Mitsubishi Electric QD70D4, QD70D8 User Manual

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 safety precautions for programmable controller systems, refer to the user’s manual of the CPU module used. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER

!

CAUTION

!

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

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

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

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

[DESIGN INSTRUCTION]

!

DANGER

• Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply error or programmable controller 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 programmable controller.

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

Deceleration starts when the near-point dog turns ON. Thus, if the OPR 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 programmable controller.

(3) When the module detects an error, deceleration stop will take place.

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

!

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.

A - 1 A - 1

[MOUNTING INSTRUCTIONS]

!

CAUTION

• Use the programmable controller under the environment specified in the User’s Manual of the

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

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

into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. 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.

• Before installing or removing the module, be sure to shut off all phases of the external power

supply used in the system. Failure to do so may cause damage to the product.

• Do not directly touch the conductive section and electronic parts of the module.

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

[WIRING INSTRUCTIONS]

!

DANGER

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

• 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.

[STARTUP/MAINTENANCE INSTRUCTIONS]

!

DANGER

• Before cleaning or retightening the mounting screws, be sure to shut off all phases of the

external power supply used in the system. Failure to turn all phases OFF could lead to electric shocks.

A - 2 A - 2

[STARTUP/MAINTENANCE INSTRUCTIONS]

!

CAUTION

• Never disassemble or modify the module.

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

• Before installing or removing the module, be sure to shut off all phases of the external power

supply used in the system. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

• Do not install/remove the module to/from the base unit more than 50 times after the first use of

the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction.

• 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.

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

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

[DISPOSAL INSTRUCTIONS]

!

CAUTION

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

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REVISIONS

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

Print Date * Manual Number Revision

May, 2006 SH (NA)-080551ENG-A First edition

May, 2006 SH (NA)-080551ENG-B

Modifications

Section 11.7, Appendix 3.1

Jun., 2006 SH (NA)-080551ENG-C

Modifications

Section 2.3, Section 4.6.1, Section 10.1, Section 11.2

Jan., 2008 SH (NA)-080551ENG-D

Modifications

GENERIC TERMS AND ABBREVIATIONS, Section 2.3 to 2.6, Section 6.2.2

May, 2008 SH (NA)-080551ENG-E

Modifications

SAFETY INSTRUCTIONS, Compliance with the EMC and Low Voltage Directives, Section 2.3, 2.6, 3.1, 5.4.1, 6.2.1, 6.3.1, 6.3.3,

9.2.3

Japanese Manual Version SH-080550-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.

A - 4 A - 4

INTRODUCTION

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

Using This Manual

Compliance with the EMC and Low Voltage Directives

The symbols used in this manual are shown below.

Pr. OPR. JOG.

Da. Md. Cd.

(A serial No. is inserted in the

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 by "H" are represented in hexadecimal.

...... Symbol indicating positioning parameter item.

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

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

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

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

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

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

10H ......16 Hexadecimal

(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

To make this product conform to the EMC and Low Voltage Directives, please refer to Section 5.4.1 "Wiring precautions".

mark.)

A - 9 A - 9

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

Programmable controller CPU

QD70D Generic term for type QD70D positioning module QD70D4/QD70D8.

QD70P Generic term for type QD70P positioning module QD70P4/QD70P8.

QD75

Peripheral device

GX Configurator-PT

GX Developer

DOS/V personal computer IBM PC/AT® and compatible DOS/V compliant personal computer.

Personal computer Generic term for DOS/V personal computer.

Workpiece Generic term for moving body such as workpiece and tool, and for various control targets.

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

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

Windows Vista®

Windows® XP

Generic term for programmable controller CPU on which QD70D can be mounted.

The module type is described to indicate a specific module.

Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. The module type is described to indicate a specific module.

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

Abbreviation for GX Configurator-PT (SW1D5C-QPTU-E) utility package for QD70D positioning module.

Generic product name for the SWnD5C-GPPW-E, SWnD5C-GPPW-EA, SWnD5C-GPPW-EV and SWnD5C-GPPW-EVA. ("n" is 4 or greater.) "-A" and "-V" denote volume license product and upgraded product respectively.

Indicates each axis connected to QD70D.

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.)

Generic term for the following:

Microsoft

Microsoft® Windows Vista® Ultimate Operating System,

Microsoft

Generic term for the following:

Microsoft

®

Windows Vista® Home Basic Operating System,

®

Windows Vista® Home Premium Operating System,

®

Windows Vista® Business Operating System,

®

Windows Vista® Enterprise Operating System

®

Windows® XP Professional Operating System,

®

Windows® XP Home Edition Operating System

Component List

The component list of this product is given below.

Type Component Quantity

QD70D4 Type QD70D4 Positioning Module (4-axes differential output type) 1

QD70D8 Type QD70D8 Positioning Module (8-axes differential 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

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SECTION 1 PRODUCT SPECIFICATIONS

AND HANDLING

SECTION 1

Section 1 is configured for the following purposes (1) to (5).

(1) To understand the outline of positioning control, and the QD70D 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- 15

CHAPTER 2 SYSTEM CONFIGURATION ..................................................................... 2- 1 to 2- 9

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS ...................................................... 3- 1 to 3- 14

CHAPTER 4 DATA USED FOR POSITIONING CONTROL .......................................... 4- 1 to 4- 38

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION............................. 5- 1 to 5- 21

CHAPTER 6 UTILITY PACKAGE.................................................................................... 6- 1 to 6- 19

CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... 7- 1 to 7- 26

MEMO

SECTION 1

1 PRODUCT OUTLINE

MELSEC-Q

CHAPTER 1 PRODUCT OUTLINE

This User's Manual provides the specifications, handling, programming methods and other information of the QD70D positioning module used with the MELSEC-Q series CPU module. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.

1.1 Positioning control

1.1.1 Features of QD70D

The following are the features of the QD70D.

(1) Wide assortment of 4-axes and 8-axes modules

The QD70D 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, functions, etc.

(2) About positioning control functions

(a) The QD70D has a number of functions required for a positioning control

system, such as positioning control to any position and equal-speed control.

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 simultaneously). This control can perform positioning termination with one piece of positioning data or exercise continuous positioning control by continuous execution of multiple pieces of positioning data.

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

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

(c) The target position change function or the speed change function allows the

position or speed change during positioning control.

(d) The OPR (Original Point Return: Zero return) control has been enhanced.

1) The following six different OPR methods are available for "machine OPRcontrol": near-point dog method (one method), stopper (three methods) and count (two methods).

2) The OPR retry function has been provided to realize the return from any given point to a mechanical origin.

(e) Two kinds of the acceleration/deceleration methods have been offered: The

trapezoidal and S-curve acceleration/deceleration gradually and smoothly, this module is suitable for motor control.

* When "Continuous positioning control" or "Continuous path control" is

selected for the operation pattern, S-curve acceleration/deceleration is not available.

(f) 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.

*. As the speed changes

1

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1 PRODUCT OUTLINE

1

MELSEC-Q

(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) High-speed pulse output and longer connection distance to a drive

unit

By using differential driver output, the speed of pulse command has been improved (Max. 4 Mpps) and longer connection distance to a driver unit (Max. 10m) has been enabled.

(5) Ease of maintenance

In the QD70D, error definitions have been subdivided to improve maintenance performance.

(6) 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.

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1 PRODUCT OUTLINE

1.1.2 Mechanism of positioning control

Positioning control using the QD70D is exercised using "pulse signals". (The QD70D is a module that outputs pulses.) In a positioning control system using the QD70D, a variety of software and external devices are used to play their roles as shown below. The QD70D imports various signals, parameters and data, and exercises control with the programmable controller CPU to realize complex positioning control.

Stores the created program.

MELSEC-Q

Peripheral device

GX Developer/ GX Configurator-PT

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

The QD70D outputs the positioning start signal and axis stop signal following the stired program.

QD70D errors, etc., are detected.

Programmable controller CPU

Input near-point dog signal and speed

-position switching signal / retry switch signal to QD70D.

QD70D

positioning

module

Stores the parameter and data Outputs to the drive unit according to the instructins from the programmable

Mechanical

system inputs

(Switches)

controller CPU.

Drive

unit

Receives pulses commands from QD70D, and drives the motor.

Motor

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

Workpiece

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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

When this total No. of pulses is issued from the QD70D 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 QD70D to the drive unit.

Positioning

module

MELSEC-Q

=

Designated distance

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

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

described in the motor catalog specification list.

No. of pulses required for motor to rotate once

Servo

amplifiter

Servo motor

Pulse frequency [pps]

A

This area is hte total No. of commanded pulses.

Detector

Pulse encoder

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

Feedback pulses

ta td

0.4 0.41.2

Movement amount t = 2

(s)

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 QD70D uses the "total No. of pulses" to control the position, and uses the "pulse frequency" to control the speed.

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1 PRODUCT OUTLINE

1.1.3 Outline design of positioning control system

The outline of the positioning control system operation and design, using the QD70D, is shown below.

(1) Positioning control system using QD70D

Programmable controller

CPU

Program

Intelligent function module parameter

Initial setting /Auto rofresh setting/Monitor

Read, write, etc.

Monitor date read

QD70D

Buffer memories /XY device

Positioning module

Forward run pulse train

Reverse run pulse train

Deviation counter

MELSEC-Q

Drive unit

D/A converter

Speed command

Interface

Feedback pulse

Servo amplifiter

Servomotor

M

PLG

GX Configurator-PT

Fig. 1.2 Outline of the operation of positioning control system using QD70D

(a) Positioning operation by the QD70D

1) The QD70D output is a pulse train. The pulse train output by the QD70D is counted by and stored in the deviation counter in the drive unit. The D/A converter outputs an analog DC current proportionate to the count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal.

2) The servomotor rotation is controlled by the speed control signal from the drive unit. As the servomotor rotates, the pulse encoder (PLG) attached to the servomotor 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 QD70D terminates the output of a pulse train, the servomotor decelerates as the pulse droop decreases and stops when the count drops to zero. Thus, the servomotor rotation speed is proportionate to the pulse frequency, while the overall motor rotation angle is proportionate to the total number of pulses output by the QD70D. 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 servomotor rotation speed (feed speed).

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1 PRODUCT OUTLINE

MELSEC-Q

(b) Pulse train output from the QD70D

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

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

3) The QD70D decreases the pulse frequency (sparser pulses) to decelerate the servomotor 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 servomotor. This difference, called "the stop settling time", is required for gaining a stopping accuracy.

Servomotor speed

amount

Pulse distribution

Deceleration

Rough

Speed V Pulse droop

Acceleration

Pulse train Rough Dense

Time t

Stop setting time

Fig. 1.3 QD70D output pulses

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r

ε

1 PRODUCT OUTLINE

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

Pulse encoder (PLG)

Servomotor

MELSEC-Q

A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s)

V

Table

P0

Workpiece

Worm pea

L

P

n : Pulse encoder resolution (pulse/rev) L : Worm gear lead (mm/rev) R : Deceleration ratio V : Movable section speed (mm/s) N : Motor speed (r/min) K : Position loop gain (1/s)

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

Fig. 1.4 System using worm gears

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 pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).

A =

L

R × n

[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 =

V A

[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.

Vs

K

[pulse]

ε =

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1 PRODUCT OUTLINE

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MELSEC-Q

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1 PRODUCT OUTLINE

1.1.4 Communicating signals between QD70D and each module

The outline of the signal communication between the QD70D (positioning module) and programmable controller CPU, peripheral device (GX Configurator-PT) and drive unit, etc., is shown below. (A peripheral device communicates with the QD70D via the programmable controller CPU to which it is connected)

Programmable controller CPU

Yn0

Xn0

Y(n+1)8 to Y(n+1)F

Refer to Chapter 3 for details of the I/O signals.

Programmable controller READY signal

Module READY signal

JOG start signal

QD70D

Zero signal

Deviation counter clear

Pulse train

MELSEC-Q

Drive

unit

Yn8 to YnF

X(n+1)8 to X(n+1)F

Xn8 to XnF X(n+1)0 to X(n+1)7 Y(n+1)0 to Y(n+1)7

Xn1

Xn2

Peripheral

device

interface

Positioning start

Positioning complete

signal

BUSY signal

Start complete signal

Axis stop signal

Axis error occurrence

Axis warning occurrence

signal

Date write/read

Monitor data

Interface

with

Programmable

controller

CPU

External interface

Near-point dog singal Speed-position switching

signal / Retry switch signal

Mechanical

system inputs

(Switches)

Initial setting/Auto refresh/ Operation monitor

Peripheral device

(GX Configurator-PT)

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1 PRODUCT OUTLINE

QD70D Programmable controller CPU

The QD70D and programmable controller CPU communicate the following data via

Communication

Control signal

Data (read/write)

the base unit.

Direction

QCPU Peripheral device (GX Configurator-PT)

The QCPU and peripheral device make the following communications. (Refer to

Communication

Data –

Operation monitor

Chapter 6 for details.)

