Y devices are represented in hexadecimal.

• The setting data and monitor data are represented in either decimal or

hexadecimal. The data ended b y "H" are repres en ted in hex a dec imal.

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

10H......16 Hexadecimal

Conformation to the EMC Directive and Low Voltage Instruction

For details on making Mitsubishi PLC conform to the EMC directive and low voltage instruction when installing it in your product, please refer to Chapter 3, “EMC Directive and Low Voltage Instruction” of the using PLC CPU module User’s Manual (Hardware). 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 5.4.1 "Wiring precautions".

A - 10 A - 10

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 QD70 can be mounted. AD75 Generic term for type A1SD75P1-S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3 Positioning

module. The module type is described to indicate a specific modul e.

QD70 Generic term for type QD70 positioning module QD70P4/QD70P8.

The module type is described to indicate a specific modul e.

QD75

Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD 75D2, and QD75D4. The module type is described to indicate a specific modul e.

Peripheral device

Generic term for DOS/V personal computer where following "GX Configurator-PT" and ""GX Developer" have been installed.

GX Configurator-PT

Abbreviation for GX Configurator-PT (SW1D5C-QPTU-E) utility package for QD70 positioning

module. GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later). Drive unit

Abbreviation for open collector pulse input compatible drive unit (servo amplifier or stepping

motor). 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 v arious control targ ets. Axis 1, axis 2, axis 3, axis 4, axis 5, axis 6, axis 7, axis 8

Indicates each axis connected to QD70.

1-axis, 2-axes, 3-axes, 4-axes, 5-axes, 6-axes, 7-axes, 8-axes

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

2, axis 2 and axis 3, and axis 3 and axis 1.)

Component List

The component list of this product is given below.

Type Component Quantity QD70P4 Type QD70P4 Positioning Module (4-axes open-collector output type) 1 QD70P8 Type QD70P8 Positioning Module (8-axes open-collector output type) 1 SW1D5C-QPTU-E GX Configurator-PT Version 1 (1-license product) (CD-ROM) 1 SW1D5C-QPTU-EA GX Configurator-PT Version 1 (Multiple-license product) (CD-ROM) 1

SECTION 1 PRODUCT SPECIFICATIONS

AND HANDLING

Section 1 is configured for the following purposes (1) to (4). (1) To understand the outline of positioning control, and the QD70 specifications

and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control

Read "Section 2" for details on each control.

CHAPTER 1 PRODUCT OUTLINE ................................................................................. 1- 1 to 1- 10

CHAPTER 2 SYSTEM CONFIGURATION..................................................................... 2- 1 to 2- 5

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS...................................................... 3- 1 to 3- 11

CHAPTER 4 DATA USED FOR POSITIONING CONTROL.......................................... 4- 1 to 4- 31

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION............................. 5- 1 to 5- 20

CHAPTER 6 UTILITY PACKAGE.................................................................................... 6- 1 to 6- 17

CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL........... 7- 1 to 7- 20

SECTION 1

MEMO

SECTION 1

1 - 1 1 - 1

MELSEC-Q

1 PRODUCT OUTLINE

CHAPTER 1 PRODUCT OUTLINE

This user's manual provides the specifications, handling, programming methods and other information of the QD70 positioning module used with the MELSEC-Q series CPU module.

1.1 Positioning control

1.1.1 Features of QD70

The following are the features of the QD70.

(1) Wide assortment of 4-axes and 8-ax es modul es

The QD70 is a positioning module used in a multi-axes system that does not need complex control. It is not compatible with the MELSEC-A series AD70 positioning module in I/O signals, functio n s, et c.

(2) About positioning control functions

(a) The QD70 has a number of functions required for a positioning control

system, such as posi ti oni ng cont r ol to any po sit io n an d equa l - spee d contr ol .

1) You can set up to 10 pieces of positioning data, which include positioning address, control method, operation pattern and like, per axis. These positioning data are used to exercise positioning control axis-byaxis.

2) Axis-by-axis positioning control allows linear control (up to 8 axes can be controlled simul tane ou sly ) . This control can perform positioning termination with one piece of positioning data or exercise continuous positioning control by continuous execution of multi pl e pi e ces of po sit ion in g da ta.

(b) As the control method, any of position control, speed-position switching

control and current value changing may be specified in each positioning data.

control": nea r-p oi nt do g meth od (o ne met h od ), stop pe r (t hree met h od s) an d count (two methods).

(d) Varying finely in speed to ensure smooth acceleration/deceleration, the

QD70 is suitable fo r co nne ctio n t o a st epping motor.

(e) You can change the I/O signal logic according to the specifications of the

external device. This allows the input signals to be used with either of "normally open" and "normally closed" contacts, and the output signals to be used according to the specifications of the drive unit.

(3) Fast start processing

Processing at a position control start has been speeded up to shorten the start processing time of one axis to 0.1ms. At a simultaneous start of multiple axes (the positioning start signals are turned ON at the same time within one scan), there are no starting delays between the axes.

(4) Ease of maintenance

In the QD70, error definitions have been subdivided to improve maintenance performance.

(5) Ease of utility package settings

The optionally available utility package (GX Configurator-PT) allows initial setting and auto refresh setting to be made on the screen, reducing sequence programs and facilitating the confirmation of the setting status and operating status.

1 - 2 1 - 2

MELSEC-Q

1 PRODUCT OUTLINE

1.1.2 Mechanism of positioning control

Positioning control using the QD70 is exercised using "pulse signals". (The QD70 is a module that outputs pulses.) In a positioning control system using the QD70, a variety of software and external devices are used to play their roles as shown below. The QD70 imports various signals, parameters and data, and exercises control with the PLC CPU to realiz e co mpl e x po siti oni ng con tro l.

Stores the created program.

The QD70 outputs the positioning start signal and axis stop signal following the stired program.

QD70 errors, etc., are detected.

PLC CPU

Peripheral device

GX Developer/ GX Configurator-PT

QD70

positioning

module

Drive

unit

Stores the parameter and data Outputs to the drive unit according to the instructins from the PLC CPU.

Receives pulses commands from QD70, and drives the motor.

Carries out the actual work according to commands from the drive unit

Motor

Workpiece

Using GX Developer, create control sequence and conditions as sequence program. Adding in GX Configurator-PT enables initial setting of parameters and data.

Input near-point dog signal and speed

-position switching signal to QD70.

Mechanical

system inputs

(Switches)

1 - 3 1 - 3

MELSEC-Q

1 PRODUCT OUTLINE

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

Position control

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

Total No. of pulses required to move designated distance

Designated distance

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

No. of pulses required for motor to rotate once

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

described in the motor catalog specification list.

When this total No. of pulses is issued from the QD70 to the drive unit, control to move the designated distance can be executed. The machine side movement amount when one pulse is issued to the drive unit is called the "movement amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning control precision.

Speed control

Though the above "total No. of pulses" is an element needed to control the movement amount, speed must be controlled to perform equal-speed operation. This "speed" is controlled by the "pulse frequency" output from the QD70 to the drive unit.

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

Positioning

module

Servo

amplifiter

Servo motor

Detector

Pulses generated by detector

ta td

0.4 0.41.2

(s)

Pulse frequency [pps]

This area is hte total No. of commanded pulses.

Movement amount t = 2

Fig. 1.1 Relationship between position control and speed control

POINT

• The "movement amount per pulse" is the value determined on the machine side. (Refer to Section 1.1.3.)

• The QD70 uses the "total No. of pulses" to control the position, and uses the "pulse frequency" to control the speed.

1 - 4 1 - 4

MELSEC-Q

1 PRODUCT OUTLINE

1.1.3 Outline design of positioning control sy stem

The outline of the positioning control system operation and design, using the QD70, is shown below.

(1) Positioning control system using QD70

Positioning module

QD70

PLC CPU

GX Configurator-PT

Program

Intelligent function module parameter

Read, write, etc.

Monitor date read

Initial setteng /Auto rofresh setting/Monitor

Drive unit

Buffer memories /XY device

Forward run pulse train

Reverse run pulse train

Deviation counter

D/A converter

Speed command

Servo amplifiter

Interface

Feedback pulse

Servomotor

Fig. 1.2 Outline of the operation of positioning control system using QD70

(a) Positioning operation by the QD70

1) The QD70 output is a pulse train. The pulse train output by the QD70 is counted by and stored in the deviation counter in the drive unit. The D/A converter outputs an analog DC current proportionate to the count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servo motor speed control signal.

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

3) When the QD70 terminates the output of a pulse train, the servo motor decelerates as the pulse droop decreases and stops when the count drops to zero. Thus, the servo motor rotation speed is proportionate to the pulse frequency, while the overall motor rotation angle is proportionate to the total number o f pu l ses ou tp ut by the QD70. Therefore, when a movement amount per pulse is given, the overall movement amount can be determined by the number of pulses in the pulse train. The pulse frequency, on the other hand, determines the servo motor rotation speed (feed speed).

1 - 5 1 - 5

MELSEC-Q

1 PRODUCT OUTLINE

(b) Pulse train output from the QD70

1) As shown in Fig. 1.3, the pulse frequency increases as the servo motor accelerates. The pulses are sparse when the servo motor starts and more frequent when the servo motor speed comes close to the target speed.

2) The pulse frequency stabilizes when the motor speed equals the target speed.

3) The QD70 decreases the pulse frequency (sparser pulses) to decelerate the servo motor before it finally stops the output. There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the servo motor. This difference, called "the stop settling time", is required for gaining a stopping accuracy.

Speed V Pulse droop

amount

Pulse distribution

Servomotor speed

Acceleration

Deceleration

Time t Stop

setting time

Pulse train Rough Dense

Rough

Fig. 1.3 QD70 output pulses

(2) Movement amount and speed in a system usi ng w orm g ear s

Workpiece

Worm pear

Table

Pulse generator (PG)

Servomotor

A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : No. of pulse generator slits

No. of pulses" (pulse/rev) L : Worm gear lead (mm/rev) R : Deceleration ratio V : Movable section speed (mm/s) N : Motor speed (r/min) K : Position loop gain (1/s)

: Deviation counter droop pulse amount P0 : OP (pulse) P : Address (pulse)

Fig. 1.4 System using worm gears

1 - 6 1 - 6

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1 PRODUCT OUTLINE

In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulser amount are determined as follows:

1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the No. of pulse generator slites. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).

A =

[mm/pulse]

2) Command pulse frequency The command pulse frequency is determined by the speed of the moving part and movement amount per pulse.

Vs =

[pulse/s]

3) Deviation counter droop pulser amount. The deviation counter droop pulser amount is determined by the command pulse frequency and position loop gain.

[pulse]

1 - 7 1 - 7

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1.1.4 Communicating signals between QD 70 and each mo dul e

The outline of the signal communication between the QD70 (positioning module) and PLC CPU, peripheral device (GX Configurator-PT) and drive unit, etc., is shown below. (A peripheral device communicates with the QD70 via the PLC CPU to which it is connected) Refer to Chap te r 3 fo r de tails of the I/O si gn al s.

PLC READY signal

Module READY signal

JOG start signal

BUSY signal

Drive

unit

Deviation counter clear

Pulse train

QD70

Y0 X0

PLC CPU

Near-point dog singal

Monitor data

Y18 to Y1F

X10 to X17 Y10 to Y17

Y8 to YF

X18 to X1F

X8 to XF

Axis warning occurrence

signal

24VDC

Power supply

Peripheral device

(GX Configurator-PT)

Initial setting/ Auto refresh/ Operation monitor

Positioning start

Start comple te signal

Axis stop signal

Positioning complete

signal

Axis error occurrence

signal

Mechanical

system inputs

(Switches)

Speed-position switching

signal

(For pulse train output)

Zero signal

Date write/read

Interface

with

PLC CPU

Peripheral

device

interface

External interface

1 - 8 1 - 8

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1 PRODUCT OUTLINE

QD70 PLC CPU

The QD70 and PLC CPU communicate the following data via the base unit.

Direction

Communication

QD70

PLC CPU PLC CPU QD70

Control signal

Signal indication QD70 state.

•

Module READY (X0)

•

Axis error occurrence (X1)

•

Axis warning occurrence (X2)

•

BUSY (X8 to XF)

•

Start complete (X10 to X17)

•

Positioning complete (X18 to X1F)

Signal related to commands.

•

PLC READY (Y0)

•

Positioning start (Y8 to YF)

•

Axis stop (Y10 to Y17)

•

JOG start (Y18 to Y1F)

Data (read/write)

•

Parameter

•

OPR data

•

JOG data

•

Positioning data

•

Control data

•

Monitor data

•

Parameter

•

OPR data

•

JOG data

•

Positioning data

•

Control data

QCPU Peripheral device (GX Configurator-PT)

The QCPU and peripheral device make the following communications. (Refer to Chapter 6 for de ta il s. )

Direction

Communication

QCPU

Peripheral device Peripheral device QCPU

Data –

•

Initial setting

•

Auto refresh setting

Operation monitor

•

Monitor data (QD70 buffer

memory/XY devices)

–

QD70 Drive unit

The QD70 and drive unit communicate the following data via the external device connection connector.

Direction

Communication

QD70

Drive unit Drive unit QD70

Control signal

Signals related to commands

•

Deviation counter clear signal

(CLEAR)

Signal indicating OP

•

Zero signal (PG0)

Pulse train

•

Pulse train output (PULSE F/

PULSE R)

–

: External 24VDC must be supplied to output the pulse train.

Mechanical system inputs (switches) QD70

The input signals from the mechanical system inputs (switches) are entered into the QD70 via the exte r nal dev i c e con ne cti on conn e cto r .

Mechanical system inputs (switches)

•

Near-point dog signal (DOG)

•

Speed-position switching signal (CHG)

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1.2 Positioning control

1.2.1 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.

Machine OPR control

Fast OPR control

OPR control

Set the OPR data.

OPR. 1 to

OPR. 9

Preparation

Control functions

Flow of starting

Installation and connection of module Setting of hardware

Position control Speed-position switching control Current value changing

Positioning control

JOG operation

Parameter

Positioning data

OPR data

Control data

Start signal

Control start

Control end

Set the parameters.

Set the start method.( Da. 1 to Da. 7 )

Operation

Stop

Turn ON the QD70 start signal from the PLC CPU

Set the positioning data.

( Da. 1 to Da. 7 )

Set the JOG data

( JOG. 1 to JOG. 4 )

JOG data

( Pr. 1 to Pr. 10 )

: Positioning control can make a multiple axes simultaneous start. (Refer to "Section 9.3" for details.)

Turn the QD70 JOG start signal ON from the PLC CPU

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1 PRODUCT OUTLINE

1.2.2 Outline of stopping

The possible causes of a control stop are as follows.

(1) Control ended normally (2) An error occurred in the PLC CPU (3) An error occurred in the QD70 (4) The axis stop signal from the PLC CPU turned ON

Stop processings performed in the above cases are outlined in the following table. (Except the case (1) where control sto pped normally)

Stop processing

Stop factor

Stopped

axis

Axis operation status (

Md. 4

)

after stop

OPR control

Positioning

control

JOG operation

PLC CPU error All axes Error Deceleration stop

Software stroke limit upper/lower limit error

Axis by axis Error Deceleration stop

QD70 error

Other error Axis by axis Error

Deceleration stop

"Axis stop signal" from PLC CPU turned ON

Axis by axis Stopped

Deceleration stop

1: By making parameter setting, you can set the software stroke limit valid/invalid. When the stroke limit is set invalid, a

deceleration stop is not made. (Refer to Section 4.2.)

2: If an illegal positioning data setting value caused an error during posit ion control (operation pattern: continuous path

control), an immediate stop is made at the positioning data prec eding th at illega l setting v alue. (R efer to Secti on 9.1.2.)

