Mitsubishi Electronics QD73A1 User Manual

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MELSEC-Q QD73A1 Positioning Module User's Manual

-QD73A1

SAFETY PRECAUTIONS

WARNING

CAUTION

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

Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user’s manual for the CPU module used.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to

serious consequences. Observe the precautions of both levels because they are important for personal and system safety.

Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

[Design Precautions]

WARNING

● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) When using a servo amplifier with Servo ON signal, connect the signal to the module. When using

a servo amplifier whose control cannot be stopped through Servo ON signal, satisfy the following.

• Analog voltage must be 0V (motor stop) to power off the programmable controller.

(2) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.

(3) OPR (Original Point Return) is controlled by two kinds of data: OPR direction and OPR speed.

Deceleration starts when the near-point dog turns on. If an incorrect OPR direction is set, motion control may continue without deceleration. To prevent machine damage caused by this, configure an interlock circuit external to the programmable controller.

● Do not write any data to the "system area" of the buffer memory in the intelligent function module. Also, do not use any "use prohibited" signal as an output signal from the CPU module to the intelligent function module. Doing so may cause malfunction of the programmable controller system.

CAUTION

● Do not install the connection cables for external I/O signals and for the drive unit together with the main circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise, surges, and induction.

[Installation Precautions]

CAUTION

● Use the programmable controller in an environment that meets the general specifications in the user’s manual for the CPU module used. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

● To mount the module, while pressing the module mounting lever located in the lower part of the module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the module until it snaps into place. Incorrect mounting may cause malfunction, failure or drop of the module. When using the programmable controller in an environment of frequent vibrations, fix the module with a screw.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the screw, short circuit or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

● Securely connect the drive unit connector and external device connector to the connector on the module. Poor contact may cause incorrect input or output.

● Do not directly touch any conductive parts and electronic components of the module. Doing so can cause malfunction or failure of the module.

● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in damage to the product.

[Wiring Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction.

● After installation and wiring, attach the included terminal cover to the module before turning it on for operation. Failure to do so may result in electric shock.

CAUTION

● Check the rated voltage and terminal layout before wiring to the module, and connect the cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause a fire or failure.

● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.

● Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.

● Connectors for external devices must be crimped with the tool specified by the manufacturer or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.

● Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or cables or malfunction due to poor contact.

● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction.

● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

[Startup and Maintenance Precautions]

WARNING

● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the connector screws. Failure to do so may result in electric shock.

CAUTION

● Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire.

● Shut off the external power supply (all phases) used in the system before mounting or removing a module. Failure to do so may cause the module to fail or malfunction.

● After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit may cause malfunction.

● Before testing operation, set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition.

● Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body. Failure to do so may cause the module to fail or malfunction.

[Precaution during operation]

CAUTION

● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

[Disposal Precaution]

CAUTION

● When disposing of this product, treat it as industrial waste.

CONDITIONS OF USE FOR THE PRODUCT

(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.

(2) The PRODUCT has been designed and manufactured for the purpose of being used in general

industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in;

• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.

• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User.

• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.

INTRODUCTION

Remark

Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers.

This manual describes the operating procedure, system configuration, parameter settings, functions, programming,

and troubleshooting of the QD73A1 positioning module (hereafter abbreviated as QD73A1).

Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the

functions and performance of the MELSEC-Q series programmable controller to handle the product correctly.

When applying the program examples introduced in this manual to an actual system, ensure the applicability and

confirm that it will not cause system control problems.

Relevant module: QD73A1

● Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y10 to X/Y2F are assigned for the QD73A1. For I/O number assignment, refer to the following manuals.

QnUCPU Users Manual (Function Explanation, Program Fundamentals)

Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals)

● Operating procedures are explained using GX Works2. When using GX Developer, refer to the following.

Page 275, Appendix 4

COMPLIANCE WITH EMC AND LOW VOLTAGE

DIRECTIVES

(1) Method of ensuring compliance

To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated

into other machinery or equipment, certain measures may be necessary. Please refer to one of the following

manuals.

• QCPU User's Manual (Hardware Design, Maintenance and Inspection)

• Safety Guidelines

(This manual is included with the CPU module or base unit.)

The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage

Directives.

(2) Additional measures

To ensure that this product maintains EMC and Low Voltage Directives, please refer to Page 64, Section 4.6.1.

RELEVANT MANUALS

(3) CPU module user's manual

Manual name

QCPU User's Manual (Hardware Design, Maintenance and

Inspection)

<SH-080483ENG, 13JR73>

QnUCPU Users Manual (Function Explanation, Program

Fundamentals)

<SH-080807ENG, 13JZ27>

Qn(H)/QnPH/QnPRHCPU User's Manual (Function

Explanation, Program Fundamentals)

<SH-080808ENG, 13JZ28>

(4) Operating manual

Manual name

GX Works2 Version1 Operating Manual (Common)

<SH-080779ENG, 13JU63>

GX Developer Version 8 Operating Manual

<SH-080373E, 13JU41>

Description

Specifications of the hardware (CPU modules, power supply modules,

base units, extension cables, and memory cards), system maintenance

and inspection, troubleshooting, and error codes

Functions, methods, and devices for programming

Description

System configuration, parameter settings, and online operations (common

to Simple project and Structured project) of GX Works2

Operating methods of GX Developer, such as programming, printing,

monitoring, and debugging

Memo

CONTENTS

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

MANUAL PAGE ORGANIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

PACKING LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CHAPTER 1 OVERVIEW 17

1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.2 Signal Transmission Between the QD73A1 and Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

CHAPTER 2 SYSTEM CONFIGURATION 21

2.1 Applicable Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.2 How to Check the Function Version and Serial Number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

CHAPTER 3 SPECIFICATIONS 25

3.1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.2 Number of Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

3.3 List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

3.4 I/O Signals from/to the CPU Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

3.4.1 I/O signal list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.4.2 Details of input signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.4.3 Details of output signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.5 Specifications of I/O Interfaces with External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

3.5.1 Electrical specifications of I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.5.2 Signal layout for external device connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.5.3 List of I/O signal details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3.5.4 I/O interface internal circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

3.6 Memory Configuration and Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

3.7 List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 54

4.1 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

4.2 Settings and Procedure Before Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

4.3 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.4 LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

4.5 Zero/gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

4.6 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.6.1 Wiring precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.6.2 Precautions when connecting an encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4.6.3 External device connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

CHAPTER 5 DATA USED FOR POSITIONING 73

5.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

5.2 Positioning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

5.3 OPR Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

5.4 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82

5.5 Monitor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

5.6 Control Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89

CHAPTER 6 VARIOUS SETTINGS 99

6.1 Adding a Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

6.2 Switch Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

6.2.1 Rotation direction setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

6.2.2 Accumulated pulse setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

6.2.3 Multiplication setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

6.2.4 OPR direction setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

6.2.5 OPR method setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

6.2.6 Encoder I/F setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

6.2.7 Analog voltage resolution setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

6.2.8 Feedback pulse addition/subtraction setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

6.2.9 Deviation counter clear setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

6.3 Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

6.4 Positioning Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

6.5 Auto Refresh. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110

CHAPTER 7 PROGRAMMING 111

7.1 Precautions on Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

7.2 Programs for Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

7.3 When Using the Module in a Standard System Configuration . . . . . . . . . . . . . . . . . . . . . . . .115

7.3.1 Parameter setting program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

7.3.2 OPR program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

7.3.3 Major positioning control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

7.3.4 Fixed-feed operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

7.3.5 JOG operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

7.3.6 Control change program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

7.3.7 Stop program during positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

7.4 When Using the Module in a Remote I/O Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142

7.4.1 Parameter setting program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

7.4.2 OPR program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

7.4.3 Major positioning control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

7.4.4 Fixed-feed operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

7.4.5 JOG operation program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

7.4.6 Control change program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

7.4.7 Stop program during positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

CHAPTER 8 OPR CONTROL 178

8.1 Overview of OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178

8.2 Near-point Dog Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179

8.3 Count Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181

8.4 Operation Timing and Processing Time of OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . .183

8.5 OPR Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

CHAPTER 9 MAJOR POSITIONING CONTROL 185

9.1 Overview of Major Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185

9.2 Data Required for Major Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186

9.3 Relation Between Each Control and Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187

9.4 Specifying a Positioning Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188

9.5 Checking the Current Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

9.6 Details of Major Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190

9.6.1 Position control mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

9.6.2 Speed-position control switch mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

9.7 Operation Timing and Processing Time of Major Positioning Control . . . . . . . . . . . . . . . . . .199

CHAPTER 10 JOG OPERATION 200

10.1 Operation of JOG Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

10.2 Operation Timing and Processing Time of JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . .206

10.3 Data Setting for JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

CHAPTER 11 CONTROL SUB FUNCTIONS 208

11.1 Electronic Gear Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

11.2 Speed Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211

11.3 Stroke Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213

11.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function . . . . . . . . . . . . . . . . . . . . . . . .215

11.5 Current Value Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217

11.6 Speed Change Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

11.7 Deviation Counter Clear Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220

11.8 In-position Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221

11.9 Accumulated Pulse Error Detection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223

11.9.1 Measuring and saving the reference value in the flash ROM . . . . . . . . . . . . . . . . . . . . . . . 225

11.9.2 Setting the accumulated pulse error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

CHAPTER 12 STOPPING AND RESTARTING CONTROL 230

12.1 Stopping Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230

12.2 Restarting the Speed-position Control Switch Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .234

CHAPTER 13 COMMON FUNCTIONS 236

13.1 Module Status Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .236

13.2 Error History Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .238

13.3 Module Error Collection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .239

13.4 Error Clear Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240

CHAPTER 14 TROUBLESHOOTING 241

14.1 Checking an Error on GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241

14.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .245

14.2.1 Troubleshooting procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

14.2.2 When the motor does not stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

14.2.3 When positioning cannot be executed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

14.2.4 When a positioning error occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

14.2.5 When the positioning speed is different from the specified speed. . . . . . . . . . . . . . . . . . . . 248

14.2.6 When operation stops abnormally during positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

14.2.7 OPR error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

14.3 Details of Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .250

14.3.1 Types of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

14.3.2 Storage of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

14.3.3 Error reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

14.3.4 Error code list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

APPENDICES 263

Appendix 1 Functions Added or Changed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .263

Appendix 1.1 Functions added . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Appendix 1.2 Functions changed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Appendix 2 Connection Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .264

Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric

Corporation

Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric

Corporation

Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70. . . . . . . . . . . . . . . . . . . . . . . . . . .267

Appendix 4 When Using GX Developer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .275

Appendix 4.1 Operation of GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Appendix 5 Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .278

Appendix 6 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .280

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

INDEX 282

REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

MANUAL PAGE ORGANIZATION

A window selected in the view selection area is displayed.

View selection area

[Online] [Write to PLC...]

Select [Online] on the menu bar, and then select [Write to PLC...].

Project window

[Parameter]

[PLC Parameter]

Select [Project] from the view selection area to open the Project window.

Menu bar

Ex.

In the Project window, expand [Parameter] and select [PLC Parameter].

In this manual, pages are organized and the symbols are used as shown below.

The following illustration is for explanation purpose only, and should not be referred to as an actual documentation.

"" is used for screen names and items.

The chapter of

shows operating procedures.

the current page is shown.

shows mouse operations.

[ ] is used for items in the menu bar and the project window.

Ex.

shows setting or operating examples.

shows reference manuals.

shows reference pages.

*1 The mouse operation example is provided below.

The section of the current page is shown.

shows notes that requires attention.

shows useful information.

The following symbols are used to represent buffer memory areas in this manual. Serial numbers fit in "*".

Pr.*

Da.*

Md.*

Cd.*

Symbol Description

Symbol indicating positioning parameter and OPR parameter item

Symbol indicating positioning data item

Symbol indicating monitor data item

Symbol indicating control data item

TERMS

Unless otherwise specified, this manual uses the following terms.

Term Description

QD73A1 The abbreviation for the QD73A1 positioning module

QCPU Another term for the MELSEC-Q series CPU module

Redundant CPU A generic term for the Q12PRHCPU and Q25PRHCPU

External input The abbreviation for input from connectors for external devices

External output The abbreviation for output to connectors for external devices

Programming tool Generic term for GX Works2 and GX Developer

GX Works2

GX Developer

Buffer memory

For terms related to positioning, refer to the following.

Page 278, Appendix 5

The product name of the software package for the MELSEC programmable

controllers

The memory of an intelligent function module used to store data (such as setting

values and monitored values) for communication with a CPU module

PACKING LIST

The product package contains the following.

Model Product Quantity

QD73A1 QD73A1 positioning module 1

QD73A1-U-HW Before Using the Product 1

CHAPTER 1 OVERVIEW

Electronic

gear

Deviation

counter

D/A

converter

Multiplication

Servo

amplifier

Setting

data

Sequence

program

Command

pulses

Interface

CPU module

Parameter data Positioning data OPR parameters

Data writing/reading

Positioning module QD73A1

Analog voltage

Speed

command

Drive unit Servomotor

Feedback pulses

PLG

Current

value

Feedback pulses from the pulse generator (PLG) may be input to the QD73A1 via the drive unit

or directly*2 depending on the servomotor to be used. Check which method applies in the manual for the servomotor or drive unit to be used.

Feedback pulse

addition/

subtraction setting

CHAPTER 1 OVERVIEW

The QD73A1 possesses a deviation counter and D/A converter inside as in the following figure.

A system with the QD73A1 operates as follows.

Once a command pulse train for positioning is output, pulses are accumulated in the deviation counter. The

Start

Operation

Stop

integrated value of pulses (accumulated pulses) is converted into DC analog voltage by a D/A converter, then

turns into a speed command to a servomotor. The speed command from a drive unit starts servomotor rotation.

Once the servomotor starts rotating, feedback pulses that are proportional to the number of rotations are

generated by a pulse generator (PLG) attached to the servomotor. The generated feedback pulses are

subtracted from the accumulated pulses in the deviation counter. The deviation counter continues to rotate the

servomotor, maintaining a constant amount of accumulated pulse.

Once the command pulse output from the QD73A1 stops, the accumulated pulses in the deviation counter

decrease, so does the speed. When there is no more accumulated pulse, the servomotor stops.

The rotation speed of a servomotor is proportional to command pulse frequency, while the rotation degree of the

servomotor is proportional to the output command pulse amount. By setting feed per pulse beforehand, analog voltage

that is proportional to the number of pulses in a pulse train is output, and a workpiece can be moved to the set position.

Note that pulse frequency defines the rotation speed of the servomotor (feedrate).

1.1 Features

(1) Analog output type that possesses a deviation counter and D/A converter

inside

This module converts command pulse for positioning into analog voltage inside, then outputs a speed command

to a servo amplifier.

(2) Compatible with analog input servo amplifiers

A servo amplifier does not require an extra module to convert pulse input into analog voltage; a standard servo

amplifier can be used.

(3) Servomotor control using a high-resolution encoder

This module handles up to 1Mpulse/s of pulse input from an encoder. Servomotor control that uses high-speed

input pulse signals from a high-resolution encoder improves the accuracy of positioning.

(4) Four types of positioning method

The following control can be executed.

• Position control mode: positioning control and two-phase trapezoidal positioning control

• Speed-position control switch mode: speed-position control switchover and speed control

(5) Zero/gain adjustment through a sequence program

Zero/gain adjustment can be performed through a sequence program. Therefore, the adjustment can be

performed without using a switch or checking a LED, saving man-hour.

(Note that zero/gain adjustment can also be performed using switches on the front of the QD73A1.)

(6) Easy setting with GX works2

Sequence programming is reduced since initial settings and the auto refresh setting can be configured on the

screen. In addition, the setting status and operating status of the module can be checked easily.