Direction

QD70D Drive unit

The QD70D and drive unit communicate the following data via the external device

Communication

Control signal

Pulse train

connection connector.

Direction

Mechanical system inputs (switches) QD70D

The input signals from the mechanical system inputs (switches) are entered into the

Mechanical system inputs (switches)

QD70D via the external device connection connector.

QD70D

Programmable controller CPU

Signal indication QD70D state.

• Module READY (Xn0)

• Axis error occurrence (Xn1)

• Axis warning occurrence (Xn2)

• BUSY (Xn8 to XnF)

• Start complete (X(n+1)0 to Xn(n+1)7)

• Positioning complete (X(n+1)8 to

X(n+1)F)

• Parameter

• OPR data

• JOG data

• Positioning data

• Control data

• Monitor data

QCPU

• Monitor data (QD70D buffer

memory/XY devices)

Signals related to commands

• Deviation counter clear signal

(CLEAR)

• Pulse train output (PULSE F(+/-)/

PULSE R(+/-))

Peripheral device Peripheral device QCPU

QD70D

Drive unit Drive unit QD70D

• Near-point dog signal (DOG)

• Speed-position switching signal (CHG)/Retry switch signal(RTRY)

MELSEC-Q

Programmable controller CPU

Signal related to commands.

• Programmable controller READY (Yn0)

• Positioning start (Yn8 to YnF)

• Axis stop (Y(n+1)0 to Y(n+1)7)

• JOG start (Y(n+1)8 to Y(n+1)F)

• Parameter

• OPR data

• JOG data

• Positioning data

• Control data

• Initial setting

• Auto refresh setting

–

Signal indicating OP

• Zero signal (PG0)

–

QD70D

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1 PRODUCT OUTLINE

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.

Flow of starting

MELSEC-Q

Preparation

Control functions

Parameter

OPR data

Positioning data

Installation and connection of module

Setting of hardware

Positioning control

Position control Speed-position switching control Current value changing

Set the positioning data.

( Da. 1 to Da. 7 )

OPR control

Machine OPR control

Fast OPR control

Set the parameters.

Set the OPR data.

OPR. 1 to

OPR. 9

( Pr. 1 to Pr. 10 )

JOG operation

Control data

JOG data

Start signal

Control start

Control end

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

Turn ON the QD70D start signal from the programmable controller CPU

Operation

Set the JOG data

( JOG. 1 to JOG. 4 )

Turn the QD70D JOG start signal ON from the programmable controller CPU

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

Stop

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1 PRODUCT OUTLINE

MEMO

MELSEC-Q

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1 PRODUCT OUTLINE

MELSEC-Q

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 programmable controller CPU (3) An error occurred in the QD70D (4) The axis stop signal from the programmable controller CPU turned ON

Stop processings performed in the above cases are outlined in the following table.

Stop factor Stopped axis

Programmable controller CPU error All axes Error Deceleration stop

QD70D error

"Axis stop signal" from programmable controller CPU turned ON

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

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

*3: For position control, you can make parameter setting to select the stopping method (position match stop or

Software stroke limit upper/lower limit

1

error *

Other error Axis by axis Error

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

control), an immediate stop is made at the positioning data preceding that illegal setting value. (Refer to Section 9.1.2.)

deceleration stop). (Refer to Section 4.2.)

(Except the case (1) where control stopped normally)

Axis operation status

Md. 4

(

) after stop

Axis by axis Error Deceleration stop

Axis by axis Stopped

control

Stop processing

OPR

Positioning

control

Deceleration stop *

operation

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.

JOG

2

3

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1 PRODUCT OUTLINE

Pulse output operation at stop

When the axis stops due to stop cause occurrence, if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop, the output as much as 1 pulse will be done.

Bias speed at start

The following shows the pulse output operation at deceleration stop.

MELSEC-Q

V

Stop cause occurrence (Start of deceleration stop)

Set deceleration stop time

*4

*5

Pulse that is being output when set deceleration stop time has elapsed will be output.

t

*7

Pulse output

1 pulse

ON

BUSY signal

*6

OFF

*4: "Stop cause" indicates any of the following.

• Error occurred in the programmable controller CPU or QD70D.

• JOG start signal (Y(n+1)8 to Y(n+1)F) has turned OFF during JOG operation.

• Axis stop signal (Y(n+1)0 to Y(n+1)7) has turned ON.

• Speed change to speed 0 (pulse/s) (when bias speed at start is 0 (pulse/s))

• Machine OPR control of count 2

*5: "Set deceleration stop time" is any of the following.

• During positioning control :

• At speed change to speed 0 (pulse/s) :

• During machine OPR control of count 2 :

• During JOG operation :

*6: When the axis is decelerated to a stop by a speed change to speed 0 (pulse/s), the BUSY signal does

not turn OFF.

*7: The same operation is performed when an immediate stop cause occurs during machine OPR control

(except the case of count 2).

*8: Pulse output can be set to stop at the point of time when "Preset deceleration stop time" is elapsed.

For details, refer to section 4.1 Type of data, "Pr.12 Pulse output method (stop signal enabled)".

Da. 4

Cd. 9

OPR. 7

JOG. 3

DEC/STOP time

DEC/STOP time at speed change

DEC/STOP time at OPR

JOG DEC time

1 - 14 1 - 14

1 PRODUCT OUTLINE

MEMO

MELSEC-Q

1 - 15 1 - 15

2 SYSTEM CONFIGURATION

CHAPTER 2 SYSTEM CONFIGURATION

MELSEC-Q

2.1 General image of system

2

Peripheral device

3 2

Personal computer

4

RS-232

5

USB cable

cable

This chapter explains the system configuration of the QD70D.

The following is the general configuration including the QD70D, programmable controller 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.)

GX Developer

(SW D5C-GPPW-E)

GX Configurator-PT

(SW D5C-QPTU-E)

Power supply

module *2

CPU module *1

1

Positioning module

QD70D4/QD70D8

7

Connection

cable

Main base unit *2

Mechanical system inputs (switches)

Near-point dog signal Speed-position switching signal / Retry switch signal

6

Drive

unit

Extension

cable

Motor

Extension system

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.

2 - 1 2 - 1

2 SYSTEM CONFIGURATION

MELSEC-Q

2.2 Component list

No. Product Type Remarks

1 Positioning module

GX Developer SW D5C-GPPW-E

2

GX Configurator-PT SW

3 Personal computer

4 RS-232 cable QC30R2

5 USB cable –

6 Drive unit –

Connection cable

(for connection of

7

QD70D and drive

unit)

A positioning system using the QD70D consists of the following components.

QD70D4

QD70D8

D5C-QPTU-E

DOS/V personal

computer

–

For details, refer to the GX Developer Operating Manual and

"CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)".

(User-prepared)

Refer to the GX Developer Operating Manual for details.

(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.

(User-prepared)

USB cable for connection of the CPU module and DOS/V personal

computer.

Refer to the GX Developer Operating Manual for details.

(User-prepared)

Refer to the drive unit manual for details.

(User-prepared)

Cable for connection of the QD70D and drive unit or mechanical

system input signals.

(To be fabricated in reference to the connected device manual and

Section 3.4.2)

QD70D

No. of control axes Differential output type

2

2 - 2 2 - 2

2 SYSTEM CONFIGURATION

2.3 Applicable systems

This section describes 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 QD70D 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 modules.

Applicable CPU module Base unit *2

CPU type CPU model

Q00JCPU Up to 4

Programmable

controller CPU

Basic model QCPU

High Performance

model QCPU

Process CPU

Redundant CPU

Universal model

QCPU

Q00CPU

Q01CPU

Q02CPU

Q02HCPU

Q06HCPU

Q12HCPU

Q25HCPU

Q02PHCPU

Q06PHCPU

Q12PHCPU

Q25PHCPU

Q12PRHCPU

Q25PRHCPU

Q02UCPU Up to 13

Q03UDCPU

Q04UDHCPU

Q06UDHCPU

Q13UDHCPU

Q26UDHCPU

Q03UDECPU

Q04UDEHCPU

Q06UDEHCPU

Q13UDEHCPU

Q26UDEHCPU

No. of modules

Up to 12

Up to 32

3

Up to 26

Up to 32

*

MELSEC-Q

1

*

Main base unit

Extension base

unit

: Applicable : N/A

2 - 3 2 - 3

2 SYSTEM CONFIGURATION

Applicable CPU module Base unit *2

CPU type CPU model

Programmable

controller CPU

C Controller module

Safety CPU QS001CPU N/A

Q06CCPU-V

Q06CCPU-V-B

*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 Use the QD70D whose serial No. (first five digits) is 09012 or later.

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

The table below shows the network modules and base units applicable to the QD70D 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 module No. of modules *1

QJ72LP25-25

QJ72LP25G

QJ72LP25GE

QJ72BR15

modules.

Up to 32

*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.

No. of modules

Up to 32

Main base unit of

remote I/O station

MELSEC-Q

1

*

Main base unit

Base unit *2

Extension base unit of

Extension base

: Applicable : N/A

remote I/O station

: Applicable : N/A

unit

REMARK

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

(2) Support of the multiple CPU system

When using the QD70D in a multiple CPU system, refer to the following manual first.

2 - 4 2 - 4

• QCPU User's Manual (Multiple CPU System)

Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD70D.

2 SYSTEM CONFIGURATION

(3) Supported software packages

Relation between the system containing the QD70D and software package is shown in the following table. GX Developer is necessary when using the QD70D.

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/

Q12H/Q25HCPU

Q02PH/Q06PHCPU

Q12PH/Q25PHCPU

Q12PRH/Q25PRHCPU Redundant CPU system Version 8.45X or later

Q02U/Q03UD/

Q04UDH/

Q06UDHCPU

Q13UDH/

Q26UDHCPU

Q03UDE/Q04UDEH/

Q06UDEH/Q13UDEH/

Q26UDEHCPU

If installed in 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

Multiple CPU system

GX Developer GX Configurator-PT

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

MELSEC-Q

Software Version

Version 1.21X or later

Version 1.23Z or later

Version 1.21X or later

2 - 5 2 - 5

2 SYSTEM CONFIGURATION

2.4 About Use of the QD70D with the Q12PRH/Q25PRHCPU

Here, use of the QD70D with the Q12PRH/Q25PRHCPU is explained.

(1) GX Configurator-PT connection

GX Configurator-PT cannot be used when accessing the Q12PRH/Q25PRHCPU via an intelligent function module on an extension base unit from GX Developer. Connect a personal computer with a communication path indicated below.

1 2

Main base unit

MELSEC-Q

Extension base unit

(GX Configrator-PT cannot be used.)

1

Direct connection to the CPU

2

Connection through an intelligent function module on the main base unit (Through Ethernet module, MELSECNET/H module, or CC-Link module)

2 - 6 2 - 6

2 SYSTEM CONFIGURATION

2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station

Here, use of the QD70D on the MELSECNET/H remote I/O station is explained.

(1) Number of QD70D that can be installed when the remote I/O

station is used

See Section 2.3 concerning the number of QD70D that can be installed when the remote I/O station is used.

(2) Limitations when using the remote I/O station

When the QD70D is used on the MELSECNET/H remote I/O station, a delay will occur due to the link scan time. Therefore, fully verify that there will be no problem with controllability in the target system.

Example) Depending on the ON time of the positioning completed signal, the ON

status may not be detected due to a delay in the link scan time.

MELSEC-Q

2 - 7 2 - 7

2 SYSTEM CONFIGURATION

2.6 How to check the function version and the software version

The function version of the QD70D and the software version of the GX Configurator-PT can be checked in the following methods.

[1] Checking the function version of the QD70D

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

Check the alphabet at the end of "SERIAL".

MELSEC-Q

08041

Function version

B

Relevant regulation standards

(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] "QD70D module" and choose

Module's Detailed Information

.

Function version

2 - 8 2 - 8

2 SYSTEM CONFIGURATION

[2] Checking the software version of the GX Configurator-PT

The software version of GX Configurator- PT can be checked in GX Developer’s "Product information" screen.

[Operating procedure]

GX Developer [Help] [Product information]

MELSEC-Q

Software version

2 - 9 2 - 9

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

This chapter describes the performance specifications of the QD70D and the specifications of the I/O signals transferred to/from the programmable controller CPU and external device. For the general specifications of the QD70D, refer to the User's Manual (hardware) of the CPU module used.

3.1 Performance specifications

Item 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 *1

Peripheral device/utility package GX Configurator-PT (option) Data backup No

Positioning control method

Positioning control

Starting time *2

External wiring connection system 40-pin connector

Applicable wire size 0.3mm2 or lower (for use of A6CON1 or A6CON4), AWG#24 (for use of A6CON2)

External device connection connector (option) Pulse output method Differential output Max. output pulse 4Mpps Max. connection distance between QD70D and drive unit Internal current consumption (5VDC) 1.16A 2.16A No. of occupied I/O points 48 points (I/O assignment: 16 for empty + 32 for intelligent) *4 Weight 0.17kg 0.23kg

: Positioning data can be activated from any of data No.1 through 10.