3: For position control (operation pattern: continuous path control), you can make parameter setting to select the

stopping method (position match stop or deceleration stop). (Refer to Section 4.2.)

Stop after multiple axes simultaneous start under positioning control

The axes started will not stop simultaneously. The stop command (axis stop signal ON) must be given to each axis.

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CHAPTER 2 SYSTEM CONFIGURATION

This chapter explains the system configuration of the QD70.

2.1 General image of system

The following is the general configuration including the QD70, PLC CPU, peripheral device and others. (The numbers in the sketch correspond to the "Nos." in the table in "Section 2.2 Component list" on the next page.)

Extension system

Drive

unit

Motor

RS-232

cable

USB cable

Positioning module

QD70P4/QD70P8

Connection

cable

Mechanical system inputs (switches)

Near-point dog signal Speed-position switching signal

Extension

cable

Power supply

module

Main base unit

CPU module

3 2

GX Developer

(SW D5C-GPPW-E)

GX Configurator-PT

(SW D5C-QPTU-E)

Peripheral device

Personal computer

REMARK

1: For the usable CPU module, refer to "Section 2.3 Applicable system". 2: For the usable base unit and power supply module, refer to the CPU Module

User's Manual.

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2 SYSTEM CONFIGURATION

2.2 Component list

A positioning system using the QD70 consists of the following components.

No. Product Type Remarks

1 Positioning module

QD70P4 QD70P8

QD70P

No. of control axes

Open collector output typeP

GX Developer SW D5C-GPPW-E

GX Configurator-PT SW

D5C-QPTU-E

For details, refer to the GX Developer Operating Manual and "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)".

3 Personal computer

DOS/V personal computer

(User-prepared) Refer to the GX Developer Operating Manual for details.

4 RS-232 cable QC30R2

(User-prepared) RS-232 cable for connection of the CPU module and DOS/V personal computer. Refer to the GX Developer Operating Manual for details.

5 USB cable –

(User-prepared) USB cable for connection of the CPU module and DOS/V personal computer. Refer to the GX Developer Operating Manual for details.

6 Drive unit –

(User-prepared) Refer to the drive unit manual for details.

Connection cable (for connection of QD70 and drive unit)

–

(User-prepared) Cable for connection of the QD70 and drive unit or mechanical system input signals. (To be fabricated in reference to the connected device manual and Section 3.4.2)

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2.3 Applicable system

The QD70 is usable with the following system.

(1) Applicable module and the number o f modules that ca n be i nstal led

The following are the CPU module and network module (for remote I/O stations) in which the QD70 can be installed and the number of modules that can be installed.

Applicable module

Number of modules that

can be installed

Remarks

Q00JCPU Maximum 16

Q00CPU Q01CPU

Maxi mum 24

(

)

Q02CPU Q02HCPU Q06HCPU Q12HCPU Q25HCPU

Maxi mum 64

Can be installed in Q mode only (

)

CPU module

Q12PHCPU Q25PHCPU

Maxi mum 64

(

)

Network module

QJ72LP25-25

QJ72BR15

QJ72LP25G

QJ71LP25GE

Maxi mum 64

MELSECNET/H Remote I/O station (

)

1 See User's Manual (Function Explanation, Program Fundamentals) for the CPU module to use. 2 See Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O

network).

(2) Base unit in which the QD70 can be installed

The QD70 can be installed in any I/O slot ( 3) of the base unit. However, a power shortage may occur depending on the combination with other installed modules and the number of modules used, so always take into consideration the power supply capa city when installing mod ule s.

3 Limited to the range of the number of I/O points in the CPU module and network module (for

remote I/O stations) .

(3) Compatibility with a multiple PLC system

First read the QCPU (Q mode) User's Manual (Function Explanation, Program Fundamentals) if the QD70 is used with a multiple PLC system.

Intelligent function module parameters Perform PLC write of the intelligent function module parameters to the control PLC of the QD70 only.

(4) Software packages supported

Correspondence between systems which use a QD70 and software packages are as shown below. The GX Developer is necessary when using a QD70.

Software version

GX Developer GX Configurator-PT If installed in the Q00J/Q00/Q01CPU Version 7 or later If installed in the Q02/Q02H/Q06H/Q12H/

Q25HCPU

Version 4 or later

Version 1.10L or later

If installed in the Q12PH/Q25PHCPU Version 7.10L or later Version 1.13P or later If installed in a multiple PLC sy stem Version 6 or later If installed in a MELSEC N ET/H r e mote I/O station

Version 6 or later

Version 1.10L or later

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2 SYSTEM CONFIGURATION

2.4 How to check the function version and the softwar e v ersion

The function version of the QD70 and the software version of the GX Configurator-PT can be checked in the following methods.

[1] How to check the function version of the QD70

(a) Method using the rated plate on the module side face

Check the alphabet at the end of "SERIAL".

09021

SERIAL No. (The first five digits) Function version

(b) Method using the peripheral device

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

[Operation of GX Developer]

Choose [Diagnostics] [System monitor] "QD70 module" and choose

Module's Detailed Information

Function version

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2 SYSTEM CONFIGURATION

[2] How to check the software version of the GX Configur ator -PT

Check the "Product information" displayed on "Help" of GX Developer.

[Operation of GX Developer]

Choose [Help] Product information

Software version

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MELSEC-Q

3 SPECIFICATIONS AND FUNCTIONS

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

This chapter describes the performance specifications of the QD70 and the specifications of the I/O signals transferred to/from the PLC CPU and external device. For the general specifications of the QD70, refer to the user's manual (hardware) of the CPU module used.

3.1 Performance specifications

Model

Item

QD70P4 QD70P8

No. of control axes 4 axes 8 axes Interpolation function No Control method PTP (Point To Point) control, path control (linear only), speed-position switching control Control unit pulse

Positioning data

10 pieces of data (positioning data No. 1 to 10)/axis

(can be set using GX Configurator-PT or sequence program) Peripheral device/utility package GX Configurator-PT (option) Data backup No

Positioning control method

PTP control : Incremental system/absolute system Speed-position switching control : Incremental system Path control : Incremental system/absolute system

Positioning control range

[Absolute system]

-2147483648 to 2147483647pulse

[Incremental system]

-2147483648 to 2147483647pulse

[Speed-position switching control]

0 to 2147483647pulse Speed command 0 to 200000pulse/s Acceleration/ deceleration processing

Trapezoidal acceleration/deceleration

Positioning control

Acceleration/ deceleration time

0 to 32767ms

1-axis start 0.1ms

4-axes simultaneous start 0.2ms

Starting time

Position control

8-axes simultaneous start 0.4ms

External wiring connection system 40-pin connector Applicable wire size 0.3mm2 (for use of A6CON1), AWG#24 (for use of A6CON2) External device connection

connector

A6CON1, A6CON2 (option)

Pulse output method Open collector output Max. output pulse 200kpps Max. connection distance between QD70 and drive unit

Internal current consumption (5VDC) 0.55A 0.74A External 24V current consumption (24VDC)

0.065A 0.12A

No. of occupied I/O points 32 points (I/O assignment: Intelligent function module 32 points) Weight 0.15kg 0.17kg

: Positioning data can be started from No.1 only. (Cannot be started from any of No.2 to No.10.)

: A delay may occur depending on the operating conditions and starting conditions (control method, bias speed, ACC/DEC time, etc.) of

the other axes.

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3 SPECIFICATIONS AND FUNCTIONS

3.2 List of functions

The following table lists the functions of the QD70. (Read "SECTION 2 CONTROL DETAILS AND SETTING" for details of the functions.)

Function name Description Reference

Machine OPR control

Mechanically establishes the positioning control start point using a near-point dog or stopper.

Section

8.2

OPR control

Fast OPR control

Positions a target to the OP address (

Md. 1

Current feed

value) stored in the QD70 using machine OPR control.

Section

8.3

Position control (1-axis linear control)

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

Section

9.2.2

Speed-position switching control

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

Section

9.2.3

Positioning control

Current value changing

Changes the Current feed value (

Md. 1

) to the address

set in the positioning data.

Section

9.2.4

JOG operation

Outputs a pulse to drive unit while the JOG start signal is ON.

Chapter

Speed limit function

If the command speed exceeds "

Pr. 5

Speed limit value" during control, this function limits the commanded speed to within the "

Pr. 5

Speed limit value" setting range.

Section

11.2

Speed change function

This function changes the speed at any point during speed control of speed-position switching control or during JOG operation. Set the new speed in the speed change buffer memory (

Pr. 7

New speed value), and change the speed with the

Speed change request (

Pr. 6

Section

11.3

Software stroke limit function

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.

Section

11.4

Acceleration/deceleration processing function

This function adjusts the acceleration/deceleration processing of control.

Section

11.5

Sub function

Restart function

This function resumes positioning control during a stop of the axis from where it had stopped.

Section

11.6

External I/O signal logic switching function

This function changes the external I/O signal logic to match the externally connected device. It can be changed by making the intelligent function module switch setting.

Section

12.2

Common function

External I/O signal monitor function

This function monitors the external I/O signal states using GX Developer.

Section

5.5

Section

12.3

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3 SPECIFICATIONS AND FUNCTIONS

With the "positioning control", whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below.

Da.1

Operation pattern

Description Reference

Positioning termination

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

Continuous positioning control

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.

Continuous path control

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

9.1.2

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3 SPECIFICATIONS AND FUNCTIONS

3.3 Specifications of input/output signal w ith PLC CPU

3.3.1 List of input/output signals with PLC CPU

The QD70 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD70 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD70 to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD70.

Signal direction: QD70 PLC CPU Signal direction: PLC CPU QD70

Device No. Signal name Device No. Signal name

X0 Module READY Y0 PLC READY X1 Axis error occurrence Y1 X2 Axis warning occurrence Y2 X3 Y3 X4 Y4 X5 Y5 X6 Y6 X7

Use prohibited

X8 Axis 1 Y8 Axis 1 X9 Axis 2 Y9 Axis 2 XA Axis 3 YA Axis 3

XB Axis 4 YB Axis 4 XC Axis 5 YC Axis 5 XD Axis 6 YD Axis 6

XE Axis 7 YE Axis 7

XF Axis 8

BUSY

YF Axis 8

Positioning start

X10 Axis 1 Y10 Axis 1 X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 Y13 Axis 4 X14 Axis 5 Y14 Axis 5 X15 Axis 6 Y15 Axis 6 X16 Axis 7 Y16 Axis 7 X17 Axis 8

Start complete

Y17 Axis 8

Axis stop

X18 Axis 1 Y18 Axis 1 X19 Axis 2 Y19 Axis 2 X1A Axis 3 Y1A Axis 3 X1B Axis 4 Y1B Axis 4 X1C Axis 5 Y1C Axis 5 X1D Axis 6 Y1D Axis 6 X1E Axis 7 Y1E Axis 7 X1F Axis 8

Positioning complete

Y1F Axis 8

JOG start

Important

[Y1 to Y7], and [X3 to X7] are used by the system, and cannot be used by the user. If these devices are used, the operation of the QD70 will not be guaranteed.

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3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signal (QD70 PLC CPU)

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

Device

No.

Signal name Description

X0 Module READY ON: Prepared

OFF: Not

prepared watch dog timer error

•

When the PLC READY signal [Y0] turns from OFF to ON, the parameter and the OPR data setting range is checked. If no error is found, this signal turns ON. (When the axis error occurrence signal [X1] is ON, this signal does not turn ON if the PLC READY signal [Y0] is turned from OFF to ON.)

•

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

•

When a watch dog timer (WDT) error occurs, this signal turns OFF.

•

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

OFF

PLC READY signal [Y0]

Module READY signal [X0]

X1 Axis error

occurrence

OFF: No error ON: Error

occurrence

•

This signal turns ON if an error occurs in any of axes 1 to 8, and turns OFF when "

Cd. 1

Axis error rese t" is set for all axe s.

(Use "

Md. 10

Error status" to confirm the error status of the corresponding axis.)

X2 Axis warning

occurrence

OFF: No warning ON: Warning

occurrence

•

This signal turns ON if a warning occurs in any of axes 1 to 8, and turns OFF when "

Cd. 1

Axis error rese t" is set for all axe s.

(Use "

Md. 11

Warning status" to confirm the warning status of the corresponding

axis.) X8 X9 XA XB XC XD XE XF

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

BUSY OFF: Not BUSY

ON: BUSY

•

This signal turns ON at the start of positioning control, OPR control or JOG operation.

It turns OFF when the "

Da. 7

Dwell time" has passed after positioning control stops.

(This signal remains ON during positioning control.)

•

This signal turns OFF at error or stop.

X10 X11 X12 X13 X14 X15 X16 X17

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Start complete

OFF: Start

incomplete

ON: Start

complete

•

This signal turns ON when the positioning start signal turns ON and the QD70 starts

the positioning control process.

(The start complete signal also turns ON during OPR control.)

OFF

Positioning start signal [Y8]

Start complete signal [X10]

X18 X19 X1A X1B X1C X1D X1E X1F

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Positioning complete

OFF: Positioning

incomplete

ON: Positioning

complete

(Refer to "Important")

•

This signal turns ON for the time set in "

Pr. 7

Positioning complete signal output time" from completion of position control of the corresponding axis. (It does not turn ON if 0 is set in "

Pr. 7

Positioning complete signal output time".)

•

While ON, this signal turns OFF if a positioning control start (including OPR control) or JOG operation start is made.

•

This signal does not turn ON at the termination of JOG operation.

•

This signal does not turn ON if position control is stopped midway.

Important

: "Position control c o mpl e te" o f the Q D70 re fe r s to th e po i nt w hen th e pu l se ou tp ut fro m

QD70 is completed. Thus, even if the QD70's positioning complete signal turns ON, the system may continue operation.

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3 SPECIFICATIONS AND FUNCTIONS

3.3.3 Details of output signals (PLC CPU QD70)

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

Device No. Signal name Description

Y0 PLC READY OFF:

PLC READY OFF

ON:

PLC READY ON

(a) This signal notifies the QD70 that the PLC CPU is normal.

•

It is turned ON/OFF with the sequence program.

•

The PLC READY signal is turned ON during positioning control, OPR control and JOG operation.

(b) When parameters and OPR data are changed, the PLC READY

signal is turned OFF.

signal turns from OFF to ON.

•

The parameter and OPR data setting range is checked.

•

The module 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 module READY signal [X0] turns OFF.

•

The operating axis stops. Y8 Y9 YA YB YC YD YE YF

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Positioning start OFF:

Positioning start not requested

ON:

Positioning start requested

•

OPR control and positioning control 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: 10).

Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Axis stop OFF:

Axis stop not requested

ON:

Axis stop requested

•

When the axis stop signal turns ON, the OPR control, positioning control and JOG operation. In these cases, the ON time should be set to 4ms or mor e.

•

Turning ON the axis stop signal during operation decelerates the axis to a stop. At this time, "

Md. 4

Axis operation status" changes

from "Deceleration (Axis Stop ON)" to "Stopped".

Y18

Y19 Y1A Y1B Y1C Y1D Y1E Y1F

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

JOG start OFF:

JOG not started

ON:

JOG started

•

When the JOG start signal is ON, JOG operation will be carried out at the "

JOG. 1

JOG speed". When the JOG start signal turns

OFF, the operation will decelerate and stop. At this time, "

Md. 4 Axis operation status" changes from "Deceleration (JOG Start OFF)" to "Standby".

•

Set the rotation direction in "

JOG. 4

JOG direction flag". (Refer to

Chapter 10.)