CHAPTER 1 OVERVIEW

Y2D

X11

X12

Y20

X20

X13

Y21 to Y23

X21 to X23

X14

X15

Y2C

Y24, Y25

Y26

Y27

X18

Y28

X19

Y29

X1A

Y2A

X16

X17

X1C

X1D

X1E, X1F

X1B

X10

X24

Y1A

X2A

Y1B

X2B

Y1C

X2C

X2D

Interface with

the CPU

module

External

interface

External

control

signals

PLG

Drive unit

PLC READY signal

QD73A1 READY signal

OPR request signal

OPR start signal

OPR start complete signal

OPR complete signal

Positioning start signal

Positioning start complete signal

BUSY signal

Positioning complete signal

Speed-position switching enable signal

JOG start signal

Speed-position mode restart signal

Stop signal

Error detection signal

Error reset signal

Overflow signal

Overflow reset signal

Underflow signal

Underflow reset signal

In-position signal

Excessive error signal

Near-point dog signal

External stop signal

Upper limit signal/Lower limit signal

Servo READY signal

WDT error, H/W error signal

Synchronization flag

Zero/gain adjustment data

writing request signal

Zero/gain adjustment data

writing complete flag

Zero/gain adjustment change request signal

Zero/gain adjustment change complete flag

Set value change request signal

Set value change complete flag

Operating status of the speed-position

control switch mode

Stop signal (STOP)

Near-point dog signal (DOG)

Upper limit signal (FLS)

Lower limit signal (RLS)

Speed-position switching command signal

(CHANGE)

Phase-Z pulse (Zero signal)

Phase-A pulse

Phase-B pulse

Servo READY signal (READY)

Servo ON signal (SVON)

CPU module

QD73A1

Analog voltage

Data writing/reading

1.2 Signal Transmission Between the QD73A1 and Others

The following figure shows signal transmission between the QD73A1 and a CPU module, and a drive unit.

1.2 Signal Transmission Between the QD73A1 and Others

(1) Between the CPU module and the QD73A1

The CPU module and the QD73A1 transmit control signals and data to each other through the base unit.

Transmitted item Description Reference

Control signal

Data

Signals that indicate the QD73A1's status or

are related to commands are transmitted.

Data is written to or read from the buffer

memory in the QD73A1 by application

instructions of the CPU module.

Page 30, Section 3.4

Page 73, CHAPTER 5

(2) Between the drive unit and the QD73A1

Control signals are transmitted between the drive unit and the QD73A1, and speed commands (analog voltage)

are output from the QD73A1 to the drive unit.

For details, refer to the following.

Page 40, Section 3.5

CHAPTER 2 SYSTEM CONFIGURATION

This chapter describes the system configuration of the QD73A1.

2.1 Applicable Systems

This section describes applicable systems.

(1) Applicable modules and base units, and number of mountable modules

For the applicable CPU modules and base units, and the number of mountable modules, refer to the user’s

manual for the CPU module used.

Note the following when mounting modules with the CPU module.

• The power supply capacity may become insufficient depending on the combination with other modules or the

number of mounted modules.

Select the power supply capacity according to the modules to be used.

If the power supply capacity is insufficient, change the combination of the modules.

• Mount the modules within the number of I/O points range of the CPU module.

Modules can be mounted on any slot within the number of available slots.

(a) When mounted on MELSECNET/H remote I/O station

For an applicable MELSECNET/H remote I/O station and base units, and the number of mountable modules,

refer to the Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network).

2.1 Applicable Systems

(2) Multiple CPU system

The function version of the first released QD73A1 is B, and the module supports multiple CPU systems.

When using the QD73A1 in a multiple CPU system, refer to the following.

QCPU User's Manual (Multiple CPU System)

(a) Intelligent function module parameters

Write intelligent function module parameters to only the control CPU of the QD73A1.

(3) Online module change

The QD73A1 does not support online module change.

(4) Applicable software packages

The following table lists systems that use the QD73A1 and applicable software packages.

A programming tool is required to use the QD73A1.

Item

GX Developer

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/Q12H/Q25HCPU

Q02PH/Q06PHCPU

Q12PH/Q25PHCPU

Q12PRH/Q25PRHCPU Redundant system Version 8.45X or later

Q00UJ/Q00U/Q01UCPU

Q02U/Q03UD/Q04UDH/Q06UDHCPU

Q10UDH/Q20UDHCPU

Q13UDH/Q26UDHCPU

Q03UDE/Q04UDEH/Q06UDEH/Q13UDEH/Q26 UDEHCPU

Q10UDEH/Q20UDEHCPU

CPU modules other than the above

When mounted on 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

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Single CPU system

Multiple CPU system

Version 8.68W or later

Version 7.10L or later

Version 8.76E or later

Version 8.48A or later

Version 8.76E or later

Version 8.62Q or later

Version 8.68W or later

Version 8.76E or later

N/A

Software version

GX Works2

Refer to the GX Works2

Version 1 Operating Manual

(Common).

*1 When using GX Developer, configure the initial settings and auto refresh settings with the sequence program.

PROGRAMMING ( Page 111, CHAPTER 7)

CHAPTER 2 SYSTEM CONFIGURATION

14041000000000-B

Relevant regulation standards

Function version

Serial number (first five digits)

2.2 How to Check the Function Version and Serial Number

The function version and serial number of the QD73A1 can be checked on the rating plate, front part of the module, or

system monitor of the programming tool.

(1) Checking on the rating plate

The rating plate is on the side of the QD73A1.

(2) Checking on the front part (bottom part) of the module

The function version and serial number on the rating plate are also shown on the front part (bottom part) of the

module.

140410000000000-B

Serial No. Function version

2.2 How to Check the Function Version and Serial Number

(3) Checking on the system monitor

The function version and serial number can be checked on the "Product Information List" window.

[Diagnostics] [System Monitor...] button

● The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front part of the module.

• The serial number on the rating plate and front part of the module indicates the management information of the product.

• The serial number displayed on the product information list of a programming tool indicates the function information of the product. The function information of the product is updated when a new function is added.

CHAPTER 3 SPECIFICATIONS

This chapter describes performance specifications, I/O signals from/to the CPU module, and buffer memory

specifications of the QD73A1.

For general specifications of the QD73A1, refer to the following.

QCPU User's Manual (Hardware Design, Maintenance and Inspection)

3.1 Performance Specifications

The following table lists performance specifications of the QD73A1.

Item Specifications

Number of occupied I/O points 48 points (I/O assignment: empty 16 points and intelligent 32 points)

Number of control axes 1 axis

Positioning data

Positioning

Speed command output 0 to ±10VDC (Adjustable to set in the range of ±5 to ±10VDC)

Positioning feedback

pulse input

OPR control

JOG operation JOG operation can be started by inputting a JOG start signal.

M function None

Internal current consumption (5VDC) 0.52A

External supply voltage/current terminal block No external power supply

External dimensions 98(H)mm × 55.2(W)mm × 90(D)mm

Weight 0.20kg

Starting time

(from a start request to analog output start)

Capacity 1 data

Setting method Sequence program

Mode

Position control mode: Selectable from absolute system or incremental

System

Speed-position control switch mode: Incremental system

Position command -2147483648 to 2147483647 (pulse) (signed 32-bit binary)

Speed command 1 to 4000000 (pulse/s)

Acceleration Automatic trapezoidal acceleration/deceleration

Automatic

acceleration/deceleration time

In-position range 1 to 20479 (pulse)

Backlash compensation None

Error correction function None

Pulse frequency

Connectable encoder type Open collector, TTL, or differential output

Multiplication setting The number of input feedback pulses can be multiplied by 4, 2, 1, or 1/2.

An OPR method and OPR direction can be set with the switch setting.

Absolute system: 1.2ms (same for two-phase trapezoidal positioning)

Incremental system: 1.2ms (same for two-phase trapezoidal positioning)

Position control mode

Speed-position control switch mode

system

Acceleration time: 2 to 9999 (ms)

Deceleration time: 2 to 9999 (ms)

Open collector: 200kpulse/s

TTL: 200kpulse/s

Differential output: 1Mpulse/s

With OP address change

JOG operation: 1.2ms

OPR (near-point dog method): 1.2ms

OPR (count method): 1.2ms

3.1 Performance Specifications

3.2 Number of Parameter Settings

Set initial settings and auto refresh settings of the QD73A1 so that the number of parameters, including those of other

intelligent function modules, does not exceed the number of parameters that can be set in the CPU module.

For the maximum number of parameters that can be set in the CPU module, refer to the following.

QCPU User's Manual (Hardware Design, Maintenance and Inspection)

(1) Number of QD73A1 parameters

For a QD73A1, the following number of parameters can be set.

Initial setting Auto refresh setting

(2) Checking method

The maximum number of parameter settings and the number of parameter settings set for the intelligent function

module can be checked on the following.

Project window [Intelligent Function Module] Right-click

[Intelligent Function Module Parameter List...]

1) 2) 3) 4)

No. Description

1) The total number of parameters in initial settings checked on the window

2) The maximum number of parameter settings in initial settings

3) The total number of parameters in the auto refresh setting checked on the window

4) The maximum number of parameter settings in the auto refresh setting

3.3 List of Functions

Da.4

Da.5

Pr.5

This section introduces the functions of the QD73A1.

(1) Main functions

Major positioning functions are as follows.

Item Description Reference

A workpiece is returned to an original point following an OPR start

OPR control

Major

positioning

control

JOG operation

Positioning

control Position

control

mode

Speed-position control switch

mode

Two-phase

trapezoidal

positioning

control

command, and the current value is corrected as an OP address after the

completion of OPR.

Positioning is executed from the current position to a specified position at

a specified speed.

Positioning is executed to the address specified with " Positioning

address P1" at " Positioning speed V1", then to the address

specified with " Positioning address P2" at " Positioning

speed V2" by one positioning start signal.

Operation starts according to the positioning speed set beforehand by

one positioning start signal, then the operation switches to position

control by Speed-position switching command signal (CHANGE).

If the operation stopped by Stop signal after the input of Speed-position

switching command signal (CHANGE), the positioning can be continued

by requesting a restart.

In addition, the positioning address (movement amount) can be changed

if it is before the input of Speed-position switching command signal

(CHANGE).

Positioning is executed in the specified direction at specified speed while

a JOG operation command is on. Turning on the signal starts operation

at a specified speed and speed control operation can be continued until a

stop signal is input.

Da.3

CHAPTER 3 SPECIFICATIONS

Page 178,

CHAPTER 8

Page 191,

Section 9.6.1

(1)

Da.2

Page 192,

Section 9.6.1

(2)

Page 195,

Section 9.6.2

Page 200,

CHAPTER 10

3.3 List of Functions

(2) Sub functions

Sub functions compensate or limit control, or add functions at the execution of major positioning functions.

Functions to

compensate

control

Functions to limit

control

Item Description Reference

Electronic gear function

Speed limit function

Stroke limit function

Upper limit switch

(FLS)/lower limit switch

(RLS) function

This function controls moving distance and speed by

multiplying command pulse output of the QD73A1.

This function limits command speed to the value set in

" Speed limit value".

This function controls operation not to execute positioning

when a command that moves the workpiece outside the

specified stroke limit range is given.

This function decelerates and stops operation according to the

detection on limit switches placed at the upper and lower

stroke limits.

Page 209, Section 11.1

Page 211, Section 11.2

Page 213, Section 11.3

Page 215, Section 11.4

Functions to

change control

details

Other functions

Item Description Reference

Current value change

function

Speed change function

Deviation counter clear

function

In-position function

Multiplication setting

Accumulated pulse error

detection function

This function changes the value set in " Current feed

value" to a specified value.

This function changes speed during major positioning control

or JOG operation.

This function clears the accumulated pulses in the deviation

counter. When the servomotor power was turned off due to an

emergency stop during positioning, clearing the accumulated

pulses in the deviation counter prevents servomotor rotation

at power recovery.

This function turns on In-position signal (X16) while the

accumulated pulse amount in the deviation counter is within

the specified in-position range (1 to 20479pulse). In-position

signal (X16) can be used as the signal right before positioning

completion.

This function multiplies the feedback pulse frequency from the

pulse generator by 4, 2, 1, or 1/2.

This function outputs an alert and immediately stops the

positioning when the accumulated pulses reached the amount

specified by the user before the pulses exceed the amount set

in "Accumulated pulse setting" in the switch setting and an

excessive error occurs.

Md.1

Page 217, Section 11.5

Page 218, Section 11.6

Page 220, Section 11.7

Page 221, Section 11.8

Page 104, Section 6.2.3

Page 223, Section 11.9

(3) Common functions

Common functions can be used regardless of control method when necessary.

Item Description Reference

Zero/gain adjustment This function adjusts analog output voltage. Page 59, Section 4.5

This function monitors the module information, switch setting

Module status monitor function

Error history function

Module error collection function

Error clear function This function allows the user to clear errors on the system monitor.

information, and external I/O signal information. The module's

detailed information can be displayed on the system monitor of GX

Works2.

This function monitors the QD73A1's error history stored in the

buffer memory.

This function reports errors that occurred in the QD73A1 to the CPU

module. The error information is held in the CPU module memory as

a module error history.

Page 236, Section

13.1

Page 238, Section

13.2

Page 239, Section

13.3

Page 240, Section

13.4

(4) Combination of main function and sub function

: Always used together, : Can be used together, ×: Cannot be used together

Functions to

compensate

control

Item

Functions to limit

control

CHAPTER 3 SPECIFICATIONS

Functions to change

control details

Other functions

Electronic gear function

OPR control ×××

Position

Major positioning control

JOG operation ××

control mode

Speed-position control switch mode

Positioning control × ×

Two-phase trapezoidal positioning control

Speed limit function

Stroke limit function

Upper limit switch (FLS)/

Current value change function

lower limit switch (RLS) function

××

Speed change function

Deviation counter clear function

In-position function

Multiplication setting

detection function

Accumulated pulse error

3.3 List of Functions

3.4 I/O Signals from/to the CPU Module

This section describes I/O signals of the QD73A1.

3.4.1 I/O signal list

This section describes I/O signal assignment and use of each signal.

The first half of the I/O assignment is empty 16 points, and the second half is intelligent 32 points. When the module is

mounted on the slot No.0 and 1 of a main base unit, the device No.Xn0 becomes X10. Although, when the slot No.0 is

set as empty 0 point in the I/O assignment setting of GX Works2, the device No.Xn0 becomes X0 (n=0).

Device numbers used in this manual are for the case when the QD73A1 is mounted on the slot No.0 and 1 and when

the slot No.0 is empty 16 points.

(1) Input signal list

Input signal (CPU module  QD73A1) Input signal (CPU module  QD73A1)

Device No. Signal name Device No. Signal name

X10 WDT error, H/W error signal X20 OPR start complete signal

X11 QD73A1 READY signal X21 Absolute positioning start complete signal

X12 OPR request signal X22 Forward start complete signal

X13 OPR complete signal X23 Reverse start complete signal

X14 BUSY signal X24 Synchronization flag

X15 Positioning complete signal X25

X16 In-position signal X26

X17 Excessive error signal X27

X18 Error detection signal X28

X19 Overflow signal X29

X1A Underflow signal X2A

X1B Servo READY signal X2B Zero/gain adjustment change complete flag

X1C Near-point dog signal X2C Set value change complete flag

X1D External stop signal X2D

X1E Upper limit signal X2E

X1F Lower limit signal X2F

Use prohibited

Zero/gain adjustment data writing complete

flag

Operating status of the speed-position

control switch mode

Use prohibited

If a "Use prohibited" area is turned on/off through a sequence program, the QD73A1's function cannot be guaranteed.

CHAPTER 3 SPECIFICATIONS

(2) Output signal list

Output signal (CPU module  QD73A1) Output signal (CPU module  QD73A1)

Device No. Signal name Device No. Signal name

Y10

Y11 Y21 Absolute positioning start signal

Y12 Y22 Forward start signal

Y13 Y23 Reverse start signal

Y14 Y24 Forward JOG start signal

Y15 Y25 Reverse JOG start signal

Y16 Y26 Speed-position mode restart signal

Y17 Y27 Stop signal

Y18 Y28 Error reset signal

Y19 Y29 Overflow reset signal

Y1A

Y1B

Y1C Set value change request signal Y2C Speed-position switching enable signal

Y1D

Y1E Y2E

Y1F Y2F

Use prohibited

Zero/gain adjustment data writing request

signal

Zero/gain adjustment change request

signal

Use prohibited

Y20 OPR start signal

Y2A Underflow reset signal

Y2B Use prohibited

Y2D PLC READY signal

Use prohibited

If a "Use prohibited" area is turned on/off through a sequence program, the QD73A1's function cannot be guaranteed.

