Mitsubishi QD51-R24, QD51 User Manual

• SAFETY PRECAUTIONS •

(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 controller system, please read the CPU module user's manual. In this manual, the safety precautions are ranked as "DANGER" and "CAUTION".

DANGER

CAUTION

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

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

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

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

[Disposal Precautions]

DANGER

• Please refer to the manual for each station concerning the operating status of each station when communications errors occur in the station. There is danger of accidents due to wrong outputs or wrong operations.

• When connecting a peripheral device to the CPU module or performing control of a programmable controller which is being run through a BASIC program, configure an interlock circuit in the sequence program so that the system overall is operating on the safe side at all times. Also before exercising other control (program change, operating status change (status control)) on the running programmable controller, read the manual carefully and fully confirm safety. Especially for the above control on the remote programmable controller from, an immediate action may not be taken for programmable controller trouble due to a data communication fault. In addition to configuring up the interlock circuit in the sequence program, corrective and other actions to be taken as a system for the occurrence of a data communication fault should be predetermined between and programmable controller CPU.

• Do not write data to the "System Area" in the intelligent function module's buffer memory. Also, do not turn ON the "Use Prohibited" output signals among the output signals from the programmable controller CPU to the intelligent function module. If data are written to the "System Area" or output in response to "Use Prohibited" signals, there is danger that the programmable controller system will malfunction.

A - 1 A - 1

[Disposal Precautions]

CAUTION

• Do not bunch the control wires or communication cables with the main circuit or power wires, or install them close to each other. They should be installed 100mm (3.94 in.) or more away from each other. Not doing so could result in noise that would cause erroneous operation.

• If a BASIC program is registered in the flash ROM in the module, do not power OFF or reset the programmable controller CPU at the station where the module is installed during registration. If it is performed during registration, the data contents in the flash ROM will be erratic and it will be necessary to reset the setting values, etc. in the buffer memory and register them again in the flash ROM. It could also cause the module to break down or malfunction.

[Installation Precautions]

CAUTION

• Use the programmable controller in an environment that meets the general specifications contained in the user's manual of the CPU module to use. Using this programmable controller in an environment outside the range of the general specifications could result in electric shock, fire, erroneous operation, and damage to or deterioration of the product.

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

into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Incorrect loading of the module can cause a malfunction, failure or drop. When using the programmable controller in the environment of much vibration, tighten the module with a screw.

• Tighten the screw in 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 screw or module.

• Completely turn off the externally supplied power used in the system before mounting or removing the module. Not doing so could result in damage to the product.

• Do not directly touch the conductive area or electronic components of the module. Doing so may cause malfunction or failure in the module.

A - 2 A - 2

[Wiring Precautions]

CAUTION

• When turning on the power supply or operating the module after installation or wiring work, be sure that the module's terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.

• External connections shall be crimped or pressure welded with the specified tools, or correctly soldered. Imperfect connections could result in short circuit, fires, or erroneous operation.

• Securely insatll the connector to the module.

• Be sure to fix communication cables leading from the module by placing them in the duct or

clamping them. Cables not placed in the duct or without clamping may hang or shift, allowing them to be accidentally pulled, which may cause a module malfunction and cable damage.

• When connecting cables, be sure to do so correctly after confirming the type of interface you are connecting to. If connection is made to a different interface or if wiring is faulty, it could cause the module or external device to break down.

• Tighten the terminal screws with the specified torque. If the terminal screws are loose, it could result in short circuits, fire, or erroneous operation. Tightening the terminal screws too far may cause damages to the screws and/or the module, resulting in fallout, short circuits, or malfunction.

• When disconnecting the communications cable or power cable that is connected to the module, do not disconnect it by grasping the cable with your hand and pulling it. Disconnect cables with connectors attached by taking hold of the connector at the connection with the module and pulling the connector. For cables connected to a terminal block, remove the cable after loosening the terminal block screws. If the cable is pulled while it is connected to the module, it could cause malfunction or damage the module or the cable.

• Be sure there are no foreign substances such as sawdust or wiring debris inside the module. Such debris could cause fires, damage, or erroneous operation.

• The module has an ingress prevention label on its top to prevent foreign matter, such as wire offcuts, from entering the module during wiring. Do not peel this label during wiring. Before starting system operation, be sure to peel this label because of heat dissipation.

A - 3 A - 3

[Startup and Maintenance precautions]

CAUTION

• Do not disassemble or modify the modules. Doing so could cause trouble, erroneous operation, injury, or fire.

• Completely turn off the externally supplied power used in the system before mounting or removing the module. Not doing so could result in damage to the product.

• Do not install/remove the module to/from the base unit, or the terminal block to/from the module more than 50 times after the first use of the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction.

• Do not touch the terminals while power is on. Doing so could cause shock or erroneous operation.

• Switch off all phases of the externally supplied power used in the system when cleaning the module or retightening the terminal or module fixing screws. Not doing so could result in electric shock. Undertightening of terminal screws can cause a short circuit or malfunction. Overtightening of screws can cause damages to the screws and/or the module, resulting in fallout, short circuits, or malfunction.

• Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body, etc. Not doing so can cause the module to fail or malfunction.

[Operating Precautions]

CAUTION

• When performing control (in particular, changing data, changing a program or changing the operation status (status control)) of the programmable controller during operation using a BASIC program, do so only after reading the user's manual thoroughly and taking adequate safety precautions. If there are errors when changing data, changing a program or in status control, it could result in system malfunction, or cause mechanical damage or accidents.