*1

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

*2

the other axes.

*3: When "Continuous positioning control" or "Continuous path control" is selected for the operation pattern, S-curve

acceleration/deceleration is not available.

*4: Setting of 32 points (0 for empty + 32 for intelligent) is also available by GX Developer’s I/O assignment setting.

Positioning control range

Speed command 0 to 4000000pulse/s Acceleration/deceleration processing Acceleration/deceleration time

Model

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

-2147483648 to 2147483647pulse

[Incremental system]

-2147483648 to 2147483647pulse

[Speed-position switching control]

0 to 2147483647pulse

Position control

QD70D4 QD70D8

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

(can be set using GX Configurator-PT or sequence program)

3

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration *

0 to 32767ms

1-axis start 0.1ms 4-axes simultaneous start 0.2ms 8-axes simultaneous start 0.4ms

A6CON1, A6CON2, A6CON4

10m

3

3 - 1 3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.2 List of functions

MELSEC-Q

3

The following table lists the functions of the QD70D.

OPR

control

Function name Description Reference

Machine OPR control

Fast OPR control

OPR retry function

Position control (1-axis linear control)

Positioning

control

Speed-position switching control

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

Current value changing

Speed limit function

Speed change function

Sub

function

Software stroke limit function

Target position change function

Acceleration/deceleration processing function

Restart function

Common

function

External I/O signal logic switching function

External I/O signal monitor function

(Read "SECTION 2 CONTROL DETAILS AND SETTING" for details of the functions.)

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

Positions a target to the OP address (

value) stored in the QD70D using machine OPR control.

Allows machine zero return from any given position. Even if the work is located beyond the origin, machine zero return will be automatically performed.

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

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

Changes the Current feed value ( the positioning data.

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

Pr. 5

within the "

The speed can be changed at any given time point during control. This function is valid during position control with operation pattern set to "Positioning termination", during speed control in the speed-position switching control or during JOG operation.

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.

The positioning address or movement amount can be changed at any given time point during control. This function is valid during position control with operation pattern set to "Positioning termination".

This function adjusts the acceleration/deceleration processing of control.

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

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.

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

Speed limit value" setting range.

Md. 1

Current feed

Md. 1

) to the address set in

Pr. 5

Speed limit value"

Section

8.2

Section

8.3

Section

8.4

Section

9.2.2

Section

9.2.3

Section

9.2.4

Chapter

10

Section

11.2

Section

11.3

Section

11.4

Section

11.5

Section

11.6

Section

11.7

Section

12.2

Section

5.5

Section

12.3

3 - 2 3 - 2

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

Da.1

Operation pattern

Positioning termination

Continuous positioning control

Continuous path control

given below.

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.

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

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

MELSEC-Q

Description Reference

9.1.2

3 - 3 3 - 3

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.3 Specifications of input/output signal with Programmable Controller CPU

3.3.1 List of input/output signals with programmable controller CPU

The table below shows I/O signals of the QD70D. For the QD70D I/O assignment, the first16 points and other 32 points are reserved for free space and for intelligent function modules accordingly. When the QD70D is installed to slot No.0 of the main base unit, device No.Xn0 is regarded as X10. Note that, if 0 point is set for the first 16 points in the I/O assignment

Device No. Signal name Device No. Signal name

XnA Axis 3 YnA Axis 3

XnB Axis 4 YnB Axis 4

XnC Axis 5 YnC Axis 5

XnD Axis 6 YnD Axis 6

XnE Axis 7 YnE Axis 7

XnF Axis 8

X(n+1)0 Axis 1 Y(n+1)0 Axis 1

X(n+1)1 Axis 2 Y(n+1)1 Axis 2

X(n+1)2 Axis 3 Y(n+1)2 Axis 3

X(n+1)3 Axis 4 Y(n+1)3 Axis 4

X(n+1)4 Axis 5 Y(n+1)4 Axis 5

X(n+1)5 Axis 6 Y(n+1)5 Axis 6

X(n+1)6 Axis 7 Y(n+1)6 Axis 7

X(n+1)7 Axis 8

X(n+1)8 Axis 1 Y(n+1)8 Axis 1

X(n+1)9 Axis 2 Y(n+1)9 Axis 2

X(n+1)A Axis 3 Y(n+1)A Axis 3

X(n+1)B Axis 4 Y(n+1)B Axis 4

X(n+1)C Axis 5 Y(n+1)C Axis 5

X(n+1)D Axis 6 Y(n+1)D Axis 6

X(n+1)E Axis 7 Y(n+1)E Axis 7

X(n+1)F Axis 8

Important

[Yn1 to Yn7], and [Xn3 to Xn7] are used by the system, and cannot be used by the user.

3 - 4 3 - 4

If these devices are used, the operation of the QD70D will not be guaranteed.

setting of GX Developer, device No.Xn0 is X0 (n = 0).

Signal direction:

QD70D

Xn0 Module READY Yn0 Programmable controller READY

Xn1 Axis error occurrence Yn1

Xn2 Axis warning occurrence Yn2

Xn3 Yn3

Xn4 Yn4

Xn5 Yn5

Xn6 Yn6

Xn7

Xn8 Axis 1 Yn8 Axis 1

Xn9 Axis 2 Yn9 Axis 2

Programmable controller CPU

Use prohibited

BUSY

Start complete

Positioning complete

Programmable controller CPU QD70D

Yn7

YnF Axis 8

Y(n+1)7 Axis 8

Y(n+1)F Axis 8

Signal direction:

Use prohibited

Positioning start

Axis stop

JOG start

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signal (QD70D Programmable controller CPU)

MELSEC-Q

Device

No.

Xn0 Module READY ON: Prepared

Xn1 Axis error

occurrence

Xn2 Axis warning

occurrence

Xn8

Axis 1

Xn9 XnA XnB XnC XnD XnE XnF

X(n+1)0 X(n+1)1 X(n+1)2 X(n+1)3 X(n+1)4 X(n+1)5 X(n+1)6 X(n+1)7

X(n+1)8 X(n+1)9 X(n+1)A X(n+1)B X(n+1)C X(n+1)D X(n+1)E X(n+1)F

BUSY *1 OFF: Not BUSY Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 1

Start

complete

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

Axis 1

Positioning

complete*2

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

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

Signal name Description

OFF: Not

prepared watch dog timer error

OFF: No error ON: Error

occurrence

OFF: No warning ON: Warning

occurrence

ON: BUSY

OFF: Start

incomplete

ON: Start

complete

OFF: Positioning

incomplete

ON: Positioning

complete

Important

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

*1

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

: "Position control complete" of the QD70D refers to the point when the pulse output from

*2

QD70D is completed. Thus, even if the QD70D's positioning complete signal turns ON, the system may continue operation.

• When the Programmable controller READY signal [Yn0] 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 [Xn1] is ON, this signal does not turn ON if the Programmable controller READY signal [Yn0] is turned from OFF to ON.)

• When the Programmable controller READY signal [Yn0] 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.

Programmable controller

READY signal [Yn0]

Module READY signal [Xn0]

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

Cd. 1

"

Axis error reset" is set for all axes.

Md. 10

(Use "

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

Cd. 1

" (Use " axis.)

• This signal turns ON at the start of positioning control, OPR control or JOG operation. It turns OFF when the " (This signal remains ON during positioning control.)

• This signal turns OFF at error or stop.

• This signal turns ON when the positioning start signal turns ON and the QD70D

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

Positioning start signal [Yn8]

Start complete signal [X(n+1)0]

• This signal turns ON for the time set in "

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

• 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.

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

Axis error reset" is set for all axes.

Md. 11

Warning status" to confirm the warning status of the corresponding

Da. 7

OFF

Dwell time" has passed after positioning control stops.

Pr. 7

ON

OFF

ON

OFF

Pr. 7

Positioning complete signal output

Positioning complete signal output time".)

3 - 5 3 - 5

3 SPECIFICATIONS AND FUNCTIONS

3.3.3 Details of output signals (Programmable controller CPU QD70D)

MELSEC-Q

Device No. Signal name Description

Yn0 Programmable controller

Yn8 Yn9 YnA YnB YnC YnD YnE

YnF Y(n+1)0 Y(n+1)1 Y(n+1)2 Y(n+1)3 Y(n+1)4 Y(n+1)5 Y(n+1)6 Y(n+1)7 Y(n+1)8 Y(n+1)9 Y(n+1)A Y(n+1)B Y(n+1)C Y(n+1)D Y(n+1)E Y(n+1)F

READY

Axis 1

Positioning start OFF: Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 1

Axis stop OFF: Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 1

JOG start OFF: Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

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

OFF:

Programmable controller READY OFF

ON:

Programmable controller READY ON

Positioning start not requested

ON:

Positioning start requested

Axis stop not requested

ON:

Axis stop requested

JOG not started

ON:

JOG started

(a) This signal notifies the QD70D that the programmable controller CPU is normal.

• It is turned ON/OFF with the sequence program.

• The Programmable controller READY signal is turned ON

during positioning control, OPR control and JOG operation.

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

Programmable controller READY signal is turned OFF.

(c) The following processes are carried out when the Programmable

controller READY signal turns from OFF to ON.

• The parameter and OPR data setting range is checked.

• The module READY signal [Xn0] turns ON.

(d) The following processes are carried out when the Programmable

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

• The module READY signal [Xn0] turns OFF.

• The operating axis stops.

• 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).

• 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 more.

• Turning ON the axis stop signal during operation decelerates the axis to a stop. At this time, " from "Deceleration (Axis Stop ON)" to "Stopped".

• When the JOG start signal is ON, JOG operation will be carried out at the " OFF, the operation will decelerate and stop. At this time, " Axis operation status" changes from "Deceleration (JOG Start OFF)" to "Standby".

• Set the rotation direction in " Chapter 10.)

JOG. 1

Md. 4

JOG speed". When the JOG start signal turns

JOG. 4

Axis operation status" changes

Md. 4

JOG direction flag". (Refer to

3 - 6 3 - 6

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of input/output interfaces with external device

3.4.1 Electrical specifications of input/output signals

MELSEC-Q

Signal name

Zero signal (PG0)

Near-point dog signal

(DOG)

Speed-position switching

signal (CHG)/Retry switch

signal(RTRY)

Signal name

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

Deviation counter clear (CLEAR)

Input specifications

Rated input

voltage/current

5VDC/13mA 4.75 to 5.5VDC

24VDC/5mA 19.2 to 26.4VDC

Working voltage

range

ON

3μs or less

OFF

ON voltage/

current

3.5VDC or more/

6mA or more

17.5VDC or

more/3mA or

more

OFF voltage/

current

1.0VDC or less/

0.5mA or less

1ms or mor e

7VDC or less/

0.9mA or less

Input resistance Response time

Approx. 390

3μs or less

Ω

0.1ms or less

Approx. 6.8k

Ω

1ms or less

Output specifications

Rated load

voltage

•

Defferential receiver equivalent to Am26LS32(Compliant with RS-422 standard)

•

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

Positive logic Negative logic

mode

CW

CCW

PULSE

SIGN

Working load voltage range

Forward run Reverse run Forward run Reverse run

High Low

A phase B phase

5 to 24VDC 4.75 to 30VDC

Max. load

current/rush

current

Pulse output logic selection

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

Max. voltage

drop at ON

1VDC (TYP)

2.5VDC (MAX)

Leakage current

at OFF

Low High

0.1mA or less

Response time

2ms or less

(resistance load)

3 - 7 3 - 7

3 SPECIFICATIONS AND FUNCTIONS

3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the QD70D and external device, are shown below. The signal layout for the QD70D external device connection connector is shown.