3.4.1 I/O signal list

3.4 I/O Signals from/to the CPU Module

3.4.2 Details of input signals

PLC READY signal (Y2D)

QD73A1 READY signal (X11)

OFF

Executed by the QD73A1

(1) WDT error, H/W error signal (X10)

This signal turns on when a watchdog timer error is detected through the self-diagnostic function of the QD73A1.

In this case, Servo ON signal (SVON) turns off and analog output becomes 0.

(2) QD73A1 READY signal (X11)

When PLC READY signal (Y2D) is turned on through a sequence program, fixed parameters are checked and

this signal turns on.

When PLC READY signal (Y2D) is turned off, this signal turns off.

Use this signal as an interlock in sequence programs.

(3) OPR request signal (X12)

This signal turns on at any of the following timing.

• When the power is turned on

• When the CPU module was reset

• When OPR starts

• When Servo READY signal (READY) turns off while BUSY signal (X14) is on

• When Servo READY signal (READY) turns off while BUSY signal (X14) is off

(only when "0: Clear the deviation counter when the servo ready signal is OFF." is selected for "Deviation

counter clear setting" in the switch setting)

This signal turns off when OPR is completed.

When PLC READY signal (Y2D) is turned on (rising edge), this signal does not turn on.

(4) OPR complete signal (X13)

This signal turns on when OPR is completed.

This signal does not turn on if operation stopped during OPR.

This signal turns off when JOG operation or major positioning control is started.

In the count method, this signal turns off when OPR starts.

This signal turns off when Servo READY signal (READY) turns off (only when "0: Clear the deviation counter

when the servo ready signal is OFF." is selected for "Deviation counter clear setting" in the switch setting)

(5) BUSY signal (X14)

This signal turns on when major positioning control, JOG operation, or OPR starts.

This signal turns off when command pulse output is completed.

If positioning is started while BUSY signal (X14) is on, the error "BUSY signal ON at start" (error code: 81) occurs.

CHAPTER 3 SPECIFICATIONS

Pr.8

Md.2

Md.1

Excessive error signal (X17)

PLC READY signal (Y2D)

OFF

Executed by the QD73A1

(6) Positioning complete signal (X15)

This signal turns on when major positioning control is completed (completion of command pulse output).

This signal turns off when the next positioning (major positioning control, OPR, or JOG operation) starts.

If major positioning control was cancelled during its operation, this signal does not turn on.

For the operation in case of cancellation of major positioning control, refer to the following.

Page 230, Section 12.1

(7) In-position signal (X16)

This signal turns on while the accumulated pulse amount in the deviation counter is within the set range of

" In-position range" (1 to

This signal turns off when positioning starts.

Accumulated pulses

±20479) after deceleration started.

In-position set values

In-position signal

(X16)

Accumulated pulse amount are checked being compared with " In-position range" at the following timing.

OFF

A: In-position range

Pr.8

• When the power is turned on

• When automatic deceleration starts in positioning, and thereafter

• When a JOG start signal was turned off and deceleration starts in JOG operation, and thereafter

• When the near-point dog turned on and deceleration to the creep speed starts in OPR, and thereafter

(8) Excessive error signal (X17)

This signal turns on when accumulated pulse amount exceeds the accumulated pulse setting range.

In this case, the QD73A1's status is as follows.

• Analog output voltage: 0V

• Accumulated pulse: Reset to 0

• Servo ON signal (SVON): OFF

• Actual current value = Current feed value

When PLC READY signal (Y2D) is turned on, this signal turns off.

3.4 I/O Signals from/to the CPU Module

3.4.2 Details of input signals

Even if this signal turns on, Error detection signal (X18) does not turn on.

For the accumulated pulse setting range, refer to the following.

Page 102, Section 6.2.2

(9) Error detection signal (X18)

Error detection signal (X18)

Error reset signal (Y28)

OFF

Executed by the QD73A1

Md.1

Overflow signal (X19)

Overflow reset signal (Y29)

OFF

Executed by the QD73A1

Md.1

When a major or minor error occurs, the corresponding error code is stored in the buffer memory, and this signal

turns on.

When Error reset signal (Y28) is turned on, this signal turns off.

(10)Overflow signal (X19)

This signal turns on when " Current feed value" exceeds 2147483647.

When Overflow reset signal (Y29) is turned on, this signal turns off.

In case of an overflow, " Current feed value" changes as follows: 2147483647 -2147483648

(11)Underflow signal (X1A)

This signal turns on when " Current feed value" becomes less than -2147483648.

When Underflow reset signal (Y2A) is turned on, this signal turns off.

Underflow reset signal (Y2A)

In case of an underflow, " Current feed value" changes as follows: -2147483648  2147483647

Md.1

Underflow signal (X1A)

OFF

Executed by the QD73A1

(12)Servo READY signal (X1B)

This signal indicates the on/off status of Servo READY signal (READY).

(13)Near-point dog signal (X1C)

This signal indicates the on/off status of Near-point dog signal (DOG).

(14)External stop signal (X1D)

This signal indicates the on/off status of Stop signal (STOP).

(15)Upper limit signal (X1E)

(16)Lower limit signal (X1F)

This signal indicates the on/off status of Upper limit signal (FLS).

This signal indicates the on/off status of Lower limit signal (RLS).

CHAPTER 3 SPECIFICATIONS

(17)OPR start complete signal (X20)

This signal turns on when OPR process starts after OPR start signal (Y20) was turned on.

When OPR start signal (Y20) is turned off after the start of OPR, this signal turns off.

(18)Absolute positioning start complete signal (X21)

This signal turns on when positioning process starts after Absolute positioning start signal (Y21) was turned on.

When Absolute positioning start signal (Y21) is turned off after the start of the positioning, this signal turns off.

(19)Forward start complete signal (X22)

This signal turns on when positioning process starts after Forward start signal (Y22) was turned on.

When Forward start signal (Y22) is turned off after the start of the positioning, this signal turns off.

(20)Reverse start complete signal (X23)

This signal turns on when positioning process starts after Reverse start signal (Y23) was turned on.

When Reverse start signal (Y23) is turned off after the start of the positioning, this signal turns off.

(21)Synchronization flag (X24)

This signal turns on when the CPU module becomes accessible to the QD73A1 after the power was turned off

then on, or after the CPU module was reset.

When the module synchronization setting of the CPU module is set to asynchronous, use this signal as an

interlock to access the QD73A1 from a sequence program.

(22)Zero/gain adjustment data writing complete flag (X2A)

This signal turns on when zero/gain adjustment value writing to the QD73A1 is completed after Zero/gain

adjustment data writing request signal (Y1A) was turned on.

When Zero/gain adjustment data writing request signal (Y1A) is turned off, this signal turns off.

Zero/gain adjustment data

writing complete flag (X2A)

Zero/gain adjustment data

writing request signal (Y1A)

Use this signal as an interlock condition to turn on/off Zero/gain adjustment data writing request signal (Y1A)

when writing the zero/gain adjustment value to the QD73A1.

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

OFF

Executed in a sequence program Executed by the QD73A1

3.4 I/O Signals from/to the CPU Module

3.4.2 Details of input signals

(23)Zero/gain adjustment change complete flag (X2B)

Zero/gain adjustment change

complete flag (X2B)

Zero/gain adjustment change

request signal (Y1B)

OFF

Zero/gain adjustment

specification

Executed in a sequence program Executed by the QD73A1

Cd.10

This signal turns on when zero adjustment and gain adjustment were switched after Zero/gain adjustment

change request signal (Y1B) was turned on.

When Zero/gain adjustment change request signal (Y1B) is turned off, this signal turns off.

Use this signal as an interlock condition to turn on/off Zero/gain adjustment change request signal (Y1B) when

changing " Zero/gain adjustment specification".

Cd.10

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

(24)Set value change complete flag (X2C)

This signal turns on when the analog output value of zero/gain adjustment was changed after Set value change

request signal (Y1C) was turned on.

When Set value change request signal (Y1C) is turned off, this signal turns off.

Set value change complete flag

(X2C)

Set value change request signal

(Y1C)

OFF

Executed in a sequence program Executed by the QD73A1

Use this signal as an interlock condition to turn on/off Set value change request signal (Y1C) when performing

zero/gain adjustment.

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

(25)Operating status of the speed-position control switch mode (X2D)

This signal indicates the operating status in the speed-position control switch mode.

This signal is on during speed control.

This signal is off during position control.

3.4.3 Details of output signals

Cd.11

(1) Zero/gain adjustment data writing request signal (Y1A)

Turn on this signal to write the zero/gain adjustment value to the QD73A1.

For the on/off timing of this signal, refer to the detail of Zero/gain adjustment data writing complete flag (X2A).

( Page 35, Section 3.4.2 (22))

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

(2) Zero/gain adjustment change request signal (Y1B)

Turn on this signal to change zero adjustment and gain adjustment.

For the on/off timing of this signal, refer to the detail of Zero/gain adjustment change complete flag (X2B).

( Page 36, Section 3.4.2 (23))

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

CHAPTER 3 SPECIFICATIONS

(3) Set value change request signal (Y1C)

Turn on/off this signal to increase/decrease the analog output value at zero/gain adjustment.

The analog output is increased/decreased according to the value set in " Zero/gain adjustment value

specification".

For the on/off timing of this signal, refer to the detail of Set value change complete flag (X2C). ( Page 36,

Section 3.4.2 (24))

For details on zero/gain adjustment, refer to the following.

Page 59, Section 4.5

(4) OPR start signal (Y20)

Turn on this signal to start OPR.

(5) Absolute positioning start signal (Y21)

Turn on this signal to start absolute system positioning (position control mode).

(6) Forward start signal (Y22)

Turn on this signal to start positioning in the address increasing direction.

The following table describes the consequence of turning on this signal for each type of positioning (major

positioning control).

3.4 I/O Signals from/to the CPU Module

3.4.3 Details of output signals

Major positioning control Consequence of turning on Forward start signal (Y22)

Positioning control

Position control mode

Speed-position control switch mode Starts in the address increasing direction

Two-phase trapezoidal

positioning control

Starts in the address increasing direction (incremental system)

(7) Reverse start signal (Y23)

Md.3

Md.4

Turn on this signal to start positioning in the address decreasing direction.

The following table describes the consequence of turning on this signal for each type of positioning (major

positioning control).

Major positioning control Consequence of turning on Reverse start signal (Y23)

Positioning control

Position control mode

Speed-position control switch mode Starts in the address decreasing direction

Two-phase trapezoidal

positioning control

Starts in the address decreasing direction (incremental system)

(8) Forward JOG start signal (Y24)

Turn on this signal to start JOG operation in the address increasing direction.

The JOG operation continues while this signal is on.

The JOG operation decelerates and stops when this signal is turned off.

(9) Reverse JOG start signal (Y25)

Turn on this signal to start JOG operation in the address decreasing direction.

The JOG operation continues while this signal is on.

The JOG operation decelerates and stops when this signal is turned off.

(10)Speed-position mode restart signal (Y26)

Turn on this signal to restart positioning if it stopped due to Stop signal in the speed-position control switch mode.

(11)Stop signal (Y27)

Turn on this signal to decelerate and stop OPR operation, major positioning operation, or JOG operation.

If this signal is turned on during OPR, Error detection signal (X18) turns on.

(12)Error reset signal (Y28)

Turn on this signal to clear the following buffer memory data to 0 when Error detection signal (X18) is on.

• Error code (ERR.1)

• Error code (ERR.2)

When this signal is turned on, Error detection signal (X18) turns off.

(13)Overflow reset signal (Y29)

Turn on this signal to turn off Overflow signal (X19) when it is on.

For the on/off timing of this signal, refer to the detail of Overflow signal (X19). ( Page 34, Section 3.4.2 (10))

CHAPTER 3 SPECIFICATIONS

(14)Underflow reset signal (Y2A)

Turn on this signal to turn off Underflow signal (X1A) when it is on.

For the on/off timing of this signal, refer to the detail of Underflow signal (X1A). ( Page 34, Section 3.4.2 (11))

(15)Speed-position switching enable signal (Y2C)

Use this signal to enable/disable Speed-position switching command signal (CHANGE) in the speed-position

control switch mode.

Turn on this signal to enable Speed-position switching command signal (CHANGE). Turn off this signal to disable

Speed-position switching command signal (CHANGE).

(16)PLC READY signal (Y2D)

This signal notifies the QD73A1 that the CPU module is operating normally.

This signal needs to be turned on beforehand to start OPR, major positioning, or JOG operation.

This signal needs to be turned off beforehand to write fixed parameters and OPR parameters.

When this signal is turned on, the QD73A1 performs the following.

• 1: Checking fixed parameters

• 2: Turning on QD73A1 READY signal (X11)

• 3: Turning off Excessive error signal (X17) when it is on

When this signal is turned off while BUSY signal (X14) is on, the QD73A1 processes a deceleration stop.

When this signal is turned on while BUSY signal (X14) is on, the QD73A1 does not perform the operations 1 to 3

above.

Deceleration followed by PLC READY signal (Y2D) OFF

Even when PLC READY signal (Y2D) is turned on, the operations 1 to 3 are not performed.

3.4 I/O Signals from/to the CPU Module

3.4.3 Details of output signals

PLC READY signal (Y2D)

QD73A1 READY signal (X11)

BUSY signal (X14)

OFF

Executed by the QD73A1

3.5 Specifications of I/O Interfaces with External Devices

5 s or more

2.5 s

or more

2.5 s

or more

1 s or more

0.5 s

or more

0.5 s

or more

This section describes I/O interfaces between the QD73A1 and external devices.

3.5.1 Electrical specifications of I/O signals

This section describes electrical specifications of I/O interfaces between the QD73A1 and external devices.

(1) Input specifications

Signal name

Supply power Input common

Servo READY signal (READY)

Stop signal (STOP)

Near-point dog signal (DOG)

Upper limit signal (FLS)

Lower limit signal (RLS)

Speed-position switching command

signal (CHANGE)

(Open collector method)

Phase-A feedback pulse (PULSE A)

Phase-B feedback pulse (PULSE B)

Phase-Z feedback pulse (PULSE Z)

(TTL method)

Phase-A feedback pulse (PULSE A)

Phase-B feedback pulse (PULSE B)

Phase-Z feedback pulse (PULSE Z)

(Differential output method)

Phase-A feedback pulse (PULSE A)

Phase-B feedback pulse (PULSE B)

Phase-Z feedback pulse (PULSE Z)

Volta ge

range/Current

consumption

5 to 24VDC/

Max.60mA

4.75 to 26.4VDC

10.8 to 14VDC

4.5 to 5.5VDC



voltage



3V or

higher

4V or

higher

2.8V or

higher

EIA standard

RS-422-A differential line receiver

(Equivalent of AM26LS32 (Manufactured by Texas

Instruments Inc.))

current

2.5mA or

higher

2.7mA or

higher



OFF

voltage

1V or lower

0.8V or

lower

OFF

current

0.1mA or

lower

0.1mA or

lower



Pulse

frequency



200kpulse/s or

less

200kpulse/s or

less

1Mpulse/s or

less

*1 The following table shows the pulse width and phase difference depending on pulse frequency.

Pulse frequency Pulse width (duty ratio: 50%) Phase difference

Phase A

200kpulse/s or less

Phase B

Phase A

1Mpulse/s or less

Phase B

1.25 s or more

0.25 s or more

When the phase A leads the

phase B, the positioning

address (current value)

increases.

(2) Output specifications

Signal name

Servo ON signal (SVON)  Open collector

Speed command signal

(analog signal)

*1 The load current of Servo ON signal (SVON) is 30mA at the maximum. When using a miniature relay, take the load

current into consideration.