[Disposal Precautions]

CAUTION

• When disposing of this product, treat 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

Apr., 2000 SH(NA)-080089-A

Sep., 2000 SH(NA)-080089-B

First printing

Addition

Section 1.3, Section 2.3, 2.3.1, 2.3.2, 2.4

Dec., 2003 SH(NA)-080089-C

Correction

Section 2.1, 6.2

Oct., 2004 SH(NA)-080089-D

Correction

SAFETY PRECAUTIONS, About Manuals, Conformation to the EMC Directive and Low Voltage Instruction, About the Generic Terms and Abbreviations, Chapter 1, Section 2.1, 2.3, 2.4, 2.5, Section 3.1, 3.2.1,

3.3.2(2), 3.8.1, Section5.1, 5.5.1

Term change

Feb., 2006 SH(NA)-080089-E

Correction

SAFETY PRECAUTIONS, About Manuals, Conformation to the EMC Directive and Low Voltage Instruction, How to read this manual, and Configuration, Section 1.1 to 1.3, Section 2.1, 2.5, Section 3.1, 3.2.1,

3.3.1, 3.3.3, 3.4, 3.5, 3.5.1 to 3.5.7, 3.6 to 3.8, 3.8.1, 3.8.2, 3.9, 3.10,

3.10.1 to 3.10.3, 3.11, 3.11.1 to 3.11.4, 3.12.1, 3.13.1, 3.13.2, Section 4.1, 4.2, 4.2.1, 4.2.2, 4.3, 4.3.2, 4.4.1, 4.4.5, 4.5, 4.5.3, 4.5.4,

4.8.2, Section 5.2 to 5.5, 5.5.2, 5.6.1, 5.6.2, Section 6.1, 6.2, Appendix-1, Appendix-2, Appendix-2.1, Appendix-3

Deletion

Appendix-2.2 (incorporated into Appendix-2.1)

Oct.,2006 SH(NA)-080089-F

Correction

SAFETY PRECAUTIONS, Section 2.1

Aug.,2008 SH(NA)-080089-G

Change of a term

"PLC" was changed to "programmable controller".

Correction

SAFETY PRECAUTIONS, Compliance with the EMC and Low Voltage Directives, About The Generic Terms and Abbreviations, Section 1.2,

2.1, 2.3, 2.4, 2.6, 3.1 to 3.3, 5.1, 5.3 to 5.5, 5.6.2, 5.7, 6.2, Appendix-3

Before change After change

GPPW GX Developer

MELSECNET/10H MELSECNET/H

Japanese Manual Version SH-080092-H

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.

A - 5 A - 5

INTRODUCTION

Thank you for purchasing the MELSEC-Q series programmable controller. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Q series programmable controller you have purchased, so as to ensure correct use.

SAFETY PRECAUTIONS..............................................................................................................................A- 1

REVISIONS ....................................................................................................................................................A- 5

CONTENTS....................................................................................................................................................A- 6

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

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

How to read this manual, and Configuration .................................................................................................A-10

About The Generic Terms and Abbreviations ...............................................................................................A-11

Meaning of Terms and Their Contents..........................................................................................................A-13

Product Configuration ....................................................................................................................................A-13

1 OVERVIEW 1- 1 to 1- 9

1.1 Operation Overview for QD51 (-R24)..................................................................................................... 1- 2

1.2 Features of QD51 (-R24) ........................................................................................................................ 1- 4

1.3 About the Function Added/Changed to the Function Version B ........................................................... 1- 9

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS 2- 1 to 2-11

2.1 Application Systems................................................................................................................................ 2- 1

2.2 Combining the Opposite Party's Device and the Programmable controller CPU................................. 2- 4

2.3 For Use in Multiple CPU System ............................................................................................................ 2- 6

2.4 For Use with Redundant CPUs ..............................................................................................................2- 7

2.5 For Use at MELSECNET/H Remote I/O Station.................................................................................... 2- 8

2.6 How to confirm the function version ....................................................................................................... 2-10

3 SPECIFICATIONS 3- 1 to 3-66

3.1 Performance Specifications .................................................................................................................... 3- 1

3.2 RS-232 Interface Specifications .............................................................................................................3- 3

3.2.1 RS-232 connector specifications .....................................................................................................3- 3

3.2.2 RS-232 cable specifications............................................................................................................. 3- 4

3.3 RS-422/485 Interface Specifications ...................................................................................................... 3- 5

3.3.1 RS-422/485 terminal block specifications ....................................................................................... 3- 5

3.3.2 RS-422/485 cable specifications ..................................................................................................... 3- 6

3.3.3 Cautions during data communications with a RS-422/485 line...................................................... 3- 7

3.4 List of Commands and Functions in AD51H-BASIC.............................................................................. 3-10

3.5 QD51 (-R24) Internal Memory ................................................................................................................ 3-16

3.5.1 Program area.................................................................................................................................... 3-18

3.5.2 Buffer memory .................................................................................................................................. 3-20

3.5.3 Common memory............................................................................................................................. 3-23

3.5.4 Expansion register (ED0 to ED1023) ..............................................................................................3-26

A - 6 A - 6

3.5.5 Special register (ED9000 to ED9127) .............................................................................................3-31

3.5.6 Expansion relay (EM0 to EM1023).................................................................................................. 3-35

3.5.7 Special relay (EM9000 to EM9127)................................................................................................. 3-38

3.6 Receive Buffer......................................................................................................................................... 3-41

3.7 List of GX Developer Setting Items for the QD51 (-R24)....................................................................... 3-42

3.8 List of Input/Output Signals From/To the Programmable controller CPU............................................. 3-43

3.8.1 Input (X) detailed explanation .......................................................................................................... 3-45

3.8.2 Output (Y) detailed explanation .......................................................................................................3-49