QD70D4

QD70D8

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QD70D4

RUN

ERR. AX4

AX4

QD70D4 AX1AX3 AX2

AX1 AX2 AX3

QD70D8

RUN

AX5 AX6 AX7

ERR. AX8

AX5AX7 AX1AX3 AX6AX8 AX2

AX4

AX1 AX2 AX3 AX4

QD70D8

3 - 8 3 - 8

3 SPECIFICATIONS AND FUNCTIONS

Pin layout

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

A20

A19

A18 PULSE R1- B18 PULSE R2- A18 PULSE R3- B18 PULSE R4-

A17 PULSE R1+ B17 PULSE R2+ A17 PULSE R3+ B17 PULSE R4+

A16 PULSE F1- B16 PULSE F2- A16 PULSE F3- B16 PULSE F4-

A15 PULSE F1+ B15 PULSE F2+ A15 PULSE F3+ B15 PULSE F4+

A14 CREAR1 COM B14 CREAR2 COM A14 CREAR3 COM B14 CREAR4 COM

A13 CLEAR1 B13 CLEAR2 A13 CLEAR3 B13 CLEAR4

A12 NC B12 NC A12 NC B12 NC

A11 NC B11 NC A11 NC B11 NC

A10 PG01 COM B10 PG02 COM A10 PG03 COM B10 PG04 COM

A9 PG01 B9 PG02 A9 PG03 B9 PG04

A8 NC B8 NC A8 NC B8 NC

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

Front view of

the module

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

A7 COM1 to 4 B7 COM1 to 4 A7 COM1 to 4 B7 COM1 to 4

A6 COM1 to 4 B6 COM1 to 4 A6 COM1 to 4 B6 COM1 to 4

A5 CHG1/RTRY1 B5 CHG2/RTRY2 A5 CHG3/RTRY3 B5 CHG4/RTRY4

A4 NC B4 NC A4 NC B4 NC

A3 DOG1 B3 DOG2 A3 DOG3 B3 DOG4

A2 CHG1/RTRY1 B2 CHG2/RTRY2 A2 CHG3/RTRY3 B2 CHG4/RTRY4

A1 NC B1 NC A1 NC B1 NC

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

A20

A19

A18 PULSE R5- B18 PULSE R6- A18 PULSE R7- B18 PULSE R8-

A17 PULSE R5+ B17 PULSE R6+ A17 PULSE R7+ B17 PULSE R8+

A16 PULSE F5- B16 PULSE F6- A16 PULSE F7- B16 PULSE F8-

A15 PULSE F5+ B15 PULSE F6+ A15 PULSE F7+ B15 PULSE F8+

A14 CREAR5 COM B14 CREAR6 COM A14 CREAR7 COM B14 CREAR8 COM

A13 CLEAR5 B13 CLEAR6 A13 CLEAR7 B13 CLEAR8

A12 NC B12 NC A12 NC B12 NC

A11 NC B11 NC A11 NC B11 NC

A10 PG05 COM B10 PG06 COM A10 PG07 COM B10 PG08 COM

A9 PG05 B9 PG06 A9 PG07 B9 PG08

A8 NC B8 NC A8 NC B8 NC

A7 COM5 to 8 B7 COM5 to 8 A7 COM5 to 8 B7 COM5 to 8

A6 COM5 to 8 B6 COM5 to 8 A6 COM5 to 8 B6 COM5 to 8

A5 CHG5/RTRY5 B5 CHG6/RTRY6 A5 CHG7/RTRY7 B5 CHG8/RTRY8

A4 NC B4 NC A4 NC B4 NC

A3 DOG5 B3 DOG6 A3 DOG7 B3 DOG8

A2 CHG5/RTRY5 B2 CHG6/RTRY6 A2 CHG7/RTRY7 B2 CHG8/RTRY8

A1 NC B1 NC A1 NC B1 NC

AX1 AX2 AX3 AX4

PULSE R1

COM

PULSE F1

COM

AX5 AX6 AX7 AX8

PULSE R5

COM

PULSE F5

COM

B20

B19

B20

B19

PULSE R2

COM

PULSE F2

COM

PULSE R6

COM

PULSE F6

COM

A20

A19

A20

A19

PULSE R3

COM

PULSE F3

COM

PULSE R7

COM

PULSE F7

COM

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B20

B19

B20

B19

PULSE R4

COM

PULSE F4

COM

PULSE R8

COM

PULSE F8

COM

3 - 9 3 - 9

3 SPECIFICATIONS AND FUNCTIONS

3.4.3 List of input/output signal details

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Signal name Pin No. Symbol

Near-point dog signal A03 B03 DOG

Speed-position switching signal/

Retry swich signal

Common

Zero signal A09 B09 PGO

Zero signal common A10 B10 PGO COM • Common for zero signal.

Pulse output F+ A15 B15 PULSE F+

Pulse output F- A16 B16 PULSE F-

Pulse output F common A19 B19

Pulse output R+ A17 B17 PULSE R+

Pulse output R- A18 B18 PULSE R-

Pulse output R common A20 B20

The details of each QD70D external device connection connector are shown below:

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

• This signal is used for detecting the near-point dog during machine OPR

control.

• The near-point dog signal is detected at turning from OFF to ON.

• In speed-position switching control: The signal is input to switch from speed

A05

A02

A06

A07

B05

B02

B06

A07

CHG/RTRY

COM

PULSE F

COM

PULSE R

COM

control to position control.

• In machine OPR: This signal is used for retry switch detection in the OPR

retry function.

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

signal.

• Input the zero signal for machine 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 zero signal is detected at turning from OFF to ON.

• This signal is used to output command pulses to the open collector

compatible drive unit.

CW/CCW mode: CW

PULSE/SIGN mode: PULSE

A phase/B phase mode: A phase

• Common for pulse output F

• This signal is used to output command pulses to the open collector

compatible drive unit.

CW/CCW mode: CCW

PULSE/SIGN mode: SIGN

A phase/B phase mode: B phase

• Common for pulse output F

Signal details

3 - 10 3 - 10

3 SPECIFICATIONS AND FUNCTIONS

Signal name Pin No. Symbol

• This signal is output during machine OPR control.

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Signal details

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

(Example) When carry out machine OPR control with stopper 2.

Speed

OPR speed

OPR. 4

Creep speed

Pr. 6 Bias speed at star

Near-point dog

OPR. 5

t

Stopper

Time

Deviation counter clear A13 B13 CLEAR

Deviation counter clear common A14 B14

CLEAR

COM

Zero signal

Deviation counter

Pr. 8

clear signal output time

CLEAR

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

counter clear signal output time".

• Use the drive unit that can reset the droop pulse amount in the internal

deviation counter when the QD70D turns this signal ON.

(Note) The deviation counter clear is a signal output by the QD70D during

machine OPR control. It cannot be output randomly.

• Common for deviation counter clear

After feed pulse output stops

Pr. 8

Deviation

OFF

ON

OFF

ON

3 - 11 3 - 11

3 SPECIFICATIONS AND FUNCTIONS

3.4.4 Input/output interface internal circuit

Shows summary image of the internal circuit of the interface for connection to external devices of the QD70D.

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Input/output

class

Input

External wiring Pin No. Internal circuit Signal name

6.8k 1/3W

580

1/16W

6.8k 1/3W

580

1/16W

6.8k 1/3W

580

1/16W

390 1/3W

1.8k 1/16W

Speed-position

switching signal/Retry

3

switch signal *

Common *

2

COM

24VDC*

A3 Near-point dog signal DOG

A5

A2

1

A6

A7

A9 Zero signal PG0

A10 Zero signal common PG0 COM

A15 Pulse output F + PULSE F+

CHG/RTRY

A16 Pulse output F - PULSE F-

A19 Pulse output F common PULSE F COM

A17 Pulse output R + PULSE R+

Output

A18 Pulse output R - PULSE R-

A20 Pulse output R common PULSE R COM

A13 Deviation counter clear CLEAR

Deviation counter clear

A14

common

CLEAR COM

*1: Connection to the 24V DC input common (COM) is available from either the positive or negative side. *2: The input common (COM) has internal connections for axes 1 to 4 and 5 to 8. *3: To the Speed-position switching signal/Retry switch signal (CHG/RTRY), both switches for CHG and RTRY can be

connected. Pay special attention to prevent the both switches from turning on at the same time.

3 - 12 3 - 12

3 SPECIFICATIONS AND FUNCTIONS

(1) Input signal ON/OFF status

(a) Input signal ON/OFF status

The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point

Logic setting* External wiring

Negative logic

(Initial value)

dog signal (DOG).)

(Voltage not applied)

(Voltage applied)

24VDC

DOG

COM

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ON/OFF status of near-point dog signal

(DOG) as seen from QD70D

OFF

DOG

24VDC

COM

ON

(Voltage not applied)

DOG

ON

OFF

Positive logic

(Voltage not applied)

24VDC

COM

(Voltage applied)

DOG

24VDC

COM

: Set the logic setting using "Switch setting for intelligent function module". For details of the settings, refer to Section 5.6.

*

(b) Logic setting and internal circuit

In the QD70D, the case where the internal circuit (photocoupler) is OFF in the negative logic setting is defined as "input signal OFF". Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logic setting is defined as "input signal ON".

When voltage is not applied : Photocoupler OFF When voltage is applied : Photocoupler ON

3 - 13 3 - 13

r

3 SPECIFICATIONS AND FUNCTIONS

(2) Output signal ON/OFF status

In the QD70D, the logic setting for the output signal ON/OFF status is defined as described below. Before connecting the QD70D to a servo amplifier, confirm the input specifications of the servo amplifier and perform the logical setting on the QD70D.

(a) When a photocoupler is used for input on the servo amplifier side

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QD70D Servo Amplifie

When the QD70D uses negative-true logic, the OFF status of the photocoupler is defined as "Output signal OFF". When it uses positive-true logic, the ON status of the photocoupler is defined as "Output signal OFF".

(b) When a differential receiver is used for input on the servo amplifier side

QD70D Servo Amplifie

When the QD70D uses negative-true logic, the "L" state of the differential receiver is defined as "Output signal OFF". When it uses positive-true logic, the "H" state of the differential receiver is defined as "Output signal OFF".

Example) When output signals are set to negative-true logic and CW/CCW:

Pulse train is output so that, when the output signal turns off, the

QD70D's output signal

CW

Pulse train output from QD70D's outoput terminal*

photocoupler turns off or the differential receiver is in "L" state.

OFF

ON

PULSE F +

PULSE F -

QD70D's output signal

CWW

Pulse train output from QD70D's outoput terminal*

OFF

ON

PULSE R +

PULSE R -

Forward fotation Reverse rotation

*: PULSE F+/- and PULSE R+/- are waveforms based on PULSE F COM

and PULSE R COM respectively.

3 - 14 3 - 14

4 DATA USED FOR POSITIONING CONTROL

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CHAPTER 4 DATA USED FOR POSITIONING CONTROL

This chapter explains the specifications of the data to be set to the QD70D.

4.1 Type of data

4.1.1 Parameters and data required for control

The parameters and data required to carry out control with the QD70D include the

Setting data

Parameters

( Pr. 1 to Pr. 12 )

OPR data

( OPR. 1 to OPR. 10 )

"setting data", "monitor data" and "control data" shown below.

Set at a system startup according to the machinery, equipment and applications. (Storage destination: QD70D buffer memory)

Set values required to exercise "OPR control". (Storage destination: QD70D buffer memory)

4

JOG data

( JOG. 1 to JOG. 4 )

Set values required to perform "JOG operation". (Storage destination: QD70D buffer memory)

Positioning data

( Da. 1 to Da. 7 )

Intelligent function module switches

(Switches 1 to 5)

The parameters and OPR data are made valid when the Programmable controller

READY signal [Yn0] 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".)

Set values required to exercise "positioning control". (Storage destination: QD70D buffer memory)

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

4 - 1 4 - 1

4 DATA USED FOR POSITIONING CONTROL

Monitor data

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4

Control data

Axis monitor data

( Md. 1 to Md. 9 )

Module information monitor data

( Md. 10 to Md. 11 )

Data related to the operations of the running axes, e.g. the current positions and speeds, are monitored. (Storage destination: QD70D buffer memory)

The error status and warning status of the QD70 are monitored. (Storage destination: QD70D buffer memory)

Axis control data

( Cd. 1 to Cd. 11 )

How to set "setting data"

Setting item

Parameters

OPR data

JOG data

Positioning data

Intelligent function module

switches

* : Initial setting is made to the intelligent function module parameters of the QCPU.

: 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

(3) The "setting data" set in the QD70D buffer memory are not backed up. All data

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

(Storage destination: QD70D buffer memory)

Setting means

the default values before shipment from the factory. (Parameters related to axes that are not used are left at the default value.)

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

Sequence program GX Configurator-PT GX Developer

(initial setting *)

4 - 2 4 - 2

4 DATA USED FOR POSITIONING CONTROL

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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 QD70D. For details of controls, refer to SECTION 2 "CONTROL DETAILS AND SETTING". For

Parameter

Pr. 1

Software stroke limit upper limit value –

Pr. 2

Software stroke limit lower limit value –

Pr. 3

Software stroke limit valid/invalid setting –

Pr. 4

Current feed value during speed control – –

Pr. 5

Speed limit value

Pr. 6

Bias speed at start

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

Deceleration stop method

Pr. 11

Acceleration/deceleration system selection

Pr. 12

Pulse output method (stop signal enabled)

: 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.)

* : Under the speed-position switching control, this is valid only for position control.

details of setting items, refer to "4.2 List of parameters".

OPR

control

Position

control

–

Positioning control Control

Speed-position

switching control

– – – – –

* – – –

Current value

changing

– – –

–

– – –

–

– – –

JOG

operation

Related sub

function

Section 11.4

Section 11.2

Section 11.5

Section 11.6

Checking the parameters

to

Pr. 12

are checked for the setting ranges when the " Programmable

Pr. 1 controller READY signal (Yn0)" output from the programmable controller CPU to the QD70D 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".)