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3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of input/output interfaces w ith exter nal devi ce

3.4.1 Electrical specifications of input/output sig nal s

Input specifications

Signal name

Rated input

voltage/current

Working voltage

range

ON voltage/

current

OFF voltage/

current

Input resistance Response time

5VDC/18mA 4.5 to 5.5VDC

2.7VDC or more/

5.5mA or more

1.0VDC or less/

0.5mA or less

Approx. 270

Ω

0.1ms or less

Zero signal (PG0)

3µs or less

1ms or mo re

3µs or less

Near-point dog signal (DOG) Speed-position switching signal (CHG)

24VDC/5mA 19.2 to 26.4VDC

17.5VDC or

more/3mA or

7VDC or less/

0.9mA or less

Approx. 6.8k

Ω

1ms or less

Output specifications

Signal name

Rated load

voltage

Working load

voltage range

Max. load

current/rush

current

Max. voltage

drop at ON

Leakage current

at OFF

Response time

•

Set the pulse output mode and pulse output logic selection in "intelligent function module switch setting" (Refer to Section 5.6).

•

The following are the relationships between pulse outputs depending on the "pulse output mode" and "pulse output logic selection".

Pulse output logic selection

Positive logic Negative logic

Pulse output

mode

Forward run Reverse run Forward run Reverse run

CCW

PULSE

SIGN

High Low

Low High

The table next page shows the rising/falling edge time and duty ratio.

OFF

Pulse output (CW/PULSE/A phase) Pulse sign (CCW/SIGN/B phase)

5 to 24VDC 4.75 to 30VDC

50mA/1 point/

200mA 10ms or

less

0.5VDC (TYP) 0.1mA or less —

Deviation counter clear (CLEAR)

5 to 24VDC 4.75 to 30VDC

0.1A/1 point/0.4A 10ms or less

1VDC (TYP)

2.5VDC (MAX)

0.1mA or less

2ms or less

(resistance load)

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: Pulse rising/falling edge time (Unit for "tr" and "tf": µs, unit for "Duty": %)

... When ambient temperature is room temperature.

Load voltage (V) 26.4 Cable length (m) 1 2

Load current

(mA)

Pulse speed

(kpps)

(Rising edge)tf(Falling edge)

Duty

(Rising edge)tf(Falling edge)

Duty

200 1.902 0.3178 28.20 2.129 0.2724 28.09 100 2.869 0.3388 38.44 3.691 0.3549 40.12

10 3.710 0.3616 50.22 5.187 0.3613 49.63 200 1.776 0.3036 35.45 1.763 0.3395 36.48 100 2.134 0.3285 43.90 2.394 0.3445 41.11

10 2.357 0.3982 50.88 3.105 0.3899 50.50 200 1.336 0.3174 40.92 1.429 0.3228 40.44 100 1.644 0.3814 48.05 1.812 0.3793 46.40

10 2.028 0.4197 51.31 1.996 0.4200 51.22 200 1.236 0.3807 45.64 1.269 0.3949 45.14 100 1.772 0.4453 49.90 1.734 0.4660 49.73

10 1.957 0.4776 51.63 1.727 0.4749 51.55 200 1.122 0.6809 51.78 1.019 0.6684 51.42 100 1.359 0.7407 53.09 1.544 0.7897 52.90

10 1.750 0.9833 52.05 1.819 0.9130 52.03

Load voltage (V) 4.75 Cable length (m) 1 2

Load current

(mA)

Pulse speed

(kpps)

(Rising edge)tf(Falling edge)

Duty

(Rising edge)tf(Falling edge)

Duty

200 0.8352 0.2093 45.21 1.484 0.1924 36.94 100 1.880 0.2679 44.44 1.848 0.2536 45.03

10 1.942 0.2765 51.03 2.039 0.2873 51.13 200 1.220 0.1726 39.35 1.191 0.2345 41.56 100 1.422 0.2652 48.15 1.589 0.2631 47.89

10 1.705 0.2893 51.35 1.604 0.3116 51.40 200 0.8736 0.2739 46.99 1.167 0.2519 44.97 100 1.041 0.3075 49.87 1.371 0.3028 50.02

10 1.576 0.3295 51.49 1.672 0.3212 51.41 200 1.021 0.3479 49.65 0.7345 0.3452 48.94 100 1.277 0.3671 51.67 1.222 0.3780 52.12

10 1.473 0.4207 51.84 1.287 0.3999 51.73 200 0.8312 0.6302 55.37 0.7978 0.5752 55.34 100 0.9714 0.6290 55.38 1.025 0.6218 55.64

10 0.9884 0.7037 52.09 1.105 0.6799 52.05

External power source (For driving the pulse output circuit)

Signal name Rated input voltage Current consumption

External power source input (+24V/24G)

24VDC (+20%/-15) (Ripple rate within 5%)

QD70P4:0.065A, QD70P8:0.12A

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3.4.2 Signal layout for external dev ice connecti on connector

The specifications of the connector section, which is the input/output interface for the QD70 and externa l dev i ce, are sh ow n be low. The signal layout for the QD70 external device connection connector is shown.

QD70P4

CON1

RUN

ERR.

AX2

AX1

AX4

AX3

QD70P4

QD70P8

CON2

RUN

ERR.

AX6

AX5

AX8

AX7

CON1

AX2

AX1

AX4

AX3

QD70P8

CON 2 (for Axes 5 to 8) CON 1 (for Axes 1 to 4)

Pin layout

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

B20 PG06 COM 1 A20 PG08 COM 1 B20 PG02 COM 1 A20 PG04 COM 1 B19 PG06 A19 PG08 B19 PG02 A19 PG04 B18 PG05 COM 1 A18 PG07 COM 1 B18 PG01 COM 1 A18 PG03 COM 1 B17 PG05 A17 PG07 B17 PG01 A17 PG03

B16

CLEAR6

COM

A16

CLEAR8

COM 2

B16

CLEAR2 COM 2

A16

CLEAR4 COM 2

B15 CLEAR6 A15 CLEAR8 B15 CLEAR2 A15 CLEAR4 B14

CLEAR5

COM

A14

CLEAR7

COM

B14

CLEAR1 COM

A14

CLEAR3 COM

2 B13 CLEAR5 A13 CLEAR7 B13 CLEAR1 A13 CLEAR3 B12 CHG6 A12 CHG8 B12 CHG2 A12 CHG4 B11 CHG5 A11 CHG7 B11 CHG1 A11 CHG3 B10 DOG6 A10 DOG8 B10 DOG2 A10 DOG4

B9 DOG5 A9 DOG7 B9 DOG1 A9 DOG3 B8 COM 5-6 3A8COM 7-83B8COM 1-23A8COM 3-43 B7 PULSE F6 A7 PULSE F8 B7 PULSE F2 A7 PULSE F4

PULSE

COM6

PULSE

COM8

PULSE

COM2

PULSE

COM4

4 B5 PULSE R6 A5 PULSE R8 B5 PULSE R2 A5 PULSE R4 B4 PULSE F5 A4 PULSE F7 B4 PULSE F1 A4 PULSE F3

PULSE

COM5

PULSE

COM7 4

PULSE

COM1 4

PULSE

COM3 4

B2 PULSE R5 A2 PULSE R7 B2 PULSE R1 A2 PULSE R3

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

B1 Vacant A1 Vacant B1 +24V 5 A1 +24G 5

1: Common for PG0 . (Axis No. 1 to 8 goes into ). 2: Common for CLEAR . (Axis No. 1 to 8 goes into ). 3: Common for DOG , CHG .(Axis No. 1 to 8 goes into ). 4: Common for PULSE F , PULSE R . (Axis No. 1 to 8 goes into ). 5: The external power source (24VDC) should be connected in order to output a command pulse.

(When outputing a command pulse of axis 5 to 8, the external power source (24VDC) should be connected to A1 and B1 of the connector CON1 (for axis 1 to 4 use).)

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3.4.3 List of input/output signal details

The details of each QD70 external device connection connector are shown below:

Signal name Pin No. Symbol

Signal details

(Negative logic is selected by I/O signal logic selection)

Near-point dog signal

A10A9B10

DOG

•

This signal is used for detecting the near-point dog during OPR control.

•

The near-point dog OFF ON is detected at the rising edge.

•

The near-point dog ON

OFF is detected at the falling edge.

Speed-position switching signal

A12 A11

B12 B11

CHG

•

This signal is input as a control switching signal in speed-position switching control.

Common A8 B8 COM

•

Common for near-point dog signal and speed-position switching control signal.

Zero signal

A19 A17

B19 B17

PGO

•

Input the zero signal for OPR control. Use the pulse encoder's zero signal and so on.

•

Also use this signal when the OPR method is the stopper method and the OPR complete is input from an external source.

•

The OP is detected at the falling edge.

Zero signal common

A20 A18

B20 B18

PGO COM•Common for zero signal.

External power input (0V) A1 (COM1) 24G External power input (+24V) B1 (COM1) +24V

•

These signals are used to input 24VDC power for driving the pulse output circuit. (Common to all axes)

Pulse output F

A7A4B7

PULSE F

•

This signal is used to output command pulses to the open collector compatible drive unit. CW/CCW mode: CW, PULSE/SIGN mode: PULSE

Pulse output R

A5A2B5

PULSE R

•

This signal is used to output command pulses to the open collector compatible drive unit. CW/CCW mode: CCW, PULSE/SIGN mode: SIGN

Pulse output common

A6A3B6B3PULSE

COM

•

Common for pulse output F and pulse output R.

Deviation counter clear

A15 A13

B15 B13

CLEAR

•

This signal is output during machine OPR control. (Example) When carry out OPR control with stopper 2.

CLEAR

OPR. 4

OPR. 5

Pr. 8

Pr. 6 Bias speed at star

Speed

OPR speed

Creep speed

Stopper

Near-point dog

Deviation counter clear signal output time

Time

After feed pulse output stops

Zero signal

•

The output time of the deviation counter clear signal is set in "

Pr. 8

Deviation

counter clear signal output time".

•

Use the drive unit that can reset the droop pulse amount in the internal deviation counter when the QD70 turns this signal ON.

(Note) The deviation counter clear is a signal output by the QD70 during

machine OPR control. It cannot be output randomly.

Deviation counter clear common

A16 A14

B16 B14

CLEAR

COM

•

Common for deviation counter clear

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3.4.4 Input/output interface internal cir cui t

Shows summary image of the internal circuit of the interface for connection to external devices of the QD70. (For QD70P4, axis 1).

Input/output

class

External wiring Pin No. Internal circuit Signal name

B9 Near-point dog signal DOG1

B11 Speed-position switching signal CHG1

B8 Common COM1-2

B17 Zero signal PG01

B18 Zero signal common PG01 COM

A1 External power input (0V) 24G

Input

24VDC

B1 External power input (24VDC) +24V

B4 Pulse output F (CW/PULSE) PULSE F1

Pulse output R (CCW/SIGN)

PULSE R1

B3 Pulse output common PULSE COM1

B13 Deviation counter clear CLEAR1

Output

B14

D/D converter circuit

Deviation counter clear common CLEAR1 COM

: Either polarity can be connected to the common (COM1-2).

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CHAPTER 4 DATA USED FOR POSITIONING CONTROL

This chapter explains the specifications of the data to be set to the QD70.

4.1 Type of data

4.1.1 Parameters and data required for contr ol

The parameters and data required to carry out control with the QD70 include the "setting data", "monitor data" and "control data" shown below.

Setting data

( Pr. 1 to Pr. 10 )

Parameters

OPR data

( OPR. 1 to OPR. 9 )

JOG data

( JOG. 1 to JOG. 4 )

( Da. 1 to Da. 7 )

Positioning data

(Switches 1 to 5)

Set at a system startup according to the machinery, equipment and applications. (Storage destination: QD70 buffer memory)

Set values required to exercise "OPR control". (Storage destination: QD70 buffer memory)

Set values required to perform "JOG operation". (Storage destination: QD70 buffer memory)

Set values required to exercise "positioning control". (Storage destination: QD70 buffer memory)

Set the pulse output mode and external I/O signal logic. (Storage destination: "I/O assignment setting" PLC parameter of QCPU)

Intelligent function mo dul e sw it che s

The parameters and OPR data are made valid when the PLC READY signal [Y0]

turns from OFF to ON.

The JOG data or positioning data are made valid when a JOG operation start or

positioning control start is made.

Use GX Developer to set the intelligent function module switches. (For details, refer

to "Section 5.6 Switch setting for intelligent function module".)

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Monitor data

( Md. 1 to Md. 9 )

( Md. 10 to Md. 11 )

Axis monitor data

Module information monitor data

Data related to the operations of the running axes, e.g. the current positions and speeds, are monitored. (Storage destination: QD70 buffer memory)

The error status and warning status of the QD70 are monitored. (Storage destination: QD70 buffer memory)

( Cd. 1 to Cd. 9 )

Control data

Axis control data

Make operation-related settings and exercise such control as speed changing during operation and operation restart.

(Storage destination: QD70 buffer memory)

How to set "setting da ta"

Setting means

Setting item

Sequence program GX Configurator-PT GX Developer

Parameters

(initial setting

)

OPR data

(initial setting

) JOG data Positioning data

(initial setting

) Intelligent function module switches

: Initial setting is made to the intelligent function module parameters of t he Q C PU. : Can be set. : Can be set in the "I/O assignment setting" PLC parameter of the QCPU. : Cannot be set.

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" set in the QD70 buffer memory are not backed up. All data

are initialized at the time of system power-on or PLC CPU reset.

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4.1.2 Setting items for parameters

The table below lists items set to the positioning parameters. Setting of parameters is similarly done for individual axes for all controls achieved by the QD70. For details of controls, refer to SECTION 2 "CONTROL DETAILS AND SETTING". For details of setting items, refer to "4.2 List of parameters".

Positioning control

Control

Parameter

OPR

control

Position

control

Speedposition

switching

control

Current

value

changing

JOG

operation

sub

function

Pr. 1

Software stroke limit upper limit value –

Pr. 2

Software stroke limit low er limit v a lue –

Pr. 3

Software stroke limit valid /in v a lid se tting –

Section

11.4

Pr. 4

Current feed value during speed control – – –––

Pr. 5

Speed limit value –

Section

11.2

Pr. 6

Bias speed at start –

Section

11.5

Pr. 7

Positioning complete signal output time –––

Pr. 8

Deviation counter clear signal output time –––––

Pr. 9

PULSE/SIGN method selection setup/hold time – –

Pr. 10

Stop mode during path control – ––––

: Always set : Set as required (Read "–" when not required.)

– : 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 problem.)

Checking the parameters

Pr. 1

Pr. 10

are checked for the setting ranges when the "PLC READY signal (Y0)" output from the PLC CPU to the QD70 changes from OFF to ON. At this time, an error occurs in the parameter whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.3 Setting items for OPR data

When carrying out "OPR control", the "OPR data" must be set. The setting items for the "OPR data" are shown below. The "OPR data" are set commonly for each axis. Refer to "Chapter 8 OPR CONTROL" for details on the "OPR CONTROL", and to section "4.3 List of OPR data" for details on each setting item.

OPR control

OPR data

Machine OPR control Fast OPR control

OPR. 1

OPR method

Near-point

dog method

Stopper 1

Stopper 2

Stopper 3

Count 1

Count 2

OPR. 2

OPR direction

OPR. 3

OP address

OPR. 4

OPR speed OPR. 5 Creep speed OPR. 6 ACC/DEC time at OPR OPR. 7 DEC/STOP time at OPR

OPR. 8

Setting for the movement amount after near-point

dog ON

––––

OPR. 9

OPR dwell time – ––––

Data set for machin e OPR control are used.