3.9 Relationship between the QD51 (-R24) Start Condition and the Flash ROM Execution

Program Area .......................................................................................................................................... 3-53

3.10 QD51 (-R24) Operation when the Power is Turned On ...................................................................... 3-54

3.10.1 In the case of the programming mode........................................................................................... 3-54

3.10.2 In the case of the multitask debug mode ...................................................................................... 3-55

3.10.3 In the case of the run mode ........................................................................................................... 3-56

3.11 Running a Task (a created program) ................................................................................................... 3-57

3.11.1 Conditions for permitting running of a task and start conditions................................................... 3-57

3.11.2 Starting by turning the power on or by reset (start condition: START) ........................................ 3-58

3.11.3 Starting by an interrupt from the programmable controller CPU (Start Condition: IT) ................. 3-60

3.11.4 Starting by a start request from another task (Start condition: BOOT, ON)................................. 3-61

3.12 Running a BASIC Program by Multitask Processing........................................................................... 3-63

3.12.1 Multitask processing....................................................................................................................... 3-63

3.13 BASIC Program Priority Order (Priority)............................................................................................... 3-64

3.13.1 Synchronizing execution between BASIC programs (Event control) ........................................... 3-65

3.13.2 Sharing equipment (Resources) by multitasking .......................................................................... 3-66

4 ABOUT QD51 (-R24) FUNCTIONS 4- 1 to 4-24

4.1 List of Functions ...................................................................................................................................... 4- 1

4.2 Communications with a Console / Terminal........................................................................................... 4- 2

4.2.1 Communications with a console ...................................................................................................... 4- 3

4.2.2 Communications with a terminal...................................................................................................... 4- 6

4.3 Printing by a Printer................................................................................................................................. 4-10

4.3.1 Printing from a printer connected to an interface that is not set in the console ............................. 4-11

4.3.2 Printing from a printer connected to the console ............................................................................ 4-13

4.4 Communications with the External Device............................................................................................. 4-14

4.4.1 If data are being sent ....................................................................................................................... 4-14

4.4.2 If data are received........................................................................................................................... 4-15

4.5 Communications with the Programmable controller CPU .....................................................................4-16

4.5.1 ON/OFF data communications by general output (X/Y) ................................................................. 4-17

4.5.2 Reading and writing data from/to buffer memory............................................................................ 4-18

4.5.3 Reading and writing data from/to the programmable controller CPU ............................................ 4-19

4.5.4 Reading and writing data from/to the programmable controller CPU's expansion file register ..... 4-20

4.6 Reading and Writing Data from/to the Buffer Memory of Another Intelligent Function Module/

Special Function Module ........................................................................................................................4-21

4.7 Reading and Writing Clock Data ............................................................................................................ 4-22

4.8 Data Communications Between Tasks ..................................................................................................4-23

4.8.1 ON/OFF data communications by expansion relay (EM) ...............................................................4-23

4.8.2 Data communications by expansion register (ED).......................................................................... 4-24

A - 7 A - 7

4.8.3 Data communications by common memory.................................................................................... 4-24

5 SETTINGS AND PROCEDURES UP UNTIL OPERATION 5- 1 to 5-17

5.1 Handling Precautions .............................................................................................................................. 5- 1

5.2 Settings and Procedures Up Until Operation ......................................................................................... 5- 2

5.3 Names of Parts and Functions ............................................................................................................... 5- 3

5.4 Connection with a Console, Debugger................................................................................................... 5- 4

5.5 Connection with the External Device...................................................................................................... 5- 5

5.5.1 Connecting to the RS-232 interface ................................................................................................ 5- 6

5.5.2 Connecting to the RS-422/485 interface ......................................................................................... 5- 8

5.6 Setting from the GX Developer............................................................................................................... 5-11

5.6.1 I/O assignment settings.................................................................................................................... 5-11

5.6.2 Switch setting for I/O and intelligent function module ..................................................................... 5-12

5.6.3 Intelligent function module interrupt point settings .......................................................................... 5-16

5.7 Maintenance, Checks ............................................................................................................................. 5-17

6 EXCLUSIVE COMMANDS 6- 1 to 6- 2

6.1 Exclusive Command List and Available Devices ................................................................................... 6- 1

6.2 Z(P). YCHECK ........................................................................................................................................ 6- 2

7 TROUBLESHOOTING 7- 1 to 7- 3

7.1 About QD51 (-R24) Status Checks ........................................................................................................7- 1

7.1.1 Checking the LED lighting status, communications error status and QD51 (-R24) switch

setting status .................................................................................................................................... 7- 1

7.1.2 Errors that occur in BASIC............................................................................................................... 7- 3

APPENDIX App- 1 to App- 7

Appendix-1 Comparison of Functions with Previous Modules ................................................................App- 1

Appendix-2 About Use of Programs from Previous Modules ..................................................................App- 2

Appendix 2.1 About use of A1SD51S, AD51H-S3 programs ..............................................................App- 2

Appendix-3 External Dimensions .............................................................................................................App- 6

INDEX Index- 1 to Index- 2

A - 8 A - 8

About Manuals

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

Related Manuals

Manual Name

AD51H-BASIC Programming Manual (Command) (Corresponds to the QD51, QD51-R24, A1SD51S, AD51H-S3.)

Explains the commands, how to use the functions and the specifications of AD51H-BASIC.

(Sold separately)

AD51H-BASIC Programming Manual (Debug and Compile) (Corresponds to the QD51, QD51-R24, A1SD51S, AD51H-S3.)

Explains concerning debugging of AD51H-BASIC, multitasking settings, and compilation methods.

(Sold separately)

Manual No.