Analog output

voltage/current

0 to ±10VDC/10mA 

Output method

Load

voltage

4.75 to

26.4VDC

Load

current

Max.30mA

CHAPTER 3 SPECIFICATIONS

Max.

voltage

drop at

current at OFF

1.0V or

lower

0.1mA or lower

Leakage

3.5 Specifications of I/O Interfaces with External Devices

3.5.1 Electrical specifications of I/O signals

3.5.2 Signal layout for external device connectors

The following table shows signal layouts on external device connectors.

Connector

name

CONT.

SERVO

Pin arrangement Pin number Signal name

1 Near-point dog signal (DOG)

2Empty

3Empty

4Empty

5 Power supply (5 to 24V)

6 Lower limit signal (RLS)

7 Upper limit signal (FLS)

8 Speed-position switching command signal (CHANGE)

Viewed from the front

of the module

Viewed from the front

of the module

9 Stop signal (STOP)

1 Servo READY signal (READY) (+ side)

2 Servo READY signal (READY) (- side)

3 Servo ON signal (SVON) (+ side)

4 Servo ON signal (SVON) (- side)

5 Phase-B feedback pulse (PULSE B) (+ side)

6 Phase-Z feedback pulse (PULSE Z) (+ side)

7 Phase-Z feedback pulse (PULSE Z) (- side)

8Empty

9 Analog GND

10 Phase-B feedback pulse (PULSE B) (- side)

11 Phase-A feedback pulse (PULSE A) (- side)

12 Empty

13 Phase-A feedback pulse (PULSE A) (+ side)

14 Speed command signal (- side)

15 Speed command signal (+ side)

CHAPTER 3 SPECIFICATIONS

Phase A

Phase B

Positioning

address +1+1+1 +1+1 +1+1+1

[When increased]

Phase A

Phase B

Positioning

address -1 -1 -1 -1 -1 -1 -1 -1

[When decreased]

3.5.3 List of I/O signal details

This section describes details of signals that are input or output through external device connectors on the QD73A1.

Signal name

Phase-A feedback pulse (PULSE A)

(+ side)

Phase-B feedback pulse (PULSE B)

(+ side)

Phase-Z feedback pulse (PULSE Z)

(+ side)

Phase-A feedback pulse (PULSE A)

(- side)

Phase-B feedback pulse (PULSE B)

(- side)

Phase-Z feedback pulse (PULSE Z)

(- side)

Analog GND 9 

Upper limit signal (FLS)

Lower limit signal (RLS) 6

Near-point dog signal (DOG) 1

Stop signal (STOP) 9

Speed-position switching command

signal (CHANGE)

Power supply (5 to 24V) 5

Connector

name

SERVO

CONT.

number

Input this signal to switch control during the speed-position control

switch mode.

This power supply is common to the following signals.

Signal detail

• Feedback pulse signals of encoder's phases A, B, and Z are

input.

• When the phase A leads the phase B, the positioning address

increases at the rising and falling edges of each phase.

• When the phase B leads the phase A, the positioning address

decreases at the rising and falling edges of each phase.

• This signal is input from the limit switch placed at stroke upper

limit position.

• As this signal turns off, positioning stops.

• This signal is input from the limit switch placed at stroke lower

limit position.

• As this signal turns off, positioning stops.

• This signal is used for detection on the near-point dog during

OPR.

• As the near-point dog turns on, this signal is detected.

• Input this signal to stop positioning.

• As this signal is turned on, the QD73A1 cancels the positioning

in execution. Once this signal was turned on, the operation

does not restart even if this signal is turned off.

• Upper limit signal (FLS)

• Lower limit signal (RLS)

• Near-point dog signal (DOG)

• Stop signal (STOP)

• Speed-position switching command signal (CHANGE)

3.5 Specifications of I/O Interfaces with External Devices

3.5.3 List of I/O signal details

Signal name

Servo READY signal (READY)

(+ side)

Servo READY signal (READY)

(- side)

Servo ON signal (SVON) (+ side) 3

Servo ON signal (SVON) (- side) 4 This line is common to Servo ON signal (SVON).

Speed command signal (+ side) 15

Speed command signal (- side) 14 This line is common to Speed command signal.

Connector

name

SERVO

number

• This signal turns on when the drive unit is ready to operate.

2 This line is common to Servo READY signal (READY).

• Positioning cannot be started when this signal is off.

• If this signal turns off during positioning, the system stops. The

system does not operate even if this signal is turned on again.

• Wire this signal without fail to prevent malfunction of the

servomotor.

• This signal turns on automatically if there is no hardware error

at a system startup.

• This signal turns off if an error was detected due to an

excessive error or by the QD73A1's self-diagnosis on its

hardware.

The analog voltage converted from digital accumulated pulse

amount is output.

Signal detail

3.5.4 I/O interface internal circuit

24VDC

5VDC

24VDC

5VDC

Pin No. Internal circuitExternal wiring Signal name Remark

Power supply

Near-point dog signal (DOG)

Stop signal (STOP)

Upper limit signal (FLS)

Lower limit signal (RLS)

Speed-position switching

command signal (CHANGE)

Servo READY signal

(READY)

Servo ON signal (SVON)

Speed command signal

Phase-A feedback pulse

Phase-B feedback pulse

Phase-Z feedback pulse

Analog GND

Input a voltage of 5 to 24VDC.

If not using these signals, keep them on.

[For differential input]

Connect these terminals to the terminal/

connector for pulse output of an encoder.

Load

Servomotor, module, or others

2.4k

0V (analog GND)

5 to 24VDC

SN75115

This section shows internal circuits of external device interfaces on the QD73A1 in schematic diagrams.

CHAPTER 3 SPECIFICATIONS

3.5 Specifications of I/O Interfaces with External Devices

3.5.4 I/O interface internal circuit

*1 When input impedance of the servo amplifier is low, analog output level may become low due to this resistance. If that

causes a problem, perform gain adjustment again with the servo amplifier being connected.

Pin No. Internal circuit

External wiring Signal name Remark

Phase-A feedback pulse

Phase-B feedback pulse

Phase-Z feedback pulse

Analog GND

Phase-A feedback pulse

Phase-B feedback pulse

Phase-Z feedback pulse

Analog GND

[For open collector input]

Connect these terminals to the terminal/

connector for pulse output of an encoder.

Output is pulled up to 12V inside.

[For TTL input]

Connect these terminals to the terminal/

connector for pulse output of an encoder.

GND

12V

1.2k

3.6 Memory Configuration and Use

There are two memories in the QD73A1.

Area configuration

Memory

configuration

Buffer memory

Flash ROM

Use

Area that can be accessed directly from the CPU module using sequence programs

Area used to back up zero/gain adjustment data

Parameter

area

 

Monitor

data

area

Control

data

area

Positioning

data area

CHAPTER 3 SPECIFICATIONS

: Data setting and storage, : No data setting and storage

Reference value

Zero/gain

adjustment

data area

storage area for

accumulated

pulse error

Backup

detection function

Data in this memory cannot



be backed up. Data are erased if the power is turned off.

Data in this memory can be backed up. Data are kept even if the power is turned off.

The following table describes each memory area.

Area name Description Reference

Parameter area

Monitor data area Area where operating statuses of a positioning system are stored Page 85, Section 5.5

Control data area Area used to set and store data to operate or control a positioning system Page 89, Section 5.6

Positioning data area Area used to set and store positioning data Page 82, Section 5.4

Zero/gain adjustment data area Area used to set and store data for zero adjustment and gain adjustment –

Reference value storage area for accumulated pulse error detection function

Area used to set and store parameters for positioning, such as positioning parameters and OPR parameters

Area used to store the reference value for the accumulated pulse error detection function

Page 75, Section 5.2 Page 79, Section 5.3

–

3.6 Memory Configuration and Use

3.7 List of Buffer Memory Addresses

Pr.5

This section lists the buffer memory addresses of the QD73A1.

For details on the buffer memory, refer to the following.

Page 73, CHAPTER 5

Do not write data to system areas and area where data cannot be written from sequence programs in the buffer memory. Writing data to these areas may cause malfunction.

Address

(decimal)

•••

Address

(hexadecimal)

•••

H Acceleration time

H Deceleration time

H In-position range

H Positioning mode

•••

Data

type

Default

Pr.1

Stroke limit upper limit

Name

value

2147483647 R/W

Read/

Write

Memory

area

Reference

Page 76,

Section 5.2

Positioning

parameter

(fixed

parameter)

Pr.2

Stroke limit lower limit

Pr.3

Numerator of command pulse

multiplication for electronic gear

Pr.4

Denominator of command pulse

multiplication for electronic gear

0R/W

Parameter

area

1R/W

(1)

Page 77,

Section 5.2

(2)

 System area  

Page 77,

Speed limit value

200000 R/W

Section 5.2

(3)

Page 78,

Section 5.2

(4)

Page 78,

Section 5.2

Positioning

parameter

(variable

parameter)

Pr.6

Pr.7

Pr.8

300 R/W

Parameter

area

5R/W

(5)

Page 78,

Pr.9

0R/W

Section 5.2

(6)

 System area  

CHAPTER 3 SPECIFICATIONS

Pr.10

Pr.11

Pr.12

Pr.13

Cd.1

Cd.2

Cd.3

Cd.4

Cd.5

Cd.6

Cd.7

Cd.8

Cd.9

Cd.10

Cd.11

Cd.12

Address

(decimal)

•••

Address

(hexadecimal)

•••

H Current value change request

H Speed change request

•••

Data

type

Default

Name

value

Read/

Write

Memory

area

Reference

Page 79,

OP address

0R/W

Section 5.3

(1)

Page 79,

OPR

parameter

OPR speed

Creep speed

10000 R/W

Parameter

area

1000 R/W

Section 5.3

(2)

Page 80,

Section 5.3

(3)

Setting for the movement

amount after near-point dog ON

75 R/W

Page 81,

Section 5.3

(4)

 System area  

R/W

Control

data

New current value

New speed value

JOG speed

Deviation counter clear

command

0R/W

(control

change

area)

Analog output adjustment area

New speed-position movement

amount

0R/W

R/W

Control

data area

Page 89,

Section 5.6

0R/W

R/W

0R/W

control

data

(zero/gain

adjustment

area)

Analog output adjustment area

Zero/gain adjustment

specification

Zero/gain adjustment value

specification

Factory default zero/gain

adjustment value restoration request

 System area  

3.7 List of Buffer Memory Addresses

Address

Md.7

Md.10

Md.11

Md.22

(decimal)

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

Address

(hexadecimal)

H Error code (ERR.1)

H Control mode

H Zero/gain execution status

H Zero/gain adjustment status

Data

type

Monitor

data

(monitor

area)

Monitor

data

(monitor

area)

Md.1

Current feed value

Md.2

Actual current value

Md.3

Md.4

Error code (ERR.2)

Md.5

Deviation counter value

(address)

Md.6

Movement amount after near-

point dog ON

Speed-position switching

command

Md.8

Md.9

Feedrate

Md.21

Deviation counter value (pulse)

Movement amount after near-

point dog ON (absolute value)

Md.12

Md.13

(Year: Month)

Record 0

Md.14

(Day: Hour)

Md.15

(Minute: Second)

Error code and error

Record 1

occurrence (The same

data structure as record

Error code and error

Record 2

occurrence (The same

data structure as record

Name

Error code

Error occurrence

Default

value

Read/

Write

0000

Same as

record 0

Same as

record 0

Memory

area

Monitor

data area

Reference

Page 85,

Section 5.5

CHAPTER 3 SPECIFICATIONS

Address

(decimal)

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

Address

(hexadecimal)

Data

type

Monitor

data

(monitor

area)

Record 3

Record 4

Record 5

Record 6

Record 7

Record 8

Record 9

Record 10

Name

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Error code and error

occurrence (The same

data structure as record

Default

value

Same as

record 0

Same as

record 0

Same as

record 0

Same as

record 0

Same as

record 0

Same as

record 0

Same as

record 0

Same as

record 0

Read/

Write

Memory

area

Monitor

data area

Reference

Page 85,

Section 5.5

3.7 List of Buffer Memory Addresses

Address

(decimal)

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

•••

199

200

201

202

203

204

205

206

•••

300

Address

(hexadecimal)

H Error history pointer

•••

12C

Data

type

Default

Name

value

Read/

Write

Memory

area

Reference

Error code and error

Record 11

occurrence (The same

data structure as record

Same as

record 0

Error code and error

Record 12

occurrence (The same

data structure as record

Same as

record 0

Error code and error

Monitor

data

(monitor

Record 13

occurrence (The same

data structure as record

Same as

record 0

Monitor

data area

Page 85,

Section 5.5

area)

Error code and error

Record 14

occurrence (The same

data structure as record

Same as

record 0

Error code and error

Record 15

occurrence (The same

data structure as record

Same as

record 0

Md.16

 System area  

Md.17

Monitor

data

(monitor

area)

Maximum accumulated pulse

value

Md.18

Minimum accumulated pulse

value

Md.19

Accumulated pulse error

detection function status

Md.20

Reference value measurement

flag

Monitor

data area

Page 85,

Section 5.5

 System area  

CHAPTER 3 SPECIFICATIONS

Da.1

Da.2

Da.3

Da.4

Da.5

Cd.13

Cd.14

Cd.15

Cd.16

Cd.17

Cd.18

Cd.19

Cd.20

Address

(decimal)

301

302

303

304

305

306

307

308

309

310

•••

399

400

401

402

403

404

405

406

407

408

Address

(hexadecimal)

12D

12E

12F

130

131

132

133

134

135

136

•••

18F

190

191

192

193

194

195

196

197

198

Data

type

Default

Name

value

Read/

Write

Memory

area

Reference

Page 82,

Positioning pattern

0R/W

Section 5.4

(1)

Page 83,

Positioning address P1

0R/W

Section 5.4

(2)

Positioning

data

Positioning speed V1

0R/W

Positioning

data area

Page 84,

Section 5.4

(3)

Page 84,

Positioning address P2

0R/W

Section 5.4

(4)

Page 84,

Positioning speed V2

0R/W

Section 5.4

(5)

 System area  

Control

data

Alert output accumulated pulse

setting value (maximum value)

Immediate stop accumulated

pulse setting value (maximum value)

Alert output accumulated pulse

setting value (minimum value)

Immediate stop accumulated

pulse setting value (minimum value)

Accumulated pulse setting

value selection

0R/W

Control

data area

0R/W

Page 89,

Section 5.6

3.7 List of Buffer Memory Addresses

409

410

411

412

•••

1001

199

19A

H Measurement start request

19B

H Reference value write request

19C

3E9

•••

 System area  

Accumulated pulse error

detection request

0R/W

*1 For types of data, refer to the following.

Page 73, Section 5.1 *2 Default values are set after the power was turned off and on or the CPU module was reset. *3 This column indicates whether the data can be read from or written to the buffer memory area through sequence

programs. R: Readable W: Writable

*4 For the memory configuration, refer to the following.

Page 47, Section 3.6

CHAPTER 4 SETTINGS AND PROCEDURE

BEFORE OPERATION

This chapter describes the procedure prior to operation, part names, zero/gain adjustment, and wiring method of the

QD73A1.

4.1 Handling Precautions

This section describes the handling precautions for the QD73A1.

• Do not disassemble the module. Doing so may cause failure, malfunction, injury, or a fire.

• Shut off the external power supply (all phases) used in the system before mounting or removing the module.

Failure to do so may cause the module to fail or malfunction.

• After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal

block to/from the module more than 50 times (IEC 61131-2 compliant) respectively.

Exceeding the limit may cause malfunction.

• Use the programmable controller in an environment that meets the general specifications in the user's

manual for the CPU module used.

Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.

• To mount the module, while pressing the module mounting lever located in the lower part of the module, fully

insert the module fixing projection(s) into the hole(s) in the base unit and press the module until it snaps into

place.

Incorrect mounting may cause malfunction, failure or drop of the module.

When using the programmable controller in an environment of frequent vibrations, fix the module with a

screw.

• Tighten the screws such as a module fixing screw within the specified torque range.

Undertightening can cause drop of the screw, short circuit or malfunction.

Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

Screw Tightening torque range

Module fixing screw (M3 screw)

Connector screw (M2.6 screw) 0.20 to 0.29N • m

0.36 to 0.48N • m

*1 The module can be easily fixed onto the base unit using the hook at the top of the module.