: Always 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 OPR data

OPR. 1

OPR. 9

are checked for the setting ranges when the "PLC READY signal (Y0)" output from the PLC CPU to the QD70 changes from OFF to ON. At this time, an error occurs in the OPR data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.4 Setting items for JOG data

The "JOG data" must be set to perform "JOG operation". The following are the setting items of the "JOG data". The "JOG data" are set commonly for each axis. Refer to "CHA P TE R 10 J OG OPE RA TIO N" for details o f "JO G op e ra ti on" an d to "Section 4.4 List of JOG data" for details of the setting items.

JOG data JOG operation

JOG. 1

JOG speed

JOG. 2

JOG ACC time

JOG. 3

JOG DEC time

JOG. 4

JOG direction flag

: Always 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 JOG data

JOG. 1

JOG. 4

are checked for the setting ranges when JOG operation is started. At this time, an error occurs in the JOG data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.5 Setting items for positioning data

Positioning data must be set for carrying out any "positioning control". The table below lists the items to be set for producing the positioning data. 1 to 10 positioning data items can be set for each axis. For details of the positioning controls, refer to "Chapter 9 POSITIONING CONTROL". For details of the individual setting items, refer to "4.5 List of positioning data".

Positioning control

Positioning data

Position control

Speed-position

switching control

Current value changing

Positioning termination Continuous positioning control

Da. 1 Operation pattern

Continuous path control

Da. 2

Control method

1-axis linear control

(ABS)

1-axis linear control

(INC)

Speed.Position Ctrl.

(Forward)

Speed.Position Ctrl.

(Reverse)

Current value changing

Da. 3 ACC/DEC time – Da. 4 DEC/STOP time – Da. 5 Command speed –

Da. 6

Positioning address/movement amount

Change destination

address

Da. 7

Dwell time

: Always set : Set as required (Read "–" when not required.) :Setting not possible

– : 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 problem.)

Checking the positioning data

Da. 1

Da. 7

are checked for the setting ranges when positioning control is started. At this time, an error occurs in the positioning data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.6 Type and roles of monitor data

The monitor data area in the buffer memory stores data relating to the control state of the positioning control system, which are monitored as required while the positioning system is operating. The following da t a a re avai l able for monitori ng .

• Axis operation monitoring: Monitoring of the current position and speed, and other data related to the

movements of axes (through the axis monitor data

Md. 1

Md. 9

)

• Module information monitoring: Monitoring of the QD70 error status and warning status (through the module

information monitor data

Md. 10

Md. 11

)

Refer to "Section 4.6 List of monitor data" for details of the monitor data.

Monitor data Monitor details

Md. 1

Current feed value Monitor the current "current feed value"

Md. 2

Movement amount after near-point dogONMonitor the movement amount after the near-point dog has turned

Md. 3

Current speed Monitor the current speed

Md. 4

Axis operation status Monitor the axis operation state

Md. 5

Axis error code Monitor the latest error code that occurred with the axis

Md. 6

Axis warning code Monitor the latest w arning code that oc curred with the axis

Md. 7

Status Monitor the flag

Md. 8

External I/O signal Monitor the external input/output signal

Md. 9

Executing positioning data No. Monitor the "positioning data No." currently being executed

Md. 10

Error status Monitor the error status of each axis

Md. 11

Warning status Monitor the warning status of each axis

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4.1.7 Type and roles of control data

Operation of the positioning control system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.

• Controlling the operation : Setting operation parameters, changing speed during operation, restarting operation

(through the a xi s con t rol da t a

Cd. 1

Cd. 9

)

Refer to "Section 4.7 List of control data" for details of the control data.

Control data Control details

Cd. 1

Axis error reset

Clear (reset) the axis error code (

Md. 5

) and warning code (

Md. 6

Cd. 2

OPR request flag OFF request Change OP R request flag from "O N to O FF".

Cd. 3

Start method Set which control will be executed (start method).

Cd. 4

Restart request Give a restart command during an axis operation stop.

Cd. 5

Speed-position switching request Validate speed-position switching signal from external source.

Cd. 6

Speed change request

Issue instruction to change speed in operation to

Cd. 7

value. (Made valid during speed control of speed-position sw itching control or during JOG operation)

Cd. 7

New speed value Set new speed when changing speed during operation.

Cd. 8

ACC/DEC time at speed change

Set the time taken at a speed change to reach the new speed from the old speed.

Cd. 9

DEC/STOP time at speed change

Set the time taken at axis stop factor occurrence (axis stop signal ON or error occurrence) to make a stop after reaching "

Pr. 6

Bias speed

at start" from the speed after a speed change.

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4.2 List of parameters

Setting value buffer memory address

Item

Setting value, setting

range

Default value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Pr. 1

Software stroke limit upper

limit value

2147483647

01100

101

200 201

300 301

400 401

500 501

600 601

700 701

Pr. 2

Software stroke limi t lo wer

limit value

-2147483648 to 2147483647 (pulse)

-2147483648

23102

103

202 203

302 303

402 403

502 503

602 603

702 703

0: ValidPr. 3

Software stroke limit

valid/invalid setting

1: Invalid

0 4 104 204 304 404 504 604 704

0: No update 1: Update

Pr. 4

Current feed value during

speed control

2: Clear to 0 and no

update

0 5 105 205 305 405 505 605 705

Pr. 5

Speed limit value 1 to 200000 (pulse/s) 10000

67106

107

206 207

306 307

406 407

506 507

606 607

706 707

Pr. 6

Bias speed at start 0 to 200000 (pulse/s) 0

89108

109

208 209

308 309

408 409

508 509

608 609

708 709

Pr. 7

Positioning complete signal

output time

0 to 65535 (ms) 300 10 110 210 310 410 510 610 710

Pr. 8

Deviation counter clear

signal output time

1 to 32 (ms) 10 11 111 211 311 411 511 611 711 0: 10µs

1: 100µs 2: 1ms

Pr. 9

PULSE/SIGN method

selection setup/hold time

3: 2ms

0 12 112 212 312 412 512 612 712

0: Position match stop

Pr. 10

Stop mode during path

control

1: Deceleration stop

0 13 113 213 313 413 513 613 713

Pr. 1

Software stroke limit upper limit value

Set the upper limit for the machine's movement range.

Pr. 2

Software stroke limit lower limit value

Set the lower limit for the machine's movement range.

(Machine movement range)

Software stroke limit lower limit

Emergency stop limit switch

Software stroke limit upper limit

Emergency stop limit switch

1) Generally, the OP is set at the lower limit or upper limit of the stroke limit.

2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range.

Pr. 3

Software stroke limit valid/invalid setting

Set whether to va li da te th e so ftware stroke li mi t. 0: Valid 1: Invalid

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Pr. 4

Current feed value during speed control

Specify whether you wish to enable or disable the update of "

Md. 1

Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: No update

The current feed value will not change. (The value at the beginning of the speed control will be kept.)

1: Update

The current feed value will be updated. (The current feed value will change from the initial.)

2: Clear to 0 and no update

The current feed will be set initially to zero and not updated. (The value be kept "0".)

Pr. 5

Speed limit value

Set the maximum speed for OPR control, positioning control and JOG operation. The speed limit value is determined by the following two conditions.

• Motor speed • Workpiece movement speed

Pr. 6

Bias speed at start

Set the minimum starting speed for OPR control, positioning control and JOG operation. When using a stepping motor or like, set this speed to start the motor smoothly. (A stepping motor does not start smoothly if the motor speed is low at a start.) Set a value not more than "

Pr. 5

Speed limit va lue". If it is more than "

Pr. 5 Speed limit value", th e "Se t ti ng rang e out sid e bi a s speed " e rr o r (er ro r code : 90 6 ) will occur.

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Pr. 7

Positioning complete signal output time

Set the output time of the positioning complete signal [X8 to XF] output from the QD70. Positioning co mple te in di cat e s tha t the pre set dw ell ti me ha s el ap sed aft e r th e QD70 ended pulse ou tput . If the setting value is 0 (ms) or if the axis stop signal was used to make a stop during JOG operation or speed control of speed-position switching control, the positioning complete signal is not output.

[Y8 to YF]

[X18 to X1F]

PLC

CPU

PLC

Positioning start signal

Positioning

complete signal

Positioning control

Positioning start signal Positioning start

complete

BUSY signal

Positioning complete signal

Positioning complete signal (after elapse of dwell time)

Output time

QD70

Positioning complete signal output time

Pr. 8

Deviation counter clear signal output time

Set the duratio n of the devi a tio n coun te r cl ea r sig nal ou t put du ring an OPR control operation using any of the following methods: the near-point dog method, stopper 1 to 3, and count 1. (For details, refer to your drive unit manual.)

4 - 12 4 - 12

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

Pr. 9

PULSE/SIGN method selection setup/hold time

Set the setup/hold time when PULSE/SIGN is selected in the pulse output mode to output inverted pulses. 0: 10µs 1: 100µs 2: 1ms 3: 2ms The following is an example for negative logic.

PULSE

SIGN

Pr. 9

Set in Set in

Movement in + direction

Movement in

- direction

Forward

run

Reverse

run

PULSE/SIGN mode (set the pulse output mode with the intelligent function module switch. Refer to Section 5.6.)

4 - 13 4 - 13

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

Pr. 10

Stop mode during path control

Set the stoppi ng met ho d u sing th e a xis sto p sign al inpu t when t he ope ra tio n pattern for position control is continuous path control.

0: Position match stop .......Deceleration starts when the axis stop signal is input,

and the axis stops immediately when the address preset to the positioning data in execution is reached.

1: Deceleration stop...........When the axis stop signal is input, the axis stops after

decelerating to "

Pr. 6

Bias speed at start". (The axis does not stop at the address preset to the positioning data in execution.)

Da. 5

Command speed

Pr. 6

Bias speed at start

Da. 5

Command speed

Da. 6

Positioning address / movement amount

Continuous path control performed when axis stop signal is not input

Da. 6

Positioning address / movement amount

Da. 5

Command speed

Da. 6

Pr. 6

Bias speed at start

Da. 4

stop time

Deceleration

Pr. 6

Bias speed at start

0: Position match stop

Axis stop signal input

Continuous path control performed when axis stop signal is not input

In a pattern where the positioning address is reached during deceleration, an immediate stop is made when the positioning address is reached. However, if the positioning address is not reached during deceleration, a position match stop cannot be made. (Refer to the following chart.)

Axis stop signal input

1: Deceleration stop

Axis stop signal input

Continuous path control performed when axis stop signal is not input

Deceleration stop

If the axis passes through the positioning address, it does not stop and decelerates to a stop.

Da. 4

Deceleration

stop time

Da. 4

stop time

Deceleration

Positioning address / movement amount

Immediate stop after the address set to

Da. 6

" Positioning address/movement amount" is reached

Deceleration stop before the address set to "

Da. 6

Positioning address/movement amount" is reached

No stop if the address set to " Positioning

Da. 6

address/ movement am ount" is reached

4 - 14 4 - 14

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

4.3 List of OPR data

Setting value buffer memory address

Item

Setting value, setting

range

Default value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

0: Near-point dog

method 1: Stopper 1 2: Stopper 2 3: Stopper 3 4: Count 1

OPR. 1

OPR method

5: Count 2

0 20 120 220 320 420 520 620 720

0: Forward direction

OPR. 2

OPR direction

1: Reverse direction

0 21 121 221 321 421 521 621 721

OPR. 3

OP address

-2147483648 to 2147483647 (pulse)

2223122

123

222 223

322 323

422 423

522 523

622 623

722 723

OPR. 4

OPR speed 1 to 200000 (pulse/s) 1

2425124

125

224 225

324 325

424 425

524 525

624 625

724 725

OPR. 5

Creep speed 1 to 200000 (pulse/s) 1

2627126

127

226 227

326 327

426 427

526 527

626 627

726 727

OPR. 6

ACC/DEC time at OPR

0 to 32767 (ms) 1000 28 128 228 328 428 528 628 728

OPR. 7

DEC/STOP time at OPR

0 to 32767 (ms) 1000 29 129 229 329 429 529 629 729

OPR. 8

Setting for the movement amount after near-point dog ON

0 to 2147483647 (pulse)

3031130

131

230 231

330 331

430 431

530 531

630 631

730 731

OPR. 9

OPR dwell time

0 to 65535 (ms)

0 32 132 232 332 432 532 632 732

: When making setting in a sequence program, set 0 to 32767 in decimal as-is, and 32768 to 65535 in hexadecimal.

OPR. 1

OPR method

Set the "OPR method " fo r ca rry ing ou t machi ne OP R co ntr ol .

0 : Near-point dog method....After decelerating at the near-point dog ON, stop at

the zero signal an d co mpl ete t he OPR co nt rol .

1 : Stopper 1..........................After decelerating at the near-point dog ON, stop

with the stopper, and complete the OPR control after the OPR dwell ti me ha s pa ssed.

2 : Stopper 2..........................After decelerating at the near-point dog ON, stop

with the stopp e r , an d co mplete the OPR co nt rol with the zero signal.

3 : Stopper 3..........................After starting with the creep speed, stop with the

stopper, and complete the OPR control with the zero signal.

4 : Count 1.............................After decelerating at the near-point dog ON, move

the designated distan ce , an d co mpl ete the OPR control with the zero signal.

5 : Count 2.............................After decelerating at the near-point dog ON, move

the designated distan ce , an d co mpl ete the OPR control.

Note) Refer to "8. 2 .2 Ma ch i ne OPR met ho d" for details o n th e OP R met ho d s.

4 - 15 4 - 15

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

OPR method

0 : Near-point dog method

(1) Start machine OPR control.

(Start movement at the "

OPR. 4

OPR speed" in the

OPR. 2

OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "

OPR. 5

Creep speed", and move with the creep speed. (At this time, the near-point dog must be ON.)

(4) When the first zero signal (one pulse of which is output

when the motor turns one revolution) after near-point dog OFF is detected, the pulse output from the QD70 stops and OPR control is completed.

(1)

(2)

(3)

(4)

OPR. 4 OPR speed

Pr. 6 Bias speed at start

OPR. 5 Creep speed

Near-point dog OFF

Zero signal

First zero after near-point dog OFF

1 : Stopper 1

(1) Start machine OPR control.

(Start movement at the "

OPR. 4

OPR speed" in the

OPR. 2

OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "

OPR. 5

Creep speed", and move with the creep speed. (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (4).)

(4) The axis contacts against the stopper at "

OPR. 5

Creep

speed", and then stops.

(5) When the near-point dog turns ON and the "

OPR. 9

OPR dwell time" is passed, the pulse output from the QD70 stops, and the OPR control is completed.

(1)

(2)

(3) (4)

(5)

OPR. 4 OPR speed

Pr. 6 Bias speed at start

OPR. 5 Creep speed

Range where motor rotation is forcibly stopped by stopper

Near-point dog OFF

Dwell time out

Dwell time

counting

2 : Stopper 2

(1) Start machine OPR control.

(Start movement at the "

OPR. 4

OPR speed" in the

OPR. 2

OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "

OPR. 5

Creep speed", and move with the creep speed. (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (4).)

(4) The axis contacts against the stopper at "

OPR. 5

Creep

speed", and then stops.

(5) When the zero signal (signal output on detection of contact

with the stopper) is detected after a stop, the pulse output from the QD70 stops and OPR control is completed.

(1)

(2)

(3) (4)

(5)

OPR. 4 OPR speed

Pr. 6 Bias speed at start

OPR. 5 Creep speed

Stopped by stopper

Zero signal

Near-point dog OFF

4 - 16 4 - 16

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

3 : Stopper 3

(1) Start machine OPR control.