(Model Name Code)

SH-080090

(13JF63)

SH-080091

(13JF64)

Compliance with the EMC and Low Voltage Directives

(1) For programmable controller system

To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller (EMC and Low Voltage Directives compliant) into other machinery or equipment, refer to Chapter 9 "EMC AND LOW VOLTAGE DIRECTIVES" of the QCPU User's Manual (Hardware Design, Maintenance and Inspection). The CE mark, indicating compliance with the EMC and Low Voltage Directives, is printed on the rating plate of the programmable controller.

(2) For the product

No additional measures are necessary for the compliance of this product with the EMC and Low Voltage Directives.

A - 9 A - 9

How to read this manual, and Configuration

How to use this manual

We will explain concerning the QD51 (-R24) for each purpose of use. Use this manual for reference for the following contents.

(1) When desiring to know the features, functions and component

parts

(a) When desiring to know the features and functions

• The features of the QD51 (-R24) are described in Chapter 1.

• The common specifications and functions, etc. of the QD51 (-R24) are described in Chapter 3.

(b) When desiring to know the package contents and system component parts

• The items included in the package when the QD51 (-R24) is purchased are described in "Product Configuration" before Chapter 1.

• The user should procure parts and materials not included in the package contents separately.

(2) When desiring to know the processing necessary to get the QD51

(-R24) started

(a) When desiring to know the startup procedure

• An abbreviated sequence of the procedures up to the point when the QD51 (-R24) is operated is described in section 5.2.

(b) When desiring to know about connections with the console debugger

• The connection method is described in section 5.4.

• The connection method for each type of interface is described in section

5.5.

(d) When desiring to know the processing necessary before the QD51 (-R24) is

started up

• Setting of the parameters used in the QD51 (-R24) using GX Developer is explained in section 5.6.

(3) When desiring to know about program application

When desiring to know about application of the program from the A1SD51S or AD51H-S3

• Program application is described in section 2.1 of the Appendix.

A - 10 A - 10

About the Generic Terms and Abbreviations

In this manual, unless specially clarified, explanation of the Intelligent Communications Module using the general names and abbreviated names shown below.

(1) Generic terms and Abbreviations of Affected Modules

In this manual, programmable controller CPUs, etc. related to the Intelligent Communications Module are displayed with the following generic terms and abbreviations. When it is necessary to clarify the relevant model name, the affected module's model name is included.

Generic Term/Abbreviation Content of Generic terms and Abbreviations

ACPU AnNCPU, AnACPU, AnUCPU

AnACPU

AnNCPU

AnUCPU A2UCPU, A2UCPU-S1, A2USCPU-S1, A2USHCPU-S1, A3UCPU, A4UCPU

AnA/AnU/QnACPU AnACPU, AnUCPU, QnACPU

AnU/QnACPU AnUCPU, QnACPU

QD51 Shows only the QD51.

QD51-R24 Shows only the QD51-R24.

QD51(-R24) Shows both the AD51 and QD51-R24.

QCPU

QCPU-A Q02CPU-A, Q02HCPU-A, Q06HCPU-A

QnACPU

Q/QnACPU QCPU, QnACPU

A2ACPU, A2ACPU-S1, A2ACPUP21/R21, A2ACPUP21/R21-S1, A3ACPU, A3ACPUP21/R21

A1NCPU, A1NCPUP21/R21, A2NCPU, A2NCPU-S1, A2NCPUP21/R21, A2NCPUP21/R21-S1, A3NCPU, A3NCPUP21/R21

Q00JCPU, Q00CPU, Q01CPU, Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU, Q02PHCPU, Q06PHCPU, Q12PHCPU, Q25PHCPU, Q12PRHCPU, Q25PRHCPU, Q02UCPU, Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q13UDHCPU, Q26UDHCPU, Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q13UDEHCPU, Q26UDEHCPU

Q2ACPU, Q2ACPU-S1, Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1, Q3ACPU, Q4ACPU, Q4ARCPU

A - 11 A - 11

(2) Other Generic terms and Abbreviations

In this manual, intelligent communications module data communications devices, etc. are explained using the following generic terms and abbreviations. When it is necessary to indicate clearly what the object of the explanation is, the name / model name of that item is included.

Generic Term/Abbreviation Content of Generic terms and Abbreviations

Opposite device (external device)

Intelligent Function Module

Intelligent Function Module Device

Special Function Module

Buffer Memory

I/F Interface

CH Channel

GX Developer

MELSECNET/10 MELSECNET/10 network system.

MELSECNET/H MELSECNET/H network system.

RS-232 (Interface) RS-232 compatible interface.

RS-422/485 (Interface) RS-422 and RS-485 compatible interface.

YCHECK Abbreviation for Z.YCHECK or ZP.YCHECK. User's Manual (Hardware) or

Hardware Manual

Programming Manual (Commands) or Command Manual

Programming Manual (Debug and Compile) or Debug and Compile Manual

Computer, display, measuring instrument, ID module, bar code reader, adjuster or other intelligent communications module, UC 24, etc. connected to this intelligent communications module for data communications.

Q series programmable controller module which runs according to commands from the programmable controller CPU. (Equivalent to a special function module of the A series programmable controller) (Examples)

• CC-Link Interface Module

• A/D, D/A Conversion Module

• Ethernet Interface Module

• Serial Communications Module

Buffer memory of the intelligent function module for storing data sent to and received from the programmable controller CPU (setting values, monitor values, etc.).

A/QnA series programmable controller modules operated by commands from the programmable controller CPU. (Equivalent to Q series programmable controller intelligent function modules.) (Examples)

• CC-Link Interface Module

• A/D, D/A Conversion Module

• High Speed Counter Module

• Ethernet Interface Module

• Computer Link Module, Serial Communications Module

Buffer memory of the intelligent function module for storing data sent to and received from the programmable controller CPU (setting values, monitor values, etc.).