However, it is recommended to secure the module with the module fixing screw if the module is subject to significant vibration.

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

Doing so can cause malfunction or failure of the module.

• Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a

fire, failure, or malfunction.

• Do not drop the module case, or do not subject it to strong impact.

• Lock the control panel so that only specialists educated in electric installation can open it.

4.2 Settings and Procedure Before Operation

Start

Operation

Mounting the module Mount the QD73A1 on a specified slot.

Wiring Wire external devices to the QD73A1.

Switch setting Configure settings using GX Works2.

Auto refresh setting Configure the auto refresh setting using GX Works2.

Execute zero/gain adjustment?

Zero/gain adjustment Adjust a gain using a switch on the front part of the QD73A1, or I/O signals and the buffer memory.

Connection check Check the connection using GX Works2.

Operation check of the drive unit Check the operation of the drive unit with forward/ reverse JOG operations in the factory default status.

Initial setting Configure the initial setting using GX Works2.

Programming and debugging Create and check a sequence program.

YES

Configure the initial setting

using GX Works2?

YES

Configure the auto refresh setting?

YES

Initial setting Create a sequence program in which initial settings are configured.

Page 64, Section 4.6

Page 100, Section 6.2

Page 59, Section 4.5

Page 108, Section 6.3

Page 236, Section 13.1

Page 135, Section 7.3.5

Page 110, Section 6.5

Page 111, CHAPTER 7

Page 117, Section 7.3.1

This section shows the procedure before operating the QD73A1.

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

4.2 Settings and Procedure Before Operation

4.3 Part Names

ON ADJUSTMENT MODE

NORMAL MODE

This section describes the part names of the QD73A1.

Number Name Description Reference

RUN LED

ERR. LED

 A LED

 B LED  Z LED

BUSY LED

ZERO LED

2) GAIN LED

SELECT/SET switch A switch for zero adjustment and gain adjustment

3) UP/DOWN switch A switch to adjust an analog output voltage value

OUT terminal

4) GND terminal

Indicates the operating status or error status of the QD73A1

Indicates the status of pulses on an encoder input phase A, B, or Z

Indicates the status of BUSY signal (X14) or writing of zero adjustment

value and gain adjustment value

Indicates the status of zero/gain adjustment

Check pins to measure analog output voltage

(Use these pins for zero/gain adjustment.)

[Inside diameter]

2.03mm for both OUT terminal and GND terminal

Page 58, Section 4.4

Page 61, Section 4.5 (4)

Page 59, Section 4.5

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

Number Name Description Reference

5) SERVO connector A connector for a drive unit

6) CONT. connector A connector for external control devices

7) Serial number display Displays the serial number of the QD73A1 

8) Mode switch

A switch to change the operation mode to the zero/gain adjustment mode.

(DIP switch 1 and 2 are off as the factory default.)

Page 43, Section 3.5.3

Page 69, Section 4.6.3

Page 61, Section 4.5 (4)

(a)

4.3 Part Names

4.4 LED

RUN A ZERO

B GAIN

ERR. BUSY

RUN A ZERO

B GAIN

ERR. BUSY

RUN A ZERO

B GAIN

ERR. BUSY

RUN A ZERO

B GAIN

ERR. BUSY

RUN A ZERO

B GAIN

ERR. BUSY

The LEDs on the front of the QD73A1 indicate the statuses of the module and axis control.

Indication

: OFF

: ON

: Flashing

RUN A ZERO

B GAIN

ERR. BUSY

QD73A1

RUN A B Z ERR. BUSY

ZERO

GAIN

Attention Description

• The power is off.

RUN LED: OFF

(All the other LEDs are

OFF or ON.)

• A hardware error is occurring.

• A watchdog timer error is occurring.

If the RUN LED does not turn on even after the power was turned off and

on, the module may be broken. Replace the module with another module.

RUN A ZERO

B GAIN

ERR. BUSY

• RUN LED: ON

• ERR. LED: OFF

ERR. LED: ON

(All the other LEDs are

OFF or ON.)

BUSY LED: ON

(All the other LEDs are

OFF or ON.)

• A LED: ON or flashing

• B LED: ON or flashing

• Z LED: ON or flashing

• RUN LED: Flashing

• ZERO LED: ON

The module is operating normally.

An error is occurring.

Read out the error code, and take the corrective action described in the

error code list. ( Page 252, Section 14.3.4)

Positioning is in execution.

The LED turns off when the positioning is completed.

Pulses are input through the pulse input terminals (phase A, B, and Z).

Zero adjustment of analog output is being performed.

The LED turns off when the zero adjustment is completed.

RUN A ZERO

B GAIN

ERR. BUSY

• RUN LED: Flashing

• GAIN LED: ON

• RUN LED: Flashing

• BUSY LED: ON

(The ZERO LED is ON

during zero adjustment.

The GAIN LED is ON

during gain adjustment.)

Gain adjustment of analog output is being performed.

The LED turns off when the gain adjustment is completed.

The zero adjustment value and the gain adjustment value are being

written.

The LED turns off when writing of the zero adjustment value and gain

adjustment value is completed.

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

4.5 Zero/gain Adjustment

Zero/gain adjustment is a process to adjust analog output voltage according to accumulated pulse amount.

Adjust the analog output voltage value according to the analog speed command input of the drive unit used.

Adjust analog output voltage using the check pins on the front of the QD73A1.

For the position of check pins, refer to the following.

Page 56, Section 4.3

(1) Zero adjustment

Adjust the analog output voltage of when accumulated pulse amount is "0". The voltage is adjusted to 0V as the

factory default. Zero adjustment may vary when the module is connected to a servomotor. In that case, perform

zero adjustment again. If the module is used with its zero adjustment being off, the connected servomotor rotates

a little when the power is turned on.

(2) Gain adjustment

Adjust the analog output voltage of when accumulated pulse amount is the maximum. In the factory default

setting, adjustment is made so that the analog output voltage becomes 10V when accumulated pulse amount is

the default value.

Adjust a gain value according to the rated speed command voltage of the drive unit used. The gain value can be

adjusted within the range of 5 to 10V.

When changing the accumulated pulse amount at the gain value output from the default value, set the

accumulated pulse amount by referring to the following reference values.

Accumulated pulse amount (unit: pulse)

Accumulated

pulse setting

Initial setting The initial setting is same as the case where [Selection 4] is set.

[Selection 1] -3700 to 3700 3480

[Selection 2] -7400 to 7400 6960

[Selection 3] -11100 to 11100 10440

[Selection 4] -14800 to 14800 13920

[Selection 5] -37000 to 37000 34800

[Selection 6] -74000 to 74000 69600

[Selection 7] -111000 to 111000 104400

[Selection 8] -148000 to 148000 139200

Setting range

Default

value

Reference value for the setting

When the gain value

is 5V

-2500 to -2000

2000 to 2500

-5000 to -4000

4000 to 5000

-7500 to -6000

6000 to 7500

-10000 to -8000

8000 to 10000

-25000 to -20000

20000 to 25000

-50000 to -40000

40000 to 50000

-75000 to -60000

60000 to 75000

-100000 to -80000

80000 to 100000

When the gain value

is 10V

-3700 to -3250

3250 to 3700

-7400 to -6500

6500 to 7400

-11100 to -9750

9750 to 11100

-14800 to -13000

13000 to 14800

-37000 to -32500

32500 to 37000

-74000 to -65000

65000 to 74000

-111000 to -97500

97500 to 111000

-148000 to -130000

130000 to 148000

Excessive

error

(unit: pulse)

-3701 or less

3701 or more

-7401 or less

7401 or more

-11101 or less

11101 or more

-14801 or less

14801 or more

-37001 or less

37001 or more

-74001 or less

74001 or more

-111001 or less

111001 or more

-148001 or less

148001 or more

4.5 Zero/gain Adjustment

● When setting a smaller value than the above reference value (larger value for a negative value) as the accumulated pulse

Cd.5

Accumulated pulse amount write command

Cd.9

amount at the gain value output, making the setting value too small at a time may cause the hunting of a servomotor. To make the accumulated pulse amount value smaller, check the machine operation and adjust the value.

● To change "Accumulated pulse setting" after the gain adjustment execution where the accumulated pulse amount at the gain value output has been changed from the default value, execute the gain adjustment again.

Gain adjustment can be performed in the following two methods.

• Adjusting with the default accumulated pulse amount

• Adjusting with specified accumulated pulse amount

(a) Adjusting gain with the default accumulated pulse amount

Follow the procedure below.

1 Change the operation mode to the zero/gain adjustment mode.

2 Set "Accumulated pulse setting" in the switch setting according to the necessary accumulated pulse amount.

3 Adjust the voltage to be the necessary voltage value between the check pins.

(b) Adjusting gain with specified accumulated pulse amount

Follow the procedure below.

1 Change the operation mode to the zero/gain adjustment mode.

Set "Accumulated pulse setting" in the switch setting according to the necessary accumulated pulse amount. (Do not

specify amount that exceeds the setting range.)

Write the accumulated pulse amount using a sequence program.

[When one of the selections 1 to 4 is specified in "Accumulated pulse setting"]

Set the specified accumulated pulse amount in " Analog output adjustment area 1".

[When one of the selections 5 to 8 is specified in "Accumulated pulse setting"]

Set the specified accumulated pulse amount in " Analog output adjustment area 2".

Accumulated pulse amount write command

4 Adjust the voltage to be the necessary voltage value between the check pins.

(3) Zero/gain adjustment setting range

When performing zero/gain adjustment, satisfy the following two conditions.

• Setting range: -10 to 10V

• The difference between a gain value and zero value is as follows.

In case of positive accumulated pulse amount (Gain value) - (Zero value)  5.0V

In case of negative accumulated pulse amount (Gain value) - (Zero value)  -5.0V

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

ZERO

GAIN

ZERO

GAIN

Start

End

Set the servomotor in the servo-lock status.

Turn on both DIP switch 1 and 2 on the lower part of the module, then turn on the power.

Check that the module is in the zero/gain adjustment mode on the RUN LED. (The LED flashes in the zero/gain adjustment mode.)

Adjust the voltage to be the gain value between check pins using the UP/DOWN switch. (Holding the switch increases the adjustment amount.)

Turn off then on the power, or reset the CPU module.

Specify zero adjustment by changing the SELECT/SET switch to SELECT, while checking the ZERO LED. (Zero/gain adjustment switches every time when the switch is set to SELECT.)

Specify gain adjustment by changing the SELECT/SET switch to SELECT, while checking the GAIN LED. (Zero/gain adjustment switches every time when the switch is set to SELECT.)

Adjust the voltage to be 0V between check pins using the UP/DOWN switch. (Holding the switch increases the adjustment amount.)

Set the SELECT/SET switch to the SET side and check that the BUSY LED turns on. After the BUSY LED turned off, set the SELECT/SET switch back to the center.

Configure "Accumulated pulse setting" in the switch setting, and write it to the CPU module.

Set the SELECT/SET switch to the SET side and check that the BUSY LED turns on. After the BUSY LED turned off, set the SELECT/SET switch back to the center.

Turn off the power, then turn off both DIP switch 1 and 2 on the lower part of the module.

Is the ERR.LED off?

YES

Is the ERR.LED off?

YES

Zero adjustment

Gain adjustment

(4) Setting method

The following are the procedures for zero adjustment and gain adjustment.

(a) When using the switches on the front of the QD73A1

4.5 Zero/gain Adjustment

*1 The operation mode cannot be switched to the zero/gain adjustment mode if the power is turned on ahead of turning on

DIP switch 1 and 2.

*2 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by setting the

SELECT/SET switch on the SET side, and they are not erased even at a power-off.

*3 If an error occurs in the zero/gain adjustment mode, the ERR. LED turns on. If the ERR. LED is on, turn on Error reset

signal (Y28) then perform zero/gain adjustment again.

(b) When using I/O signals and the buffer memory

Start

Set the servomotor in the servo-lock status.

Turn on the power.

Configure the following items in the switch setting, and write them to the CPU module. "Accumulated pulse setting": Set accumulated pulse amount. "Zero/gain adjustment mode/Normal mode setting": Select "Zero/gain adjustment mode"

Turn off then on the power, or reset the CPU module.

Check that " Md.9 Zero/gain execution status" is "2: In the zero/gain adjustment mode (switch setting)".

Zero adjustment

Set " Cd.10 Zero/gain adjustment specification to "1: Zero adjustment".

Turn on Zero/gain adjustment change request signal (Y1B).

Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification".

Turn on Set value change request signal (Y1C).

Check that Set value change complete flag (X2C) turned on following the change of voltage between check pins. Then, turn off Set value change request signal (Y1C). (Check that Set value change complete flag (X2C) is off after turning off Set value change request signal (Y1C).)

Is the voltage

between check pins 0V?

YES

Gain adjustment

Set " Cd.10 Zero/gain adjustment specification to "2: Gain adjustment".

Turn on Zero/gain adjustment change request signal (Y1B).

Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification".

Turn on Set value change request signal (Y1C).

Is the voltage

between check pins equal to

the gain value?

YES

Turn on Zero/gain adjustment data writing request signal (Y1A).

Check that Zero/gain adjustment data writing complete flag (X2A) is on.

Turn off Zero/gain adjustment data writing

Check that Zero/gain adjustment change complete flag (X2B) is on.

Turn off Zero/gain adjustment change request signal (Y1B).

Check that Zero/gain adjustment change complete flag (X2B) is off.

Check that " Md.10 Zero/gain adjustment status" is "1: Adjusting zero".

Check that Zero/gain adjustment change complete flag (X2B) is on.

Turn off Zero/gain adjustment change request signal (Y1B).

Check that Zero/gain adjustment change complete flag (X2B) is off.

Check that " Md.10 Zero/gain adjustment status" is "2: Adjusting gain".

request signal (Y1A).

Check that Zero/gain adjustment data writing complete flag (X2A) is off.

Is the ERR.LED off?

Change "Zero/gain adjustment mode/ Normal mode setting" to Normal mode" in the switch setting.

End

YES

*1 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by turning on

Zero/gain adjustment data writing request signal (Y1A), and they are not erased even at a power-off.

*2 If an error occurs in the zero/gain adjustment mode, the ERR. LED turns on. If the ERR. LED is on, turn on Error reset

signal (Y28) then perform zero/gain adjustment again.

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

Cd.12

Md.10

Cd.12

(5) Restoring the zero/gain adjustment value of the factory default

Writing "1" in " Factory default zero/gain adjustment value restoration request" restores the zero/gain

Cd.12

adjustment value of the factory default. Once the restoration was completed, the QD73A1 sets "0" in

" Factory default zero/gain adjustment value restoration request".

Once the restoration was completed, analog output voltage becomes 0V and the QD73A1 sets "1: Adjusting

zero" in " Zero/gain adjustment status".

Note that " Factory default zero/gain adjustment value restoration request" is usable only in the zero/gain

adjustment mode.

Buffer memo ry

Setting item Setting range Default value Execution condition

address

(decimal)

Factory default zero/gain

adjustment value restoration

request

Zero value and gain value of the factory default are set as below.

• Zero value: 0V

• Gain value: 10V

Note that the values above were set when "Accumulated pulse setting" was the default value (-14800 to 14800pulse).

1: Restore the

zero/gain adjustment

value

The module must be in

the zero/gain adjustment

mode.

4.5 Zero/gain Adjustment

4.6 Wiring

This section describes precautions on wiring the QD73A1 and external devices, and connection of external device

connectors.

4.6.1 Wiring precautions

This section describes the precautions on wiring.

• Check the terminal layout beforehand to wire cables to the module correctly.

• Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or

must be correctly soldered. Incomplete soldering or crimping may result in malfunction.

• Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause

a fire, failure, or malfunction.

• A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from

entering the module during wiring. Do not remove the film during wiring.

Remove it for heat dissipation before system operation.

• Connect the external device connectors to the connectors on the module and tighten the screws securely.

Tighten the connector screws within the specified torque range.

Undertightening can cause short circuit, fire, or malfunction.

Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.