–

4 - 3 4 - 3

4 DATA USED FOR POSITIONING CONTROL

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

OPR data

section "4.3 List of OPR data" for details on each setting item.

OPR control

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Machine OPR control Fast OPR control

OPR. 1

OPR. 2

OPR. 3

OPR. 4

OPR. 5

OPR. 6

OPR. 7

OPR. 8

OPR. 9

OPR. 10

: Always set

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

– : 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

* : Set when using the " OPR retry function". ("–" when not set.)

OPR method

OPR direction

OP address

OPR speed

Creep speed

ACC/DEC time at OPR

DEC/STOP time at OPR

Setting for the movement amount after near-point dog ON –

OPR dwell time *

OPR retry

range, there is no problem.)

Stopper 1

Near-point

dog method

Stopper 2

–

Stopper 3

–

Count 1

* *

Count 2

Data set for machine OPR control are used.

Checking the OPR data

OPR. 1

OPR. 10

to

are checked for the setting ranges when the " Programmable controller READY signal (Yn0)" output from the programmable controller CPU to the QD70D 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".)

4 - 4 4 - 4

4 DATA USED FOR POSITIONING CONTROL

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 "CHAPTER 10 JOG OPERATION" for details of "JOG operation" and to "Section 4.4 List of JOG data" for details of the setting items.

JOG data JOG operation

JOG. 1

JOG. 2

JOG. 3

JOG. 4

: Always set

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the

JOG speed

JOG ACC time

JOG DEC time

JOG direction flag

default value or within the setting range, there is no problem.)

Checking the JOG data

JOG. 1 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".)

to

JOG. 4

are checked for the setting ranges when JOG operation is

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4 - 5 4 - 5

4 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

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".

Positioning data

Operation

Da. 1

pattern

Da. 2

Control method

Da. 3

ACC/DEC time

Da. 4

DEC/STOP time

Da. 5

Command speed

Da. 6

Positioning address/movement amount

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.)

For details of the individual setting items, refer to "4.5 List of positioning data".

Positioning control

Positioning termination

Continuous positioning control

Continuous path control

Position control

1-axis linear control (ABS)

1-axis linear control (INC)

Speed-position

switching control

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

Checking the positioning data

to

Da. 7

are checked for the setting ranges when positioning control is

Da. 1 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".)

Change destination

Current value

changing

Current value

changing

–

address

4 - 6 4 - 6

4 DATA USED FOR POSITIONING CONTROL

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.

Md. 1

Md. 2

Md. 3

Md. 4

Md. 5

Md. 6

Md. 7

Md. 8

Md. 9

Md. 10

Md. 11

Current feed value Monitor the current "current feed value"

Movement amount after near-point dog

ON

Current speed Monitor the current speed

Axis operation status Monitor the axis operation state

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

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

Status Monitor the flag

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

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

Error status Monitor the error status of each axis

Warning status Monitor the warning status of each axis

The following data are available for monitoring.

• Axis operation monitoring:

Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data

• Module information monitoring:

Monitoring of the QD70D error status and warning status (through the module information monitor data

Md. 10

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

Monitor data Monitor details

Monitor the movement amount after the near-point dog has turned

ON

to

Md. 11

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to

Md. 9

)

Md. 1

)

4 - 7 4 - 7

4 DATA USED FOR POSITIONING CONTROL

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.

Cd. 1

Cd. 2

Cd. 3

Cd. 4

Cd. 5

Cd. 6

Cd. 7

Cd. 8

Cd. 9

Cd. 10

Cd. 11

Axis error reset

OPR request flag OFF request

Start method

Restart request

Speed-position switching request

Speed change request

New speed value

ACC/DEC time at speed change

DEC/STOP time at speed change

Target position change request

Target position change value

• Controlling the operation :

Setting operation parameters, changing speed during operation, restarting operation (through the axis control data

Cd. 1

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

Control data Control details

Clear (reset) the axis error code (

Change OPR request flag from "ON to OFF".

Set which control will be executed (start method).

Give a restart command during an axis operation stop.

Validate speed-position switching signal from external source.

Issue instruction to change speed in operation to (Made valid during speed control of speed-position switching control or during JOG operation)

Set new speed when changing speed during operation.

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

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

Issue a command by which the positioning address or movement amount is changed during position control.

Set a value to change the positioning address or movement amount during position control.

to

Cd. 11

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)

Md. 5

) and warning code (

Cd. 7

Pr. 6

Md. 6

value.

Bias speed

).

4 - 8 4 - 8

4 DATA USED FOR POSITIONING CONTROL

4.2 List of parameters

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Item Setting value, setting range Default value

Software stroke limit upper

Pr. 1

limit value

Software stroke limit lower

Pr. 2

limit value

Software stroke limit

Pr. 3

valid/invalid setting

Current feed value during

Pr. 4

speed control

Speed limit value

Pr. 5

Bias speed at start

Pr. 6

Positioning complete signal

Pr. 7

output time

Deviation counter clear

Pr. 8

signal output time

PULSE/SIGN method

Pr. 9

selection setup/hold time

Deceleration stop method

Pr. 10

Acceleration/deceleration

Pr. 11

system selection

Pulse output method

Pr. 12

(stop signal enabled)

-2147483648 to 2147483647 (pulse)

0: Valid

1: Invalid

0: No update

1: Update

2: Clear to 0 and no update

1 to 4000000 (pulse/s) 10000

0 to 4000000 (pulse/s) 0

0 to 65535 (ms) 300

1 to 32 (ms) 10

0: 10μs

1: 100μs

2: 1ms

3: 2ms

0: Position match stop

1: Deceleration stop

0: Trapezoidal acceleration

/deceleration

1: S-curve acceleration/

deceleration

0: Fixed Pulse Output

1: Fixed Deceleration Time

2147483647

-2147483648

0

Setting value buffer memory address

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

0 1 100

2 3 102

4 104 204 304 404 504 604 704

5 105 205 305 405 505 605 705

6 7 106

8 9 108

10 110 210 310 410 510 610 710

11 111 211 311 411 511 611 711

12 112 212 312 412 512 612 712

13 113 213 313 413 513 613 713

17 117 217 317 417 517 617 717

18 118 218 318 418 518 618 718

101

103

107

109

200 201

202 203

206 207

208 209

300 301

302 303

306 307

308 309

400 401

402 403

406 407

408 409

500 501

502 503

506 507

508 509

600 601

602 603

606 607

608 609

700 701

702 703

706 707

708 709

4 - 9 4 - 9

4 DATA USED FOR POSITIONING CONTROL

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.

Software stroke limit lower limit

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Software stroke limit upper limit

Emergency stop limit switch

Pr. 3

Pr. 4

Pr. 5

OP

Fig. 4.1 Software stroke limit setting example

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.

Software stroke limit valid/invalid setting

Set whether to validate the software stroke limit. 0: Valid 1: Invalid

Current feed value during speed control

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

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

1: Update

2: Clear to 0 and no update

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

(Machine movement range)

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

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

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

Emergency stop limit switch

Md. 1

Current feed

4 - 10 4 - 10

r

4 DATA USED FOR POSITIONING CONTROL

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 "

Speed limit value", the "Setting range outside bias speed" error (error code: 906) will occur.

Pr. 7

Positioning complete signal output time

Set the output time of the positioning complete signal [X(n+1)8 to X(n+1)F] output from the QD70D. Positioning complete indicates that the preset dwell time has elapsed after the QD70D ended pulse output. 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

Programmable

controller

CPU

Programmable controlle

positioning complete signal is not output.

Positioning start signal

[Yn8 to YnF]

QD70D

Pr. 5

Speed limit value". If it is more than "

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Pr. 5

M

Positioning

complete signal

[X(n+1)8 to X(n+1)F]

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

Fig. 4.2 Positioning complete signal output time

Pr. 8

Deviation counter clear signal output time

Positioning control

Positioning complete signal

(after elapse of dwell time)

Output time

Set the duration of the deviation counter clear signal output during a machine 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 - 11 4 - 11

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

Set in Set in

Pr. 9

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Forward

run

Movement in + direction

Reverse

run

Movement in

- direction

Fig. 4.3 PULSE/SIGN mode (set the pulse output mode with the intelligent

function module switch. Refer to Section 5.6.)

4 - 12 4 - 12

4 DATA USED FOR POSITIONING CONTROL

Pr. 10

Deceleration stop method

Set how to stop the operation when an axis stop signal [Yn10 to Yn17] is input during position control including the one in the speed-position switching control.

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

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

0: Position match stop

Da. 5

Command speed

Da. 4

Deceleration

stop time

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

decelerating to "

Pr. 6

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

Axis stop signal input

Continuous path control performed when axis stop signal is not input

Immediate stop after the address set to

" Positioning address/movement

Da. 6

amount" is reached

Bias speed at start

Pr. 6

Positioning address / movement amount

Da. 6

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

Continuous path control performed when axis stop signal is not input

Command speed

Da. 5

Deceleration stop before the address set to "

Positioning address/movement amount" is reached

Deceleration

1: Deceleration stop

Da. 5

Da. 4

stop time

Da. 6

Axis stop signal input

Command speed

Bias speed at start

Pr. 6

Positioning address / movement amount

Continuous path control performed when axis stop signal is not input

No stop if the address set to " Positioning

address/movement amount" is reached

Deceleration stop

Da. 6

Deceleration

Da. 4

stop time

Da. 6

Positioning address / movement amount

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

Bias speed at start

Pr. 6

Fig.4.4 Deceleration stop by axis stop signal input

4 - 13 4 - 13

4 DATA USED FOR POSITIONING CONTROL

Precautions

In the following cases, the operational behavior after the axis stop signal input is different from those shown in Fig. 4.4.

(1) Deceleration stop when the axis stop signal is input during

acceleration/deceleration

Deceleration stop is an operation in which "

Pr. 6

to " time". When the axis stop signal is input during acceleration/deceleration, the abovementioned operation is also performed. In this case, since the speed at the point to start the deceleration stop is not " complete the deceleration stop is not "Deceleration stop time".

Example) When an axis stop signal is input during deceleration in continuous

When an axis stop signal is input during deceleration from command speed (a) of positioning data No.1 to command speed (b)

of positioning data No.2, the actual time required for the deceleration stop is longer than "

because the speed at the point starting deceleration stop is faster than (b).

v

Positioning data No.1:

Continuous path control

Bias speed at start" within the time set for "

path control, the deceleration stop is as shown below.

Positioning data No.2:

Positioning termination

Da. 5

Command speed" is reduced

Da. 4

Deceleration stop

Da. 5

Command speed", the time to

Da. 4

Deceleration stop time"

a: Command speed of the positioning data No.1

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a

b

Bias

Pr. 6

speed at start

Acc / Dec time

Da.3

If "0: Position match stop" is set for "

Positioning address/movement amount" is reached.

v

Positioning data No.1:

Continuous path control

a

b

Pr. 10

Deceleration stop method", the motion is stopped immediately when"

Axis stop signal input

Operation performed when axis stop signal is not input

Deceleration

Da.4

stop time

Actual deceleration stop time

Positioning data No.2:

Positioning termination

Axis stop signal input

Operation performed when axis stop signal is not input

Same slope

b: Command speed of the positioning data No.2

t

Da. 6

a: Command speed of the positioning data No.1

b: Command speed of the positioning data No.2

Bias

Pr. 6

speed at start

Acc / Dec time

Da.3

Da.4

Deceleration

stop time

t

Fig.4.5 Deceleration stop when an axis stop signal is input during deceleration in continuous path control

4 - 14 4 - 14

4 DATA USED FOR POSITIONING CONTROL

(2) Deceleration stop when an axis stop signal is input during S-curve

1: Deceleration stop

acceleration/deceleration

When an axis stop signal is input during S-curve acceleration/deceleration, calculation is performed for S-curve deceleration from the speed at the time to

Pr. 6

Bias speed at start".

"

While the calculation is carried out (Max. 60 speed. Therefore, it may actually stop at some position far away from the target position. (Refer to Fig. 4.6.) Depending on the setting, the stop position may be out of the movable range defined for the system and a software stroke limit +/- error may occur. To prevent a software stroke limit +/- error, select "0: Position match stop" for Deceleration stop method.

Timing at which the QD70D

v

accepts the axis stop signal input

Operation without the axis stop signal input

μs), the axis is operated at the fixed

Stop operation by the axis stop signal input

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t

0: Position match stop

Timing at which the QD70D accepts the axis stop

v

signal input

Max. calculation time 60 s

Operation without the axis stop signal input

Stop operation by the axis stop signal input

Max. calculation time 60 s

Fig. 4.6 Deceleration stop when an axis stop signal is input during S-curve acceleration/deceleration

4 - 15 4 - 15

V

4 DATA USED FOR POSITIONING CONTROL

Pr. 11

Acceleration / Deceleration System Selection

Specify Trapezoidal or S-curve acceleration/deceleration. For details, refer to "Section 11.6 Acceleration/deceleration processing function".