Generic product name for SWnD5C-GPPW-E, SWnD5C-GPPW-EA, SWnD5CGPPW-EV, and SWnD5C-GPPW-EVA. ("n" means version 4 or later.)

"-A" and "-V" mean "volume license product" and "version-upgrade product" respectively.

Q Corresponding Intelligent Communications Module User

AD51H-BASIC Programming Manual (Commands)

AD51H-BASIC Programming Manual (Debug and Compile)

's Manual (Hardware)

A - 12 A - 12

Meanings of Terms and Their Contents

The meanings of terms used in this manual and their contents are shown below.

Term Contents

This is a device which connects to the QD51 (-R24) and is used to perform

Console

Debugger

Terminal

Interpreter This is BASIC in a format which processes while executing commands one by one.

Compiler

Multitasking

Run Mode

Programming Mode This mode is used to connect to the console and carry out programming.

Multitask Debug Mode

programming and multitasking settings.

A PC/AT personal computer with the software package installed becomes a console.

Depending on the settings, the console becomes the debugger.

This device connects to the QD51 (-R24) and performs debugging. A PC/AT personal

computer with the software package installed becomes the debugger. The debugger

can check variable values and can edit the program while it is being run.

This connects to the QD51 (–R24) and is used to display the screen and input

characters from the keyboard.

This compiles programs created with the interpreter. It registers the compiled files and

executes them. Compared to the interpreter, its execution speed is on the average 2

or 3 times faster.

This executes multiple programs by time slicing, executing them so that it seems that

they are being executed simultaneously.

This is the mode used when the console is disconnected and the QD51 (-R24) is

being operated independently. It is actually used when this device is being run as a

system.

This mode changes the contents of variables and traces them while executing a

program, and carries out tracing.

Product Configuration

The QD51 (-R24) product configuration is as shown below.

Model Name Product Name Quantity

QD51 Model QD51 Intelligent Communications Module 1

Model QD51-R24 Intelligent Communications Module 1

QD51-R24

Terminal Resistor 330 Ω, 1/4 W (For RS-422 communications) 2

Terminal Resistor 110 Ω, 1/2 W (For RS-485 communications) 2

A - 13 A - 13

1 OVERVIEW

MELSEC-Q

This manual explains the system configuration, performance specifications and functions of the QD51 / QD51-R24 Intelligent Communications Module. When applying the following program examples to the actual system, make sure to examine the applicability and confirm that it will not cause system control problems. The QD51 (-R24) has the following functions.

(1) BASIC Program-Based Functions

• Sub-CPU Function Complex numerical calculations and functional calculations can be made with a BASIC program.

• Monitor Display Function It can display production conditions, the operating status, details of a breakdown, etc.

• Key Input Function The production schedule, production volume, operation, setting data, etc. can be input.

• Printer Function Production plans, performances, daily reports, breakdown details, planning data, inspection results and test performance, etc. can be printed out.

• Data Input Function Data can be input from a bar code reader or magnetic card reader, etc.

• External Device Connection Function A computer, etc. can be connected to the RS-232, RS-422/485 interfaces and data can be sent and received through a BASIC program.

• Clock Function Clock data of the programmable controller CPU can be read and written.

(2) Offline Programming Function

BASIC programs can be created, corrected, stored to; user FD and printed out independently by peripheral devices.

(3) Online Programming Function

BASIC programs can be created, run, and corrected from the console.

(4) Multitasking Debugging Function

BASIC programs can be debugged while they are being run.

1 - 1 1 - 1

1 OVERVIEW

MELSEC-Q

1.1 Operation Overview for QD51 (-R24)

The QD51 (-R24) operates by BASIC programs created by the user. The BASIC version that can be used by the QD51 (-R24) is AD51H-BASIC, which is

Programmable

controller

Data Sending

/Reception

capable of multitasking processing of up to 2 tasks.

Besides the various calculations that can be carried out by a BASIC program created by the user,

• Data can be sent to and received from an external device.

• Data can be sent to and received from the programmable controller CPU. The operation in the QD51 (-R24) when data are sent to or received from an external device or the programmable controller CPU is as shown below.

Internal Memory BASIC Program

Expansion Relay

Expansion Register

Common Memory

Buffer Memory

• Data reading

• Task start request

Data

reading

Data writing

Task No. 1 Area

Task No. 2 Area

Data

Writing

Data

reading

Interface 1

RS-232

RS-422 RS-485

Sending

Reception

External

Device

• Interrupt request

• Data writing 1 In the case of the QD51 RS-232 2 Channels In the case of the QD51-R24 RS-232 1 Channel

RS-422/485 1 Channel

1 - 2 1 - 2

1 OVERVIEW

MELSEC-Q

(1) Sending Data to and Receiving Data from an External Device

The QD51 (-R24) is equipped with the following interfaces.

• QD51

• QD51-R24

Production instructions, production results and other data can be sent to or received from a personal computer or other external device connected to the RS232 or RS-422/485 interface or the console non-procedurally. Data such as production results can also be printed out on a printer connected to the RS-232 interface.

: 2 RS-232 channels : 1 RS-232 channel, 1 RS-422/485 channel

(2) Sending Data to and Receiving Data from the Programmable

Controller CPU

Through the execution of programmable controller access commands (PCRD/PCWT), the programmable controller CPU device data can be read and written. With the programmable controller access commands, data can also be written to and read from the buffer memory of a special function module or an intelligent function module.