(Start movement at the "

OPR. 5

Creep speed" in the

OPR. 2

OPR direction". (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (2).)

(2) The axis contacts against the stopper at "

OPR. 5

Creep

speed", and then stops.

(3) When the zero signal (signal output on detection of contact

with the stopper) is detected after a stop, the pulse output from the QD70 stops and OPR control is completed.

(1)

(2)

(3)

OPR. 5 Creep speed

Pr. 6 Bias speed at start

Stopped by stopper

Zero signal

4 : Count 1

(1) Start machine OPR control.

(Start movement at the "

OPR. 4

OPR speed" in the

OPR. 2

OPR direction".)

(2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "

OPR. 5

Creep speed", and move with the

creep speed.

(4) When the first zero signal (one pulse of which is output

when the motor turns one revolution) is detected after the movement amount set in "

OPR. 8

Setting for the movement amount after near-point dog ON" has been travelled after near-point dog ON, the pulse output from the QD70 stops and OPR control is completed.

(4)

(3)

(2)

(1)

OPR. 4 OPR speed

Pr. 6 Bias speed at start

OPR. 8 Setting for the movement amount after near-point dog ON

OPR. 5 Creep speed

Md. 2 Movement amount after near-point dog ON

Near-point dog OFF

Zero signal

Near-point dog should be turned OFF with enough distance provided from OP position.

First zero after movement amount has been traveled after near-point do

OFF

5 : Count 2

(1) Start machine OPR control.

(Start movement at the "

OPR. 4

OPR speed" in the

OPR. 2

OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "

OPR. 5

Creep speed", and move with the

creep speed.

(4) After the near-point dog turns ON and the movement

amount set in "

OPR. 8

Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD70 stops with the first zero signal, and the OPR control is completed.

(1)

(2)

(3)

(4)

OPR. 4 OPR speed

Pr. 6 Bias speed at start

OPR. 8 Setting for the movemen

amount after near-p oint dog ON

OPR. 5 Creep speed

Md. 2 Movement amount after near-point dog ON

Near-point dog OFF

4 - 17 4 - 17

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

OPR. 2

OPR direction

Set the direction to start movement when starting machine OPR control. 0: Forward direction

Moves in the direction that the address increments. (Arrow 2))

1: Reverse direction

Moves in the direction that the address decrements. (Arrow 1))

Normally, the OP is set near the lower limit or the upper limit, so "

OPR. 2

OPR

direction" is set as shown below.

Lower limit

Address increment direction

Address decremwnt direction

Upper limit

When the zero point is set at r\the lower limit side, the OPR directiion is in the direction of arrow 1). Set "1" for OPR. 2

Address decremwnt direction

Address increment direction

Upper limit

Lower limit

When th eOP is set st the upper limit side, th eOPR diredtion is in direction of arrow 2). Set "0" for OPR. 2

OPR. 3

OP address

Set the address used as the reference point for position control (ABS system). (When the machine OPR control is completed, the stop position address is changed to the address set in "

OPR. 3

OP address". At the same time, the

OPR. 3

OP address" is stored in "

Md. 1

Current feed value".)

OPR. 4

OPR speed

Set the speed fo r OPR con t rol . Note) • Set the "OPR spee d " to le s s th an "

Pr. 5

Speed limit value". If the "speed If the "speed limit value" is exceeded, the "Setting range outside OPR speed" error (error code: 913) will occur.

• Set the "OPR spee d" t o a val ue no t le ss th a n "

Pr. 6

Bias speed at start". If it is less than the "bias speed at start", the "Setting range outside OPR speed" error (error code: 913) will occur.

4 - 18 4 - 18

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

OPR. 5

Creep speed

Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range.

(

OPR. 4

OPR speed ) ≥ (

OPR. 5

Creep speed) ≥ (

Pr. 6

Bias speed at start)

Note) • The creep speed is related to the detection error when using the OPR

method with zero signal, and the size of the collision if a collision occurs during OPR using the stopper.

• Set the "creep speed" to a value not more than "

OPR. 4

OPR speed". If the "OPR speed" is exceeded, "the "Setting range outside creep speed" error (error code: 914) will occur.

• Set the "creep speed" to a value not less than "

Pr. 6

Bias speed at start". If it is less than the "bias speed at start", the "Setting range outside creep speed" error (error code: 914) will occur.

OPR. 4

OPR. 5

Pr. 6

OPR control start

Near-point dog signal OFF

ero signal

Bias speed at start

OPR speed

Creep speed

OPR. 6

ACC/DEC time at OPR

Set the time taken under OPR control to reach "

OPR. 4

OPR speed" from "

Pr. 6

Bias speed at start" or to reach "

OPR. 5

Creep speed" from "

OPR. 4

OPR

speed".

Pr. 6

OPR. 6

OPR. 4

OPR. 5

OPR. 6

Pr. 6

OPR. 5

(When OPR method is other than "Stopper 3") (When OPR method is "Stopper 3")

4 - 19 4 - 19

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

OPR. 7

DEC/STOP time at OPR

Set the time taken to make a stop after reaching "

Pr. 6

Bias speed at start" from

OPR. 5

Creep speed" under "Count 2" OPR control or to make a stop after

reaching "

Pr. 6

Bias speed at start" from the speed during OPR control at axis

stop factor occurrence (axis stop signal ON or error occurrence).

Pr. 6

OPR. 7

OPR. 4

OPR. 5

OPR. 4

OPR. 5

Pr. 6

OPR. 7

(When OPR method is "Count 2")

(When axis stop signal is turned ON during OPR control (Common to all OPR methods))

Axis stop factor occurrence

OPR. 8

Setting for the movement amount after near- poi nt dog ON

When the OPR method is Count 1 or 2, set a value not less than the deceleration distance after the near-point dog signal has turned ON.

1 2

2000

t + t'

1000

2000

10 10 (320 + 80)

2000

80ms : t'

OFF

Setting example of " OPR. 8 Setting for the movement am ount after near-point do g O N "

When 10kpulse/s is set in " OPR. 4 OPR speed", 2kpulse/s in " OPR. 5 Creep speed", and 320ms in " OPR. 6 ACC/DEC time at OPR", calculate " OPR. 8 Setting for the movement amount after near-point dog ON" as indicated below.

[OPR control operation]

OPR. 4 OPR speed : Vz=10kpulse/s

Near-point dog

OPR. 5 Creep speed: Vc=2 kpulse/s

OPR. 6 ACC/DEC time at OPR : t=320ms

[Deceleration distance]

*Set 2000 pulse or more in " OPR. 8 Setting for the movement amount after near-point dog ON".

Vz (t + t')

OPR. 9

OPR dwell time

When the OPR method is Stopper 1, set the time from when the near-point dog turns ON until OPR control is complet ed. Set not less than the movement time from when the near-point dog turns ON until a stop is made by the stopper. (When the OPR method is other than "Stopper 1", the "

OPR. 9

OPR dwell time"

value need not be set.)

4 - 20 4 - 20

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

4.4 List of JOG data

Setting value buffer memory address

Item

Setting value, setting

range

Default value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

JOG. 1

JOG speed 1 to 200000 (pulse/s) 0

4041140

141

240 241

340 341

440 441

540 541

640 641

740 741

JOG. 2

JOG ACC time 0 to 32767 (ms) 1000 42 142 242 342 442 542 642 742

JOG. 3

JOG DEC time 0 to 32767 (ms) 1000 43 143 243 343 443 543 643 743

0: Forward run JOG

JOG. 4

JOG direction flag

1: Reverse run JOG

0 44 144 244 344 444 544 644 744

JOG. 1

JOG speed

Set the speed for JOG operation. (This value is used for both forward run JOG and reverse run JOG.) Set the JOG speed in the following range. (

Pr. 5

Speed limit value) ≥ (

JOG. 1

JOG speed) ≥ (

Pr. 6

Bias speed at start)

If the "JOG speed" is more than the "speed limit value", it is limited to "

Pr. 5 Speed limit value". If the "JOG speed" is less th an "

Pr. 6

Bias speed at start", it is limited to "Pr. 6

Bias speed at start".

JOG. 2

JOG ACC time

Set the time t a ken to re a c h "

JOG. 1

JOG speed" from "

Pr. 6

Bias speed at start" at a JOG operation start (JOG start signal ON). (This value is used for both forward run JOG and rev e rse run JOG. )

JOG. 3

JOG DEC time

Set the time taken to make a stop after reaching "

Pr. 6

Bias speed at start" from

JOG. 1

JOG speed" at a JOG operation st op (JOG sta rt sign al OFF, erro r

occurrence). (This value is used for both forward run JOG and reverse run JOG.)

JOG. 4

JOG direction flag

Set the forward/reverse direction for JOG operation. 0: Forward run JOG 1: Reverse run JOG

4 - 21 4 - 21

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

4.5 List of positioning data

Before explaining the positioning data setting items

Da. 1

Da. 7

, the configuration of the positioning data will be shown below. The positioning data stored in the QD70 buffer memory has the following type of configuration.

²‚P

890

891

892

894 895

898

893

896 897

899

²‚P

880

881

882

884 885

888

883

886 887

889

²‚P

820

821

822

824 825

828

823

826 827

829

²‚P

810

811

812

814 815

818

813

816 817

819

²‚P

Da. 1 Operation pattern

Da. 2 Control method

800

801

802

804 805

808

803

806 807

809

Positioning data No. 1

Axis 1

²‚P

1199

²‚P

1189

²‚P

1129

²‚P

1119

²‚P

1109

1190

1191

1192

1194 1195

1198

1193

1196 1197

1180

1181

1182

1184 1185

1188

1183

1186 1187

1120

1121

1122

1124 1125

1128

1123

1126

1127

1110

1111

1112

1114 1115

1118

1113

1116 1117

1100

1101

1102

1104 1105

1108

1103

1106 1107

²‚P

999

²‚P

989

²‚P

929

²‚P

919

²‚P

909

990

991

992

994 995

998

993

996 997

980

981

982

984 985

988

983

986 987

920

921

922

924 925

928

923

926 927

910

911

912

914 915

918

913

916 917

900

901

902

904 905

908

903

906 907

²‚P

1099

²‚P

1089

²‚P

1029

²‚P

1019

²‚P

1009

1090

1091

1092

1094 1095

1098

1093

1096 1097

1080

1081

1082

1084 1085

1088

1083

1086 1087

1020

1021

1022

1024 1025

1028

1023

1026 1027

1010

1011

1012

1014 1015

1018

1013

1016 1017

1000

1001

1002

1004 1005

1008

1003

1006 1007

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory ad dress

Axis 2

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning

address/movement

amount

Positioning data No. 1

Buffer memory ad dress

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 3

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory ad dress

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 4

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement

amount

Buffer memory ad dress

: Write to Reserved (Cannot be used) is prohibited.

4 - 22 4 - 22

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

²‚P

1399

²‚P

1389

²‚P

1329

²‚P

1319

1309

1390

1391

1392

1394 1395

1398

1393

1396 1397

1380

1381

1382

1384 1385

1388

1383

1386 1387

1320

1321

1322

1324 1325

1328

1323

1326 1327

1310

1311

1312

1314 1315

1318

1313

1316 1317

1300

1301

1302

1304 1305

1308

1303

1306 1307

²‚P

1599

²‚P

1589

²‚P

1529

²‚P

1519

²‚P

1509

1590

1591

1592

1594 1595

1598

1593

1596 1597

1580

1581

1582

1584 1585

1588

1583

1586 1587

1520

1521

1522

1524 1525

1528

1523

1526 1527

1510

1511

1512

1514 1515

1518

1513

1516 1517

1500

1501

1502

1504 1505

1508

1503

1506 1507

²‚P

1299

²‚P

1289

²‚P

1229

²‚P

1219

²‚P

1209

1290

1291

1292

1294 1295

1298

1293

1296 1297

1280

1281

1282

1284 1285

1288

1283

1286 1287

1220

1221

1222

1224 1225

1228

1223

1226 1227

1210

1211

1212

1214 1215

1218

1213

1216 1217

1200

1201

1202

1204 1205

1208

1203

1206 1207

²‚P

1499

²‚P

1489

²‚P

1429

²‚P

1419

²‚P

1409

1490

1491

1492

1494 1495

1498

1493

1496 1497

1480

1481

1482

1484 1485

1488

1483

1486 1487

1420

1421

1422

1424 1425

1428

1423

1426 1427

1410

1411

1412

1414 1415

1418

1413

1416 1417

1400

1401

1402

1404 1405

1408

1403

1406 1407

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 1

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory address

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 2

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory address

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 3

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory address

Da. 1 Operation pattern

Da. 2 Control method

Positioning data No. 1

Axis 4

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot Be Used)

Da. 6 Positioning address/movement amount

Buffer memory address

: Write to Reserved (Cannot be used) is prohibited.

The descriptions that follow relate to the positioning data set items

Da. 1

Da. 7

. (The buffer memory addresses shown are those of the "positioning data No. 1" for the axes 1 to 8.)

4 - 23 4 - 23

MELSEC-Q

4 DATA USED FOR POSITIONING CONTROL

Setting value buffer memory address

Item

Setting value,

setting range

Default value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

0: Positioning

termination

1: Continuous

positioning control

Da. 1

Operation pattern

2: Continuous path

control

0 800 900 1000 1100 1200 1300 1400 1500

0: No control method 1: 1-axis linear control

(ABS)

2: 1-axis linear control

(INC)

3: Speed.Position Ctrl.

(Forward)

4: Speed.Position Ctrl.

(Reverse)

Da. 2

Control method

5: Current value

changing

0 801 901 1001 1101 1201 1301 1401 1501

Da. 3

ACC/DEC time 0 to 32767 (ms) 1000 802 902 1002 1102 1202 1302 1402 1502

Da. 4

DEC/STOP time 0 to 32767 (ms) 1000 803 903 1003 1103 1203 1303 1403 1503

Da. 5

Command speed 0 to 200000 (pulse/s) 0

804 805

904 905

1004 1005

1104 1105

1204 1205

1304 1305

1404 1405

1504 1505

Da. 6

Positioning address/ movement amount

-2147483648 to 2147483647 (pulse)

806 807

906 907

1006 1007

1106 1107

1206 1207

1306 1307

1406 1407

1506 1507

Da. 7

Dwell time 0 to 65535 (ms)

2 0 808 908 1008 1108 1208 1308 1408 1508

1: 0 to 2147483647 (pulse) when "

Da. 2

Control method" is "3: Speed.Position Ctrl. (Forward)" or "4: Speed.Position Ctrl. (Reverse)".

2: When making setting in a sequence program, set 0 to 32767 in decimal as-is, and 32768 to 65535 in hexadecimal.

Da. 1

Operation pattern

The operation pattern designates whether positioning control of a certain data No. is to be ende d wi th ju st t ha t da t a, or wh ethe r th e po si t io ni ng con tro l fo r th e next data No. is to be carried out in succession.

[Operation pattern]

Countinue

0 : Positioning termination

1 : Continuous positioning control

2 : Continuous path control

Continuous posotioning control with one start signal

Continupus path positioning control with speed change

End

1) Positioning termination..................Set to execute positioning control to the

designated address, and then complete positioning control.

2) Continuous positioning control......Positioning control is carried out

successively in order of data Nos. with one start signal. The operation halt s at ea ch po sit io n indicated by a positioning data.

3) Continuous path control ................Positioning control is carried out

successively in order of data Nos. with one start signal. The operation does not stop at each positioning data.

Note) Refe r to " CHAPTER 9 POSITI ON IN G CON TRO L " fo r de t ails of the

operation pattern.