0: Trapezoidal acceleration/deceleration

The acceleration and deceleration are liner.

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L

1: S-curve acceleration/deceleration

The acceleration and

V

Note) When "1: Continuous positioning control" or "2: Continuous path control" is

selected for "

not available. Attempting to start it with either of these settings will cause an "S-curve acc./dec. setting operation pattern error" (Error code: 515).

deceleration follow a Sin curve.

L

Da. 1

Operation pattern", S-curve acceleration/deceleration is

4 - 16 4 - 16

4 DATA USED FOR POSITIONING CONTROL

Pr. 12

Pulse Output Method (Stop Signal Enabled)

For the case where an axis is stopped due to a stop factor, select whether to continue or stop outputting the current pulse at the time the specified deceleration stop time is elapsed. 0: Fixed pulse output (Output all of the pulse being output at the time the

deceleration stop time is elapsed)

1: Fixed deceleration time (Stop the pulse output at the time the deceleration

0: Fixed Pulse Output

stop time is elapsed)

v

Stop cause occurrence *1 (Start of deceleration stop)

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Bias speed at start

Pulse output

BUSY signal *6

1: Fixed Deceleration Time

v

Bias speed at start

ON

Set deceleration stop time *2

1 pulse

Stop cause occurrence *1 (Start of deceleration stop)

Set deceleration stop time *2

Pulse that is being output when set

t

deceleration stop time has elapsed will be output. *4

OFF

Time for max. 1 pulse output (250ms to 1s) (Depending on Bias speed at start)

t

Stops current pulse output when specified deceleration stop time is elapsed.

Pulse output

1 pulse

ON

BUSY signal *6

OFF

Fig. 4.7 Pulse output at deceleration stop

4 - 17 4 - 17

4 DATA USED FOR POSITIONING CONTROL

*1: "Stop cause" indicates any of the following.

• Error occurred in the programmable controller CPU or QD70D.

• JOG start signal (Y(n+1)8 to Y(n+1)F) has turned OFF during JOG operation.

• Axis stop signal (Y(n+1)0 to Y(n+1)7) has turned ON.

• Stop due to target position change

• Speed change to speed 0 (pulse/s) (when bias speed at start is 0 (pulse/s))

• Temporary stop due to OPR retry

• Machine OPR control of count 2

*2: "Set deceleration stop time" is any of the following.

• During positioning control :

• At speed change to speed 0 (pulse/s) :

• During machine OPR control of count 2 :

• During JOG operation :

*3: When the axis is decelerated to a stop by a speed change to speed 0 (pulse/s), the BUSY signal does

not turn OFF.

*4: The same operation is performed when an immediate stop cause occurs during machine OPR control

(except the case of count 2).

Precautions

When "1: Fixed pulse output" has been set, take careful attention to the following:

(1) A short-width pulse aborted during output may be recognized as one

complete pulse, and thereby incorrect positioning may occur.

(2) If the pulse output mode is set to A phase/B phase (multiple of 1), incorrect

positioning may occur depending on the drive unit because the pulses of phases A and B turns off at the same time.

(3) A temporary deceleration stop is performed during execution of the target

position change or OPR retry. In such a case, all of the pulse is output regardless of the setting.

Da. 4

Cd. 9

OPR. 7

JOG. 3

DEC/STOP time

DEC/STOP time at speed change

DEC/STOP time at OPR

JOG DEC time

MELSEC-Q

4 - 18 4 - 18

4 DATA USED FOR POSITIONING CONTROL

4.3 List of OPR data

MELSEC-Q

Item

OPR. 1

OPR method

OPR. 2

OPR direction

OPR. 3

OP address

OPR. 4

OPR speed 1 to 4000000 (pulse/s) 1

OPR. 5

Creep speed 1 to 4000000 (pulse/s) 1

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

OPR. 10

*1: When "0: Valid" is set for "Pr.3 Software stroke limit valid/invalid setting", the setting range is 0 to 2147483647 (pulse).

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

OPR retry

Setting value, setting

range

0: Near-point dog

method

1: Stopper 1

2: Stopper 2

3: Stopper 3

4: Count 1

5: Count 2

0: Forward direction

1: Reverse direction

-2147483648 to

2147483647 (pulse)*1

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

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

0 to 2147483647

(pulse)

0 to 65535 (ms)*2 0 32 132 232 332 432 532 632 732

0: Valid

1: Invalid

Default value

0 20 120 220 320 420 520 620 720

0 21 121 221 321 421 521 621 721

0

0 33 133 233 333 433 533 633 733

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

22

23

24

25

26

27

30

31

Setting value buffer memory address

122

222

322

422

123

223

323

423

124

224

324

424

125

225

325

425

126

226

326

426

127

227

327

427

130

230

330

430

131

231

331

431

522

523

524

525

526

527

530

531

622

623

624

625

626

627

630

631

722

723

724

725

726

727

730

731

4 - 19 4 - 19

4 DATA USED FOR POSITIONING CONTROL

OPR. 1

OPR method

Set the "OPR method" for carrying out machine OPR control.

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

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

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

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

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

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

Note) Refer to "8.2.2 Machine OPR method" for details on the OPR methods.

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the zero signal and complete the machine OPR control.

with the stopper, and complete the machine OPR control after the OPR dwell time has passed.

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

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

the designated distance, and complete the machine OPR control with the zero signal.

the designated distance, and complete the machine OPR control.

4 - 20 4 - 20

4 DATA USED FOR POSITIONING CONTROL

OPR method

0 : Near-point dog method

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction".)

OPR. 4

OPR speed" in the

(2) Detect the near-point dog ON, and start deceleration.

(3) Decelerate to "

creep speed.

OPR. 5

Creep speed", and move with the

(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 QD70D stops

and machine OPR control is completed.

1 : Stopper 1

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction".)

OPR. 4

(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 "

speed", and then stops.

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

dwell time" is passed, the pulse output from the QD70D

stops, and machine OPR control is completed.

2 : Stopper 2

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction".)

OPR. 4

(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 "

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 QD70D stops and machine OPR control is

completed.

OPR speed" in the

OPR. 5

Creep

OPR. 9

OPR speed" in the

OPR. 5

Creep

OPR

V

Pr. 6 Bias speed at start

(1)

Near-point dog OFF

Zero signal

V

Pr. 6 Bias speed at start

(1)

Near-point dog OFF

V

OPR. 4 OPR speed

Pr. 6 Bias speed at start

(1)

Zero signal

Near-point dog OFF

OPR. 4 OPR speed

(2)

(3) (4)

ON

(2)

(3) (4)

ON

(3)

ON

Dwell time

counting

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OPR. 5 Creep speed

(4)

t

First zero after near-point dog OFF

OPR. 5 Creep speed

(5)

t

Range where motor rotation is forcibly stopped by stopper

Dwell time out

OPR. 5 Creep speed

Stopped by stopper

(5)

t

4 - 21 4 - 21

g

t

4 DATA USED FOR POSITIONING CONTROL

3 : Stopper 3

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction". (At this time, a torque limit is

OPR. 5

Creep speed" in the

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 QD70D stops and machine OPR control is

completed.

4 : Count 1

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction".)

OPR. 4

OPR speed" in the

(2) Detect the near-point dog ON, and start deceleration.

(3) Decelerate to "

creep speed.

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

OPR. 5

Creep speed", and move with the

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

QD70D stops and machine OPR control is completed.

5 : Count 2

(1) Start machine OPR control.

(Start movement at the "

OPR. 2

"

OPR direction".)

OPR. 4

OPR speed" in the

(2) Detect the near-point dog ON, and start deceleration.

(3) Decelerate to "

creep speed.

OPR. 5

Creep speed", and move with the

(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 QD70D stops with the first zero signal, and machine

OPR control is completed.

V

(1)

Zero signal

V

Pr. 6 Bias speed at start

(1)

Near-point dog OFF

Zero signal

V

Pr. 6 Bias speed at start

(1)

OPR. 5 Creep speed

Pr. 6 Bias speed at start

OPR. 4 OPR speed

Near-point dog OFF

(2)

(3)

ON

(2)

MELSEC-Q

Stopped by stopper

(2)

(3)

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

OPR. 5 Creep speed

(4)

t

Md. 2 Movement amount after near-point do g ON

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

First zero after movement amount has been traveled af ter near-point

OFF

do

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

OPR. 5 Creep speed

(3)

(4)

ON

t

Md. 2 Movement amount after near-point dog ON

t

4 - 22 4 - 22

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 "

Address decremwnt direction

direction" is set as shown below.

When the zero point is set at the lower limit side, the OPR directiion is in the direction of arrow 1).

Set "1" for OPR. 2

Lower limit

OP

1)

Upper limit

MELSEC-Q

OPR. 2

Address increment direction

OPR

Lower limit

Address decremwnt direction

2)

When the OP is set at the upper limit side, the OPR diredtion is in direction of arrow 2). Set "0" for OPR. 2

Upper limit

Address increment direction

OP

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" is stored in "

OPR. 3

Md. 1

OP address". At the same time, the

Current feed value".) Note) * The setting range for the OP address varies depending on the setting in "Pr.3 Software stroke limit valid/invalid setting". "0: Valid" : 0 to 2147483647 (pulse) "1: Invalid" : -2147483648 to 2147483647 (pulse) * When the set value is outside the above range, an "OP address setting out of

range" error (Error code: 912) will occur.

4 - 23 4 - 23

4 DATA USED FOR POSITIONING CONTROL

OPR. 4

OPR. 5

OPR speed

Set the speed for OPR control. Note) • Set the "OPR speed" to less than "

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

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

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

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

(

Note)

OPR speed )

• 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 "

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 "

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

V

≥ (

OPR. 5

Pr. 5

Creep speed)

MELSEC-Q

Speed limit value". If the "speed

Pr. 6

Bias speed at start".

Pr. 6

≥ (

Bias speed at start)

OPR. 4

Pr. 6

OPR speed". If

Bias speed at start".

OPR. 4

OPR speed

Machine OPR control start

Pr. 6

Bias speed at start

ON

Near-point dog signal OFF

Zero signal

OPR. 5

Creep speed

4 - 24 4 - 24

)

4 DATA USED FOR POSITIONING CONTROL

OPR. 6

ACC/DEC time at OPR

Set the time taken under machine OPR control to reach "

Pr. 6

from "

OPR. 4

"

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

V

Bias speed at start" or to reach "

OPR speed".

OPR. 4

OPR. 5

V

MELSEC-Q

OPR. 4

Creep speed" from

OPR speed"

Pr. 6

OPR. 6

OPR. 5

t

OPR. 6

Pr. 6

OPR. 6

OPR. 5

t

OPR. 7

DEC/STOP time at OPR

Set the time taken to make a stop after reaching "

OPR. 5

" after reaching "

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

Pr. 6

Bias speed at start" from the speed during machine OPR

Pr. 6

Bias speed at start" from

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

(When OPR method is "Count 2") (When axis stop signal is turned ON during

machine OPR control (Common to all OPR methods)

V

OPR. 4

OPR. 5

Pr. 6

OPR. 7

V

OPR. 4

t

Axis stop factor occurrence

Pr. 6

OPR. 7

OPR. 5

t

OPR. 8

Setting for the movement amount after near-point 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.

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

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.

[Machine OPR control operation]

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

[Deceleration distance]

1

=

2

Vz (t + t')

=

Vz

2000

t + t'

1000

3

2000

Near-point dog

OFF

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

80ms : t'

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

ON

10 10 (320 + 80)

=

2000

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

4 - 25 4 - 25

4 DATA USED FOR POSITIONING CONTROL

OPR. 9

OPR dwell time

Set the OPR dwell time in the following two cases:

(a) When performing machine zero return by stopper 1

Set the time from when the near-point dog turns ON until machine OPR control is completed. Set not less than the movement time from when the near-point dog turns ON until a stop is made by the stopper.

(b) When using the OPR retry function

Set the stop time after deceleration stop by OPR retry. (For details, refer to "Section 8.4 OPR retry function".)

OPR. 10

OPR retry

Set whether to enable or disable the OPR retry function. 0: Disable Disables the OPR retry function 1: Enable Enables the OPR retry function Note) The OPR retry function is valid only for the near-point dog method, and

count 1 and 2. For details, refer to "Section 8.4 OPR retry function".