1 - 3 1 - 3

1 OVERVIEW

1.2 Features of QD51 (-R24)

Systems which use the QD51 (-R24) have the features shown below.

(1) Simultaneous execution of up to two BASIC programs (tasks)

Since multitask processing is possible, BASIC programs can be created by dividing the control tasks to be done by the QD51 (-R24). The necessary task is started depending on the control level and the system can be controlled while exchanging data and synchronizing executions between tasks.

Controls executed in the QD51

(2) Data communications with external devices

<Data communications with external devices> Non-procedural data communications can be carried out with external devices connected to the RS-232 and RS-422/485 interfaces.

<Data communications with a console or terminal> The following data communications can be performed with a console or terminal connected to the RS232 or RS-422/485 interface.

• Data display to a console or terminal

• Data input to a console or terminal

<Printout on a Printer> Data can be printed out on a printer connected to the RS-232 interface.

MELSEC-Q

ded

Task 1

Task 2

It is possible to create 3 or more BASIC programs. However, a maximum of 2 tasks (BASIC programs) can be run simultaneously.

Robot, bar code reader,

thermostat, etc.

QD51-R24

ERR.

RUN

P.RUN

External device

(printer)

PROG

CH.1 CH.2

CH. 1

CH. 2

PC/AT personal computer, etc.

1 - 4 1 - 4

1 OVERVIEW

MELSEC-Q

(3) Data communications with the programmable controller are

possible

Data can be sent to or received from a programmable controller CPU installed with the QD51(-R24) or the one on the MELSECNET/H or MELSECNET/10 network. The types of data which can be sent to and received from a programmable controller CPU are shown below.

1) Device writing and reading in the programmable controller CPU (Max. 960 words/1 time)

2) Writing to and reading from the buffer memory in the intelligent function module (Max. 960 words/ 1 time).

3) Remote RUN/STOP of the programmable controller CPU.

4) Interrupts to the programmable controller CPU.

(4) File control is possible

Using the console's FD or HD (hard disk), sequential files and random files can be handled. However, it is necessary that the console be connected at all times.

<Sequential Files> These are files in which data can be read and written sequentially and which enable efficient use of memory. They are used mainly for operating instruction data files and results files, etc.

<Random Files> These are files where reading starts from the necessary portion only and only the necessary portion is written. This type of file is appropriate for large volume inventory files, instruction data for operator interfaces, master files, etc. When reading or writing is done one time, the maximum data size is 256 bytes.

(5) Offline programming with a text editor is possible

A BASIC program can be created offline using a text editor, and the BASIC program can then be registered. In offline programming, the edited program cannot be run.

1 - 5 1 - 5

1 OVERVIEW

MELSEC

PULL

MITSUBI SHI

(6) Online programming is possible

By connecting the QD51 (-R24) to a PC/AT personal computer and carrying out settings at a console, a BASIC program can be edited and debugged.

In the case of programming with a PC/AT personal computer.

RS-232 Cable

QD51-R24

QJ71E71

QD51-R24

Q25HCPU

RUN

ERR.

POWER

MODE

INIT.

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-2 3 2

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RDB

RS- 2 32

12V

12G

RS-422

/485

(7) Multitask debugging is possible

By connecting the QD51 (-R24) to a PC/AT personal computer and setting a debugger, debugging can be performed while performing multitask processing.

In the case of programming with a PC/AT personal computer.

MELSEC-Q

User's FD

RS-232 Cable

QD51-R24

MELSEC

PULL

MITSUBI SHI

RUN

ERR.

POWER

MODE

INIT.

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-232

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RS- 2 32

RDB

12V

12G

RS-422

/485

User's FD

QJ71E71

QD51-R24

Q25HCPU

Multitask debugging is performed by inputting the Debug command from the debugger. By executing the Debug command, the following can be done.

• The BASIC program for the specified task No. area can be run and terminated.

• The variable values specified in the BASIC program for the specified task No.

area can be read and written.

• Data can be read from and written to the QD51 (-R24)'s internal memory.

• Common events and message port use status displays, etc. can be shared

between BASIC programs.

(8) Both interpreter BASIC and compiled BASIC can be used

By compiling a BASIC program created in interpreter BASIC with the BASIC compiler, the BASIC processing speed can be markedly increased.

Interpreter BASIC : BASIC in an execution format where the QD51 (-R24)

converts the program to machine language during execution.

Compiled BASIC : BASIC in the format where the program is compiled (the

commands are converted to machine language) at the stage when the program is completed and the QD51 (-R24) runs it in machine language directly.

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1 OVERVIEW

(9) Multiple CPU system compatible functions

(a) If access to a QCPU in a multiple CPU system is done by a BASIC

program, the access destination QCPU is specified, then reading/writing of device data is executed.

If the QD51 (-R24) is used in a multiple CPU system, set the QCPU that

controls the QD51 (-R24) (called the control CPU) with the GX Developer.

It is also possible to install the Function Version A QD51 (-R24) in a multiple CPU system, and only the control CPU (No. 1) can be accessed.

Peripheral Device

QD51 (-R24)'s Control CPU

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2 1

1) : QCPU No. 1

2) : QCPU No. 2

3) : QCPU No. 3

4) : QCPU No. 4 : Module controlled by QCPU No. 1.

: Module controlled by QCPU No. 2.

Setting from GX Developer.

2)1) 3) 4) 1

QD51 (-R24)'s Non-control CPUs

(b) If the Function Version B QD51 (-R24) is used in a multiple CPU system,

sending the following types of data to and receiving them from the QD51 (-R24) can be done.

1) It is possible for the control CPU to read data from and write them to the buffer memory. It is possible to use the I/O signals as the output to contact and output signal.