Screw Tightening torque range

Connector screw (M2.6 screw) 0.20 to 0.29N • m

• When disconnecting a cable from the module or the drive unit, do not pull the cable by the cable part.

Disconnect the cable holding the connector.

Pulling a cable connected to the module or the drive unit can cause malfunction.

Such action can also damage the module, drive unit, or cable.

• Do not install the connection cables for external I/O signals and for the drive unit together with the main

circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a

distance of 100mm or more between them.

Failure to do so may result in malfunction due to noise, surges, and induction.

• Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,

resulting in damage to the module, drive unit, or cables, or malfunction due to poor contact.

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

• As a measure against noise, use shielded cables if the cables connected to the module are close (less than

100mm) to a power cable.

Ground the shields of shielded cables to the control panel securely on the module side.

• To comply with EMC and Low Voltage Directives, ground shielded cables to the control panel using the

AD75CK cable clamp (manufactured by Mitsubishi Electric).

(Ground the shield parts at a point within 20 to 30cm from the module.)

Inside the control panel

QD73A1

20 to 30cm

AD75CK

For details on the AD75CK, refer to the following.

AD75CK-type Cable Clamping Instruction Manual

• The length of the cable between the module and the drive unit is 1 to 3m generally. The length depends on

the specifications of the drive unit. Review the specifications of the drive unit to be used.

• The length of the cable between the module and the encoder is as listed below generally. The length

depends on the specifications of the encoder. Review the specifications of the encoder to be used. Use

shielded twisted pair cable for the connection with the encoder.

Encoder output type Cable length

Differential output type MAX. 30m

TTL type, open collector type MAX. 3m

• Connect the module and Servo ON signal of the drive unit without fail. In addition, do not turn on/off Servo

ON signal externally. If Servo ON signal is not connected, the motor may rotate even in case of a CPU error.

4.6.1 Wiring precautions

4.6 Wiring

4.6.2 Precautions when connecting an encoder

Deviation

counter

D/A

converter

Feedback pulse

× DIR

Command

pulse

Rotation direction setting When 0 is set: DIR = 1 When 1 is set: DIR = -1

+/-

Multiplication

setting

Analog voltage

Feedback pulse

addition/

subtraction setting

Rotation direction

setting

Feedback

pulse addition

/subtraction

setting

Feedback pulse

When the phase A

proceeds 90 degrees

than phase B

When the phase B

proceeds 90 degrees

than phase A

- (subtraction) + (addition)

+ (addition) - (subtraction)

- (subtraction) + (addition)

This section describes precautions when connecting an encoder.

(1) Operation of the QD73A1 (deviation counter and feedback pulses)

The deviation counter in the QD73A1 counts up and down.

An addition/subtraction switchover can be processed through the phases of feedback pulses.

When "0: Positive voltage is output when the positioning address increases." is set for "Rotation direction setting"

in the switch setting.

When feedback pulses are input with the phase A leading the

phase B by 90°, the number of command pulses is subtracted.

This input method is for counting positive command pulses when

the speed command is positive voltage (when the motor is rotating

forward).

When feedback pulses are input with the phase B leading the

phase A by 90°, the number of command pulses is added.

This input method is for counting negative command pulses when

the speed command is negative voltage (when the motor is

rotating reverse).

If the sequence of the phase A and phase B is reversed, the number of command pulses and feedback pulses

are counted together. This can cause an excessive error of accumulated pulses, resulting in the stop of the

control.

Phase A

Phase B

Phase A

Phase B

(a) Switch setting and the encoder

When "1: Negative voltage is output when the positioning address increases." is set for "Rotation direction

setting" in the switch setting, the count process (positive or negative) of the feedback pulses varies depending

on "Feed back pulse addition/subtraction setting" of the switch setting as shown below.

Switch setting Feedback pulse

"Rotation direction setting"

0: Positive voltage is output when the

positioning address increases.

1: Negative voltage is output when the

positioning address increases.

"Feed back pulse

addition/subtraction setting"

- Subtraction Addition

0: Add when the phase A proceeds 90

degrees than phase B.

1: Subtract when the phase A proceeds

90 degrees than phase B.

When the phase A

proceeds 90 degrees than

phase B

Addition Subtraction

Subtraction Addition

When the phase B

proceeds 90 degrees than

phase A

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

Ex.

Forward

run

Reverse

run

Forward

run

Reverse

run

Servomotor Encoder

Phase

EncoderQD73A1

Phase

EncoderQD73A1

Phase

EncoderQD73A1

Phase

EncoderQD73A1

Phase

EncoderQD73A1

Phase

EncoderQD73A1

For details on "Rotation direction setting" in the switch setting, refer to the following.

Page 101, Section 6.2.1

The connection between the QD73A1 and the encoder varies depending on "Rotation direction setting" and

"Feed back pulse addition/subtraction setting" of the switch setting.

When the rotation directions of the motor and encoder are as below and the motor rotates forward when

positive voltage is applied to the servo amplifier

Switch setting

Rotation direction

setting

0: Positive voltage is

output when the

positioning

address increases.

1: Negative voltage is

output when the

positioning

address increases.

Feed back pulse

addition/subtraction setting

0: Add when the phase A

proceeds 90 degrees than

phase B.

1: Subtract when the phase A

proceeds 90 degrees than

phase B.

Suppose the condition of the feedback pulses from the

encoder as: the phase A is ahead of the phase B by 90°

in case of forward run.

Connection

When the rotation

directions of the motor

and the encoder are the

same

When the rotation

directions of the motor

and the encoder are

different

When the rotation

directions of the motor

and the encoder are the

same

When the rotation

directions of the motor

and the encoder are

different

When the rotation

directions of the motor

and the encoder are the

same

When the rotation

directions of the motor

and the encoder are

different

4.6 Wiring

4.6.2 Precautions when connecting an encoder

● If the connection of the QD73A1 and the encoder is incorrect, the motor rotates at a power-on and Excessive error signal

Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6

Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7

Encoder

QD73A1

(X17) turns on.

● To replace the positioning module AD70/A1SD70 with the QD73A1 while using the same equipment of the servo amplifier, encoder, and external wiring in the existing system, check the setting of slide switch 1 (rotation direction setting) of the AD70/A1SD70. If the slide switch 1 (rotation direction setting) is off ("Negative voltage is output when the positioning address increases" is set), set "1: Subtract when the phase A proceeds 90 degrees than phase B." for "Feed back pulse addition/subtraction setting" in the switch setting of the QD73A1.

(2) Connection between the QD73A1 and each type of encoder

The following table shows the connection between the QD73A1 and each type of encoder.

Set the output type of the encoder to be used in "Encoder I/F setting" of the switch setting.

For details on "Encoder I/F setting" in the switch setting, refer to the following.

Page 100, Section 6.2

Encoder output type "Encoder I/F setting" Connection

Open collector output type Open collector output

TTL output type TTL output

Differential output type Differential output

Encoder

SN75113

Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6

Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7

Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6

Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7

QD73A1

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

Connection part

Wrap the wires with

a protective seal.

Cover A

4.6.3 External device connectors

This section describes the assemblage of an external device connector and its connection method.

(1) Assembling a connector

The following connectors are required to connect the QD73A1 and external devices.

• A 9-pin connector (pin type): For the CONT. connector (control signal connection)

• A 15-pin connector (pin type): For the SERVO connector (drive unit connection)

The connectors are composed of the following parts.

Protective tube

(For a 15-pin connector only)

Cover A Cover B

Assemble the connectors as follows.



Wire clamp

Connection part

Screw B

Screw A

Nut

Protective seal

Screw C

1. Thread wires through the protection tube (for the 15-

pin connector only).

2. Solder the wires to the connection part.

3. Attach the connection part to cover A, and wrap the

protective seal around the part of the wires which

contacts the wire clamp.

4.6 Wiring

4.6.3 External device connectors

4. Slide the protection tube over the protective seal (for the 15-pin connector only).



(To the next page)

(From the previous page)

Wire clamp

Screw A

Screw C

Screw B



End

5. Fix the protective seal part or the protection tube

part with the wire clamp using the screws A.

6. Attach the screws C to the cover A.

7. Put the cover B over the cover A, and fasten them

using the screws B and nuts.

CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION

9-pin connector

Applies to the CONT. connector

15-pin connector

Applies to the SERVO. connector

Pin arrangement viewed

from the wire side

Soldering

Wire

(2) Wiring connectors

The figure below shows the pin arrangement on the connectors.

Wire pins correctly according to the signal assigned to each pin number.

For details on the signal assigned to each pin number, refer to the following.

Page 43, Section 3.5.3

(a) Applicable wire size

The applicable wire size is 0.3mm2 or less. If thicker wires are used, the wire clamp cannot be attached.

(b) Connection between the connectors and wires

Solder the wires to the pins.

Strip parts of wire jackets properly to avoid a short circuit due to wire chips or solder chips.

If the signal line is exposed, malfunction may occur due to static electricity. Cover and protect the connector

pins with heat shrinkable insulation tubes.

4.6 Wiring

4.6.3 External device connectors

The following table lists applicable 9-pin connector and 15-pin connector. When wiring, use applicable wire and

an appropriate tightening torque.

External wiring connector Wire

Model Tightening torque Diameter Typ e Material

9-pin connector for

external

wiring (pin type)

15-pin connector for

external

wiring (pin type)

To contact the manufacturer regarding the connectors, refer to the following.

http://www.ddknet.co.jp/English/index.html

17JE-23090-02(D8A)

(manufactured by DDK Ltd.)

0.20 to 0.29N • m

17JE-23150-02(D8A)

(manufactured by DDK Ltd.)

28 to

24AWG

Temperature

rating

Stranded Copper 75°C or more

CHAPTER 5 DATA USED FOR POSITIONING

Monitor data

(Data that indicates the control status. The data can be monitored when necessary.)

Monitoring area

Monitor data such as a current position, error codes, and error history.

( to Md.22 )Md.1

CHAPTER 5 DATA USED FOR POSITIONING

This chapter describes parameters and data used for positioning.

5.1 Types of Data

The parameters and data required to carry out control with the QD73A1 include "setting data", "monitor data", and

"control data" shown below.

Setting data (Data to be set beforehand according to the machinery and application)

Parameters

Pr.1

( to Pr.13 )

Positioning data Positioning data

( to Da.5 )Da.1

● The data can be set using GX Works2.

● Default values are determined for setting data parameters, and are set as the factory default. Keep the unused

parameters to the default.

● Fixed parameters and OPR parameters are activated when PLC READY signal (Y2D) is turned on.

● Variable parameters and positioning data can be changed even when PLC READY signal (Y2D) is on. Although, the

change that is made during operation is not reflected since the data set at the start of major positioning control or JOG operation are valid. The change will be reflected at the next start.

Positioning parameters

(toPr.9)Pr.1

OPR

parameters

( to Pr.13 )Pr.10

Fixed parameters

Note

If a setting of fixed parameters is outside the setting range, default values will be set to all of the fixed parameters for the control.

Variable parameters

If a setting of variable parameters is outside the setting range, a default value will be set to only the corresponding parameter for the control.

OPR parameters

Set start data for major positioning control.

Set parameters that are fixed beforehand depending on the mechanical system.

Set parameters that vary depending on each positioning control.

Set data for OPR.

5.1 Types of Data

Set control data using sequence programs.

Control data (Data for the user to control the positioning system)

Zero/gain adjustment

data area

Set data for zero/gain adjustment.

( , Cd.9 Cd.12to )Cd.5

Control change area

Set data for operation and data for current value change or speed change during operation.

(to, ,to toCd.4 Cd.6 Cd.8 Cd.13 Cd.20 )Cd.1

5.2 Positioning Parameters

Pr.2

Pr.3

Pr.4

Pr.5

Pr.6

Pr.7

Pr.8

Pr.9

This section describes the details of positioning parameters.

Item Setting range Default value

Stroke limit upper limit

Fixed

parameter

Variable

parameter

Pr.1

Stroke limit lower limit 0pulse

Numerator of

command pulse

multiplication for

electronic gear (CMX)

Denominator of

command pulse

multiplication for

electronic gear (CDV)

Speed limit value

Acceleration time

Deceleration time 23

In-position range 1 to 20479pulse 5pulse 24

Positioning mode

-2147483648 to

2147483647pulse

1 to 9999

(Satisfy the following condition. 1/50  CMX/CDV  50)

10 to 4000000pulse/s

(Set in the unit of 10pulse/s.)

2 to 9999ms 300ms

0: Position control mode

1: Speed-position control switch

mode

CHAPTER 5 DATA USED FOR POSITIONING

Buffer

memory

address

(decimal)

2147483647pulse

200000pulse/s

0: Position control

mode

Reference

Page 76,

Section

5.2 (1)

Page 77,

Section

5.2 (2)

Page 77,

Section

5.2 (3)

Page 78,

Section

5.2 (4)

Page 78,

Section

5.2 (5)

Page 78,

Section

5.2 (6)

5.2 Positioning Parameters

● The set data of fixed parameters are activated when PLC READY signal (Y2D) is turned on, and the error check is executed at the same time.

● Variable parameters can be set any time, but the error check is executed when a start signal is turned on.

(1) Stroke limit upper limit, Stroke limit lower limit

Remark

Pr.1

Pr.2

(Moving range of the workpiece)

Stroke limit lower limit Stroke limit upper limit

Limit switch for emergency stop

Pr.1

Set the upper and lower limits of the workpiece moving range.

For details on the stroke limit function, refer to the following.

Page 213, Section 11.3

● In general, the OP is set at the lower limit or upper limit of the stroke limit.

● Setting the upper and lower limits of the stroke limit prevents the workpiece to overrun the set range; although, in

addition, place emergency stop limit switches (upper limit switch (FLS)/lower limit switch (RLS)) outside and near the stroke limit range.

● The stroke limits are not checked during speed control.

● To disable the stroke limit function, set the same value to " Stroke limit upper limit" and " Stroke limit lower

limit".

Pr.2

CHAPTER 5 DATA USED FOR POSITIONING

Remark

Number of command pulses

Electronic

gear

Command

pulse

QD73A1

Deviation

counter

D/A

converter

Multiplication

Accumulated pulses

feedback pulse

Drive unit

Speed

command

Servo

amplifier

Analog voltage

CMX

CDV

Setting data

(2) Numerator of command pulse multiplication for electronic gear,

Pr.3

Pr.4

Denominator of command pulse multiplication for electronic gear

Set the numerator (CMX) and denominator (CDV) of command pulse multiplication for electronic gear.

For details on the electronic gear function, refer to the following.

Page 209, Section 11.1

● Machine movement amount per one command pulse can be changed using the command pulse multiplication setting.

● Electronic gear is active on all of OPR control, major positioning control, and JOG operation.

● The module operates with the positioning speed and movement amount that are multiplied by the set value for electronic

gear. Satisfy the following condition when setting electronic gear. Positioning speed × Electronic gear  4Mpulse/s

When the positioning speed value that is multiplied by the set value of electronic gear exceeds " Speed limit value", the limit value is ignored. On the other hand, if the speed exceeds 4Mpulse/s, the error "Outside the command frequency range" (error code: 104) occurs. In this case, the speed is 4Mpulse/s, resulting in a positioning error.

● When there are decimal pulses, the fractions are maintained inside and accumulated for the next command.

● If positioning is continued after the CPU module was reset, a positioning error by the fractions of pulses occurs due to

electronic gear (when CMX/CDV  1). In that case, execute OPR.

Pr.5

5.2 Positioning Parameters

(3) Speed limit value

Pr.5

Set the upper limit speed of major positioning control or JOG operation. If command speed that is faster than this

limit is specified, the speed is limited to this value.

● If speed for OPR control is set to the one faster than " Speed limit value", the error "OPR speed Outside the

setting range" (error code: 20) occurs at the start of OPR.

● Positioning speed must be limited properly depending on the device and control subject.

● Set a value in a unit of 10 pulses. If a single digit is set, the value is rounded off.

Pr.5

(4) Acceleration time, Deceleration time

Remark

Pr.6

Pr.7

Pr.6

Pr.7

Actual acceleration time

Actual deceleration time

Speed limit value

Positioning speed

Acceleration time Deceleration time

Pr.7Pr.6

Pr.5

Pr.8

Pr.9

• Acceleration time: Set the time takes for speed (0) to reach the value in " Speed limit value".