4 - 24 4 - 24

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4 DATA USED FOR POSITIONING CONTROL

Da. 2

Control method

Set the "contr ol met hod" for position in g con t rol . 0: No control met h od 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC)

3: Speed.Position Ctrl. (Forward)......Speed-position switching control (forward

run)

4: Speed.Position Ctrl. (Reverse)......Speed-position switching control (reverse

run)

5: Current value changing Note) • Refer to "CHAP TE R 9 POS I TI ON I N G CO NTR OL" for details o f th e

control method.

• Setting "0: No con tr ol met hod" wi ll re sul t in the "Se t ti ng ra ng e ou t sid e control method" error (error code: 506).

Da. 3

ACC/DEC time,

Da. 4

DEC/STOP time

Set the acceleration/deceleration time for positioning control. ["

Da. 1

Operation pattern" is "0: Positioning termination" or "1: Continuous

positioning control"]

Da. 3

ACC/DEC time : Set the time taken to reach "

Da. 5

Command speed"

from "

Pr. 6

Bias speed at start".

Da. 4

DEC/STOP time : Set the time taken to make a stop after reaching

Pr. 6

Bias speed at start" from "

Da. 5

Command speed" at position control completion or axis stop factor occurrence (axis stop signal ON or error occurrence).

Da. 3

Da. 7 Dwell time

Pr. 6 Bias speed at start

Da. 4

Da. 5

Da. 7 Dwell time

Positioning data No. 1

(Continuous positioning control)

Positioning data No. 2

(Positioning termination)

Da. 3

Da. 4

Da. 5

4 - 25 4 - 25

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4 DATA USED FOR POSITIONING CONTROL

Da. 1

Operation pattern" is "2: Continuous path control"]

Da. 3

ACC/DEC time : Set the time taken to reach "

Da. 5

Command speed" set in the "positioning data to be executed next" from "

Da. 5

Command speed" set in the "positioning data

currently being executed".

Da. 4

DEC/STOP time : Set any value within the setting range (0 to 32767ms).

(This does not function.)

Da. 3

Da. 7 Dwell tim

Da. 4

Da. 5

Pr. 6

Bias speed at start

Da. 5

Da. 3

Positionin g da t a

No. 1

Continuous path control

Positioning termination

Positionin g da t a

No. 2

Positionin g da t a

No. 3

Positionin g da t a

No. 4

Da. 5

Command speed

Set the speed for po siti onin g cont r ol . If the set command speed exceeds "

Pr. 5

Speed limit value", positioning control will be carried out at the speed limit value. If the set command speed is less than "

Pr. 6

Bias speed at start", positioning control will be carried out at the bias

speed at start.

Da. 6

Positioning address/movement amount

Set the address or movement amount as the target value of positioning control. The setting value differs in the setting range depending on "

Da. 2

Control

method". ((1) to (3))

(1) 1-axis linear control (ABS), current v alue chang i ng

Set the value (positioning address) for 1-axis linear control (ABS) or current value changing using the absolute address (address from the OP).

-1000 30001000

Stopping position (positioning control starting address)

Movement amount : 2000

4 - 26 4 - 26

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4 DATA USED FOR POSITIONING CONTROL

(2) 1-axis linear control (INC)

Set a signed movement amount as the setting value (movement amount) for 1axis linear control (INC). When the movement amount is positive: The axis moves in the positive direction (address increasing direction). When the movement amount is negative: The axis moves in the negative direction (address decrea sin g dire cti on) .

-30000 30000

Stopping position (positioning control starting position)

(Movement amount)

Movement in negative direction

Movement in positive directio n

(3) Speed.Position Ctrl. (Forward/Reverse)

Set the movement amount (value more than 0) after speed control has been switched to position control.

Speed

Speed control

Position control

Movement amount setting

Time

Speed-position switching command

Da. 7

Dwell time

When the "dwell time" is set, the setting details of the "dwell time" will be as follows according to "

Da. 1

Operation pattern".

Set the time from when the positioning control ends to when the "positioning complete signal" turns ON as "dwell time".

Positioning complete signal OFF

Dwell time

Da. 7

2) When " Da. 1 Operation pattern" is "1 : Continuous positioning control" Set the time from when position control ends to when

the next position control start as the "dwell time".

Dwell time

Da. 7

Position control

Next position control

3) When " Da. 1 Operation pattern" is "2 : Continuous path control

The setting value irrelevant to the control. (The "dwell time" is 0ms.)

No dwell time (0ms)

1) When " Da. 1 Operation patt ern" in "0 : Positioning termination"

Position control

Next position control

4 - 27 4 - 27

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4 DATA USED FOR POSITIONING CONTROL

4.6 List of monitor data

4.6.1 Axis monitor data

Storage buffer memory address

Item Storage details

Default

value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Md. 1

Current feed value

•

The current position is stored.

Update timing: 1ms for QD70P4

2ms for QD70P8

•

On completion of OPR control, the OP address is

stored.

•

Under speed control of speed-position switching

control, whether the current feed value is updated or not or cleared to zero can be selected by parameter setting.

•

The software stroke limit can be activated by

parameter setting.

•

If the current value has been changed by the

current value change function, the new value is stored. [Range: -2147483648 to 2147483647 pulse]

7071170

171

270 271

370 371

470 471

570 571

670 671

770 771

Md. 2

Movement amount after nearpoint dog ON

•

At an OPR control start, "0" is stored.

•

After an OPR control start, the movement

amount from near-point dog ON up to OPR control completion is stored. (Movement amount: Indicates the movement amount up to completion of OPR control when near-point dog ON is defined as "0".

•

For near-point dog-free stopper type method, the

value is always "0". [Range: 0 to 2147483647 pulse]

7273172

173

272 273

372 373

472 473

572 573

672 673

772 773

Md. 3

Current speed

•

The current speed is stored.

(The fraction is ignored. "0" may be displayed if the speed is less than 1 pulse/s.) Update timing: 1ms for QD70P4

2ms for QD70P8

[Range: 0 to 200000 pulse]

7475174

175

274 275

374 375

474 475

574 575

674 675

774 775

Md. 4

Axis operation status

The operating status of the axis is stored.

-1: Error 0: Standby 2: Stopped 3: JOG Operation 4: OPR 5: Position • Control

(during speed control of speed-position switching control)

6: Speed • Position Speed

(during position control of speed-position

switching control) 7: Deceleration (Axis Stop ON) 8: Deceleration (JOG Start OFF) 9: Fast OPR

0 76 176 276 376 476 576 676 776

Md. 5

Axis error code

At axis error occurrence, the error code corresponding to the error definition is stored.

•

If another error occurs during axis error

occurrence, the latest error code is ignored. However, if a system-affecting error (error code: 800 to 840) has occurred, the old error code is overwritten by the newest error code, which is stored.

•

The error codes 800 to 840 are stored into

Md. 5

for all axes.

•

When "

Cd. 1

Axis error reset" (axis control data) of the corresponding axis is turned ON, the axis error code is cleared (to zero). (Refer to "Section 13.2" for details of the error codes.)

0 77 177 277 377 477 577 677 777

4 - 28 4 - 28

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4 DATA USED FOR POSITIONING CONTROL

Storage buffer memory address

Item Storage details

Default

value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Md. 6

Axis warning code

At axis warning occurrence, the warning code corresponding to the warning definition is stored.

•

The latest warning code is always stored. (When

a new axis warning occurs, the old warning code is overwritten.)

•

When "

Cd. 1

Axis error reset" (axis control data) of the corresponding axis is turned ON, the axis warning code is cleared (to zero). (Refer to "Section 13.3" for details of the warning codes.)

0 78 178 278 378 478 578 678 778

Md. 7

Status

The ON/OFF states of the following flags are stored. The following items are stored.

•

OPR request flag

(Refer to "Chapter 8" for details)

This flag turns ON at power-on or at machine OPR control start, and turns OFF on completion of machine OPR control.

•

OPR complete flag

(Refer to "Chapter 8" for details)

This flag turns ON on normal completion of machine OPR control, and turns OFF at an OPR control, positioning control or JOG operation start.

•

0 speed (Refer to "Section 11.3" for details)

This flag turns on when JOG operation or speed control of speed-position switching control is started with the speed set to "0". When a speed change is made, this flag turns ON when a speed change request of new speed value 0 is given, and turns OFF when a speed change request of other than new speed value 0 is given.

b15 b0b4b8b12

0 : OFF 1 : ON

Not used

Storage item

Meaning OPR request flag OPR complete flag 0 speed

0001H79 179 279 379 479 579 679 779

Md. 8

External I/O signal

The ON/OFF states of the external I/O signals are stored. The following items are stored.

•

Zero signal

•

Near-point dog signal

•

Speed-position switching signal

•

Deviation counter clear signal

b15 b0b4b8b12

0 : OFF 1 : ON

Storage item

Meaning

Not used

Zero signal Near-point dog

signal Speed-position switching signal Deviation counter

clear signal

0000H80 180 280 380 480 580 680 780

Md. 9

Executing positioning data No.

•

The positioning data No. currently being

executed is stored. (The stored value is held until the next start is executed.)

•

When JOG operation or machine OPR control is

started, 0 is stored.

•

When fast OPR control is started, 1 is stored.

0 81 181 281 381 481 581 681 781

4 - 29 4 - 29

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4 DATA USED FOR POSITIONING CONTROL

4.6.2 Module information monitor data

Item Storage details Default value

Storage buffer memory address

(Common for axis 1 to axis 8)

Md. 10

Error

status

At error occurrence, the bit corresponding to the error occurrence axis turns ON.

0: Normal (OFF) 1: Error (ON)

(The error occurrence axis cannot be run)

When "

Cd. 1

Axis error reset" (axis control data) of the corresponding axis is turned ON, the error status of the corresponding axis is cleared (to zero). (Refer to "Chapter 13" for details.)

b15 b0b4b8b12

0 : OFF 1 : ON

Not used

Storage item

Meaning Axis 1 error Axis 2 error Axis 3 error Axis 4 error Axis 5 error Axis 6 error Axis 7 error Axis 8 error

(For the QD70P4, b4 to b7 are "0" fixed.)

0000

1600

Md. 11

Warning

status

At warning occurrence, the bit corresponding to the warning occurrence axis turns ON.

0: Normal (OFF) 1: Warning (ON)

When "

Cd. 1

Axis error reset" (axis control data) of the corresponding axis is turned ON, the warning status of the corresponding axis is cleared (to zero). (Refer to "Chapter 13" for details.)

b15 b0b4b8b12

0 : OFF 1 : ON

Not used

Storage item

Meaning Axis 1 warning Axis 2 warning Axis 3 warning Axis 4 warning Axis 5 warning Axis 6 warning Axis 7 warning Axis 8 warning

(For the QD70P4, b4 to b7 are "0" fixed.)

0000

1601

4 - 30 4 - 30

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4 DATA USED FOR POSITIONING CONTROL

4.7 List of control data

4.7.1 Axis control data

Setting buffer memory address

Item Setting details

Default

value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Cd. 1

Axis error

reset

By setting "1", the following operation is performed.

•

Axis error occurrence (X1), "

Md. 5

Axis error

code", axis warning occurrence (X2) or "

Md. 6

Axis warning code" is cleared. (X1 and X2 are cleared when "1" is set in

Cd. 1

of all axes.)

•

If "

Md. 4

Axis operation status" is "Error", the error is cleared and returned to the "Standby" status. (The data automatically changes to "0" after completion of axis error reset or axis warning reset.)

0 50 150 250 350 450 550 650 750

Cd. 2

OPR request flag OFF request

When the OPR request flag (b0 of

Md. 7

) is ON, setting "1" forcibly turn s th is data OFF. (The data automatically changes to "0" after the OPR request flag turns OFF.)

0 51 151 251 351 451 551 651 751

Cd. 3

Start method

Set this data when starting the corresponding control.

0 : Positioning control (starting from No. 1) 9000 : Machine OPR control 9001 : Fast OPR control

0 52 152 252 352 452 552 652 752

Cd. 4

Restart request

•

If positioning control is stopped midway by the

axis stop signal (Y10 to Y17) (when "

Md. 4

Axis operation status" is "Stopped"), setting "1" restarts positioning control to the end point of the positioning data from where it had stopped.

•

For speed control of speed-position switching

control, speed control is exercised at the speed used before the stop. (After completion of restart request acceptance, the data changes to "0" automatically.)

0 53 153 253 353 453 553 653 753

Cd. 5

Speedposition switching request

Set whether the speed-position switching signal is made valid or not.

0: Invalidates the speed-position switching

signal. (Disable)

1: Validates the speed-position switching signal.

(Enable)

0 54 154 254 354 454 554 654 754

4 - 31 4 - 31

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4 DATA USED FOR POSITIONING CONTROL

Setting buffer memory address

Item Setting details

Default

value

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Cd. 6

Speed change request

Set "1" to request speed change processing (make the "

Cd. 7

New speed value" value valid)

after setting "

Cd. 7

New speed value" for JOG operation or speed control of speed-position switching control. (The data changes automatically to "0" after completion of speed change request acceptance.)

0 55 155 255 355 455 555 655 755

Cd. 7

New speed value

Set the new speed for JOG operation or speed control of speed-position switching control.

•

Set the value not more than "

Pr. 5

Speed limit

value".

•

Set the value not less than "

Pr. 6

Bias speed at start". [Setting range: 0 to 200000 pulse/s]

5657156

157

256 257

356 357

456 457

556 557

656 657

756 757

Cd. 8

ACC/DEC time at speed change

Set the time taken at a speed change to reach the new speed from the old speed.

[Setting range: 0 to 32767ms]

1000 58 158 258 358 458 558 658 758

Cd. 9

DEC/STOP time at speed change

Set the time taken at axis stop factor occurrence (axis stop signal ON or error occurrence) to make a stop after reaching "

Pr. 6

Bias speed at start"

from the speed after a speed change.

[Setting range: 0 to 32767ms]

1000 59 159 259 359 459 559 659 759

5 - 1 5 - 1

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION

This chapter describes the procedure up to the operation of the QD70 and the part identification nomenclature and setting and wiring methods of the QD70.

5.1 Handling precautions

This section provides the precautions for handling the QD70.

DANGER

Always turn all phases of the power supply OFF externally before cleaning or tightening the

screws. Failure to turn all phases OFF could lead to electric shocks.

CAUTION

Use the PLC within the general specifications environment given in t his manual.

Using the PLC outside the general specification range environment could lead t o elect ric shocks, fires, malfunctioning, product damage or deterioration.

Do not directly touch the conductive section and electronic 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.

5 - 2 5 - 2

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

CAUTION

Never disassemble or modify the module.

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

Always turn all phases of the power supply OFF exter nally befor e installing or r emov ing the

module. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

Use the PLC within the general specifications environment giv en in this manual.

Using the PLC outside the general specification range environment could lead t o elect ric shocks, fires, malfunctioning, product damage or deterioration.

Hold down the module mounting lever at the bottom of the module and securely insert the

module fixing projection into the fixing holes of the base module. Improper mounting of the module may lead to malfunctioning, faults, or dropping. When using the module in the environment subject to much vibration, secure the module w ith a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctionin g. Excessive tightening may damage the screw or module, leading to dropping, short-circuit , or malfunctioning

(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 QD 70 PCB fro m th e case. Fa ilur e to obse rv e this coul d le ad 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.

5 - 3 5 - 3

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

5.2 Procedures before operation

This section gives the procedure up to the operation of the QD70.

Yes

Start

Module installation

Install the QD70 in the specified slot.

Wiring

Wire the external device to the QD70. (Refer to Section 5.4.)

Intelligent function module switch setting

Make setting using GX Developer. (Refer to Section 5.6.)