2) It is possible for a non control CPU to read the data from the buffer memory. Input/output signals can be used as contact points.

Non-control CPU

FROM/TO Command Dedicated Command

Control CPU

QD51(-R24)

Buffer Memory

FROM Command

Input/Output Signal used as a contact point.

Input/Output Signal used as a contact point. Output to an output

nal.

1 - 7 1 - 7

1 OVERVIEW

MELSEC-Q

3) It is possible to access the Control CPU / Non Control CPU from the QD51 (-R24) by a BASIC program.

Non-Control CPU

Control CPU

QD51(-R24)

BASIC Program (Read/Write)

03FFH03E0H to 03E3H

Data

Device Memory, etc.

Data

Device Memory, etc.

The access destination QCPU is specified by the requesting module's I/O No.

If accessing another station by a BASIC program, even if the relay station or the access station is a multiple CPU system, the Control CPU and Non Control CPU of the access station can be accessed. (Example)

Whether the control CPU of the relay module is the same or different, it is possible to access the other station.

Peripheral

Device

Setting from GX Developer.

Relay Station

Access Station

2)1) 3) 4)

Source Station

2)1) 3) 4)

MELSECNET/ H

2)1) 3) 4)

MELSECNET/ H

2 2

1 2

Relay Module: MELSECNET/ H Network Module

1) : QCPU No. 1

2) : QCPU No. 2

3) : QCPU No. 3

4) : QCPU No. 4 1

: Relay module controlled by QCPU No. 1. : QD51 (-R24) controlled by QCPU No. 1. : Relay module controlled by QCPU No. 2.

The relay module's object during other station access is as follows.

• MELSECNET/H, MELSECNET/10 Network Module

• Q Series C24

• Ethernet Interface Module If a Function Version A module is included in the relay modules, only the control CPU can be accessed.

1 - 8 1 - 8

1 OVERVIEW

1.3 About the Function Added/Changed to the Function Version B

This shows the functions that have been added to or changed in the Function Version B QD51 (-R24).

Function Function overview Explanatory section

Multiple CPU system Compatibility

POINT

When reading device data from or writing them to a multiple CPU system, it is possible to access the Control CPU / Non Control CPU specified by the user.

Refer to Section 2.6 concerning the method for checking the function version.

MELSEC-Q

AD51H-BASIC

Programming Manual,

PCRD/PCWT Command

1 - 9 1 - 9

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

MELSEC-Q

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

This shows system configurations and the functions that can be used.

2.1 Application Systems

This section describes the applicable systems.

(1) Applicable modules and base units, and No. of modules

(a) When mounted with a CPU module

The table below shows the CPU modules and base units applicable to the QD51(-R24) and quantities for each CPU model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the

Programmable

controller CPU

Applicable CPU module Base unit2

CPU type CPU model

Basic model

QCPU

High

Performance

model QCPU

Process CPU

Redundant CPU

Universal model

QCPU

Safety CPU QS001CPU N/A

modules.

No. of modules1

Q00JCPU 8

Q00CPU

Q01CPU

Q02CPU

Q02HCPU

Q06HCPU

Q12HCPU

Q25HCPU

Q02PHCPU

Q06PHCPU

Q12PHCPU

Q25PHCPU

Q12PRHCPU

Q25PRHCPU

Q02UCPU 36

Q03UDCPU

Q04UDHCPU

Q06UDHCPU

Q13UDHCPU

Q26UDHCPU

Q03UDECPU

Q04UDEHCPU

Q06UDEHCPU

Q13UDEHCPU

Q26UDEHCPU

Main base unit Extension base unit

2 - 1 2 - 1

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

C Controller

Applicable CPU module Base unit2

CPU type CPU model

Q06CCPU-V

Q06CCPU-V-B

No. of modules1

N/A

1 Limited within the range of I/O points for the CPU module. 2 Can be installed to any I/O slot of a base unit. 3 Connection of extension base units is not available with any safety

CPU.

(b) Mounting to a MELSECNET/H remote I/O station

The table below shows the network modules and base units applicable to the QD51(-R24) and quantities for each network module model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the

Applicable network

QJ72LP25-25

QJ72LP25G

QJ72LP25GE

QJ72BR15

modules.

module

No. of modules1

Up to 64

1 Limited within the range of I/O points for the network module. 2 Can be installed to any I/O slot of a base unit.

MELSEC-Q

Main base unit Extension base unit

: Applicable, : N/A

Base unit2

Main base unit of

remote I/O station

Extension base unit of

remote I/O station

: Applicable, : N/A

REMARKS

The Basic model QCPU module or C Controller module cannot create the MELSECNET/H remote I/O network.

(2) Support of the multiple CPU system

When using the QD51(-R24) in a multiple CPU system, refer to the QCPU User’s Manual (Multiple CPU System) first.

(a) Compatible QD51(-R24)

If using the QD51(-R24) on a multiple CPU system, use function version B of the QD51(-R24) .

2 - 2 2 - 2

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

(3) Applicable Software Package

The following software package supports the QD51 (-R24)

(a) Console/debugger software package (essential)

Product Name Model Name Remarks

AD51H-BASIC Software Package SW1IVD-AD51HP-E For PC/AT Personal Computers

CAUTION

MELSEC-Q

To use SW1IVD-AD51HP-E on MicrosoftRWindowsR95 Operating System or Microsoft Do not operate on the MS-DOS

WindowsR98 Operating System, operate it in the MS-DOSRmode.

prompt screen of WindowsR95/WindowsR98.

It will not run correctly.