• Deceleration time: Set the time takes for the speed (the value in " Speed limit value") to reach 0.

● The parameters are active for OPR control, major positioning control, and JOG operation.

● When the set positioning speed is lower than the value in " Speed limit value", the actual acceleration/deceleration

time is shorter than the set value of the parameters.

Pr.5

(5) In-position range

Set the accumulated pulse amount where In-position signal (X16) turns on.

In-position signal (X16) can be used as the signal right before Positioning complete signal (X15).

For details on the in-position function, refer to the following.

Page 221, Section 11.8

(6) Positioning mode

Select a control mode of major positioning from the position control mode or the speed-position control switch

mode.

If a value other than 0 and 1 is set, the error "Positioning mode Outside the setting range" (error code: 14) occurs. Although, the QD73A1 checks the setting range only for the start by Forward start signal (Y22) or Reverse start signal (Y23). For the start by the following signals, the above error does not occur even if the set value is outside the setting range.

• OPR start signal (Y20)

• Absolute positioning start signal (Y21)

• Forward JOG start signal (Y24)

• Reverse JOG start signal (Y25)

5.3 OPR Parameters

Pr.10

Pr.11

Pr.12

Pr.13

Pr.10

Md.1

Md.2

Pr.12

Pr.5

This section describes the details of OPR parameters.

Item Setting range Default value

OP address

OPR speed 1 to 4000000pulse/s 10000pulse/s

Creep speed 1 to 4000000pulse/s 1000pulse/s

Setting for the movement

amount after near-point dog ON

The set data of OPR parameters are activated when PLC READY signal (Y2D) is turned on, and the error check is executed when OPR start signal (Y20) is turned on.

-2147483648 to

2147483647pulse

0 to 2147483647pulse 75pulse

0pulse

CHAPTER 5 DATA USED FOR POSITIONING

Buffer memory

address

(decimal)

Reference

Page 79, Section 5.3 (1)

Page 79, Section 5.3 (2)

Page 80, Section 5.3 (3)

Page 81, Section 5.3 (4)

For details on OPR control, refer to the following.

Page 178, CHAPTER 8

(1) OP address

Set the address that is the reference point of major positioning control.

Upon completion of OPR, the set value is stored in the current value monitor (" Current feed value" and

" Actual current value").

Pr.11

(2) OPR speed

Set the speed of OPR control.

Satisfy the following condition when setting the speed.

Creep speed  OPR speed  Speed limit value

Pr.11

If the OPR speed exceeds " Speed limit value", the error "OPR speed Outside the setting range" (error

code: 20) occurs, and the OPR is not executed.

Pr.5

5.3 OPR Parameters

(3) Creep speed

Pr.12

Pr.11

OPR speed

OPR start

Creep speed

Zero signal

OFF

Pr.11

Pr.12

Near-point

dog signal

(DOG)

Pr.12

Pr.11

Pr.5

Once the near-point dog turns on, the control decelerates from " OPR speed" and stops. Set the speed of

right before the stop, which is a creep speed.

Satisfy the following condition when setting the speed.

Creep speed  OPR speed  Speed limit value

If the creep speed exceeds " OPR speed", the error "Creep speed Outside the setting range" (error code:

21) occurs, and the OPR is not executed.

Pr.11

CHAPTER 5 DATA USED FOR POSITIONING

Ex.

Deceleration distance (pulse)

(OPR speed + Creep speed) (pulse/s)

1000

Actual deceleration time (ms)

Pr.7

Deceleration distance

1000

TB(VZ - Vc)

= 74.25

= 75 (rounded up to the nearest integer)

(10k + 1k)

300(10k - 1k)

2000

200k

VP Speed limit value 200kpulse/s

Z OPR speed 10kpulse/s

C Creep speed 1kpulse/s

B Deceleration time 300ms

Actual deceleration time t=a-b

Pr.13

(4) Setting for the movement amount after near-point dog ON

When the OPR method is the count method, set the movement amount from the position where Near-point dog

signal (X1C) turns on to the original point. Set a value equal to or greater than the deceleration distance from the

OPR speed to the creep speed.

The following are the setting precautions.

• Set pulse amount so that the position moved from the near-point dog ON does not overlap with Zero signal.

• Calculate deceleration distance without the use of electronic gear.

The following is a setting example.

When parameters are set as follows.

Pr.11

• OPR speed: 10kpulse/s (default value)

Pr.12

• Creep speed: 1kpulse/s (default value)

• Deceleration time: 300ms (default value)

When the position where the near-point dog turns on is set near the center of Zero signals, " Setting for the movement amount after near-point dog ON" should be an integral multiple of pulses per one servomotor rotation. Then the

position moved after the near-point dog ON does not overlap with Zero signal. For instance, when the number of pulses per one servomotor rotation is 2000, set 2000 pulses.

5.3 OPR Parameters

5.4 Positioning Data

Da.1

Da.2

Da.3

Da.4

Da.5

Da.1

This section describes the details of positioning data.

Item Setting range Default value

0: Positioning control

Positioning pattern

Positioning address

Positioning speed V1 1 to 4000000pulse/s 0pulse/s

Positioning address

Positioning speed V2 1 to 4000000pulse/s 0pulse/s

1: Two-phase trapezoidal positioning

control

Absolute system:

-2147483648 to 2147483647pulse

Incremental system:

0 to 2147483647pulse

Absolute system:

-2147483648 to 2147483647pulse

Incremental system:

0 to 2147483647pulse

0: Positioning

control

0pulse

Buffer memory

address

(decimal)

301 Page 82, Section 5.4 (1)

302

303

304

305

306

307

308

309

Reference

Page 83, Section 5.4 (2)

Page 84, Section 5.4 (3)

Page 84, Section 5.4 (4)

Page 84, Section 5.4 (5)

Positioning data can be set any time, but the error check is executed when a positioning start signal (Y21 to Y23) is turned on.

For details on positioning control, two-phase trapezoidal positioning control, and speed-position control switch mode,

refer to the following.

Page 185, CHAPTER 9

(1) Positioning pattern

Select a control pattern of major positioning from "positioning control" or "two-phase trapezoidal positioning

control".

When 0 is set in b0, positioning control is specified, and when 1 is set in b0, two-phase trapezoidal positioning

control is specified.

b15 b0b1to

0: Positioning control 1: Two-phase trapezoidal positioning control

Values in b1 to b15 are ignored.

CHAPTER 5 DATA USED FOR POSITIONING

Da.2

Da.4

Da.2

Speed control

Movement amount setting

Speed-position switching command

Position control

Da.2

(2) Positioning address P1

Set the address that is the destination of major positioning control. The setting range depends on the type of

major positioning control.

If the specified positioning address is outside the stroke range, the error "Positioning address Outside the setting

range" (error code: 30) occurs, and the positioning does not start.

(a) Absolute system

When the absolute system is selected, set an absolute address (movement amount from the OP).

Stop position (positioning start address)

-1000 3000

Movement amount: 2000 Movement amount: 2000

1000

To execute two-phase trapezoidal positioning control in the absolute system, the positioning direction from

" Positioning address P1" to " Positioning address P2" and the positioning direction from the

current value to " Positioning address P1" must be the same.

If not, the error "Two-phase trapezoidal positioning address error" (error code: 31) occurs, and the two-phase

trapezoidal positioning control does not start.

(b) Incremental system

When the incremental system is selected, set movement amount from the current value.

Stop position (positioning start address)

(Movement amount) (Movement amount)

-30000 30000

Moving in negative direction

Moving in positive direction

5.4 Positioning Data

Set movement amount of after the shift from speed control to position control.

(3) Positioning speed V1

Da.3

Pr.5

Da.4

Da.2

Da.5

Da.3

Set the command speed of major positioning control. Set a value equal to or less than " Speed limit value".

If the value exceeds " Speed limit value", the error "Positioning speed Outside the setting range" (error

Pr.5

code: 32) occurs, and the command speed is limited to " Speed limit value".

If the specified positioning speed is 0, the error "Positioning speed Outside the setting range" (error code: 32)

occurs, and the positioning does not start.

(4) Positioning address P2

This setting is enabled only for two-phase trapezoidal positioning control.

Set the destination address of after the move to the address set to " Positioning address P1".

For details on " Positioning address P1", refer to the following.

Page 83, Section 5.4 (2)

(5) Positioning speed V2

This setting is enabled only for two-phase trapezoidal positioning control.

Set the command speed to move to the address set to " Positioning address P2".

The setting condition is the same as that of " Positioning speed V1". ( Page 84, Section 5.4 (3))

Da.4

5.5 Monitor Data

Md.1

Pr.10

Md.2

Md.3

Md.4

Md.5

Md.6

This section describes the details of monitor data.

Item Description Default value

• The current commanded position is stored. (different from the actual

motor position during operation)

Current feed value

Actual current value

Error code (ERR.1)

Error code (ERR.2)

Deviation counter

value (address)

Movement amount

after near-point dog

• The update cycle is 0.5ms.

• When OPR is completed, the value of " OP address" is stored.

• When the current value is changed with the current value change

function, the changed value is stored. ( Page 217, Section 11.5)

• The actual servomotor movement amount calculated based on

feedback pulses is stored as an actual current value (the number of

feedback pulses). (Actual current value = Current feed value -

Accumulated pulses in the deviation counter)

• The update cycle is 0.5ms.

• When a minor error occurs, the corresponding error code is stored.

• The latest error code is stored at all times. (When a new error occurs,

the error code is overwritten.)

• When Error reset signal (Y28) is turned on, the error code is cleared

to 0.

For details on error codes, refer to the following.

Page 250, Section 14.3

• When a major error occurs, the corresponding error code is stored.

• The latest error code is stored at all times. (When a new error occurs,

the error code is overwritten.)

• When Error reset signal (Y28) is turned on, the error code is cleared

to 0.

For details on error codes, refer to the following.

Page 250, Section 14.3

• The difference of the current feed value and actual current value is

stored as a deviation counter value.

• The update cycle is 0.5ms.

• When OPR starts, "0" is stored.

• When OPR is completed, the movement amount from the near-point

dog ON to the OPR completion is stored. (Movement amount:

Movement amount to OPR completion using near-point dog ON as

"0".) The stored value varies depending on feedback pulses input at

the OPR as shown below.

 When the phase A proceeds 90 degrees than phase B: positive

value

 When the phase B proceeds 90 degrees than phase A: negative

value

• The count value is stored for both the near-point dog method and the

count method. (Use the value as a reference value for OPR

adjustment.)

CHAPTER 5 DATA USED FOR POSITIONING

Buffer

memory

address

(decimal)

0pulse

0104

0105

0pulse

100

101

102

103

106

107

108

109

5.5 Monitor Data

Item Description Default value

Md.7

Md.8

Md.9

Md.10

Md.11

Md.12

Md.13

Md.14

0: Speed-

position

switching

command input

OFF

0: Position

control

0: Not in the

zero/gain

adjustment

mode

0: No zero/gain

adjustment

0pulse/s

0000

Speed-position

switching command

Control mode

Zero/gain execution

status

Zero/gain adjustment

status

Feedrate

Error code

Error occurrence (Year:

Month)

The on/off status of Speed-position switching command signal

(CHANGE) is stored.

0: Speed-position switching command input OFF

1: Speed-position switching command input ON

The control mode under the speed-position control switch mode is

stored.

0: Position control

1: Speed control

The execution status of the zero/gain adjustment mode is stored.

0: Not in the zero/gain adjustment mode

1: In the zero/gain adjustment mode (DIP switch)

2: In the zero/gain adjustment mode (switch setting)

The status of zero/gain adjustment is stored.

0: No zero/gain adjustment

1: Adjusting zero

2: Adjusting gain

• The command output speed of the operating workpiece is stored.

(May be different from the actual motor speed during operation)

• The update cycle is 0.5ms.

An error code is stored.

For details on error codes, refer to the following.

Page 250, Section 14.3

The time (year: month) of error detection is stored in BCD code.

• b15 to b8: Year

• b7 to b0: Month

The data can be monitored in hexadecimal.

b15

0001001000000100

0 to 9

b7 b0

0 to 9 0 to 1

0 to 9

Buffer

memory

address

(decimal)

110

111

112

113

114

115

Error occurrence (Day:

Hour)

Monitor value

1204

00 to 99 (Year) 01 to 12 (Month)

The time (day: hour) of error detection is stored in BCD code.

• b15 to b8: Day

• b7 to b0: Hour

The data can be monitored in hexadecimal.

b15

0010000100010000

0 to 3

b7 b0

0 to 9 0 to 2

0 to 9

Monitor value

2110

01 to 31 (Day) 00 to 23 (Hour)

0000

Page

88, Section

5.5 (1)

CHAPTER 5 DATA USED FOR POSITIONING

Md.15

1508

0 to 9 0 to 5

0 to 9

0 to 5

b7 b0

b15

0001010100001000

00 to 59 (Minute) 00 to 59 (Second)

Monitor value

Md.16

Md.17

Md.18

Md.19

Md.20

Cd.18

Md.21

Md.22

Item Description Default value

The time (minute: second) of error detection is stored in BCD code.

• b15 to b8: Minute

• b7 to b0: Second

The data can be monitored in hexadecimal.

Buffer

memory

address

(decimal)

Error occurrence

(Minute: Second)

Error history pointer

Maximum accumulated

pulse value

Minimum accumulated

pulse value

Accumulated pulse

error detection function

status

• The pointer No. for the next error record is stored. A value from 0 to

15 is stored.

• Even when Error reset signal (Y28) is turned on, the data is not

cleared to 0.

[When the accumulated pulse error detection function is being executed]

The reference value that is kept in the flash ROM of the QD73A1 is

displayed.

[When the reference value is being measured]

The maximum/minimum accumulated pulse values are stored when the

positioning is executed in the address increasing/decreasing direction.

[In other cases]

0 is stored.

The status of the accumulated pulse error detection function is

displayed.

0: Normal

1: Accumulated pulse error is being detected

2: Reference value is being measured

The status of the reference value measurement is displayed.

0: Unmeasured

1: Measured

Page

0000

88, Section

5.5 (1)

0184

0 pulse

200

201

202

203

0: Normal 204

5.5 Monitor Data

Reference value

measurement flag

Deviation counter

value (pulse)

Movement amount

after near-point dog

ON (absolute value)

Check that this area stores 1 before writing data in the flash ROM.

This area becomes 0 at the following timing.

• When the module is started

• When " Accumulated pulse error detection request" is set to 1

and the error detection starts

• The difference of the values obtained from "Command pulse ×

CMX/CDV" and "Number of feedback pulses × Multiplication" is stored

as a deviation counter value.

• The update cycle is 0.5ms.

• When OPR starts, "0" is stored.

• When OPR is completed, the movement amount from the near-point

dog ON to the OPR completion is stored as an absolute value.

(Movement amount: Movement amount to OPR completion using

near-point dog ON as "0".)

• The count value is stored for both the near-point dog method and the

count method. (Use the value as a reference value for OPR

adjustment.)

0: Unmeasured 205

0 pulse

116

117

118

119

(1) Buffer memory areas for error occurrence data

Pointer No.

Pointer No. 0

Md.12

Error code

Md.13

Error occurrence (Year: Month)

Md.14

Error history

Error occurrence (Day: Hour)

Md.15

Error occurrence (Minute: Second)

Item

120

121

122

123

Buffer memory

address

Md.16

Error history pointer

128

124

129

125

130

126

131

127

184

Stores the pointer number that is next to the one for the latest error history record.

164

160

156

152

148

144

140

136

132

165

161

157

153

149

145

141

137

133

166

162

158

154

150

146

142

138

134

167

163

159

155

151

147

143

139

135

A set of buffer memory data is organized as an error history record with a pointer number.

Pointer No.0 = Buffer memory addresses 120 to 123

Ex.

