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.
A - 3 A - 3
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.
© 2006 MITSUBISHI ELECTRIC CORPORATION
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.
CONTENTS
SAFETY INSTRUCTIONS.............................................................................................................................A- 1
REVISIONS ....................................................................................................................................................A- 4
INTRODUCTION............................................................................................................................................A- 5
CONTENTS....................................................................................................................................................A- 5
Using This Manual..........................................................................................................................................A- 9
Compliance with the EMC and Low Voltage Directives................................................................................A- 9
Generic Terms and Abbreviations ................................................................................................................A- 10
Component List .............................................................................................................................................A- 10
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1 PRODUCT OUTLINE 1- 1 to 1- 15
1.1 Positioning control .................................................................................................................................... 1- 1
1.1.1 Features of QD70D ........................................................................................................................... 1- 1
1.1.2 Mechanism of positioning control ..................................................................................................... 1- 3
1.1.3 Outline design of positioning control system.................................................................................... 1- 5
1.1.4 Communicating signals between QD70D and each module........................................................... 1- 9
1.2 Positioning control ................................................................................................................................... 1- 11
1.2.1 Outline of starting ............................................................................................................................. 1- 11
1.2.2 Outline of stopping ........................................................................................................................... 1- 13
2 SYSTEM CONFIGURATION 2- 1 to 2- 9
2.1 General image of system ......................................................................................................................... 2- 1
2.2 Component list ......................................................................................................................................... 2- 2
2.3 Applicable systems .................................................................................................................................. 2- 3
2.4 About Use of the QD70D with the Q12PRH/Q25PRHCPU ................................................................... 2- 6
2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station.................................................. 2- 7
2.6 How to check the function version and the software version .................................................................2- 8
3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 14
3.1 Performance specifications...................................................................................................................... 3- 1
3.2 List of functions ........................................................................................................................................ 3- 2
3.3 Specifications of input/output signal with Programmable Controller CPU .............................................3- 4
3.3.1 List of input/output signals with programmable controller CPU ....................................................... 3- 4
3.3.2 Details of input signal (QD70D
3.3.3 Details of output signals (Programmable controller CPU
3.4 Specifications of input/output interfaces with external device ................................................................ 3- 7
3.4.1 Electrical specifications of input/output signals ................................................................................ 3- 7
3.4.2 Signal layout for external device connection connector................................................................... 3- 8
3.4.3 List of input/output signal details...................................................................................................... 3- 10
3.4.4 Input/output interface internal circuit................................................................................................ 3- 12
Programmable controller CPU) ................................................. 3- 5
QD70D) ............................................. 3- 6
A - 5 A - 5
4 DATA USED FOR POSITIONING CONTROL(LIST OF BUFFER MEMORY ADDRESSES) 4- 1 to 4- 38
4.1 Type of data ............................................................................................................................................. 4- 1
4.1.1 Parameters and data required for control......................................................................................... 4- 1
4.1.2 Setting items for parameters............................................................................................................. 4- 3
4.1.3 Setting items for OPR data ............................................................................................................... 4- 4
4.1.4 Setting items for JOG data................................................................................................................ 4- 5
4.1.5 Setting items for positioning data...................................................................................................... 4- 6
4.1.6 Type and roles of monitor data ......................................................................................................... 4- 7
4.1.7 Type and roles of control data ..........................................................................................................4- 8
4.2 List of parameters .................................................................................................................................... 4- 9
4.3 List of OPR data ...................................................................................................................................... 4- 19
4.4 List of JOG data ......................................................................................................................................4- 27
4.5 List of positioning data ............................................................................................................................ 4- 28
4.6 List of monitor data.................................................................................................................................. 4- 34
4.6.1 Axis monitor data.............................................................................................................................. 4- 34
4.6.2 Module information monitor data ..................................................................................................... 4- 36
4.7 List of control data ...................................................................................................................................4- 37
4.7.1 Axis control data ...............................................................................................................................4- 37
5 SETUP AND PROCEDURES BEFORE OPERATION 5- 1 to 5- 21
5.1 Handling precautions ............................................................................................................................... 5- 1
5.2 Procedures before operation ................................................................................................................... 5- 3
5.3 Part identification nomenclature ..............................................................................................................5- 4
5.4 Wiring ....................................................................................................................................................... 5- 7
5.4.1 Wiring precautions............................................................................................................................. 5- 7
5.5 Confirming the wiring .............................................................................................................................. 5- 12
5.5.1 Confirmation items at completion of wiring ..................................................................................... 5- 12
5.6 Switch setting for intelligent function module ......................................................................................... 5- 14
5.7 Simple reciprocating operation ............................................................................................................... 5- 19
6 UTILITY PACKAGE (GX Configurator-PT) 6- 1 to 6- 19
6.1 Utility package functions .......................................................................................................................... 6- 1
6.2 Installing and Uninstalling the Utility Package ........................................................................................ 6- 2
6.2.1 Handling precautions ........................................................................................................................ 6- 2
6.2.2 Operating environment...................................................................................................................... 6- 4
6.3 Utility Package Operation ........................................................................................................................ 6- 6
6.3.1 Common utility package operations ................................................................................................. 6- 6
6.3.2 Operation overview ........................................................................................................................... 6- 8
6.3.3 Starting the Intelligent function module utility ..................................................................................6- 10
6.4 Initial setting............................................................................................................................................. 6- 12
6.5 Auto refresh setting ................................................................................................................................. 6- 14
6.6 Monitoring/test......................................................................................................................................... 6- 16