(b) Software package for programmable controllers (Essential)

Q00J/Q00/Q001CPU

Q02/Q02H/Q06H/Q12H/Q25HCPU

Q02PH/Q06PHCPU

Q12PH/Q25PHCPU

Q12PRH/Q25PRHCPU Redundant system Version 8.45X or later

Q02U/Q03UD/Q04UDH/Q06UDHCPU

Q13UDH/Q26UDHCPU

Q13UDEH/Q26UDEHCPU

When installing to a MELSECNET/H remote I/O station Version 6 or later

Single CPU system Version 7 or later

Multiple CPU system Version 8 or later

Single CPU system Version 4 or later

Multiple CPU system Version 6 or later

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Single CPU system Q03UDE/Q04UDEH/Q06UDEH/

Multiple CPU system

Software version

GX Developer

Version 8.68W or later

Version 7.10L or later

Version 8.48A or later

Version 8.62Q or later

Version 8.68W or later

compilation)

When using a PC/AT personal computer

Purchase the product Turdo Assembler 5.0.

Turbo Assembler Turbo Assembler Ver.5.0 IBM PC/AT English Version

For Turbo Assembler, contact Borland Software Corporation.

Product Name Model Name Remarks

(4) Connection Cable for Console/Debugger

Refer to Section 5.4 for connection to a console.

2 - 3 2 - 3

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

2.2 Combining Programmable Controller CPU(s) with Other Device(s)

This section shows the system configurations and functions which are available when the QD51 (-R24) is used.

(1) System Configurations

The following shows the system configurations (combinations) for data communications.

(a) 1:1 system configuration

QJ71E71

MELSEC

PULL

MITSUBISHI

Q25HCPU

RUN

POWER

MODE

INIT.

OPEN

RUN

ERR.

USER

BAT.

BOOT

10BASE

USB

RS-232

ERR. COM.ERR

10BASE-T

12V

12G

QD51-R24

CH2.CH1.

CH1.

RS-232

CH.3

SDA

SDB

(FG)

RDA

(FG)

RDB

RS-422

/485

RS-232/422

MELSEC-Q

(b) n:1 system configuration

QJ71E71

QD51-R24

Q25HCPU

MELSEC

PULL

MITSUBI SHI

RUN

ERR.

POWER

INIT.

MODE

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-23 2

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RS-232

RDB

12V

12G

RS-422

/485

RS-485

MELSEC

PULL

MITSUBI SHI

RUN

ERR.

POWER

MODE

INIT.

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT. BOOT

RS-2 32

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RS-232

RDB

12V

12G

RS-422

/485

QJ71E71

QD51-R24

Q25HCPU

2 - 4 2 - 4

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

QD51-R24

QJ71E71

Q25HCP U

MELSEC

PULL

MITSUBI SHI

RUN

ERR.

POWER

MODE

INIT.

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-2 32

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RDB

+12V

RS-232

12G

RS-422

/485

RS-485

(d) m:n system configuration

MELSEC-Q

QJ71E71

QD51-R24

MELSEC

PULL

MITSUBI S HI

ERR.

RUN

POWER

COM.ERR

MODE

INIT.

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-232

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RDB

+12V

RS-232

12G

RS-422

/485

QJ71E71

QD51-R24

Q25HCPU

MELSEC

PULL

MITSUBI SHI

RUN

ERR.

POWER

MODE

INIT.

COM.ERR

CH2.CH1.

OPEN

RUN

ERR.

10BASE-T

CH1.

USER

BAT.

BOOT

RS-232

10BASE

CH.3

SDA

SDB

USB

(FG)

RDA

(FG)

RDB

12V

RS- 2 3 2

12G

RS-42 2

/485

RS-485 RS-485 RS-485

2 - 5 2 - 5

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

2.3 For Use in Multiple CPU System

This section describes the use of the QD51(-R24) in a multiple CPU system.

(1) Making access from a BASIC program to a non-control CPU

When making access from a BASIC program to a non-control CPU, use the QD51 (-R24) of function version B.

Multiple CPU system

MELSEC-Q

QD51(-R24) of function version B

(2) When other stations to be accessed belong to a multiple CPU system

When accessing a CPU that is not controlling a replay module on the access target station, use function version B or later for the following modules:

• QD51 (-R24) on local station

• Relay modules

1 and QCPUs on local station, relay station, and accessed

station

(Example)

Whether the control CPU of the relay module is the same or different, it is possible to access the other station.

Peripheral device

Setting from GX Developer

Relay station

Access Station

Source Station

1) 2) 3) 4)

MELSECNET/ H

2 21) 2) 3) 4)

MELSECNET/ H

21) 2) 3) 4)

The modules used for the routing are MELSECNET/ H network modules

1 2

1) : QCPU No.1

2) : QCPU No.2

3) : QCPU No.3

4) : QCPU No.4 1

: Module used for routing, controlled by QCPU No.1 : QD51(-R24) controlled by QCPU No.1 : Module used for routing, controlled

by QCPU No.2

1 When accessing other stations, available relay modules are as follows:

• MELSECNET/H and MELSECNET/10 network modules

• Q series C24

• Ethernet interface modules

2 - 6 2 - 6

+ 130 hidden pages

Mitsubishi QD51-R24, QD51 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

• SAFETY PRECAUTIONS •

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Compliance with the EMC and Low Voltage Directives

How to read this manual, and Configuration

About the Generic Terms and Abbreviations

Meanings of Terms and Their Contents

Product Configuration

1 OVERVIEW

1.1 Operation Overview for QD51 (-R24)

1.2 Features of QD51 (-R24)

1.3 About the Function Added/Changed to the Function Version B

2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS

2.1 Application Systems

2.2 Combining Programmable Controller CPU(s) with Other Device(s)

2.3 For Use in Multiple CPU System