MELSEC-Q

4 - 26 4 - 26

4 DATA USED FOR POSITIONING CONTROL

4.4 List of JOG data

MELSEC-Q

JOG. 1

JOG. 2

JOG. 3

JOG. 4

Item

JOG speed 1 to 4000000 (pulse/s) 0

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

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

JOG direction flag

Setting value, setting

range

0: Forward run JOG

1: Reverse run JOG

JOG. 1

JOG speed

Default value

0 44 144 244 344 444 544 644 744

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

40

41

Setting value buffer memory address

140

240

340

440

540

141

241

341

441

541

640

641

740

741

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)

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

≥ (

JOG. 1

JOG speed)

≥ (

Pr. 6

Bias speed at start)

Pr. 5

Speed limit value". If the "JOG speed" is less than "

Pr. 6

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

Bias speed at start".

JOG. 2

JOG ACC time

Set the time taken to reach "

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 reverse run JOG.)

JOG. 3

JOG DEC time

Set the time taken to make a stop after reaching "

JOG. 1

"

JOG speed" at a JOG operation stop (JOG start signal OFF, error

Pr. 6

Bias speed at start" from

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 - 27 4 - 27

4 DATA USED FOR POSITIONING CONTROL

4.5 List of positioning data

MELSEC-Q

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 1

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

Before explaining the positioning data setting items

Da. 1

to

Da. 7

, the configuration of the positioning data will be shown below. The positioning data stored in the QD70D buffer memory has the following type of configuration.

10

9

3

2

820

810

800

Ž²‚P

801

802

803

804 805

806 807

808

809

811

812

813

814 815

816 817

818

819

821

822

823

824 825

826 827

828

829

Ž²‚P

880

881

882

883

884 885

886 887

888

889

Ž²‚P

890

891

892

893

894 895

896 897

898

899

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 2

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

3

2

910

900

Ž²‚P

911

901

912

902

913

903

914

904

915

905

916

906

917

907

918

908

919

909

920

921

922

923

924 925

926 927

928

929

10

9

980

Ž²‚P

981

982

983

984 985

986 987

988

989

990

991

992

993

994 995

996 997

998

999

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 3

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1000

Ž²‚P

1001

1002

1003

1004 1005

1006 1007

1008

1009

Buffer memory address

9

3

1020

1010

Ž²‚P

1021

1011

1022

1012

1023

1013

1024

1014

1025

1015

1026

1016

1027

1017

1028

1018

1029

1019

10

1080

Ž²‚P

1081

1082

1083

1084 1085

1086 1087

1088

1089

1090

Ž²‚P

1091

1092

1093

1094 1095

1096 1097

1098

1099

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 4

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1100

Ž²‚P

1101

1102

1103

1104 1105

1106 1107

1108

1109

Buffer memory address

9

3

1120

1110

Ž²‚P

1121

1111

1122

1112

1123

1113

1124

1114

1125

1115

1126

1116

1127

1117

1128

1118

1129

1119

10

1180

Ž²‚P

1181

1182

1183

1184 1185

1186 1187

1188

1189

1190

Ž²‚P

1191

1192

1193

1194 1195

1196 1197

1198

1199

Buffer memory address

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

4 - 28 4 - 28

4 DATA USED FOR POSITIONING CONTROL

10

9

3

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 1

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1200

Ž²‚P

1201

1202

1203

1204 1205

1206 1207

1208

1209

1210

Ž²‚P

1211

1212

1213

1214 1215

1216 1217

1218

1219

1220

Ž²‚P

1221

1222

1223

1224 1225

1226 1227

1228

1229

1280

Ž²‚P

1281

1282

1283

1284 1285

1286 1287

1288

1289

1290

Ž²‚P

1291

1292

1293

1294 1295

1296 1297

1298

1299

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 2

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1300

1301

1302

1303

1304 1305

1306 1307

1308

1309

3

1310

Ž²‚P

1311

1312

1313

1314 1315

1316 1317

1318

1319

MELSEC-Q

10

9

1380

1320

Ž²‚P

1321

1322

1323

1324

1325

1326

1327

1328

1329

1381

1382

1383

1384 1385

1386 1387

1388

1389

1390

Ž²‚P

1391

1392

1393

1394 1395

1396 1397

1398

1399

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 3

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1400

Ž²‚P

1401

1402

1403

1404 1405

1406 1407

1408

1409

Buffer memory address

9

3

1420

1410

Ž²‚P

1421

1411

1422

1412

1423

1413

1424

1414

1425

1415

1426

1416

1427

1417

1428

1418

1429

1419

10

1480

Ž²‚P

1481

1482

1483

1484 1485

1486 1487

1488

1489

1490

Ž²‚P

1491

1492

1493

1494 1495

1496 1497

1498

1499

Positioning data No. 1

Da. 1 Operation pattern

Da. 2 Control method

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Axis 4

Da. 5 Command speed

Da. 6 Positioning address/movement amount

Da. 7 Dwell time

Reserved (Cannot Be Used)

2

1500

Ž²‚P

1501

1502

1503

1504 1505

1506 1507

1508

1509

Buffer memory address

3

1520

1510

Ž²‚P

1521

1511

1522

1512

1523

1513

1524

1514

1525

1515

1526

1516

1527

1517

1528

1518

1529

1519

10

9

1590

1580

Ž²‚P

1591

1581

1592

1582

1593

1583

1594

1584

1595

1585

1596

1586

1597

1587

1598

1588

1599

1589

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

Buffer memory address

The descriptions that follow relate to the positioning data set items

Da. 1

to

Da. 7

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

4 - 29 4 - 29

.

4 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Item

Da. 1

Operation pattern

Da. 2

Control method

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 4000000 (pulse/s) 0

Da. 6

Positioning address/

movement amount

Da. 7

Dwell time 0 to 65535 (ms) *2 0 808 908 1008 1108 1208 1308 1408 1508

*1: 0 to 2147483647 (pulse) when " *2: When making setting in a sequence program, set 0 to 32767 in decimal as-is, and 32768 to 65535 in hexadecimal.

Setting value,

setting range

0: Positioning

termination

1: Continuous

positioning control

2: Continuous path

control

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)

5: Current value

changing

-2147483648 to

2147483647 (pulse) *1

Da. 2

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

Default value

0 800 900 1000 1100 1200 1300 1400 1500

0 801 901 1001 1101 1201 1301 1401 1501

0

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

804

805

806

807

Setting value buffer memory address

904

1004

1104

1204

1304

905

1005

1105

1205

1305

906

1006

1106

1206

1306

907

1007

1107

1207

1307

Da. 1

Operation pattern

The operation pattern designates whether positioning control of a certain data No. is to be ended with just that data, or whether the positioning control for the

End

next data No. is to be carried out in succession.

[Operation pattern]

0 : Positioning termination

1404

1405

1406

1407

1504

1505

1506

1507

Continuous posotioning control with one start signal

1 : Continuous positioning control

Countinue

Continupus path positioning control with speed change

2 : Continuous path control

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 halts at each position 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) Refer to "CHAPTER 9 POSITIONING CONTROL" for details of the

operation pattern.

4 - 30 4 - 30

4 DATA USED FOR POSITIONING CONTROL

Da. 2

Control method

Set the "control method" for positioning control. 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC)

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

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

5: Current value changing Note) • Refer to "CHAPTER 9 POSITIONING CONTROL" for details of the

control method.

• Setting "0: No control method" will result in the "Setting range outside control method" error (error code: 506).

Da. 3

ACC/DEC time,

Da. 4

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 "

from "

Da. 4

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

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

V

Positioning data No. 1

(Continuous positioning control)

occurrence).

run)

DEC/STOP time

Pr. 6

Bias speed at start".

Pr. 6

Bias speed at start" from "

Positioning data No. 2

(Positioning termination)

Da. 5

MELSEC-Q

Da. 5

Command speed"

Da. 5

Command

Pr. 6 Bias speed at start

Da. 3

Da. 4

Da. 3

Da. 7 Dwell time

Da. 4

Da. 7 Dwell time

4 - 31 4 - 31

t

e

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 "

set in the "positioning data to be executed next" from " currently being executed".

Da. 4

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

V

Positioning data

No. 1

Positioning data

No. 2

Continuous path control

(This does not function.)

MELSEC-Q

Da. 5

Command speed"

Da. 5

Command speed" set in the "positioning data

Positioning data

No. 3

Positioning data

No. 4

Positioning termination

Bias speed at start

Pr. 6

Da. 5

Da. 3

Da. 5

Da. 3

Da. 5

Da. 3

Da. 4

Da. 5

t

Da. 7 Dwell tim

Da. 5

Command speed

Set the speed for positioning control. 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 value changing

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

Stopping position (positioning control starting address)

-1000 30001000

Movement amount : 2000

4 - 32 4 - 32

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 decreasing direction).

MELSEC-Q

Stopping position (positioning control starting position)

(Movement amount)

-30000 30000

Movement in negative direction

Movement in positive direction

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

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

Speed

Movement

Speed control

Position control

amount setting

Time

Da. 7

Dwell time

Speed-position switching command

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

Da. 1

Operation pattern".

V

Position control

ON

Da. 7

Dwell time

Next position control

Da. 7

Dwell time

Next position control

No dwell time (0ms)

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

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

Positioning complete signal OFF

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".

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

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

4 - 33 4 - 33

t

4 DATA USED FOR POSITIONING CONTROL

4.6 List of monitor data

4.6.1 Axis monitor data

MELSEC-Q

Item Storage details

• The current position using the position when OPR is completed as the base is stored.

Md. 1

Md. 2

Md. 3

Md. 4

Md. 5

Current

feed value

Movement

amount

after near-

point dog

ON

Current

speed

Axis

operation

status

Axis error

code

Update timing: 1ms for QD70D4

• On completion of machine 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]

• At a machine OPR control start, "0" is stored.

• After a machine OPR control start, the movement

amount from near-point dog ON up to machine OPR control completion is stored. (Movement amount: Indicates the movement amount up to completion of machine 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]

• 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 QD70D4

[Range: 0 to 4000000 pulse]

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

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 for all axes.

• When " 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.)

2ms for QD70D8

Axis error reset" (axis control data)

Cd. 1

Md. 5

Default

value

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

70

0

71

72

0

73

74

0

75

0 76 176 276 376 476 576 676 776

0 77 177 277 377 477 577 677 777

Storage buffer memory address

170

270

370

470

171

271

371

471

172

272

372

472

173

273

373

473

174

274

374

474

175

275

375

475

570

571

572

573

574

575

670

671

672

673

674

675

770

771

772

773

774

775

4 - 34 4 - 34

4 DATA USED FOR POSITIONING CONTROL

Item Storage details

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

• The latest warning code is always stored. (When

Md. 6

Md. 7

Axis

warning

code

Status

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

• When " of the corresponding axis is turned ON, the axis

Axis error reset" (axis control data)

Cd. 1

warning code is cleared (to zero). (Refer to "Section 13.3" for details of the warning codes.)

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

MELSEC-Q

Default

value

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

Storage buffer memory address

0 78 178 278 378 478 578 678 778

0001H 79 179 279 379 479 579 679 779

Md. 8

Md. 9

External I/O

signal

Executing

positioning

data No.

Not used

Storage item

OPR request flag

OPR complete flag

0 speed

Meaning

0 : OFF 1 : ON

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/Retry switch

signal

• Deviation counter clear signal

b15 b0b4b8b12

Not used

Storage item

Zero signal

Near-point dog signal

Speed-position switching signal / Retry switch signal

Deviation counter clear signal

Meaning

0 : OFF 1 : ON

• 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.

0000H 80 180 280 380 480 580 680 780

0 81 181 281 381 481 581 681 781

4 - 35 4 - 35

4 DATA USED FOR POSITIONING CONTROL

4.6.2 Module information monitor data

MELSEC-Q

Item Storage details Default value

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 "

Axis error reset" (axis control data)

Cd. 1

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

Md. 10

Error

status

Not used

Storage item

Axis 1 error

Axis 2 error

Axis 3 error

Axis 4 error

Axis 5 error

Axis 6 error

Axis 7 error

Axis 8 error

Meaning

0 : OFF 1 : ON

(For the QD70D4, b4 to b7 are "0" fixed.) At warning occurrence, the bit corresponding to the warning occurrence axis turns ON.

0: Normal (OFF)

1: Warning (ON) When " of the corresponding axis is turned ON, the

Axis error reset" (axis control data)

Cd. 1

warning status of the corresponding axis is cleared (to zero). (Refer to "Chapter 13" for details.)

b15 b0b4b8b12

Md. 11

Warning

status

Not used

Storage item

Axis 1 warning

Axis 2 warning

Axis 3 warning

Axis 4 warning

Axis 5 warning

Axis 6 warning

Axis 7 warning

Axis 8 warning

Meaning

0 : OFF 1 : ON

(For the QD70D4, b4 to b7 are "0" fixed.)