Connection confirmation

Confirm connection using GX Developer or GX Configurator-PT. (Refer to Section 5.5.)

Drive unit operation confirmation

Make confirmation with a simple program in the factory-set status. (Refer to Section 5.7.)

Do you use

GX Configurator-PT?

Initial setting

Using the FROM/TO instructions, create an initial value write sequence program. (Refer to Chapter 7.)

Programming, debugging

Create and confirm a sequence program. (Refer to Chapter 7.)

System operation

Initial setting

Using GX Configurator-PT, make initial setting. (Refer to Section 6.4.)

Do you make auto

refresh setting?

Auto refresh setting

Using GX Configurator-PT, make auto refresh setting. (Refer to Section 6.5.)

5 - 4 5 - 4

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

5.3 Part identification nomenclature

(1) The following are the part names of the QD70.

QD70P8

CON2

RUN

ERR.

AX6

AX5

AX8

AX7

CON1

AX2

AX1

AX4

AX3

QD70P8

1) RUN indicator LED, ERR. indicator LED

2) Axis display LED

3) External device connection connector (40 pins) *For details, refer to "Section 3.4.2 Signal layout for external device connection connector"

No. Name Details

RUN indicator LED, ERR. indicator LED

2) Axis display LED (Axn, n: Axis No.)

Refer to the next page.

External device connection connector

Connector for connection of the drive unit and mechanical system inputs.

5 - 5 5 - 5

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

(2) The LED display indicates the following operation statuses of the QD70 and axes.

QD70P8

RUN

ERR.

AX6

AX5

AX8

AX7

AX2

AX1

AX4

AX3

Display Attention point Description Display Attention point Description

RUN

AX5 AX1 RUN AX5 AX1 AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3

ERR. AX8 AX4

RUN is OFF. ERR. and AX1 to AX8 states are unfixed.

Hardware failure.

ERR.

AX8 AX4

AX1 to AX8 are OFF.

The axes are stopped or on standby.

RUN AX5 AX1 RUN AX5 AX1

AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3

ERR. AX8 AX4

RUN illuminates. ERR. is OFF.

The module operates normally.

ERR.

AX8 AX4

AX1 (or other axis) illuminates.

The corresponding axis is in operation.

RUN AX5 AX1 RUN AX5 AX1

AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3

ERR. AX8 AX4

ERR. illuminates.

System error.

ERR.

AX8 AX4

ERR. flashes. AX1 (or other axis) flashes.

An error occurs on the corresponding axis.

The symbols in the Display column indicate the foll owing statuses:

: Turns OFF. : Illuminates. : Flashes.

(3) The interface of each QD70 is as shown below.

QD70P4

CON1

RUN

ERR.

AX2

AX1

AX4

AX3

QD70P4

QD70P8

CON2

RUN

ERR.

AX6

AX5

AX8

AX7

CON1

AX2

AX1

AX4

AX3

QD70P8

5 - 6 5 - 6

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

External device connection connector

The connectors for use with the QD70 should be purchased separately by the user. The connector types and pressure displacement tool are listed below.

(a) Connector types

Type Model name

Soldering type, straight out A6CON1

Pressure displacement type, straight out A6CON 2

(b) Pressure-displacement tool

Type Model name

Applicable

wire size

Supplier's office

Pressuredisplacement tool

FCN-363TT005/H

AWG#24

•

FUJITSU AMERICA,INC.

250E Caribbean Drive Sunnyvale, CA 94089 U.S.A Tel: (1-408)745-4900

•

FUJITSU EUROPE B.V.

Jupiterstaat 13-15, our 2132 Hoofddorp, The Netherland Tel: (31)23-5560910

•

FUJITSU EUROPE B.V. Zweiniederlassung

Deutschland

Schatzbogen 86 D-81829 Munchen Germany Tel: (49)89-42742320

•

FUJITSU EUROPE (UK)

Network House, Morres Drive, Maidenhead, Berkshire, SL6 4FH United Kingdom Tel: (44)1628-504600

•

FUJITSU EUROPE B.V.

127 Chemin Des Bassins, Europarc, Cleteril 94035 Cleterll 94035 France Tel: (33)145139940

•

FUJITSU ASIA PACIFIC PTE LIMITED

102E Pasir Panjang Road, #04-01 Citilink Warehouse Complex, Singapore 118529 Tel: (65)375-8560

•

FUJITSU HONG KONG CO., LTD.

Suite 913 Ocean Centre, 5 Canton Road, TST, Kowloon, Hong Kong Tel: (852)2881-8495

5 - 7 5 - 7

MELSEC-Q

5 SETUP AND PROCEDURES BEFORE OPERATION

5.4 Wiring

This section explains how to wire the drive unit and mechanical system inputs to the QD70. The following are the precautions for wiring the QD70. Read these precautions together with "Section 5.1 Handling precautions" to ensure work safety.

5.4.1 Wiring precautions

(1) Always confirm the terminal layout before connecting the wires to the QD70.

(2) Correctly solder the external device connection connector. An incomplete

soldering could lead to malfunctioning.

(3) Make sure that foreign matter su ch as cutt ing chi p s and wire scrap s do es not

enter the QD70. Failure to observe this could lead to fires, faults or malfunctioning.

(4) A protective label is attached on the top of the QD70 to avoid foreign matter such

as wire scraps from entering inside during wiring process. Do not remove the label until the wiring is completed. Before starting the system, however, be sure to remove the label to ensure heat radiation.

(5) Securely mount the exterd device connection connector to the connector on the

QD70 with two s cr ews .

(6) Do not disconnect the external wiring cable connected to the QD70 or drive unit by

pulling the cable section. When the cable has a connector, be sure to hold the connector connected to the QD70 or drive unit. Pulling the cable while it is connected to the QD70 or drive unit may lead to malfunctioning or damage of the QD70, drive unit or cable.

(7) Do not bundle or adjacently lay the connection cable connected to the QD70

external input/output signals or drive unit with the main circuit line, power line, or the load line other than that for the PLC. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.

(8) If cables to connect to QD70 absolutely must be positioned near (within 100mm)

the power line, use a general shielded cable. The shield must be grounded on the QD70 side. (Wiring examples are given on the following pages.)

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5 SETUP AND PROCEDURES BEFORE OPERATION

[Wiring example using shielded cables]

The following are wiring examples for noise reduction.

To external devices

Connector

Shielded cable

Drive unit

Connector (A6CON1/A6CON2)

To drive units

Use the shortest posible ingth to graound the 2mm or more FG wire. (The shield must be grounded on the QD70 side)

The length between the connector and the shielded cable chould be the shortest possible.

To QD70

To external device

[Processing example of shielded cables]

Coat the wire with insulaing tape

Remove the coverring from all shielded cables and bind the apperared shield with a conductive tape.

Solder the shield of any one of the shielded cables to the FG wire.

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5 SETUP AND PROCEDURES BEFORE OPERATION

Assembling of connector (A6CON1/A6CON2)

Wrap the coated parts with a heat contractile tube.

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5 SETUP AND PROCEDURES BEFORE OPERATION

(9) The cables connected to the QD70 should be placed in a duct or fixed. Not doing

so can cause the QD70, drive unit or cables to be damaged when the cables swing, move or are pulled carelessly, for example, or to malfunction due to poor cable connection.

(10) To comply with the EMC Directive and Low-Voltage Directive, always ground the

QD70 to the control box using the shielded cables and AD75CK cable clamping (Mitsubishi Electric make).

QD70

20cm (7.88 inch) to 30cm (11.82 inch)

Inside control box

AD75CK

[How to ground shielded cables using AD75C K]

Shield cable

Shield

Installation screw to control box (M4 screw)

Ground terminal

Ground terminal installation scre

(M4 8 screw )

Using the AD75CK, you can tie four cables of about 7mm outside diameter together fo r g roun di ng . (For details, refe r to th e AD75 CK - ty pe Cabl e Cla mpi ng Inst r u ctio n Ma nual <IB-68682>.

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5 SETUP AND PROCEDURES BEFORE OPERATION

[Wiring examples using duct (impr oper ex ampl e and i mproved

example)]

Relay

Drive

unit

Drive

unit

Noise source

Relay

PLC CPU

Relay Realy

Relay

PLC CPU

Drive

unit

Changed

Wiring duct

Control box

Control pane l

The QD70 and drive units are placed closely.The connection cable between the QD70 and drive units is separately laid from teh power line (in this example, the cable is outside of the duct) and is as short as possible.

(Power system,

etc.)

Noise source

(power system,

etc.)

The deive units are placed near the noise source. The connection cable between the QD70 and drive units is too long.

Drive

unit

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5 SETUP AND PROCEDURES BEFORE OPERATION

5.5 Confirming the wiring

5.5.1 Confirmation items at completion o f wiring

Check the following points when completed with the QD70 installation and wiring.

• Is the module correctly wired?..............................."Connection confirmation"

By making "connection conformation", you can check whether the "QD70 recognizes the external I/O signals such as the near-point dog and speed-position switching signals", for example.

The following i s the way to make " con ne ct io n confi r mati o n".

(1) Method using GX Developer

Read the "

Md. 8

External I/O signal" axis monitor data with the monitor function

(Buffer memory batch) and check the read values.

Buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Md. 8

External I/O signal

80 180 280 380 480 580 680 780

[Bit pattern]

b15 b0b4b8b12

0 : OFF 1 : ON

Not used

Storage item

Meaning Zero signal Near-point dog signal Speed-position switching signal Deviation counter clear signal

(Example) Checking the external I/O signals of Axis 1

b0 (Zero signal ON) b1 (Near-point dog signal ON) b2 (Speed-position switching signal OFF) b3 (Deviation counter clear signal OFF)

Set the buffer memory address of " Md. 8 External I/O signal" of Axis 1 in decimal.

The states of the external I/O signals can also be checked by system monitor. For details, re fe r to "Se ctio n 12. 3 E xte r nal I/ O sig nal monitor function".

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5 SETUP AND PROCEDURES BEFORE OPERATION

(2) Method using GX Configurator-PT

Monitor the external I/O signal states on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".)

(Example) Checking the external I/O signals of Axis 1 (1 Axis OPR Monitor)

Important

If the QD70 is faulty or does not recognize necessary signals, such as the nearpoint dog and speed-position switching signals, an unexpected accident, e.g. "the axis collides wi th th e st oppe r wi th ou t decelerating at th e ne a r- p oint dog du ri ng machine OPR control" or "speed control is not switched to position control". Always make "con ne cti on con fi r mation" not only whe n t h e po siti oni ng con t rol system has been configured but also when any modifications have been made to the system, e.g. modules have been changed or the system has been rewired.

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5 SETUP AND PROCEDURES BEFORE OPERATION

5.6 Switch setting for intelligent function module

By making the intelligent function module switch setting, the QD70 allows you to set the pulse output mode, external I/O signal logic and rotation direction. (However, you cannot set the speed-position switching signal (CHG) logic. It is fixed at the negative logic.) Make the intelligent function module switch setting in the "I/O assignment setting" PLC parameter of the QCPU using GX Developer.

• There are intelligent function module switches 1 to 5, which are set with 16-bit data.

• When you do not make the intelligent function module switch setting, switches 1 to 5

default to 0. The settings made with the intelligent function module switches are made valid after power-on or PLC CPU reset. You cannot change the settings during operation.

Switch No. Setting item Setting details/bit assignment Default value

Switch 1 Pulse output mode

1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 00 : CW/CCW mode 01 : PULSE/SIGN mode

0000

Pulse output logic selection

Switch 2

Deviation counter clear output logic selection

1)2)3)4)5)6)7)8)1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 0 : Negative logic 1 : Positive logic

Pulse output logic selection

Deviation counter clear output logic selection

0000

Zero signal input logic selection

Switch 3

Rotation direction setting

1)2)3)4)5)6)7)8)1)2)3)4)5)6)7)8)

b15 b8 b7 b0

Rotation direction setting Zero signal input logic selection

<Zero signal input logic selection> 0 : Negative logic 1 : Positive logic

1 to 8 indicate the axis Nos. <Rotation direction setting> 0 : Forward run pulse output increases

the current feed value. 1 : Reverse run pulse output increases the current feed value.

0000

Switch 4

Near-point dog signal input logic selection

1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 0 : Negative logic 1 : Positive logic

0000

Switch 5 Vacant

[Setting example]

Setting details

Setting item

Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Target

signal

names

Switch setting

Pulse output mode PULSE/SIGN mode CW/CCW mode

Switch 1: 5500H

Pulse output logic selection + - + - + - + -

PULSE F PULSE R

Deviation counter clear output logic selection

-+-+-+-+CLEAR

Switch 2:

55AAH Zero signal input logic selection - - - - + + + + PGO Rotation direction setting

Reverse run pulse output increases the

current feed value.

Forward run pulse output increases the

current feed value.

–

Switch 3:

F00FH Near-point dog signal input

logic selection

++----++DOG

Switch 4:

00C3H

+: Positive logic -: Negative logic

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5 SETUP AND PROCEDURES BEFORE OPERATION

[Switch 1] Pulse output mode

Set the pulse output mode that matches the drive unit used. Use "Switch 2" to change between the positive logic and negative logic of the pulse. The following are pulse output mode examples.

(1) CW/CCW mode

During forward run, the forward run feed pulse (CW) will be output. During reverse run, the reverse run feed pulse (CCW) will be output.

Positive logic Negative logic

Forward run

CCW

Reverse run

Forward run

CCW

Reverse run

CW is output from the "PULSE F" external I/O signal and CCW from "PULSE R". (Refer to "Section 3.4.3".)

(2) PULSE/SIGN mode

Positive logic Negative logic

Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).

•

The motor will forward run when the direction sign is HIGH.

•

The motor will reverse run when the direction sign is LO W.

Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).

•

The motor will forward run when the direction sign is LO W.

•

The motor will reverse run when the direction sign is HIGH.

Forward run

Reverse run

PULSE

SIGN

Move in + direction

Move in direction

Forward run

Reverse run

PULSE

SIGN

Move in + direction

move in direction

PULSE is output from the "PULSE F" external I/O signal and SIGN from "PULSE R". (Refer to "Section 3.4.3".)

[Switch 2] Pulse output logic selection, deviation counter cl ear output

logic selection

Set the pulse ou tp ut si gn al (P ULSE F/PULSE R) logic and devi at io n cou nte r clear output signal (CLEAR) logic according to the externally connected device.

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5 SETUP AND PROCEDURES BEFORE OPERATION

[Switch 3] Zero signal input logic selection, rotati on dir ection setting

Set the zero signal (PG0) input logic according to the externally connected device.

Set the relation of the motor rotation direction and current value address increment/decrement.

[Setting procedure]

1) Set "0", and carry out forward run JOG operation. ("0" is set as the default value.)

2) When the workpiece "W" is moving toward the address increment direction, the current setting is O.K. When the workpiece "W" is moving toward the address decrement direction, set "1".

3) Carry out forward run JOG operation again, and if "W" moves toward the increment direction, the setting is complete.

QD70

Motor

Workpiece

Forward run pulse

Address decrement direction

Address incre

ment direction

[Switch 4] Near-point dog signal input log ic selection

Set the near-poi nt do g sig nal (D OG) inp ut logi c a cco rdin g to th e e xte rna lly connected device.

Important

Incorrect setting of any I/O signal logic may disable normal operation. Make the setting carefully when changing the initial setting.

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5 SETUP AND PROCEDURES BEFORE OPERATION

Operating procedure

Using GX Developer, make settings starting with the QCPU PLC parameter "I/O assignment setting" screen.

(a) I/O assignment setting screen

Specify the following for the slot where the QD70 is mounted.