6.6.1 Monitoring/Test screen..................................................................................................................... 6- 16
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7- 1 to 7- 26
7.1 Precautions for creating program ............................................................................................................ 7- 1
7.2 List of devices used.................................................................................................................................. 7- 3
A - 6 A - 6
7.3 Creating a program ..................................................................................................................................7- 7
7.3.1 General configuration of program ..................................................................................................... 7- 7
7.3.2 Positioning control operation program.............................................................................................. 7- 8
7.4 Positioning control program examples ................................................................................................... 7- 10
7.5 Program details ....................................................................................................................................... 7- 16
7.5.1 Initialization program ........................................................................................................................7- 16
7.5.2 Start method setting program ..........................................................................................................7- 17
7.5.3 Start program.................................................................................................................................... 7- 17
7.5.4 Sub program .....................................................................................................................................7- 23
SECTION 2 CONTROL DETAILS AND SETTING
8 OPR CONTROL 8- 1 to 8- 21
8.1 Outline of OPR control ............................................................................................................................. 8- 1
8.1.1 Two types of OPR control ................................................................................................................. 8- 1
8.2 Machine OPR control ............................................................................................................................... 8- 2
8.2.1 Outline of the machine OPR operation............................................................................................. 8- 2
8.2.2 Machine OPR method....................................................................................................................... 8- 3
8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 5
8.2.4 OPR method (2): Stopper 1 .............................................................................................................. 8- 8
8.2.5 OPR method (3): Stopper 2 ............................................................................................................. 8- 10
8.2.6 OPR method (4): Stopper 3 ............................................................................................................. 8- 12
8.2.7 OPR method (5): Count 1 ................................................................................................................8- 14
8.2.8 OPR method (6): Count 2 ................................................................................................................8- 16
8.3 Fast OPR control..................................................................................................................................... 8- 18
8.3.1 Outline of the fast OPR control operation........................................................................................ 8- 18
8.4 OPR retry function................................................................................................................................... 8- 19
9 POSITIONING CONTROL 9- 1 to 9- 18
9.1 Outline of positioning controls.................................................................................................................. 9- 1
9.1.1 Data required for positioning control................................................................................................. 9- 1
9.1.2 Operation patterns of positioning controls........................................................................................ 9- 2
9.1.3 Designating the positioning address................................................................................................. 9- 8
9.1.4 Confirming the current value............................................................................................................. 9- 9
9.2 Setting the positioning data .................................................................................................................... 9- 10
9.2.1 Relation between each control and positioning data ...................................................................... 9- 10
9.2.2 1-axis linear control .......................................................................................................................... 9- 11
9.2.3 Speed-position switching control ..................................................................................................... 9- 13
9.2.4 Current value changing .................................................................................................................... 9- 16
9.3 Multiple axes simultaneous start control ................................................................................................9- 17
10 JOG OPERATION 10- 1 to 10- 6
10.1 Outline of JOG operation ..................................................................................................................... 10- 1
10.2 JOG operation execution procedure ...................................................................................................10- 3
10.3 JOG operation example .......................................................................................................................10- 4
11 SUB FUNCTIONS 11- 1 to 11- 17
11.1 Outline of sub functions ....................................................................................................................... 11- 1
A - 7 A - 7
11.2 Speed limit function.............................................................................................................................. 11- 1
11.3 Speed change function ........................................................................................................................ 11- 2
11.4 Software stroke limit function ............................................................................................................... 11- 5
11.5 Target position change function .......................................................................................................... 11- 9
11.6 Acceleration/deceleration processing function................................................................................... 11- 11
11.7 Restart function ...................................................................................................................................11- 15
12 COMMON FUNCTIONS 12- 1 to 12- 3
12.1 Outline of common functions ............................................................................................................... 12- 1
12.2 External I/O signal switching function.................................................................................................. 12- 1
12.3 External I/O signal monitor function .................................................................................................... 12- 2
13 TROUBLESHOOTING 13- 1 to 13- 16
13.1 Error and warning details ..................................................................................................................... 13- 1
13.2 List of errors ......................................................................................................................................... 13- 3
13.3 List of warnings ................................................................................................................................... 13- 13
13.4 Error check by LED indication ............................................................................................................ 13- 15
13.5 Confirming the error definitions using system monitor of GX Developer .......................................... 13- 16
APPENDIX App- 1 to App- 16
Appendix 1 External dimension drawing ...................................................................................................App- 1
Appendix 2 Operation timing and processing time in each control ..........................................................App- 2
Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
.................................................................................................................................................App- 6
Appendix 3.1 Connection example of QD70D and MR-J3Appendix 3.2 Connection example of QD70D and MR-J2/J2SAppendix 3.3 Connection example of QD70D and MR-HAppendix 3.4 Connection example of QD70D and MR-C-
Appendix 4 Comparisons with conventional positioning modules............................................................App-10
Appendix 4.1 Comparisons with type QD70P positioning module .......................................................App-10
Appendix 4.2 Comparisons with type QD75 positioning module..........................................................App-11
Appendix 5 List of buffer memory addresses ............................................................................................App-14
INDEX Index- 1 to Index- 5
A.............................................................App- 6
A .....................................................App- 7
A..............................................................App- 8
A..............................................................App- 9
A - 8 A - 8
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.
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
Microsoft
Microsoft® Windows Vista® Ultimate Operating System,
Microsoft
Generic term for the following:
Microsoft
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
A - 10 A - 10
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
1 - 1 1 - 1
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.
1 - 2 1 - 2
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
1 - 3 1 - 3
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.
1 - 4 1 - 4
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
MEMO
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
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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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 *
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
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MEMO
MELSEC-Q
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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.
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