Storage buffer memory address

(Common for axis 1 to axis 8)

H 1600

0000

H 1601

0000

4 - 36 4 - 36

4 DATA USED FOR POSITIONING CONTROL

4.7 List of control data

4.7.1 Axis control data

MELSEC-Q

Item Setting details

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

Cd. 1

Cd. 2

Cd. 3

Cd. 4

Cd. 5

Axis error

reset

OPR

request flag

OFF request

Start

method

Restart

request

Speed-

position

switching

request

• Axis error occurrence (Xn1), " code", axis warning occurrence (Xn2) or " Axis warning code" is cleared. (Xn1 and Xn2 are cleared when "1" is set in

of all axes.)

Cd. 1

• If " 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.)

When the OPR request flag (b0 of setting "1" forcibly turns this data OFF. (The data automatically changes to "0" after the OPR request flag turns OFF.) Set this data when starting the corresponding control.

9000 : Machine OPR control 9001 : Fast OPR control

• If positioning control is stopped midway by the axis stop signal (Y(n+1)0 to Y(n+1)7) (when " 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.)

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

0: Invalidates the speed-position switching

1: Validates the speed-position switching signal.

Axis operation status" is "Error", the

Md. 4

Set the start data No. for positioning control. (Starts from No.1 when 0 is set)

Axis operation status" is "Stopped"),

Md. 4

signal. (Disable)

(Enable)

Md. 5

Md. 7

Axis error

) is ON,

Md. 6

Default

value

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

0 50 150 250 350 450 550 650 750

0 51 151 251 351 451 551 651 751

0 52 152 252 352 452 552 652 752

0 53 153 253 353 453 553 653 753

0 54 154 254 354 454 554 654 754

Setting buffer memory address

4 - 37 4 - 37

4 DATA USED FOR POSITIONING CONTROL

Item Setting details

Set "1" to request speed change processing after

Cd. 7

"

Cd. 6

Cd. 7

Cd. 8

Cd. 9

Cd. 10

Cd. 11

Speed

change

request

New speed

value

ACC/DEC

time at

speed

change

DEC/STOP

time at

speed

change

Target

position

change

request

Target

position

change

value

Speed change value" setting (Enable the value) during position control with the operation pattern set to "Positioning termination", during speed control in the speed-position switching control, or during JOG operation. Set a new speed during position control with the operation pattern set to "Positioning termination", during speed control in the speed-position switching control, or during JOG operation.

• Set the value not more than "

value".

• Set the value not less than "

start".

[Setting range: 0 to 4000000 pulse/s] Set the time taken at a speed change to reach the new speed from the old speed.

[Setting range: 0 to 32767ms]

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

[Setting range: 0 to 32767ms] Set "1" to change the positioning address/movement amount to the value set for

Cd. 11

"

Target position change value" during position control when the operation pattern is set to "Positioning termination". (Upon acceptance of the target position change

request, it automatically returns to 0.) Set a new positioning address/movement amount value during position control when the operation pattern is set to "Positioning termination".

• For the ABS control, set a target positioning

address.

• For the INC control, set a movement amount

from the positioning start address.

Pr. 6

Pr. 5

Speed limit

Pr. 6

Bias speed at

Bias speed at start"

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Default

value

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

0 55 155 255 355 455 555 655 755

56

0

57

1000 58 158 258 358 458 558 658 758

1000 59 159 259 359 459 559 659 759

0 61 161 261 361 461 561 661 761

62

0

63

Setting buffer memory address

156

256

356

456

157

257

357

457

162

262

362

462

163

263

363

463

556

557

562

563

656

657

662

663

756

757

762

763

4 - 38 4 - 38

5 SETUP AND PROCEDURES BEFORE OPERATION

MELSEC-Q

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION

This chapter describes the procedure up to the operation of the QD70D and the part identification nomenclature and setting and wiring methods of the QD70D.

5.1 Handling precautions

This section provides the precautions for handling the QD70D.

!

DANGER

Before cleaning or retightening the mounting screws, be sure to shut off all phases of the

external power supply used in the system. Failure to turn all phases OFF could lead to electric shocks.

!

CAUTION

Use the programmable controller under the environment specified in the User’s Manual of the

CPU used.

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

Do not directly touch the conductive section and 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.

Before installing or removing the module, be sure to shut off all phases of the external power

supply used in the system. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

5

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. 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 with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning.

5 - 1 5 - 1

5 SETUP AND PROCEDURES BEFORE OPERATION

5

(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 QD70D PCB from the case. Failure to observe this could lead to faults.

(2) Cable

• Do not press on the cable with a sharp object.

• Do not twist the cable with force.

• Do not forcibly pull on the cable.

• Do not step on the cable.

• Do not place objects on the cable.

• Do not damage the cable sheath.

(3) Installation environment

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

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

• Where the ambient humidity exceeds the 5 to 95%RH range.

• Where there is sudden temperature changes, or where dew condenses.

• Where there is corrosive gas or flammable gas.

• Where there are high levels of dust, conductive powder, such as iron chips, oil

mist, salt or organic solvents.

• Where the module will be subject to direct sunlight.

• Where there are strong electric fields or magnetic fields.

• Where vibration or impact could be directly applied onto the main body.

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5 - 2 5 - 2

5 SETUP AND PROCEDURES BEFORE OPERATION

5.2 Procedures before operation

MELSEC-Q

Module installation

Install the QD70D in the specified slot.

Wiring

Wire the external device to the QD70D. (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.)

This section gives the procedure up to the operation of the QD70D.

Start

Do you use

GX Configurator-PT?

Yes

No

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.)

No

Auto refresh setting

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

Do you make auto

refresh setting?

Yes

5 - 3 5 - 3

5 SETUP AND PROCEDURES BEFORE OPERATION

5.3 Part identification nomenclature

MELSEC-Q

QD70D8

(1) The following are the part names of the QD70D.

1) RUN indicator LED, ERR. indicator LED

AX5

RUN

AX6 AX7

ERR. AX8

AX5AX7 AX1AX3 AX6AX8 AX2

AX4

AX1 AX2 AX3 AX4

QD70D8

2) Axis display LED

(AX1 to AX4 only for the QD70D4)

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

1) LED

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

External device connection

3) connector

Refer to the next page.

Connector for connection of the drive unit and

mechanical system inputs.

5 - 4 5 - 4

5 SETUP AND PROCEDURES BEFORE OPERATION

(2) The LED display indicates the following operation statuses of the QD70D and

axes.

MELSEC-Q

RUN

AX5 AX6 AX7

ERR. AX8

AX1 AX2 AX3 AX4

QD70D8

Display Attention point Description Display Attention point Description

RUN

AX6 AX2 AX6 AX2

AX7 AX3 AX7 AX3

ERR. AX8 AX4

AX1 RUN AX5 AX1

AX5

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

Hardware failure.

ERR. AX8 AX4

RUN AX5 AX1 RUN AX5 AX1

AX6 AX2 AX6 AX2

AX7 AX3 AX7 AX3

RUN illuminates. ERR. is OFF.

ERR. AX8 AX4

The module operates normally.

ERR. AX8 AX4

RUN AX5 AX1 RUN AX5 AX1

AX6 AX2 AX6 AX2

AX7 AX3 AX7 AX3

ERR. AX8 AX4

ERR. illuminates.

System error.

ERR.

AX8 AX4

The symbols in the Display column indicate the following statuses:

: Turns OFF. : Illuminates. : Flashes.

(3) The interface of each QD70D is as shown below.

QD70D4 QD70D8

AX1 to AX8 are OFF.

AX1 (or other axis) illuminates.

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

The axes are stopped or on standby.

The corresponding axis is in operation.

An error occurs on the corresponding axis.

QD70D4

RUN

ERR. AX4

AX4

AX1 AX2 AX3

QD70D4 AX1AX3 AX2

QD70D8

RUN

AX5 AX6 AX7

ERR. AX8

AX5AX7 AX1AX3 AX6AX8 AX2

AX4

AX1 AX2 AX3 AX4

QD70D8

5 - 5 5 - 5

5 SETUP AND PROCEDURES BEFORE OPERATION

External device connection connector

The connectors for use with the QD70D 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 A6CON2

Soldering type, usable for straight out and

diagonal out

(b) Pressure-displacement tool

Type Model name

Pressure-

displacement

tool

FCN-363T-

T005/H

Applicable

wire size

AWG#24

MELSEC-Q

A6CON4

Contact

FUJITSU COMPORNENT LIMITED

5 - 6 5 - 6

5 SETUP AND PROCEDURES BEFORE OPERATION

5.4 Wiring

This section explains how to wire the drive unit and mechanical system inputs to the QD70D. The following are the precautions for wiring the QD70D. 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 QD70D.

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

soldering could lead to malfunctioning.

(3) Make sure that foreign matter such as cutting chips and wire scraps does not

enter the QD70D. Failure to observe this could lead to fires, faults or malfunctioning.

(4) A protective label is attached on the top of the QD70D 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 external device connection connector to the connector on the

QD70D with two screws.

(6) Do not disconnect the external wiring cable connected to the QD70D or drive unit

by pulling the cable section. When the cable has a connector, be sure to hold the connector connected to the QD70D or drive unit. Pulling the cable while it is connected to the QD70D or drive unit may lead to malfunctioning or damage of the QD70D, drive unit or cable.

(7) Do not bundle or adjacently lay the connection cable connected to the QD70D

external input/output signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. 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 QD70D absolutely must be positioned near (within 100mm)

the power line, use a general shielded cable. The shield must be grounded on the QD70D side. (Wiring examples are given on the following pages.)

MELSEC-Q

5 - 7 5 - 7

5 SETUP AND PROCEDURES BEFORE OPERATION

[Wiring example using shielded cables]

The following are the wiring examples for noise reduction when the A6CON1

Connector (A6CON1)

connector is used.

To external devices

Shielded cable

To external device

To drive unit

Connector

MELSEC-Q

Drive unit

To QD70D

The length between the connector and the shielded cables should be the shortest possible.

Use the shortest possible length to ground the 2mm or more FG wire. (The shield must be grounded on the QD70D side.)

2

[Processing example of shielded cables]

Coat the wire with insulaing tape.

Remove the covering from all shielded cables and bind the appeared shield with a conductive tape.

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

5 - 8 5 - 8

s

5 SETUP AND PROCEDURES BEFORE OPERATION

Assembling of connector (A6CON1)

Wrap the coated part with a heat contractile tube.

MELSEC-Q

5 - 9 5 - 9

5 SETUP AND PROCEDURES BEFORE OPERATION

(9) The cables connected to the QD70D should be placed in a duct or fixed. Not

doing so can cause the QD70D, 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

QD70D to the control box using the shielded cables and AD75CK cable clamping

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

(Mitsubishi Electric make).

Inside control box

QD70D

AD75CK

MELSEC-Q

[How to ground shielded cables using AD75CK]

Shield cable

Shield

Ground terminal

Ground terminal installation screw (M4 8 screw)

Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for grounding. (For details, refer to the AD75CK-type Cable Clamping Instruction Manual <IB-68682>.

5 - 10 5 - 10

Mitsubishi Electric QD70D4, QD70D8 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

REVISIONS

INTRODUCTION

CONTENTS

Using This Manual

Compliance with the EMC and Low Voltage Directives

Generic Terms and Abbreviations

Component List

CHAPTER 1 PRODUCT OUTLINE

1.1 Positioning control

1.1.1 Features of QD70D

1.1.2 Mechanism of positioning control

1.1.3 Outline design of positioning control system

1.1.4 Communicating signals between QD70D and each module

1.2 Positioning control

1.2.1 Outline of starting

1.2.2 Outline of stopping

CHAPTER 2 SYSTEM CONFIGURATION

2.1 General image of system

2.2 Component list

2.3 Applicable systems

2.4 About Use of the QD70D with the Q12PRH/Q25PRHCPU

2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station

2.6 How to check the function version and the software version

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance specifications

3.2 List of functions

3.3 Specifications of input/output signal with Programmable Controller CPU

3.3.1 List of input/output signals with programmable controller CPU

3.4 Specifications of input/output interfaces with external device

3.4.1 Electrical specifications of input/output signals

3.4.2 Signal layout for external device connection connector

3.4.3 List of input/output signal details

3.4.4 Input/output interface internal circuit

CHAPTER 4 DATA USED FOR POSITIONING CONTROL

4.1 Type of data

4.1.1 Parameters and data required for control

4.1.2 Setting items for parameters

4.1.3 Setting items for OPR data

4.1.4 Setting items for JOG data

4.1.5 Setting items for positioning data

4.1.6 Type and roles of monitor data

4.1.7 Type and roles of control data

4.2 List of parameters

4.3 List of OPR data

4.4 List of JOG data

4.5 List of positioning data

4.6 List of monitor data

4.6.1 Axis monitor data

4.6.2 Module information monitor data

4.7 List of control data

4.7.1 Axis control data

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION

5.1 Handling precautions

5.2 Procedures before operation

5.3 Part identification nomenclature

5.4 Wiring

5.4.1 Wiring precautions