Pointer No.1 = Buffer memory addresses 124 to 127 Pointer No.2 = Buffer memory addresses 128 to 131

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

Pointer No.15 = Buffer memory addresses 180 to 183

Error history records are stored from the pointer No.1 up to No.15. After 16 records are stored, the next record will be assigned the pointer No.0. (The new record replaces the older record.)

5.6 Control Data

Cd.1

Cd.7

Md.1

Cd.2

Cd.8

Pr.5

Cd.3

Pr.5

This section describes the details of control data.

Item Description Setting range

• Set a new current feed value when

changing the current value.

• Writing data in this area and setting "1" in

" Current value change request"

New current value

New speed value

JOG speed

changes the value in " Current feed

value".

For details on the current value change

function, refer to the following.

Page 217, Section 11.5

• Set a new speed value when changing

speed.

• Writing data in this area and setting "1" in

" Speed change request" executes

the speed change.

For details on the speed change function,

refer to the following.

Page 218, Section 11.6

• Set JOG speed for JOG operation.

• If the value exceeds " Speed limit

value", the error "JOG speed Outside the

setting range" (error code: 41) occurs, and

the speed is limited to " Speed limit

value".

• If "0" is set in this area and JOG operation is

attempted, the error "JOG speed Outside

the setting range" (error code: 41) occurs,

and the operation does not start.

For details on JOG operation, refer to the

following.

Page 200, CHAPTER 10

Pr.5

CHAPTER 5 DATA USED FOR POSITIONING

Default

value

-2147483648 to

2147483647pulse

0 to " Speed limit

value" (pulse/s)

(Maximum 4000000 pulse/s)

1 to 4000000pulse/s 0pulse/s

0pulse

0pulse/s

Buffer

memory

address

(decimal)

5.6 Control Data

Item Description Setting range

Cd.4

Md.1

Cd.5

Cd.6

• Use this area to clear the accumulated

pulses in the deviation counter.

• Write "1" to clear the counter. If a value

other than "1" is set, the command is

ignored.

• After the deviation counter was cleared, "0"

is stored automatically.

• To start positioning after the deviation

counter was cleared, check that this area

stores "0" and no error is detected before

the start.

Deviation counter clear

command

Analog output

adjustment area 1

New speed-position

movement amount

• When the deviation counter is cleared,

Md.2

" Actual current value" changes to the

value in " Current feed value".

• Data cannot be written while BUSY signal

(X14) is on. Check that BUSY signal (X14)

is off before writing data. If data writing is

attempted while BUSY signal (X14) is on,

the error "Deviation counter clear error"

(error code: 114) occurs.

For details on the deviation counter clear

function, refer to the following.

Page 220, Section 11.7

• Set pulse amount to adjust gain with

specific accumulated pulse amount.

• This setting is enabled only in the zero/gain

adjustment mode.

• Use this area when the default value or one

of the selections 1 to 4 is set in

"Accumulated pulse setting" in the switch

setting. (When one of the selections 5 to 8 is

set, use " Analog output adjustment

area 2".)

• If the setting is outside the setting range, the

error "Analog output adjustment area 1

Outside the setting range" (error code: 125)

occurs.

For details on zero/gain adjustment, refer to

the following.

• Set this area to change movement amount

of after a switchover to position control in

the speed-position control switch mode.

• The set value is reflected at the input of

Speed-position switching command signal

(CHANGE).

• The setting is cleared to 0 when the next

operation starts.

For details on the Speed-position control

switch mode, refer to the following.

Cd.9

Page 59, Section 4.5

Page 195, Section 9.6.2

1: Clear the deviation

counter

Depends on "Accumulated

pulse setting" in the switch

setting.

Accumulated

pulse setting

Selection 1

Selection 2

Selection 3

Default value

or selection

1 to 2147483647pulse 0pulse

Setting

range (Unit:

pulse)

-3700 to

3700

-7400 to

7400

-11100 to

11100

-14800 to

14800

Buffer

Default

value

memory

address

(decimal)

086

087

CHAPTER 5 DATA USED FOR POSITIONING

Cd.7

Cd.1

Cd.8

Cd.2

Pr.5

Cd.9

Item Description Setting range

• Use this area to request a current value

change.

• After setting " New current value", set

"1" in this area. If a value other than "1" is

set, the setting is ignored.

• After the current value change was

accepted, "0" is stored automatically.

• A current value change cannot be

Current value change

request

Speed change request

Analog output

adjustment area 2

requested while BUSY signal (X14) is on.

Check that BUSY signal (X14) is off before

requesting a current value change.

• If a current value change is requested while

BUSY signal (X14) is on, the error "Current

value change error" (error code: 110)

occurs.

For details on the current value change

function, refer to the following.

Page 217, Section 11.5

• Use this area to request a speed change.

• After setting " New speed value", set

"1" in this area. If a value other than "1" is

set, the setting is ignored.

• After the speed change was accepted, "0" is

stored automatically.

• If a speed change is requested with

" New speed value" exceeding

" Speed limit value", the error "New

speed value Outside the setting range"

(error code: 40) occurs, and the speed after

the change is limited to " Speed limit

value".

For details on the speed change function,

refer to the following.

Page 218, Section 11.6

• Set pulse amount to adjust gain with

specific accumulated pulse amount.

• This setting is enabled only in the zero/gain

adjustment mode.

• Use this area when one of the selections 5

to 8 is set in "Accumulated pulse setting

the switch setting. (When one of the

selections 1 to 4 is set, use " Analog

output adjustment area 1".)

• If the setting is outside the setting range, the

error "Analog output adjustment area 2

Outside the setting range" (error code: 126)

occurs.

For details on zero/gain adjustment, refer to

the following.

Page 59, Section 4.5

Cd.5

" in

1: Change the current value 0 90

1: Change speed 0 91

Depends on "Accumulated

pulse setting" in the switch

setting.

Accumulated

pulse setting

Selection 5

Selection 6

Selection 7

Selection 8

Setting

range (Unit:

pulse)

-37000 to

37000

-74000 to

74000

-111 0 0 0 t o

111000

-148000 to

148000

Default

value

Buffer

memory

address

(decimal)

5.6 Control Data

Item Description Setting range

Cd.10

Cd.11

Ex.

Cd.12

• Specify "zero adjustment" or "gain

adjustment".

• When zero/gain adjustment is performed

using switches on the front of the QD73A1,

Zero/gain adjustment

specification

Zero/gain adjustment

value specification

Factory default

zero/gain adjustment

value restoration

request

the set value is ignored.

• If a value other than 0, 1, and 2 is set, the

error "Zero/gain adjustment setting error"

(error code: 123) occurs.

For details on zero/gain adjustment, refer to

the following.

Page 59, Section 4.5

• Use this area to set adjustment amount of

the analog output value during zero/gain

adjustment.

• The analog output value changes by the

adjustment amount when Set value change

request signal (Y1C) is turned on and off.

When 1000 is set, the analog output

value can be adjusted by approximately

0.33V.

• When zero/gain adjustment is performed

using switches on the front of the QD73A1,

the set value is ignored.

• If the setting is outside the setting range, the

error "Zero/gain adjustment value error"

(error code: 124) occurs.

For details on zero/gain adjustment, refer to

the following.

Page 59, Section 4.5

• Use this area to restore the zero adjustment

value and gain adjustment value to the

factory default.

• This setting is enabled only in the zero/gain

adjustment mode.

• If a value other than "1" is set, the setting is

ignored.

• After the zero/gain adjustment value was

restored, "0" is stored automatically.

1: Zero adjustment

2: Gain adjustment

-3000 to 3000 0 95

1: Restore the zero/gain

adjustment value

Buffer

Default

value

memory

address

(decimal)

094

096

CHAPTER 5 DATA USED FOR POSITIONING

Cd.13

Cd.17

Item Description Setting range

The difference between the reference value

(maximum value) and the judgment value

(alert output accumulated pulses (maximum

value)) is set.

The relation between this setting and the

judgment value is as follows.

[If " Accumulated pulse setting value

Alert output

accumulated pulse

setting value (maximum

value)

selection" is set to 0]

Alert output accumulated pulses (maximum

value) = reference value (maximum value) +

Cd.13

Alert output accumulated pulse setting

value (maximum value)

[If " Accumulated pulse setting value

selection" is set to 1]

Alert output accumulated pulses (maximum

value) = reference value (maximum value) +

Cd.13

( Alert output accumulated pulse setting

value (maximum value) - 1000) × reference value (maximum value)  1000

• If " Accumulated

pulse setting value

selection" is set to 0:

1 to 148000 pulse

• If " Accumulated

pulse setting value

selection" is set to 1:

1000 to 50000

-3

(× 10

: Last three digits

are the value after the

decimal point.)

Default

value

Buffer

memory

address

(decimal)

400

401

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

5.6 Control Data

Item Description Setting range

Cd.14

Cd.17

Cd.14

The difference between the reference value

(maximum value) and the judgment value

(immediate stop accumulated pulses

(maximum value)) is set.

The relation between this setting and the

judgment value is as follows.

[If " Accumulated pulse setting value

selection" is set to 0]

Cd.17

• If " Accumulated

pulse setting value

selection" is set to 0:

1 to 148000 pulse

Cd.17

• If " Accumulated

pulse setting value

selection" is set to 1:

1000 to 50000

-3

(× 10

are the value after the

decimal point.)

Immediate stop

accumulated pulse

setting value (maximum

value)

Immediate stop accumulated pulses

(maximum value) = reference value

(maximum value) + Immediate stop

Cd.14

accumulated pulse setting value (maximum

value)

Cd.17

[If " Accumulated pulse setting value

selection" is set to 1]

Immediate stop accumulated pulses

(maximum value) = reference value

(maximum value) + ( Immediate stop

accumulated pulse setting value (maximum

value) - 1000) × reference value (maximum value)  1000

: Last three digits

Default

value

Buffer

memory

address

(decimal)

402

403

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

CHAPTER 5 DATA USED FOR POSITIONING

Cd.15

Cd.17

Item Description Setting range

The difference between the reference value

(minimum value) and the judgment value (alert

output accumulated pulses (minimum value))

is set.

The relation between this setting and the

judgment value is as follows.

[If " Accumulated pulse setting value

Alert output

accumulated pulse

setting value (minimum

value)

selection" is set to 0]

Alert output accumulated pulses (minimum

value) = reference value (minimum value) +

Cd.15

Alert output accumulated pulse setting

value (minimum value)

[If " Accumulated pulse setting value

selection" is set to 1]

Alert output accumulated pulses (minimum

value) = reference value (minimum value) +

Cd.15

( Alert output accumulated pulse setting

value (minimum value) - 1000) × reference value (minimum value)  1000

• If " Accumulated

pulse setting value

selection" is set to 0:

-148000 to -1 pulse

• If " Accumulated

pulse setting value

selection" is set to 1:

1000 to 50000

-3

(× 10

: Last three digits

are the value after the

decimal point.)

Default

value

Buffer

memory

address

(decimal)

404

405

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

5.6 Control Data

Item Description Setting range

Cd.16

Cd.17

Cd.16

Cd.17

Cd.13

The difference between the reference value

(minimum value) and the judgment value

(immediate stop accumulated pulses

(minimum value)) is set.

The relation between this setting and the

judgment value is as follows.

[If " Accumulated pulse setting value

Immediate stop

accumulated pulse

setting value (minimum

value)

selection" is set to 0]

Immediate stop accumulated pulses

(minimum value) = reference value (minimum

value) + Immediate stop accumulated

pulse setting value (minimum value)

Cd.17

[If " Accumulated pulse setting value

selection" is set to 1]

Immediate stop accumulated pulses

(minimum value) = reference value (minimum

value) + ( Immediate stop accumulated

Cd.16

pulse setting value (minimum value) - 1000) × reference value (minimum value)  1000

Cd.17

• If " Accumulated

pulse setting value

selection" is set to 0:

-148000 to -1 pulse

Cd.17

• If " Accumulated

pulse setting value

selection" is set to 1:

1000 to 50000

-3

(× 10

are the value after the

decimal point.)

: Last three digits

Default

value

Buffer

memory

address

(decimal)

406

407

Accumulated pulse

setting value selection

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

• The setting unit for " Alert output

accumulated pulse setting value (maximum

value)" to " Immediate stop

Cd.16

accumulated pulse setting value (minimum

value)" is selected.

• If a value other than 0 and 1 is set, the value

is regarded as 0.

• If this area is set to 1 and the

maximum/minimum reference values are

set to 0, the error "Accumulated pulse error

undetectable" (error code: 131) occurs and

the accumulated pulse error detection

function does not operate.

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

0: Set with pulse

1: Set with magnification

0: Set

with

pulse

408

CHAPTER 5 DATA USED FOR POSITIONING

Cd.18

Cd.19

Cd.18

Item Description Setting range

• Use this area to start/stop the accumulated

pulse error detection function.

• While this area is set to 1, the accumulated

pulse error detection function is executed.

However, if the reference value has never

been measured, the error "Accumulated

pulse error undetectable" (error code: 131)

occurs and the function does not operate.

• If a value other than 0 and 1 is set, the value

Accumulated pulse error

detection request

is regarded as 0.

• If " Measurement start request" is set

to 1, the function does not operate even if

this area is set to 1. (This request is ignored

and after " Measurement start

request" is set to 0, the function is

executed.)

0: No request

1: Requested

Default

value

0: No

request

Buffer

memory

address

(decimal)

409

Measurement start

request

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

• Use this area to measure accumulated

pulses used as the reference value to detect

an error.

• While this area is set to 1, the

maximum/minimum accumulated pulse

values are measured.

• If a value other than 0 and 1 is set, the value

is regarded as 0.

Cd.18

• If " Accumulated pulse error detection

request" is set to 1, the value is not

measured even if this area is set to 1. (This

request is ignored and after

" Accumulated pulse error detection

request" is set to 0, the function is

executed.)

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

0: No request

1: Requested

0: No

request

410

5.6 Control Data

Item Description Setting range

Cd.20

Md.20

• Use this area to save the measured

reference value in the flash ROM of the

QD73A1.

• When this area setting is changed to 1, the

measured reference value is saved in the

flash ROM.

• When " Reference value

measurement flag" is set to 1, the value is

written to the flash ROM. If

Md.20

Reference value write

request

" Reference value measurement flag"

is set to the value other than 1, the error

"Reference value write error" (error code:

132) occurs and the value is not written.

• The QD73A1 set this area to 0 when the

value saving in the flash ROM is completed.

This process is the same when an error

occurs and the value is not written.

For details on the accumulated pulse error

detection function, refer to the following.

Page 223, Section 11.9

0: No request

1: Requested

Default

value

0: No

request

Buffer

memory

address

(decimal)

411

Mitsubishi Electronics QD73A1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

RELEVANT MANUALS

CONTENTS

MANUAL PAGE ORGANIZATION

TERMS

PACKING LIST

CHAPTER 1 OVERVIEW

1.1 Features

1.2 Signal Transmission Between the QD73A1 and Others

CHAPTER 2 SYSTEM CONFIGURATION

2.1 Applicable Systems

2.2 How to Check the Function Version and Serial Number

CHAPTER 3 SPECIFICATIONS

3.1 Performance Specifications

3.2 Number of Parameter Settings

3.3 List of Functions

3.4 I/O Signals from/to the CPU Module

3.4.1 I/O signal list

3.4.2 Details of input signals

3.4.3 Details of output signals

3.5 Specifications of I/O Interfaces with External Devices

3.5.1 Electrical specifications of I/O signals

3.5.2 Signal layout for external device connectors

3.5.3 List of I/O signal details

3.5.4 I/O interface internal circuit

3.6 Memory Configuration and Use

3.7 List of Buffer Memory Addresses

4.1 Handling Precautions

4.2 Settings and Procedure Before Operation

4.3 Part Names

4.4 LED

4.5 Zero/gain Adjustment

4.6 Wiring

4.6.1 Wiring precautions

4.6.2 Precautions when connecting an encoder

4.6.3 External device connectors

CHAPTER 5 DATA USED FOR POSITIONING

5.1 Types of Data

5.2 Positioning Parameters

5.3 OPR Parameters

5.4 Positioning Data

5.5 Monitor Data

5.6 Control Data