Type : Select "Intelli." Model name : Enter the module's model name. Points : Select 32 points. Start XY : Enter the start I/ O sig nal fo r th e

QD70.

(b) Switch setting for I/O and intelligent function

module Click o n Swi t ch setti ng

on the I/O assignment

setting screen to di spl ay the scree n at le ft and set switches 1 to 4. The setting can easily be done if values are entered in hexadecimal. Change the input format to hexadecimal and enter values.

POINT

The values set in the "I/O assignment setting" PLC parameter of the QCPU can be confirmed using the module's detailed information that can be displayed on the system monitor of GX Developer. Refer to Section 12.3 for details.

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5 SETUP AND PROCEDURES BEFORE OPERATION

5.7 Simple reciprocating operation

Before operating the system, check the operation of the drive unit. (Make this check after making sure that the installation, wiring, intelligent function module switch setting and connection confirmation of the QD70 are normal. For details of the drive unit, refer to the manual of the drive unit used.)

The following is the way to perform "simple reciprocating operation".

(1) Operation method

Using a sequence program, perform forward run/reverse run of JOG operation. (Refer to Chapter 10 for details of JOG operation.)

(2) Setting items

Set JOG data in the sequence program. The other data (parameters, positioning data, etc.) may be initial values. (Change the JOG data setting values according to the machine specifications.)

Buffer memory addresses

JOG data Setting value Setting details

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

JOG. 1

JOG speed 5000pulse/s

Set the speed for JOG operation.

4041140

141

240 241

340 341

440 441

540 541

640 641

740 741

JOG. 2

JOG ACC time 1000ms

Set the acceleration time for JOG operation.

42 142 242 342 442 542 642 742

JOG. 3

JOG DEC time 1000ms

Set the deceleration time for JOG operation.

43 143 243 343 443 543 643 743

JOG. 4

JOG direction flag

0: Forward run JOG 1: Reverse run JOG

Set the rotation direction for JOG operation.

44 144 244 344 444 544 644 744

Refer to "Section 4.4 List of JOG data" for more information on the setting details.

(3) Reciprocating operation program using JOG oper ati on

The following is a program example for Axis 1. (When the QD70 is installed in slot 0 of the main base unit)

[Used devices]

Device name

Device Application ON details Remarks

SM400 Normally ON

––

Special relay

SM402 ON one scan after RUN

––

X0 Module READY QD70 normal

–

Input

X8 Axis 1 BUSY Axis 1 running – Y0 PLC READY PLC CPU no r mal –

QD70 I/O

Output

Y18 Axis 1 JOG start Axis JOG starting – X28

Forward run JOG command

Forward run JOG operation command being given

External input (command)

X29

Reverse run JOG command

Reverse run JOG operation command being given

JOG operation is disabled if X28 and X29 are both ON or both OFF.

Internal relay M1 JOG operation flag JOG operation in progress –

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5 SETUP AND PROCEDURES BEFORE OPERATION

JOG speed 5000pulse/s JOG ACC/DEC time 1000ms X28 : Forward run JOG command, X29 : Reverse run JOG command

Reciprocating operation program using JOG operation

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5 SETUP AND PROCEDURES BEFORE OPERATION

(4) Confirming the operation status

(a) Method using GX Developer

Read the follow i ng axi s mon it o r da t a wi th th e mon itor functio n (Bu ffe r memory batch).

Buffer memory address

Axis monitor data Monitor details

Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8

Md. 1

Current feed value Monitor the current position.

7071170

171

270 271

370 371

470 471

570 571

670 671

770 771

Md. 3

Current speed Monitor the current speed.

7475174

175

274 275

374 375

474 475

574 575

674 675

774 775

Md. 4

Axis operation status

Monitor the operation status "2: JOG Operation" of the axis.

76 176 276 376 476 576 676 776

Md. 5

Axis error code Monitor the error occurrence definition. 77 177 277 377 477 577 677 777

For more information on the monitor details, refer to "Section 4.6 List of monitor data".

(Example) Operation status of Axis 1

(b) Method using GX Configurator-PT

Monitor the "current feed value", "current speed", "axis operation status" and "axis error code" on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".)

(Example) Operation monitor of Axis 1 (Axis #1 Monitor/Test)

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6 UTILITY PACKAGE (GX Configurator- PT)

CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)

The QD70 utility package (GX Configurator-PT) is software designed to make initial setting, auto refresh setting, monitor and others of the QD70 using dedicated screens, without being co n sci ou s of the I / O signal s an d bu ffe r memo ry. Use the utility package with GX Developer (SW4D5C-GPPW-E or later).

6.1 Utility package functions

The following table lists the functions of the utility package.

Function Description Reference

Initial setting

Make initial setting axis-by-axis for the QD70 to operate. Set the values of the items that need initial setting. [Setting items]

•

Parameters

•

OPR data

•

Positioning data (The initially set data are registered to the PLC CPU parameters, and when the PLC CPU is placed in the RUN status, they are written to the QD70 automatically.)

Section 6.4

Auto refresh setting

Set the QD70 buffer memory values to be automatically refreshed. [Auto refresh target buffer memory values]

[Common to all axes]

•

Error status

•

Warning status

[Axis by axis]

•

Current feed value

•

Current speed

•

Axis operation status

•

Axis error code

•

Axis warning code

•

Executing positioning data No. (The values stored in the automatically refreshed QD70 buffer memory are read automatically when the END instruction of the PLC CPU is ex ecuted.)

Section 6.5

Monitor/test

Monitor/test the buffer memory and I/O signals of the QD70.

•

Axis monitor/test

•

OPR monitor

•

X/Y monitor

Section 6.6

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6 UTILITY PACKAGE (GX Configurator- PT)

6.2 Installing and uninstalling the utility package

For installing and uninstalling the utility package (SW0D5C-QCTU-E), see the GPP Function Software for Windows SW4D5C-GPPW-E (V) Operating Manual (Startup).

6.2.1 User precautions

The following explains the precautions on using the Utility package:

(1) Important safety information

Since the utility is add-in software for GX Developer, make sure to read "Safety Precautions" and the basic operating procedures in the GX Developer Operating Manual.

(2) About installation

GX Configurator-PT is an add-in software package for SW4D5C-GPPW-E or later versions. Therefore, install GX Configurator-PT in a peripheral device in which SW4D5C-GPPW-E or later version has been installed.

(3) About display screen errors while using the i ntell igent function

module utility

There may be cases in which the screen will not properly display while the intelligent function module utility is being used, due to a lack of system resources. If this occurs, close the intelligent function module utility first, and then close GX Developer (program, comments, etc.) and other applications. Next, restart GX Developer and the intelligent function module utility.

(4) To start the intelligent function module utility

(a) In GX Developer, select "QCPU (Q mode)" for the PLC series and specify the

project. If anything other than "QCPU (Q mode)" is selected for the PLC series, or if no p roj e ct i s spe ci fie d, the intelligent function module utility will not start.

(b) Multiple intelligent function module utilities can be started.

However, the [Open file]/[Save file] parameter operations of the intelligent function module can only be performed by a single intelligent function module utility. Other intelligent function module utilities can perform the [Monitor/test] operation only.

(5) How to switch screens when two or more intell ig ent function

module utilities are started

When two or more intelligent function module utility screens cannot be displayed side by side, use the task bar to display the desired intelligent function module utility screen on top of other screens.

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6 UTILITY PACKAGE (GX Configurator- PT)

(6) About the number of parameters that can be set i n GX

Configurator-PT

The number of parameters that can be set by the GX Configurator for an intelligent function module installed in the CPU module and in a remote I/O station of the MELSECNET/H network system is limited.

Maximum number of parameter settings

Intelligent function module installation object

Initial setting Auto refresh setting Q00J/Q00/Q01CPU 512 256 Q02/Q02H/Q06H/Q12H/Q25HCPU 512 256 MELSECNET/H remote I/O station 512 256

For example, if multiple intelligent function modules are installed in a remote I/O station, set the GX Configurator so that the number of parameter settings of all the intelligent function modules does not exceed the maximum number of parameter settings. The total number of parameter settings is calculated separately for the initial setting and fo r th e au to re fr e sh se tt in g. The number of parameter settings that can be set for one module in the GX Configurator-PT is as shown below.

Object Module Initial setting Auto refresh setting QD70P4 12 (Fixed) 26 (Maximum number of settings) QD70P8 24 (Fixed) 50 (Maximum number of settings)

Example) Counting the number of parameter settings in the auto refresh setting

The number of settings in the one line is counted as one setting. The number of settings is not counted by columns. Add up all the setting items in this setting screen, then add them to the total for the other intelligent function modules to get a grand total.

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6 UTILITY PACKAGE (GX Configurator- PT)

6.2.2 Operating environment

This section explains the operating environment of GX Configurator-PT.

Item Peripheral devices

Installation (Add-in) destination

Add-in to GX Developer Version4 (English language version) or later

Computer main unit

Pentium

(133 MHz3 or faster recommended) based personal

computers that are compatible with Windows

Operating System

Required memory

32 MB or more

For installation 25 MB or moreAvailable hard

disk space

For operation 10 MB or more

Display 800 600 pixels or higher resolution

Operating system

Microsoft® Windows® 95 Operating System

Microsoft® Windows® 98 Operating System Microsoft

Windows® Millennium Edition Operating System

Microsoft® Windows NT® Workstation4.0 Operating System

Microsoft® Windows® 2000 Professional Operating System

1 : Install the GX Configurator-PT in GX Developer Version 4 or later in the same language.

GX Developer (English language version) and GX Configurator- PT (Japanese language version) cannot be used in combination, and GX Developer (Japanese language version) and GX Configurator-PT

(English language version) cannot be used in configuration. 2 : GX Configurator-PT cannot be used as an add-in with GX Developer Version 3 or earlier versions. 3 : Pentium® 150 MHz or more is recommended for use of Microsoft® Windows® Millennium Edition Oper a ting

System. 4 : 64MB or more is recommended for use of Microsoft® Windows® 2000 Professional Oper atin g Sy ste m

5 : Service Pack 1 or later is required for use of Microsoft® Windows® 95 Operating System. 6 : Service Pack 3 or later is required for use of Microsoft® Windows NT® Workstation4.0 Operating System.

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6 UTILITY PACKAGE (GX Configurator- PT)

6.3 Explanation of utility package operations

6.3.1 How to perform common utility package operations (1) Available control keys

Special keys that can be used during operations of the utility package and their application s ar e show n in th e ta ble bel ow .

Name of key Application

Esc

Cancels a newly entered value when entering data in a cell. Closes the window.

Tab

Moves between controls in the window.

Ctrl

Uses together with the mouse when multiple cells are sele cted in the Test selected.

Delete

Deletes the character where the cursor is positioned. When a cell is selected, clears all of the setting contents.

Back Space

Deletes the character where the cursor is positioned.

Moves the cursor.

Page Up

Moves the cursor one page up.

Page Down

Moves the cursor one page down.

Enter

Confirms the value entered in the cell.

(2) Data to be created with the utility package

The data and files shown below that are created with the utility package are also used by GX Developer operations. Figure 6.1 shows which operation uses which data or file.

(a) This data is created with the auto refresh setting, and stored in the intelligent

module parameter file of the project to be created using GX Developer.

Project

Program Parameters

PLC Parameters Network Parameters Intelligent Module Parameters

(b) Steps 1) to 3) shown in Figure 6.1 are performed using the following

operations.

1) Operating using GX Developer. [Project]

[Open project] / [Save] / [Save as]

2) Operating on the intelligent module parameter setting module selection screen of the utility. [File]

[Open file] / [Save file]

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6 UTILITY PACKAGE (GX Configurator- PT)

3) Operating using GX Developer. [Online]

[Read from PLC] / [Write to PLC] "Intelligent module parameter" Or, operate on the intelligent module parameter setting module selection screen of the utility. [Online]

[Read from PLC] / [Write to PLC]

(a) A text file can be created by performing the initial setting or auto refresh

setting, or selecting Make text file

on the monitor/test screen. Text files

can be utilized to create user documents.

(b) Text files can be saved to any direct o ry.

QCPU

RUN.

ERR.

USER.

BAT.

BOOT.

RS-232

USB

Q25HCPU

MODE.

GX Developer/ GX Configurator-PT

Disk

Project

Personal computer

A : Indicates intelligent module parameters.

B : Indicates the date saved by text file creation.

Project

Figure 6.1 correlation diagram for data created using the utility package

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6 UTILITY PACKAGE (GX Configurator- PT)

6.3.2 Operation overview

[Tools] - [Intelligent function utility] - [Start]

Intelligent function module parameter

setting module select

Enter "Start I/O No." then select "Package name" and "Module model neme".

Refer to Section 6. 3. 3

Initial setting screen

Refer to Section 6. 4

Initial setting Auto refresh

Auto refresh setting screen

Refer to Section 6. 5

GX Developer screen

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6 UTILITY PACKAGE (GX Configurator- PT)

[Online] - [Monitor/test]

Select monitor/test module screen

Monitor/Test screen

Refer to Section 6. 6

Enter "Start I/O No." then select" Package name" and "Module model neme".

Monitor/test

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6 UTILITY PACKAGE (GX Configurator- PT)

6.3.3 Starting the intelligent function module utility [Purpose of operation]

Start the utility from GX Developer, and display the intelligent module parameter setting module selection screen. The initial setting, auto refresh setting and select monitor/test module (selecting the module for which monitoring/testing is to be performed) screens can be started from this screen.

[Startup procedure]

[Tools] [Intelligent function utility] [Start]

[Setting screen]

[Explanation of items] (1) How to start each screen

(a) Starting the initial setting

"Start I/O No. *"

"Package name" "Module model name"

Initial setting

(b) Starting the au to re fr e sh s etting

"Start I/O No. *"

"Package name" "Module model na me"

Auto refresh

[Online]

[Monitor/test]

* Enter the start I/O No. in hexadecimal.

(2) Explanation of the screen command buttons

Delete

Deletes the initial settings and auto refresh setting for the selected module.

Exit

Ends the intelligent module parameter setting module selection screen.

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6 UTILITY PACKAGE (GX Configurator- PT)

(3) Menu bar

(a) File items

File operations are performed for the intelligent module parameters for the project opened by GX Developer. [Open file] : Opens the parameter file. [Close file] : Closes the parameter file. If changes have been made,

the dialog box asking whether to save the file appears. [Save file] : Saves the parameter file. [Delete file] : Deletes the parameter file. [Exit] : Ends the intelligent module parameter setting module

selection screen.

(b) Online items

[Monitor/test] : Starts the select monitor/test module screen. [Read from PLC] : Reads the intelligent module parameters from the CPU

module. [Write to PLC] : Writes the intelligent module parameters to the CPU

module.

POINT

(1) Saving the intelligent module par a meter files

Since these files cannot be saved using the GX Developer's project save operation, save the files using the intelligent module parameter setting module selection screen mentioned above.

(2) Reading and writing the intell ig ent modul e param eter s to and

from a PLC using GX Developer.

(a) Once the intelligent module parameters are saved in a file, they can be

read from and written to the PLC.

(b) Set the target PLC CPU using [Online]

[Transfer setup] of GX

Developer.

PLC” and “Write to PLC” of GX Developer.

(3) Checking for the required utility

The head I/O is displayed in the Intelligent function module utility setting screen, but a "

" may be displayed fo r th e mode l na me.

This means that either the required utility is not installed or that the utility cannot be started from the GX Developer.

Check for the required utility in [Tools] - [Intelligent function utility] - [Utility list...] in GX Developer, and set it.

Mitsubishi Q, QD70P4, QD70, QD70P8, SW1D5C-QPTU-E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual