Mitsubishi Electronics QD75D, QD75P User Manual

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Type QD75P/QD75D Positioning Module

Mitsubishi Programmable Logic Controller

QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4

SAFETY INSTRUCTIONS

(Always read these instructions before using this equipment.)

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

DANGER

CAUTION

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

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

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

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

[Design Instructions]

DANGER

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

operate safely even when an external power supply error or PLC fault occurs.

Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. (1) Configure an emergency stop circuit and interlock circuit such as a positioning upper

limit/lower limit to prevent mechanical damage outside t he PLC.

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

Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is incorrectly set, deceleration will not start and the machine will continue t o tr avel. Configure an interlock circuit to prevent mechanical damage outside the PLC.

(3) When the module detects an error, normally deceleration st op or sudden stop w ill take

place according to the parameter stop group settings. Set the parameters to the positioning system specifications. Make sure that the OPR parameter and positioning data are within the parameter setting values.

A - 1

[Design Instructions]

CAUTION

Do not bundle or adjacently lay the control wire or communication cable with the main circuit or

power wire.

Separate these by 100mm (3.94in.) or more.

Failure to observe this could lead to malfunctioning caused by noise.

[Mounting Instructions]

CAUTION

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

Using the PLC outside the general specification range environ ment could lead to electr ic shocks, fires, malfunctioning, product damage or deterioration.

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

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

Incorrect loading of the module can cause a malfunction, failure or drop. When using the PLC in the environment of much vibration, tighten the module with a screw. Tighten the screw in the specified torque range. Undertightening can cause a drop, short circuit or malfunction. Overtightening can cause a drop, short circuit or malfunction due to damage to the screw or module.

Completely turn off the externally supplied power used in the system before mounting or

removing the module. Not doing so may damage the product.

[Wiring Instructions]

DANGER

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

[Startup/Maintenance Instructions]

DANGER

Completely turn off the externally supplied power used in the system before cleaning or

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

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[Startup/Maintenance Instructions]

CAUTION

Never disassemble or modify the module.

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

Completely turn off the externally supplied power used in the system before installing or

removing the module.

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

Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2-

compliant), after the first use of the product. Failure to do so may cause malfunction.

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

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

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

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

[Precautions for use]

CAUTION

Note that when the reference axis speed is designated for interpolation operation, the speed of

the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value).

[Disposal Instructions]

CAUTION

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

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REVISIONS

The manual number is given on the bottom left of the back cov er

Manual Number Revision

Print Date Dec., 1999 SH (NA)-08005 8-A First edition Oct., 2000 SH (NA)-080058-B Addition of function version B

(Overall revisions based on the Japanese Manual Version SH-080047-E)

Jun., 2001 SH (NA)-080058-C The software package names (GPP function software package,

QD75 software package) have been replaced by the product names

(GX Developer, GX Configurator-QP) for standardization. Partial corrections and additions CONTENTS, About Manuals, Generic Terms and Abbreviations, Section 1.4, Section 2.2, Section 2.3, Section 3.2.2 to Section 3.2.4, Section 3.3.2, Section 3.3.3, Section 3.4.1, Section 3.4.3, Section

3.4.4, Section 4.1.2, Section 4.3, Section 5.1.2, Section 5.1.3, Section

5.2.3, Section 5.2.5, Section 5.6.2, Section 5.7.1, Section 6.2 to Section 6.4, Section 6.5.3, Section 7.2, Section 8.2.2, Section 8.2.5, Section 8.2.6, Section 9.1.2, Section 9.2.1, Section 9.2.16, Section

9.2.17, Section 10.3.2, Section 10.6.2, Section 11.2.3, Section 11.3.3, Section 11.3.4, Section 11.4.3, Section 12.1.1, Section 12.5 to Section

12.7, Section 13.1, Section 13.3, Section 13.4, Section 14.2 to Section

14.7, Section 15.1, Section 15.2, Section 15.4, Appendix 1, Appendix

9.2, Appendix 11, INDEX

Apr., 2003 SH (NA)-080058-D

Oct., 2003 SH (NA)-080058-E

Partial corrections and additions SAFETY INSTRUCTIONS, CONTENTS, Component List, Section 1.2.3, Section 1.4, Section 2.3, Section 2.4, Section 3.1, Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.4.1, Section

3.4.4, Section 4.1.2, Section 4.3.1, Section 4.3.2, Section 5.1.1, Section 5.1.7, Section 5.1.8, Section 5.2.1, Section 5.2.4, Section

5.6.2, Section 5.7.1, Section 6.4, Section 6.5.4, Section 6.5.6, Section

8.2.3 to Section 8.2.8, Section 9.2.17, Section 9.2.19, Section 11.2.1, Section 11.3.1, Section 11.4.1, Section 12.1.1, Section 12.5.1, Section

12.5.2, Section 12.7.3, Section 12.7.5, Section 12.7.9, Section 14.4, Section 15.2, Appendix 1.1, Appendix 4.1 to Appendix 4.3, Appendix

7.1, Appendix 9.2, Appendix 10 to Appendix 13, INDEX Partial correcti on s an d ad di t ion s

CONTENTS, Section 1.1.1, Section 1.4, Section 2.2, Section 2.4, Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.3.2, Section

3.4.3, Section 3.4.4, Section 5.1.1, Section 5.1.8, Section 5.7.1, Section 6.5.3, Section 6.5.6, Section 7.1.2, Section 9.1.2, Section

9.2.3 to Section 9.2.9, Section 11.2.1, Section 11.3.1, Section 11.4.1, Section 12.2.1, Section 12.7.10, Appendix 9.2, Appendix 12, INDEX

A - 4

REVISIONS

Manual Number Revision

Print Date

Feb., 2004 SH (NA)-080058-F

The manual number is given on the bottom left of the back cov er

Partial corrections and additions CONTENTS, Section 3.4.1, Section 3.4.3, Section 3.4.4, Section 5.2.1, Section 5.4, Section 5.5, Section 5.6.2, Section 8.2.6, Section 10.1.2, Section 10.3.3, Section 10.3.5, Section 10.3.7, Appendix 9.2, Appendix 12

Nov., 2004 S H (NA ) -080 05 8 - G

Jun., 2005 SH (NA)-080058-H

Partial correcti on s an d ad di t ion s SAFETY INSTRUCTIONS, Section 1.4, Section 2.3, Section 2.4, Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.7, Section 5.2.1, Section 5.2.6, Section 5.6.2, Section 6.1, Section 9.2.19, Section 12.2.1, Section 12.4.4, Section 12.7.4, Appendix 1.1, Appendix 9.1 Partial correcti on s an d ad di t ion s Section 5.1.2, Section 9.1.2, Section 9.2.10, Section 9.2.21, Section 10.3.8, Section 11.4.1, Section 12.5.2, Section 12.7.1, Section 12.7.6, Section 15.1, Section 15.2

Japanese Manual Version SH-0800047-L

This manual confers no industrial property rights or any rights of any other kind, nor doe s it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems inv olv ing industria l property rights which may occur as a result of using the contents noted in this manual.

 1999 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

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

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

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

INTRODUCTION ...........................................................................................................................................A- 6

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

About Manuals ..............................................................................................................................................A- 13

Using This Manual.........................................................................................................................................A- 13

Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES.................................................................A- 13

Generic Terms and Abbreviations................................................................................................................A- 14

Component List .............................................................................................................................................A- 15

Section 1 Product Specifications and Handling

1. Product Outline 1- 1 to 1- 22

1.1 Positioning control....................................................................................................................................1- 2

1.1.1 Features of QD75..............................................................................................................................1- 2

1.1.2 Purpose and applications of positioning control...............................................................................1- 5

1.1.3 Mechanism of positioning control .....................................................................................................1- 7

1.1.4 Outline design of positioning system................................................................................................1- 9

1.1.5 Communicating signals between QD75 and each module.............................................................1- 12

1.2 Flow of system operation........................................................................................................................1- 15

1.2.1 Flow of all processes........................................................................................................................1- 15

1.2.2 Outline of starting ...................................................................................................... .......................1- 18

1.2.3 Outline of stopping ...........................................................................................................................1- 20

1.2.4 Outline for restarting.........................................................................................................................1- 21

1.3 Restrictions with a system using a stepping motor................................................................................1- 22

1.4 Function additions/modifications according to function version B.........................................................1- 22

2. System Configuration 2- 1 to 2- 6

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

2.2 Component list .........................................................................................................................................2- 4

2.3 Applicable system....................................................................................................................................2- 5

2.4 How to check the function version and SERIAL No. .............................................................................2- 6

A - 6

3. Specifications and Functions 3- 1 to 3- 24

3.1 Performance specifications......................................................................................................................3- 2

3.2 List of functions .......................................................................................................................................3- 4

3.2.1 QD75 control functions......................................................................................................................3- 4

3.2.2 QD75 main functions......................................................................................................................... 3- 6

3.2.3 QD75 sub functions and common functions ....................................................................................3- 8

3.2.4 Combination of QD75 main functions and sub functions................................................................3- 12

3.3 Specifications of input/output signals with PLC CPU.............................................................................3- 14

3.3.1 List of input/output signals with PLC CPU.......................................................................................3- 14

3.3.2 Details of input signals (QD75

3.3.3 Details of output signals (PLC CPU

3.4 Specifications of input/output interfaces with external devices .............................................................3- 17

3.4.1 Electrical specifications of input/output signals...............................................................................3- 17

3.4.2 Signal layout for external device connection connector..................................................................3- 19

3.4.3 List of input/output signal details......................................................................................................3- 20

3.4.4 Input/output interface internal circuit................................................................................................3- 22

4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 16

4.1 Outline of installation, wiring and maintenance....................................................................................... 4- 2

4.1.1 Installation, wiring and maintenance procedures.............................................................................4- 2

4.1.2 Names of each part...........................................................................................................................4- 3

4.1.3 Handling precautions ........................................................................................................................4- 5

4.2 Installation ................................................................................................................................................4- 7

4.2.1 Precautions for installation................................................................................................................4- 7

4.3 Wiring........................................................................................................................................................4- 8

4.3.1 Precautions for wiring........................................................................................................................4- 8

4.3.2 Wiring of the differential driver common terminal............................................................................4- 13

4.4 Confirming the installation and wiring.....................................................................................................4- 14

4.4.1 Items to confirm when installation and wiring are completed.........................................................4- 14

4.5 Maintenance............................................................................................................................................4- 15

4.5.1 Precautions for maintenance...........................................................................................................4- 15

4.5.2 Disposal instructions ........................................................................................................................4- 15

PLC CPU) ..................................................................................3- 15

QD75)................................................................................3- 16

5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-132

5.1 Types of data............................................................................................................................................5- 2

5.1.1 Parameters and data required for control.........................................................................................5- 2

5.1.2 Setting items for positioning parameters..........................................................................................5- 4

5.1.3 Setting items for OPR parameters....................................................................................................5- 6

5.1.4 Setting items for positioning data......................................................................................................5- 7

5.1.5 Setting items for block start data .....................................................................................................5- 10

5.1.6 Setting items for condition data .......................................................................................................5- 11

5.1.7 Types and roles of monitor data......................................................................................................5- 12

5.1.8 Types and roles of control data .......................................................................................................5- 16

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5.2 List of parameters ...................................................................................................................................5- 20

5.2.1 Basic parameters 1 ..........................................................................................................................5- 20

5.2.2 Basic parameters 2 ..........................................................................................................................5- 26

5.2.3 Detailed parameters 1......................................................................................................................5- 28

5.2.4 Detailed parameters 2......................................................................................................................5- 36

5.2.5 OPR basic parameters.....................................................................................................................5- 46

5.2.6 OPR detailed parameters ................................................................................................................5- 54

5.3 List of positioning data ............................................................................................................................5- 58

5.4 List of block start data .............................................................................................................................5- 74

5.5 List of condition data...............................................................................................................................5- 80

5.6 List of monitor data..................................................................................................................................5- 86

5.6.1 System monitor data ........................................................................................................................5- 86

5.6.2 Axis monitor data..............................................................................................................................5- 96

5.7 List of control data..................................................................................................................................5-110

5.7.1 System control data.........................................................................................................................5-110

5.7.2 Axis control data..............................................................................................................................5-112

6. Sequence Program Used for Positioning Control 6- 1 to 6- 44

6.1 Precautions for creating program............................................................................................................6- 2

6.2 List of devices used..................................................................................................................................6- 5

6.3 Creating a program .................................................................................................................................6- 11

6.3.1 General configuration of program....................................................................................................6- 11

6.3.2 Positioning control operation program.............................................................................................6- 12

6.4 Positioning program examples...............................................................................................................6- 15

6.5 Program details.......................................................................................................................................6- 24

6.5.1 Initialization program ........................................................................................................................6- 24

6.5.2 Start details setting program............................................................................................................6- 25

6.5.3 Start program....................................................................................................................................6- 27

6.5.4 Continuous operation interrupt program..........................................................................................6- 37

6.5.5 Restart program ...............................................................................................................................6- 39

6.5.6 Stop program....................................................................................................................................6- 42

7. Memory Configuration and Data Process 7- 1 to 7- 12

7.1 Configuration and roles of QD75 memory...............................................................................................7- 2

7.1.1 Configuration and roles of QD75 memory........................................................................................7- 2

7.1.2 Buffer memory area configuration ....................................................................................................7- 5

7.2 Data transmission process ......................................................................................................................7- 6

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Section 2 Control Details and Setting

8. OPR Control 8- 1 to 8- 22

8.1 Outline of OPR control.............................................................................................................................8- 2

8.1.1 Two types of OPR control.................................................................................................................8- 2

8.2 Machine OPR...........................................................................................................................................8- 4

8.2.1 Outline of the machine OPR operation.............................................................................................8- 4

8.2.2 Machine OPR method.......................................................................................................................8- 5

8.2.3 OPR method (1): Near-point dog method ........................................................................................8- 6

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

8.2.5 OPR method (3): Stopper method 2) ..............................................................................................8- 11

8.2.6 OPR method (4): Stopper method 3) ..............................................................................................8- 14

8.2.7 OPR method (5): Count method 1)..................................................................................................8- 16

8.2.8 OPR method (6): Count method 2)..................................................................................................8- 18

8.3 Fast OPR.................................................................................................................................................8- 20

8.3.1 Outline of the fast OPR operation....................................................................................................8- 20

9. Major Positioning Contro l 9- 1 to 9-114

9.1 Outline of major positioning controls .......................................................................................................9- 2

9.1.1 Data required for major positioning control ......................................................................................9- 4

9.1.2 Operation patterns of major positioning controls .............................................................................9- 5

9.1.3 Designating the positioning address................................................................................................9- 15

9.1.4 Confirming the current value............................................................................................................9- 16

9.1.5 Control unit "degree" handling.........................................................................................................9- 18

9.1.6 Interpolation control..........................................................................................................................9- 21

9.2 Setting the positioning data ...................................................................................................................9- 25

9.2.1 Relation between each control and positioning data ......................................................................9- 25

9.2.2 1-axis linear control ..........................................................................................................................9- 27

9.2.3 2-axis linear interpolation control.....................................................................................................9- 29

9.2.4 3-axis linear interpolation control.....................................................................................................9- 33

9.2.5 4-axis linear interpolation control.....................................................................................................9 -39

9.2.6 1-axis fixed-feed control...................................................................................................................9- 43

9.2.7 2-axis fixed-feed control (interpolation) ...........................................................................................9- 45

9.2.8 3-axis fixed-feed control (interpolation) ...........................................................................................9- 47

9.2.9 4-axis fixed-feed control (interpolation) ..........................................................................................9- 51

9.2.10 2-axis circular interpolation control with sub point designation.....................................................9- 53

9.2.11 2-axis circular interpolation control with center point designation................................................9- 59

9.2.12 1-axis speed control.......................................................................................................................9- 67

9.2.13 2-axis speed control.......................................................................................................................9- 70

9.2.14 3-axis speed control.......................................................................................................................9- 73

9.2.15 4-axis speed control.......................................................................................................................9- 77

9.2.16 Speed-position switching control (INC mode)...............................................................................9- 82

9.2.17 Speed-position switching control (ABS mode)..............................................................................9- 90

9.2.18 Position-speed switching control ...................................................................................................9- 98

9.2.19 Current value changing.................................................................................................................9-105

A - 9

9.2.20 NOP instruction .............................................................................................................................9-110

9.2.21 JUMP instruction...........................................................................................................................9-111

9.2.22 LOOP.............................................................................................................................................9-113

9.2.23 LEND .............................................................................................................................................9-114

10. High-Level Positioning Control 10- 1 to 10- 26

10.1 Outline of high-level positioning control...............................................................................................10- 2

10.1.1 Data required for high-level positioning control............................................................................10- 3

10.1.2 " Block start data" and "condition data" configuration.................................................................. 10- 4

10.2 High-level positioning control execution procedure ...........................................................................10- 6

10.3 Setting the block start data..................................................................................................................10- 7

10.3.1 Relation between various controls and block start data ..............................................................10- 7

10.3.2 Block start (normal start) ..............................................................................................................10- 8

10.3.3 Condition start ..............................................................................................................................10- 10

10.3.4 Wait start.......................................................................................................................................10- 11

10.3.5 Simultaneous start ......................................................................................................................10- 12

10.3.6 Repeated start (FOR loop) ..........................................................................................................10- 13

10.3.7 Repeated start (FOR condition) ..................................................................................................10- 14

10.3.8 Restrictions when using the NEXT start......................................................................................10- 15

10.4 Setting the condition data...................................................................................................................10- 16

10.4.1 Relation between various controls and the condition data.........................................................10- 16

10.4.2 Condition data setting examples .................................................................................................10- 19

10.5 Multiple axes simultaneous start control............................................................................................10- 20

10.6 Start program for high-level positioning control .................................................................................10- 23

10.6.1 Starting high-level positioning control..........................................................................................10- 23

10.6.2 Example of a start program for high-level positioning control.....................................................10- 24

11. Manual Control 11- 1 to 11- 36

11.1 Outline of manual control ....................................................................................................................11- 2

11.1.1 Three manual control methods.....................................................................................................11- 2

11.2 JOG operation......................................................................................................................................11- 4

11.2.1 Outline of JOG operation..............................................................................................................11- 4

11.2.2 JOG operation execution procedure ............................................................................................11- 7

11.2.3 Setting the required parameters for JOG operation.....................................................................11- 8

11.2.4 Creating start programs for JOG operation.................................................................................11- 10

11.2.5 JOG operation example...............................................................................................................11- 13

11.3 Inching operation.................................................................................................................................11- 17

11.3.1 Outline of inching operation.........................................................................................................11- 17

11.3.2 Inching operation execution procedure.......................................................................................11- 20

11.3.3 Setting the required parameters for inching operation................................................................11- 21

11.3.4 Creating a program to enable/disable the inching operation......................................................11- 22

11.3.5 Inching operation example...........................................................................................................11- 25

11.4 Manual pulse generator operation......................................................................................................11- 27

11.4.1 Outline of manual pulse generator operation..............................................................................11- 27

11.4.2 Manual pulse generator operation execution procedure............................................................11- 31

11.4.3 Setting the required parameters for manual pulse generator operation ....................................11- 32

A - 10

11.4.4 Creating a program to enable/disable the manual pulse generator operation ..........................11- 33

12. Control Sub Functions 12- 1 to 12- 98

12.1 Outline of sub functions .......................................................................................................................12- 2

12.1.1 Outline of sub functions.................................................................................................................12- 2

12.2 Sub functions specifically for machine OPR.......................................................................................12- 4

12.2.1 OPR retry function.........................................................................................................................12- 4

12.2.2 OP shift function ...........................................................................................................................12- 8

12.3 Functions for compensating the control .............................................................................................12- 11

12.3.1 Backlash compensation function.................................................................................................12- 11

12.3.2 Electronic gear function................................................................................................................12- 13

12.3.3 Near pass function .......................................................................................................................12- 18

12.4 Functions to limit the control...............................................................................................................12- 21

12.4.1 Speed limit function......................................................................................................................12- 21

12.4.2 Torque limit function.....................................................................................................................12- 23

12.4.3 Software stroke limit function.......................................................................................................12- 26

12.4.4 Hardware stroke limit function .....................................................................................................12- 32

12.5 Functions to change the control details..............................................................................................12- 34

12.5.1 Speed change function ................................................................................................................12- 34

12.5.2 Override function..........................................................................................................................12- 41

12.5.3 Acceleration/deceleration time change function .........................................................................12- 44

12.5.4 Torque change function ...............................................................................................................12- 48

12.6 Absolute position restoration function ................................................................................................12- 50

12.7 Other functions....................................................................................................................................12- 58

12.7.1 Step function.................................................................................................................................12- 58

12.7.2 Skip function.................................................................................................................................12- 63

12.7.3 M code output function.................................................................................................................12- 66

12.7.4 Teaching function.........................................................................................................................12- 70

12.7.5 Target position change function...................................................................................................12- 77

12.7.6 Command in-position function.....................................................................................................12- 81

12.7.7 Acceleration/deceleration processing function............................................................................12- 84

12.7.8 Pre-reading start function.............................................................................................................12- 87

12.7.9 Deceleration start flag function ....................................................................................................12- 92

12.7.10 Stop command processing for deceleration stop function........................................................12- 96

13. Common Functions 13- 1 to 13- 8

13.1 Outline of common functions...............................................................................................................13- 2

13.2 Parameter initialization function...........................................................................................................13- 3

13.3 Execution data backup function...........................................................................................................13- 5

13.4 External I/O signal logic switching function.........................................................................................13- 7

13.5 External I/O signal monitor function ....................................................................................................13- 8

14. Dedicated instructions 14- 1 to 14- 22

14.1 List of dedicated instructions ...............................................................................................................14- 2

14.2 Interlock during dedicated instruction is executed..............................................................................14- 2

14.3 ABRST1, ABRST2, ABRST3, ABRST4..............................................................................................14- 3

A - 11

14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4...............................................................................................14- 8

14.5 TEACH1, TEACH2, TEACH3, TEACH4............................................................................................14- 12

14.6 PFWRT................................................................................................................................................14- 16

14.7 PINIT ...................................................................................................................................................14- 20

15. Troubleshooting 15- 1 to 15- 38

15.1 Error and warning details.....................................................................................................................15- 2

15.2 List of errors .........................................................................................................................................15- 6

15.3 List of warnings ...................................................................................................................................15- 32

15.4 LED display functions .........................................................................................................................15- 38

Appendices Appendix- 1 to Appendix-108

Appendix 1 Version up of the functions............................................................................................Appendix- 2

Appendix 1.1 Comparison of functions according to function versions.......................................Appendix- 2

Appendix 2 Format sheets................................................................................................................Appendix- 4

Appendix 2.1 Positioning Module operation chart .......................................................................Appendix- 4

Appendix 2.2 Parameter setting value entry table .......................................................................Appendix- 6

Appendix 2.3 Positioning data setting value entry table ............................................................Appendix- 12

Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses...............................Appendix- 13

Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation

.......................................................................................................................................Appendix- 37

Appendix 4.1 Connection example of QD75D

Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) .....Appendix- 38

Appendix 4.3 Connection example of QD75D

Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.

.......................................................................................................................................Appendix- 40

Appendix 5.1 Connection example of QD75P

Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co.,

Ltd. ................................................................................................................................Appendix- 41

Appendix 6.1 Connection example of QD75D

Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.

.......................................................................................................................................Appendix- 42

Appendix 7.1 Connection example of QD75D

Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation

.......................................................................................................................................Appendix- 43

Appendix 8.1 Connection example of QD75D

Appendix 9 Comparisons with conventional positioning modules..................................................Appendix- 44

Appendix 9.1 Comparisons with A1SD71S2 model....................................................................Appendix- 44

Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 45

Appendix 10 MELSEC Explanation of positioning terms................................................................Appendix- 68

Appendix 11 Positioning control troubleshooting............................................................................Appendix- 92

Appendix 12 List of buffer memory addresses.................................................................................Appendix-98

Appendix 13 External dimension drawing......................................................................................Appendix-107

and MR-H A (Differential driver) ...............Appendix- 37

and MR-C A (Differential driver) ...............Appendix- 39

and VEXTA UPD (Open collector)................Appendix- 40

and MINAS-A series (Differential driver)......Appendix- 41

and PYO series (Differential driver)..............Appendix- 42

and Σ- series (Differential driver) .................Appendix- 43

A - 12

About Manuals

Related Manu al s

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

Manual Name

Type QD75P/QD75D Positioning Module User's Manual (Hardware)

Describes the performance, specifications, I/O interface, component names, and startup procedure of the respective positioning modules: QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. (The manual is supplied with the module.)

GX Configurator-QP Operating Manual

Describes how to use GX Configurator-QP for the following and other purposes: creating data (parameters, positioning data, etc.), sending the data to the module, monitoring the positioning operations, and testing. (The manual is supplied with the software.)

Using This Manual

The symbols used in this manual are shown below.

Pr.

Da.

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

....... Symbol indicating positioning data, block start data and condition

data item.

Md. Cd.

....... Symbol indicating m onitor dat a item.

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

Manual Number

(Model Code)

IB-0800063

(13JQ73)

SH-080172

(13JU19)

(A serial No. is inserted in the

mark.)

Representation of numerical values used in this manual.

Buffer memory addresses, error codes and warning codes are represented in

decimal. X/Y devices are represented in hexadecimal. Setting data and monitor data are represented in decimal or hexadecimal. Data

ended by "H" are represented in hexadecimal.

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

10H......Hexadecimal

Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES

For details on making Mitsubishi PLC conform to the EMC and Low Voltage Directives when installing it in your product, please refer to Chapter 3, “EMC AND LOW-VOLTAGE DIRECTIVES” of the using PLC CPU module User’s Manual (Hardware). The CE logo is printed on the rating plate on the main body of the PLC that conforms to the

EMC and Low Voltage Directives

To make this product conform to the refer to Section 4.3.1 "Precautions for wiring".

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EMC and Low Voltage Directives

, please

Generic Terms and Abbreviations

Unless specially noted, the following generic terms and abbreviations are used in this manual.

Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75 can be mounted. QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D 1, QD75D 2, and

QD75D4. The module type is described to indicate a specifi c modul e.

Peripheral device Generic term for DOS/V personal computer that can run the following "GX D ev eloper" and "GX

Configurator-QP". GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later). GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later). Drive unit (servo amplifier) Abbreviation for pulse input compatible drive unit (servo amplifier). Manual pulse generator Abbreviation for manual pulse generator (prepared by user).

DOS/V personal computer Personal computer Generic term for DOS/V personal computer.

Workpiece Generic term for moving body such as workpiece and tool, and for v arious control targ ets. Axis 1, axis 2, axis 3, axis 4 1-axis, 2-axis, 3-axis, 4-axis

IBM PC/AT

Indicates each axis connected to QD75.

Indicates the number of axes. (Example: 2-ax is = Indicates tw o ax es such as axis 1 and axis 2,

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

and compatible DOS/V compliant personal computer.

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Component List

The table below shows the component included in respective positioning modules:

Module name Description Quantity QD75P1 QD75P1 Positioning Module(1-axis open collector output system) 1 QD75P2 QD75P2 Positioning Module(2-axes open collector output system) 1 QD75P4 QD75P4 Positioning Module(4-axes open collector output system) 1

QD75D1

QD75D2

QD75D4

QD75D1 Positioning Module(1-axis differential driver output system) 1 Differential driver common terminal 1 QD75D2 Positioning Module(2-axes differential driver output system) 1 Differential driver common terminal 1 QD75D4 Positioning Module(4-axes differential driver output system) 1 Differential driver common terminal 1

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MEMO

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Section 1 Product Specifications and Handling

Section 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD75 specifications

and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process

Section 1

Read Section 2 for details on each control.

Chapter 1 Product outline .............................................................................................. 1- 1 to 1- 22

Chapter 2 System configuration .................................................................................... 2- 1 to 2- 6

Chapter 3 Specifications and Functions........................................................................ 3- 1 to 3- 24

Chapter 4 Installation, Wiring and Maintenance of the Product................................... 4- 1 to 4- 16

Chapter 5 Data Used for Positioning Control................................................................ 5- 1 to 5-132

Chapter 6 Sequence Program Used for Positioning Control........................................ 6- 1 to 6- 44

Chapter 7 Memory Configuration and Data Process.................................................... 7- 1 to 7- 12

MEMO

Chapter 1 Product Outline

The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose.

By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly.

1.1 Positioning control........................................................................................................1- 2

1.1.1 Features of QD75 ...........................................................................................1- 2

1.1.2 Purpose and applications of positioning control ............................................1- 5

1.1.3 Mechanism of positioning control...................................................................1- 7

1.1.4 Outline design of positioning system .............................................................1- 9

1.1.5 Communicating signals between QD75 and each module ..........................1- 12

1.2 Flow of system operation ............................................................................................1- 15

1.2.1 Flow of all processes .....................................................................................1- 15

1.2.2 Outline of starting...........................................................................................1- 18

1.2.3 Outline of stopping.........................................................................................1- 20

1.2.4 Outline for restarting ......................................................................................1- 21

1.3 Restrictions with a system using a stepping motor....................................................1- 22

1.4 Function additions/modifications according to function version B.............................1- 22

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1 PRODUCT OUTLINE

1.1 Positioning control

1.1.1 Features of QD75

The features of the QD75 are shown below.

(1) Availability of one, two, and four axis modules

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(a) One, two and four axis modules are available for both the open collector

system pulse output (QD75P1, QD75P2, and QD75P4) and differential driver system pulse output (QD75D1, QD75D2, and QD75D4), comprising six different models. A model is determined by the drive unit type and number of axes. (Refer to Section 2.2.)

(b) For connecting any of the QD75 modules to the base unit, a single slot and

32 dedicated I /O chan nel s a re requ i red . Within the limit imposed by the maximum number of inputs and outputs supported by the PLC CPU, up to 64 modules can be used. (Refer to Section 3.1.)

(2) Wide variety of positioning control functions

(a) A wide variety of positioning control functions essential to any positioning

system are supported: positioning to an arbitrary position, fixed-feed control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.)

1) Up to 600 positioning data items, including such information as positioning addresses, control systems, and operation patterns, can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible.)

2) Independent control of each axis can be achieved in linear control mode (executable simultaneously over four axes). Such control can ei th e r be t he in de pe nden t po si tio ni ng con t rol u sing a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.

3) Coordinated control over multiple axes can take the form of either the linear interpolation through the speed or position control of two to four axes or the circular interpolation involving two axes. Such control can ei th e r be t he in de pe nden t po si tio ni ng con t rol u sing a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.

(b) For each positioning data, the user can specify any of the following control

systems: position control, speed control, speed-position switching control, position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.)

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1 PRODUCT OUTLINE

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executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. (Refer to Section 10.3.2.)

(d) OPR control is given additional features (Refer to Section 8.2.)

1) Six different machine OPR methods are provided: near point dog method (one method), stopper methods (three methods), and count methods (two methods).

2) OPR retry function facilitates the machine OPR control from an arbitrary position. (The machine OP a p remie r re fe ren ce po si t ion fo r positioning cont rol. The machine is set to the machine OP through one of the machine OPR methods mentioned in 1) above.)

(e) Two acceleration/deceleration control methods are provided: automatic

trapezoidal acceleration/deceleration and S-pattern acceleration/deceleration. (Refer to Section 12.7.7.) (The S-pattern acceleration/deceleration control is disabled if stepping motors are used. Refer to Section 1.3.)

(3) Quick startup (Refer to Section 3.1.)

A positioning operation starts up quickly taking as little as 6 ms to 7 ms. When operation using simultaneous start function or interpolation operation is executed, the axes start without delay.

(Example) Axis 1 and Axis 3 are started by the

simultaneous start function Axis 2 and Axis 4 are started by the interpolation operation

: No delay in Axis 1 and

Axis 3 start

: No delay in Axis 2 and

Axis 4 start

(4) Faster pulse output and allowance of longer distance to dr i ve unit

(Refer to Section 3.1.)

The modules with a differential driver (QD75D1, QD75D2, and QD75D4) incorporate the improvements in pulse output speed and maximum distance to the drive unit.

• QD75D1/QD75D2/QD75D4: 1 Mpulse/s, 10 m max.

• QD75P1/QD75P 2/QD 75P 4: 20 0 kpu l se/ s, 2 m max.

(5) Easy maintenance

Each QD75 positioning module incorporates the following improvements in maintainability:

(a) Data such as the positioning data and parameters can be stored on a flash

ROM inside the QD75, eliminating the need of a battery for retaining data. (Refer to Section 7.1.1.)

(b) Error messages are classified in more detail to facilitate the initial

troubleshooting procedure. (Refer to Section 15.1.)

output, offering more complete error and warning histories. (Refer to Section 5.6.1.)

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1 PRODUCT OUTLINE

(6) Support of intelligent function module dedicated instructions

(7) Setups, monitoring, and testing thr oug h GX Configurator-QP

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Dedicated instructions such as the absolute position restoration instruction, positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies sequence programs.(Refer to Chapter 14. )

Using GX Configurator-QP, the user can control the QD75 parameters and positioning data without having to be conscious of the buffer memory addresses. Moreover, GX Configurator-QP has a test function which allows the user to check the wiring before creating a sequence program for positioning control, or test operation the QD75 using created parameters and positioning data for checking their integrity. The control monitor function of GX Configurator-QP allows the user to debug programs efficiently.

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1 PRODUCT OUTLINE

)

1.1.2 Purpose and applications of positioni ng contr ol

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.

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Punch press (X, Y feed positioning

Gear and ball screw

Conveyor control

Servomotor (with brakes)

Servo amplifier

Teaching unit AD75TU

Press head

Servo amplifier

Reduction gears

Y axis

X axis servomotor

Ball screw

(From QD75)

AD75

Servo

mplifier

Palletizer

Y axis servomotor

)

X axis

Conveyor

320mm

Y axis

X axis Gear and rack & pinion

PLC MELSEC-Q

160mm

Press punching

12 s

PLC MELSEC-Q

X axis Y axis

Position detector

Palletizer Unloader control

QD75

15m/min (2000r/min

15m/min (1875r/min)

QD75

AD75

•

To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos.

•

After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is then punched with the press.

•

When the material type or shape changes, the press head die is changed, and the positioning pattern is changed.

•

Using the servo for one axis, the palletizer is positioned at a high accuracy.

•

The amount to lower the palletizer according to the material thickness is saved.

Compact machining center (ATC magazine positioning)

•

The ATC tool magazine for a compact machining center is positioned.

•

The relation of the magazine's current value and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time.

Servo amplifier

QD75

AD75

Servomotor

Coupling

Positioning pin

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Reduction gears

ATC tool magazine

Tool (12 pcs., 20 pcs.)

Rotatio n di r e c t io n for calling 11, 12, 1, 2 or 3

Current value retrieval position

Rotation direction for calling 5, 6, 7, 8, 9 or 10

<No. of tools: 12> <No. of tools: 20>

Rotatio n di r e c t io n for calling 17 to 20, 1 to 5

Rotatio n di r e c t io n for calling 7 to 16

Current value retrieval position

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1 PRODUCT OUTLINE

Lifter (Sto rage o f Br au n tub e s on to aging rack)

B conveyor

Lifter C

Counterweight

Reduction gears

Servomotor (with brakes)

Index table (High-accuracy indexing of angle)

PLC MELSEC-Q

conveyor

A conveyor Servo amplifier

Loader

Servomotor

Servo amplifier

Aging rack

Positioni n g modu le QD75

AD75

QD75

Unloader

Loader/unloader

PLC MELSEC-Q

MELSEC-Q

•

During the aging process of braun tubes, storage onto the rack is carried out by positioning with the AC servo.

•

The up/down positioning of the lifter is carried out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.

•

The index table is positioned at a high accuracy using the 1-axis servo.

Digital switch

Index table

Worm gears

Inner surface grinder

Servomotor

Inverter

Servo amplifier

220VAC 60Hz

QD75

PLC MELSEC-Q

Motor

Fix the grinding stone, feed the workpiece, and grind.

Operation panel

a b

Workpiece

Grinding stone

a. Total feed amount (mm)

b. Finishing

feed amount (mm) c. Compensation amount (mm)

Detector Servomotor

Motor

Inverter

Servo amplifier

d. Rough grind ing speed (mm/s) e. Fine grindi ng speed (mm/s)

•

The grinding of the workpiece's inner surface is controlled with the servo and inverter.

•

The rotation of the workpiece is controlled with the 1-axis inverter, and the rotation of the grinding stone is controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo.

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1 PRODUCT OUTLINE

1.1.3 Mechanism of positioning control

Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a module that generates pulses). In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.

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Creates control order and conditions as a sequence program.

GX Developer

GX Configurator

-QP

Sets the parameters and positioning data for control.

Outputs the start command for JOG operation, etc., during test operation with the test mode.

Monitors the positioning operation.

PLC CPU

QD75 positioning module

Servo amplifier

Stores t he creat e d program. The QD75 outputs the start signal and

stop signal following the stored program. QD75 errors, etc., are detected.

Outputs signals such as the start signal, stop signal, limit signal and control changeover signal to the QD75.

External signal

Stores the parameter and data. Outputs pulses to the servo according to the

instructions from the PLC CPU, GX Configurator-QP, external signals and manual pulse generator.

Manual pulse generator

Receives pulse commands from QD75, and drives the motor.

Outputs the drive unit READY signal and zero signal to the QD75.

Issues commands by transmitting pulses.

Motor

Workpiece

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Carries out the actual work according to commands from the servo.

1 PRODUCT OUTLINE

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

Position control

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

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Positioning module

Total No. of pulses required to move designated distance

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

described in the motor catalog specification list.

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

Designated distance

No. of pulses required for motor to rotate once

When this total No. of pulses is issued from the QD75 to the servo amplifier, control to move the designated distance can be executed. The machine side movement amount when one pulse is issued to the servo amplifier is called the "movement amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning precision.

Speed control

The "Total No. of pulses" mentioned above is invariably required for controlling the distance. For positioning or speed control, the speed must be controlled as well. The speed is determined by the frequency of pulses sent from the QD75 to the drive unit.

Servo amplifier

Servo motor

Detector (Pulse encoder)

Pulse frequency [pps]

This area is the total No. of commanded pulses.

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

Fig. 1.1 Relationship between position control and speed control

POINT

The QD75 controls the position with the "total No. of pulses", and the speed with the "pulse frequency".

Feedback pulses

ta td (s)

0.4 1.2 0.4

Movement amount t = 2

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1 PRODUCT OUTLINE

1.1.4 Outline design of positioning system

The outline of the positioning system operation and design, using the QD75, is shown below.

(1) Positioning system using QD75

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PLC CPU

Program

Peripheral devices interface

Read, write, etc.

GX Configurator-QP

Fig. 1.2 Outline of the operation of positioning system using QD75

Forward run pulse train

Reverse run pulse train

Deviation counter

Read, write, etc.

Positioning module

QD75

Setting data

(a) Positioning operation by the QD75

1) The QD75 output is a pulse train. The pulse train output by the QD75 is counted by and stored in the deviation counter in the drive unit. The D/A conve rte r out pu ts an an alog DC current pr op o rti on at e t o th e count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal.

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

3) When the QD75 terminates the output of a pulse train, the motor decelerates as the pulse droop decreases and stops when the count drops to zero. Thus, the motor rotation speed is proportionate to the pulse frequency, while the overall motor rotation angle is proportionate to the total number of pulses output by the QD75. Therefore, when a movement amount per pulse is given, the overall movement amount can be determined by the number of pulses in the pulse train. The pulse frequency, on the other hand, determines the motor rotation speed (feed speed).

Drive unit

D/A converter

Speed command

Interface

Feedback pulse

Servo amplifier

Servomotor

PLG

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1 PRODUCT OUTLINE

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(b) Pulse train output from the QD75

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

2) The pulse frequency stab iliz e s when t he mot o r spee d equ al s the targe t speed.

3) The QD75 decreases the pulse frequency (sparser pulses) to decelerate the motor before it finally stops the output. There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the motor. This difference, called "the stop settling time", is required for gaining a stopping accuracy.

Servomotor

Speed V

Pulse droop amount

Pulse distribution

speed

Pulse encoder (PLG)

Servomotor

Acceleration

Pulse train Rough Dense Rough

Deceleration

Time t

Stop settling time

Fig. 1.3 QD75 output pulses

(2) Movement amount and speed in a sy stem using w or m gear s

A : Movement amount per pulse (mm/pulse)

Workpiece

Table

Worm gear

Fig. 1.4 System using worm gears

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

: D ev iation co unter droo p pulse amount

P0 : OP (pulse) P : Address (pulse)

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1 PRODUCT OUTLINE

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(a) In the system shown in Fig. 1.4, the movement amount per pulse,

command pulse frequency, and the deviation counter droop pulser amount are determined as follows:

1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).

A =

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

Vs =

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

R × n

V A

[mm/pulse]

[pulse/s]

[pulse]

(b) The QD75 allows the user to select from the following four units as the unit

used by positioning commands to any of the axes (1 to 4, if the module supports four axes): mm, inch, degree, and pulse. The unit selected for one axis may differ from the unit selected for another axis. When such data as the movement amount per pulse, acceleration/deceleration time, positioning speed, and positioning address are correctly set in consideration of the chosen unit, the QD75 can calculate the number of pulses required for a movement amount to the target positioning address and execute the positioning by outputting a pulse train that includes the calculated number of pulses.

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1 PRODUCT OUTLINE

1.1.5 Communicating signals betw een QD 75 and each mo dul e

The outline of the signal communication between the QD75 and PLC CPU, peripheral device and drive unit, etc., is shown below. (A peripheral device communicates with the QD75 via the PLC CPU to which it is connected)

PLC

CPU

Y0 X0

X1 Y8,YA,YC,YE Y9,YB,YD,YF

Y14,Y15,Y16,Y17

PLC READY signal

QD75 READY s ignal

Syncronization flag

Forward run JOG start signal Reverse run JOG start signal

Execution prohibition flag

QD75

External interface

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Drive unit READY signal

Upper/lower limit signal

Near-point dog signal

Zero signal

Deviation counter clear

Pulse train

External signal

Drive unit

Y10,Y11,Y12,Y13 X14,X15,X16,X17

XC,XD,XE,XF

X10,X11,X12,X13

Y4,Y5,Y6,Y7

X4,X5,X6,X7

X8,X9,XA,XB

Peripheral device interface

Positioning start signal

Positioning complete signal

BUSY signal

Start complete signal

Axis stop signal

M code ON signal

Error detection signal

Data write/read

Parameter write/read Positioning data write/read Block start data write/read

OPR operation (test)

JOG/Inching operation

Positioning operation (test)

Interface with PLC CPU

Manual pulse generator A-phase Manual pulse generator B-phase

Stop signal

External command signal

Manual pulse generator

External signal

Peripheral device

Operation monitor

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1 PRODUCT OUTLINE

QD75 PLC CPU

The QD75 and PLC CPU communicate the following data via the base unit.

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Communication

Control signal

Data (read/write)

Direction

Signal indicating QD75 state, such as QD75 READY signal, BUSY signal.

• Parameter

• Positioning data

• Block start data

• Control data

• Monitor data

QD75

PLC CPU PLC CPU QD75

Signal related to commands such as PLC READY signal, various start signals, stop signals

• Parameter

• Positioning data

• Block start data

• Control data

Refer to Section 3.3 "Specifications of input/output signals with PLC CPU" for details.

QD75 Peripheral device

The QD75 and peripheral device communicate the following data via the PLC CPU:

Direction

Communication

Data (read/write)

Test operation –

Operation monitor • Monitor data –

QD75

• Parameter

• Positioning data

• Block start data

Peripheral device Peripheral device QD75

• Parameter

• Positioning data

• Block start data

• OPR control start command

• Positioning control start command

• JOG/Inching operation start command

• Teaching start command

• Manual pulse generator operation enable/disable command

QD75 Drive unit

The QD75 and drive unit communicate the following data via the external device connection connector.

Direction

Communication Control signal Pulse train • Pulse train output –

Signals related to commands such as deviation counter clear signal

QD75

Drive unit Drive unit QD75

Signals indicating drive unit state such as drive unit READY signal

QD75 Manual pulse generator

The QD75 and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.)

Direction

Communication Pulse signal –

QD75

Manual pulse generator Manual pulse generator QD75

Manual pulse generator A-phase, manual pulse generator B-phase

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1 PRODUCT OUTLINE

QD75 External signa l

The QD75 and external signal communicate the following data via the external device connection connector.

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Direction

Communication

Control signal –

QD75

External signal External signal QD75

•

Signals from detector such as near-point dog signal, upper/lower limit signal, zero signal

•

Control signals from external device such as stop signal, external command signal

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1 PRODUCT OUTLINE

1.2 Flow of system operation

1.2.1 Flow of all processes

The positioning control processes, using the QD75, are shown below.

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Design

Preparation

GX Configurator-QP

1) Understand the functions and performance, and determine the positioning oper at ion method

(system design)

3) 4) Settin g of the:

· Parameters

· Positioning data

· Block start data

· Condition data

Writing of setting data

QD75

2) Installation, wiring

Servo, etc.

5) 6)

PLC CPU

Creation of sequence program for operation

Refer to (N o te)

GX Developer

Writing of program

Operation

Maintenance

7) 8) Monitoring with

test operation, and debugging of setting data

Monitor

10)

11)

Connection confirmation

Test operation

Actual operation

Maintenance

Disposal

(Note)

When not using GX Configurator

-QP, carry out setting, monitoring and debugging of the data in 3) with GX Developer.

Monitoring and debugging of operation program

Monitor

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1 PRODUCT OUTLINE

The following work is carried out with the processes shown on the previous page.

Details Reference

Understand the product functions and usage methods, the configurati on dev ices

and specifications required for positioning control, and des ign the sy stem.

Install the QD75 onto the base unit, wire the QD75 and external connection d ev ices

(drive unit, etc.).

Using GX Configurator-QP, set the parameters, positioning data, block start data

and condition data required for the positioning control to be ex ecuted.

Using GX Developer, create the sequence program required for positioning

operation. (When not using GX Configurator-QP, also create the sequence program for setting data.)

Write the parameters and positioning data, etc., created w ith GX Configurator-Q P

into the QD75.

Using GX Developer, write the created sequence program into the PLC C PU.

(When not using GX Configurator-QP, also write in the sequence program for setting data.)

Carry out test operation and adjustments in the test mode to check th e conne ction with the QD75 and external connection device, and to confirm that the d esignated

positioning operation is executed correctly. (Debug the set "para meters" and "positioning data", etc.)

Carry out test operation and adjustment to confirm that the designated positioning

operation is executed correctly. (Debug the created sequence program. When not using GX Configurator-QP, also debug the set data.

Actually operate the positioning operation. At this time, monitor the operation state

as required. If an error or warning occurs, remedy.

10) Service the QD75 as required.

11) Dispose of the QD75.

MELSEC-Q

•

Chapter 1

•

Chapter 2

•

Chapter 3

•

Chapter 8 to Chapter 13

•

Chapter 4

•

Chapter 5

•

Chapter 8 to Chapter 13

•

GX Configurator-QP Operating Manual

•

Chapter 6

•

GX Developer Operating Manual

•

Chapter 7

•

GX Configurator-QP Operating Manual

•

Chapter 7

•

GX Developer Operating Manual

•

GX Configurator-QP Operating Manual

•

Chapter 13

•

GX Developer Operating Manual

•

GX Developer Operating Manual

•

Chapter 5

•

Chapter 15

•

GX Configurator-QP Operating Manual

•

GX Developer Operating Manual

•

Chapter 4

•

Chapter 4

1 - 16

1 PRODUCT OUTLINE

MEMO

MELSEC-Q

1 - 17

1 PRODUCT OUTLINE

1.2.2 Outline of starting

The outline for starting each control is shown with the following flowchart.

It is assumed that each module is installed, and the required system configuration, etc., has been prepared.

MELSEC-Q

Preparation

Control functions

Positioning parameters

OPR parameters

Positioning data

Block start data

Control data

Start signal

Flow of starting

Installation and connection of module Setting of hardware

Major positioning control

·Position contro l

·Speed control

·Speed-position switching control

·Position-speed switching control

·Other control

Set the positioning data.

)

Set the positioning start No.

Da.1)Da.10

High-level positioning control

·Block start (Normal start)

·Condition start

·Wait start

·Simultaneous start

·Repeated start

Set the positioning parameters.

Set the block start data.

)

Da.11)Da.19

Set the positioning starting point No.

Input the start signal. Method (1) Turn ON the QD75 start sig nal from the PLC CPU Method (2) Issue the PSTRT instruct i on from the PLC CPU. Method (3) Turn the QD75 external st art signal ON

)

Cd.4

)

OPR control Manual control

·Machine OPR control

·Fast OPR control

Set the OPR parameters.

)

Pr.43

)

Cd.3

·JOG operation

)

Pr.1 Pr.42

)

Pr.57

Set the JOG speed

)

to ,

Cd.17

·Inching operation

Pr.150

)

·Manual pulse generator operation

)

Set the manual pulse generator enable flag to "1".

Set the inching movement amount to other than 0.

)

Cd.16

Set the inching movement amount to 0.

)

Cd.16

Turn the QD75 JOG start signal ON from the PLC CPU

Set the manual pulse generator 1 pulse input magnification.

Operate the manual pulse generator

)

Cd.21

)

Cd.20

)

Control start

Control end

Operation

Stop

1 - 18

1 PRODUCT OUTLINE

MELSEC-Q

Setting method

Set with GX Configurator-QP

Set the parameter and data for executing main function, and the sub functions that need to be set beforehand.

Create sequence program for setting data

When set with "GX Configurator-QP", this does not need to be created.

Write

Create sequence program for executing main function

Create sequence program for outputting control signals, such as start signal, to QD75.

Operation sequence program PLC CPU

: Indicates the se quence program that must be created.

QD75

Write

PLC CPU Write

Write

· Speed change

· Current value changing

· Torque limit

· Restart, etc.

Create a sequence program for the sub functions.

1 - 19

1 PRODUCT OUTLINE

1.2.3 Outline of stopping

Each control is stop pe d in the fo ll ow in g ca ses. (1) When each control is completed normally.

(2) When the drive unit READY signal is turned OFF. (3) When a PLC CPU error occurs (4) When the PLC READY signal is turned OFF. (5) When an error occurs in the QD75. (6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop

The outline for the stopping process in these cases is shown below. (Excluding (1) for normal stopping.)

MELSEC-Q

signal from an external device, etc.)

Stop cause

Forced stop

Fatal stop (Stop group 1)

Emergency stop (Stop group 2)

Relatively safe stop (Stop group 3)

Intentional stop (Stop group 3)

Drive unit READY signal OFF

Hardware stroke limit upper/lower limit error occurrence

PLC CPU error occurrence

PLC READY signal OFF

Error in test mode

Axis error detection (Error other than stop group 1 or 2)

“Stop signal” from peripheral device

"Stop signal" ON from external source

"Axis stop signal" ON from PLC CPU

M code

Stop

ON signal

axis

after stop

Each axisNochange

No change

All

Turns

axes

OFF No

change

Each axisNochange

Axis

operation

status

after

stopping

Md.26

(

During error

When stopped (While waiting)

Stop process

OPR control Manual control

Machine

OPR

)

control

Immediate stop

Deceleration stop/sudden stop (Select with “

sudden stop selection” )

Deceleration stop/sudden stop (Select with “

sudden stop selection” )

Deceleration stop/sudden stop (Select with “

sudden stop selection”)

Major

Fast

positioning

OPR

control

Pr.37

Pr.38

Pr.39 Sudden stop group3

High-level positioning control

Sudden stop group1

Sudden stop group2

JOG/ Inching operation

Manual pulse generator operation

Deceleration stop

1 - 20

1 PRODUCT OUTLINE

1.2.4 Outline for restarting

When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped posit io n by usin g th e "

If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No. associated with the moment when the movement was interrupted) as the start point.

Cd.6

Restart command".

MELSEC-Q

When "

(1) If the "

the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system.

(2) When "

possible" (warning code: 104) will be applied, and the restart command will be ignored.

[Example for incremental system]

(a) The restart operation when the axis 1 movement amount is 300, and the

axis 2 movement amount is 600 is shown below.

Axis 1

Stop position due to stop cause

Start point address

200 100

100 300 700

Reference

Cd.6

Restart command" is ON

Md.26

Axis operation status" is stopped, positioning to the end point of

Md.26

Axis operation status" is not stopped, the warning "Restart not

Designated end point position

Axis 2

Restart

Axis 1

Stop position due to stop cause

400

200 100

100 300 700

Stop position after restart

Operation during restart

Axis 2

If the positioning start signal [Y10 to Y13]/external command signal is turned ON while the "

restarted from the start of the positioning start data regardless of the absolute system or incremental system. ( "External positioni ng star t ") (Same as normal positioning.)

[Example for incremental system]

(a) The positioning start operation when the axis 1 movement amount is 300

Axis 1

Stop position due to stop cause

Start po int address

200 100

100 300 700

Md.26

Axis operation status" is waiting or stopped, positioning will be

: When the external command signal is set to

and the axis 2 movement amount is 600 is shown below.

Axis 1

Stop position due to stop cause

500

Axis 2

Positioning start

200 100

100 300 900

Designated end point position

1 - 21

Stop position after restart

Operation during positioning start

Axis 2

1 PRODUCT OUTLINE

1.3 Restrictions with a system using a stepping motor

Note the following restrictions applicable to a system that uses a stepping motor:

(1) The S-pattern acceleration/deceleration is disabled because it requires a

servomotor for the controlled axis.

(2) The circular interpolation control is disabled because it requires a servomotor

for each of the two controlled axes.

1.4 Function additions/modifications according to function v er si on B

POINT

When it is desired to check the following items, refer to the corresponding explanation sections. How to check the function version and SERIAL No. (Refer to Section 2.4)

The following function additions/modifications according to the function version B of the QD75:

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Function Outline Reference

Multiple PLC compatible function Refer to QCPU User's Manual (Multiple CPU System).

Function which starts the axis under speed control,

Speed-position switching control (ABS mode)

Pre-reading start function Function which shortens virtual start time. Section 12.7.8

External I/O signal monitor function

Deceleration start flag function 2

Stop command processing for deceleration stop function 3

1: Usable on GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual. 2: Usable with the module whose first five digits of SERIAL No. are "03042" or later. 3: Usable with the module whose first five digits of SERIAL No. are "05072" or later.

switches to position control at the external command signal input, then positions the axis to a stop at the designated address.

Function which monitors the external I/O signal monitor information in the module's detailed information w hich can be displayed on the system monitor of GX Developer

Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control w hose operation pattern is "Positioning complete".

Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.

Section 9.2.17

Section 13.5

Section 12.7.9

Section 12.7.10

1 - 22

Chapter 2 System Configuration

In this chapter, the general image of the system configuration of the positioning control using QD75, the configuration devices, applicable CPU and the precautions of configuring the system are expla ine d. Prepare the required configuration devices to match the positioning control system.

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

2.2 Component list..............................................................................................................2- 4

2.3 Applicable system.........................................................................................................2- 5

2.4 How to check the function version and SERIAL No....................................................2- 6

2 - 1

2 SYSTEM CONFIGURATION

2.1 General image of system

The general image of the system, including the QD75, PLC CPU and peripheral devices is shown below . (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".

MELSEC-Q

Extension cable

CPU module 1

Main base unit 2

Positioning module

I/O module

Extension system

USB cable

RS-232 cable

REMARK

1 Refer to Section 2.3 "Applicable system" for the CPU modules that can be used. 2 Refer to the CPU module User's Manual for the base units that can be used.

2 - 2

2 SYSTEM CONFIGURATION

MELSEC-Q

Drive unit

Motor

Manual pulse generator

Cable

Machine system inputs (switches)

Near point dog Limit switch External command signal Stop signal

Peripheral device

Personal computer

GX Configurator

-QP

SWnD5C

-QD75P-E

(For details, refer to GX Configurator

-QP Operatin

Manual.)

2 - 3

2 SYSTEM CONFIGURATION

2.2 Component list

The positioning system using the QD75 is configured of the following devices.

No. Part name Type Remarks

QD75P1 QD75P2

1 Positioning module

2 GX Configurator-QP

3 Personal computer

4 RS-232 cable QC30R2

5 USB cable –

6 Drive unit – (Prepared by user)

Manual pulse

generator

Connection cable (For connecting

between the QD75 and the drive unit)

QD75P4 QD75D1 QD75D2 QD75D4

D5C-

SW QD75P-E

DOS/V personal computer

–

QD75

No. of control axes

P: Open collector output system

Refer to GX Configurator-QP Operating Manual for details. (Prepared by user)

Refer to GX Configurator-QP Operating Manual for details. (Prepared by user) An RS-232 cable is needed for connecting the CPU module w ith a

personal computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.

(Prepared by user) A USB cable is needed for connecting the CPU module with a personal

computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.

(Prepared by user) Recommended: MR-HDP01 (Mitsubishi Electric) (Prepared by user) Cables are needed to connect the QD75 with the driv e unit, manual pulse

generator, and input devices in the machine system. (Prepare them referring to the manuals for the connected devices and

information given in 3.4.2 of this manual.)

D: Differential driver output system

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Specifications of recommended manual pulse generator

Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after mag nification by 4)

2 - 4

Voltage-output (power supply voltage -1V or more),

Output current

Radial load: Max. 19.6N

Thrust load: Max. 9.8N

Max. 20mA

Output method Power supply voltage 4.5 to 13.2VDC

Current consumption 60mA Life time 100 revolutions (at 200r/min)

Permitted axial loads Operation temperature -10 to 60 (14 to 140 )

Weight 0.4 (0.88) [kg(lb)] Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min Pulse signal status 2 signals: A phase, B phase, 90 phase difference Friction torque 0.1N/m (at 20 (68 ))

2 SYSTEM CONFIGURATION

2.3 Applicable system

The QD75 can be used in the following system.

(1) Applicable modules and the num ber of installable modules

The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75 and the number of installable modules.

Applicable modules Number of installable modules Remarks

CPU module

Network module

1 Refer to the User's Manual (Hardware Design, Maintenanse and Inspection) of the CP U

module used.

2 Refer to the Q Corresponding MELSECNET/H Network System Reference Manual

(Remote I/O Network).

Q00JCPU Max. 16 modules

Q00CPU Q01CPU

Q02CPU Q02HCPU Q06HCPU Q12HCPU Q25HCPU

Q12PHCPU Q25PHCPU

QJ72LP25-25

QJ72BR15

QJ72LP25G

QJ72LP25GE

Max. 24 modules

Max. 64 modules

MELSEC-Q

(

Installable in the Q mode

only

(

MELSECNET/H remote I/O

station (

(2) Usable base unit

The QD75 can be installed in any of the I/O slots ( When installing the QD75, always consider the power supply capacity since a shortage of the power supply capacity may occur depending on the combination with the other installed module and the number of installed module.

3 Within the I/O point range of the CPU module and network module (for remote

I/O station).

) of a base unit.

(3) Compatibility with multiple PLC system

When using the QD75 in a multiple PLC system, first refer to the QCPU (Q mode) User's Manual (Function Explanation, Program Fundamentals).

(4) Supported software packages

The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer is required for use of the QD75.

Software version

GX Developer GX Configurator-QP

Single PLC

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/

Q12H/Q25HCPU

Q12PH/Q25PHCPU

For use on MELSECNET/H remote

I/O station

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

Version 7 or more

Version 8 or more

Version 2.10L or more

Version 4 or more

Version 6 or more

Version 7.10L or more Version 2.13P or more

Version 6 or more Version 2.10L or more

2 - 5

2 SYSTEM CONFIGURATION

2.4 How to check the function version and SERIAL No.

The function version and SERIAL No. of the QD75 can be checked in the following methods.

[1] Method using the rated plate on the module side face [2] Method using the software

[1] Method using the rated plate on the module si de fac e

Check the function version and SERIAL No. in the "SERIAL" field.

MELSEC-Q

SERIAL No. (The first five digits) Function version

Standard symbol for conformance is discribed

[2] Method using the software

Check the function version and SERIAL No. in "Product information" displayed on System monitor "Module's Detailed Information" of GX Developer *1 or on "OS information" of GX Configurator-QP *2.

SERIAL No.

Function version

1: This check can be made using the version of SW4D5C-GPPW-E or more. For details, refer

to GX Developer Ope rat in g Manu al .

2: For detail s, r e fe r to GX Con fi gu rat o r- QP Op er at in g Ma nual.

2 - 6

Chapter 3 Specifications and Functions

The various specifications of the QD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions",

"Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specificat ion before designing the positioning system.

3.1 Performance specifications..........................................................................................3- 2

3.2 List of functions ............................................................................................................3- 4

3.2.1 QD75 control functions...................................................................................3- 4

3.2.2 QD75 main functions......................................................................................3- 6

3.2.3 QD75 sub functions and common functions..................................................3- 8

3.2.4 Combination of QD75 main functions and sub functions .............................3- 12

3.3 Specifications of input/output signals with PLC CPU.................................................3- 14

3.3.1 List of input/output signals with PLC CPU ....................................................3- 14

3.3.2 De ta il s of in pu t sign al s (Q D75

3.3.3 Details of output signals (PLC CPU

3.4 Specifications of input/output interfaces with external devices..................................3- 17

3.4.1 Electrical specifications of input/output signals.............................................3- 17

3.4.2 Signal layout for external device connection connector ...............................3- 19

3.4.3 List of input/output signal details ...................................................................3- 20

3.4.4 Input/output interface internal circuit .............................................................3- 22

PLC CPU)................................................3- 15

QD75)..............................................3- 16

3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance specifications

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Model

Item No. of control axes 1 axis 2 axes 4 axes

Interpolation function None

Control system Control unit mm, inch, degree, pulse Positioning data

Backup

Positioning system

Positioning range

Positioning

Speed command

Acceleration/ deceleration process Acceleration/ deceleration time Sudden stop deceleration time

1: QD75P represents the open collector output system, and QD75D represents the differential driver output system. 2: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to Section 9.2.17 "Speed-

position switching control (ABS mode)".

PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speedposition switching control, position-speed switching control

600 data (positioning data Nos. 1 to 600)/axis (Can be set with peripheral device or sequence program.) Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system Position-speed switching control: Incremental system Path control: Incremental system/absolute system

In absolute system

• –214748364.8 to 214748364.7 (µm)

• –21474.83648 to 21474.83647 (inch)

• 0 to 359.99999 (degree)

• –2147483648 to 2147483647 (pulse) In incremental system

• –214748364.8 to 214748364.7 (µm)

• –21474.83648 to 21474.83647 (inch)

• –21474.83648 to 21474.83647 (degree)

• –2147483648 to 2147483647 (pulse) In speed-position switching control (INC mode) / position-speed switching control

• 0 to 214748364.7 (µm)

• 0 to 21474.83647 (inch)

• 0 to 21474.83647 (degree)

• 0 to 2147483647 (pulse) In speed-position switching control (ABS mode)

• 0 to 359.99999 (degree)

0.01 to 20000000.00 (mm/min)

0.001 to 2000000.000 (inch/min)

0.001 to 2000000.000 (degree/min) 1 to 1000000 (pulse/s)

Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration 1 to 8388608 (ms)

Four patterns can be set for each of acceleration time and deceleration time 1 to 8388608 (ms)

QD75P1 1 QD75D1

QD75P2 1 QD75D2

2-axis linear interpolation

2-axis circular interpolation

QD75P4 1 QD75D4

2-, 3-, or 4-axis linear

interpolation

2-axis circular interpolation

3 - 2

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Item

Starting time (ms) 3

External wiring connection system 40-pin connector Applicable wire size Applicable connector for external

device Max. output pulse Max. connection distance between

servos Internal current consumption (5VDC) Flash ROM write count Max. 100000 times No. of occupied I/O points 32 points (I/O assignment: 32 points for intelligent function module) Outline dimensions Weight 0.15 kg 0.15 kg 0.16 kg

1: QD75P represents the open collector output system, and QD75D represents the differential driver output system. 3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.8 "Pre-reading start

function".

Model

1-axis linear control 6 1-axis speed control 6 2-axis linear interpolation control (Composite speed) 7 2-axis linear interpolation control (Reference axis speed) 7 2-axis circular interpolation control 7 2-axis speed control 6 3-axis linear interpolation control (Composite speed) 7 3-axis linear interpolation control (Reference axis speed) 7 3-axis speed control 6 4-axis linear interpolation control 7

4-axis speed control 7

0.3 mm A6CON1, A6CON2, A6CON4 (sold separately)

QD75P1, QD75P2, QD75P4 : 200kpps QD75D1, QD75D2, QD75D4 : 1Mpps QD75P1, QD75P2, QD75P4 : 2m QD75D1, QD75D2, QD75D4 : 10m

98 (H)

QD75P1 1 QD75D1

(for A6CON1 or A6CON4), AWG #24 (for A6CON2)

QD75P1 : 0.40A QD75D1 :0.52A

27.4 (W) × 90 (D) mm

QD75P2 1 QD75D2

QD75P2 : 0.46A QD75D2 :0.56A

QD75P4 1 QD75D4

Factors in starting time extension

The following times will b e ad ded to the starting time in the described conditions:

• S-pattern acceleration/ deceleration is selected: 0.5

• Other axis is in operation: 1.5

• During continuous positioning control: 0.2

• During continuous path control: 1.0

QD75P4 : 0.58A QD75D4 :0.82A

Differential driver common terminal specifications(QD75D1, QD75D2,

QD75D4 only)

Applicable wire size 12AWG Rated multiple wire

connection size Screw tightening torque 0.5N • m

Solid wire: 0.2 to 0.8 mm2 2 pcs.

Stranded wire: 0.2 to 0.8 mm

2 pcs.

3 - 3

3 SPECIFICATIONS AND FUNCTIONS

3.2 List of functions

3.2.1 QD75 control functions

The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows.

Main functions

(1) OPR control

"OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the OP when the power is turned ON or after positioning stop, to the OP. The "OPR control" is preregistered in the QD75 as the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to Chapter 8 "OPR Control".)

(2) Major positioning control

This control is carried out using the "Positioning data" stored in the QD75. Positioning control, such as position control and speed control, is executed by setting the required items in this "positioning data" and starting that positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to Chapter 9 "Major Positioning Control".)

(3) High-level positioning control

This control executes the "positioning data" stored in the QD75 using the "block start data". The following types of applied positioning control can be carried out.

•

Random blocks, handling several continuing positioning data items as "blocks", can be executed in the designated order.

•

"Condition judgment" can be added to position control and speed control.

•

The operation of the designated positioning data No. that is set for multiple axes can be started simultaneously. (Pulses are output simultaneously to multiple servos.)

•

The designated positioning data can be executed repeatedly, etc., (Refer to Chapter 10 "High-level Positioning Control".)

(4) Manual control

By inputting a signal into the QD75 from an external source, the QD75 will output a random pulse train and carry out control. Use this manual control to move the workpiece to a random position (JOG operation), and to finely adjust the positioning (inching operation, manual pulse generator operation), etc. (Refer to Chapter 11 "Manual Control".)

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Sub functions

When executing the main functions, control compensation, limits and functions can be added. (Refer to Chapter 12 "Control Sub Functions".)

Common functions

Common control using the QD75 for "parameter initialization" or "backup of execution data" can be carried out. (Refer to Chapter 13 "Common Functions".)

3 - 4

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

OPR control

[Positioning start No.]

[9001]

[9002]

Major positioning control

Position control

Speed control

Speed-position switching contro l Position-speed switching control

Other control

·1-axis linear control

·2-, 3-, or 4-axis linear interpolation control

·1-axis fixed-feed control

·2-, 3-, or 4-axis fixed-feed control

·2-axis circular interpolation control

·1-axis linear control

·2-axis linear interpolation control

·3-axis linear interpolation control

·4-axis linear interpolation control

·Current value changing, NOP instruction

·JUMP instruction, LOOP to LEND

High-level positioning control

Major positioning control

[Positioning start No.]

[9004]

Manual control

[Block start data]

[Positioning start signal]

JOG start signal ON Pulse input from manual

pulse generator

Main functions

Control registered in QD75

Control using "Positioning data"

Machine OPR Fast OPR

Independent positioning control

(Positioning complete)

Continuous positioning control

Continuous path control

Control using "positioning data" + "Block start data"

Block start (Normal start) Condition start Wait start Simultaneous start

Repeated start (FOR loop)

Repeated start (FOR condition) Multiple axes simultaneous start control

Control with signals input from external source

JOG operation, Inching op er ation Manual pulse generator

operation

Sub functions

(Functions characteristic to machine OPR)

OPR

retry function

OP shift function <Functions that compensate

control>

Backlash compensation function

Electronic gear function Near pass function

<Functions that limit control> Speed limit functi on Torque limit function

Software stroke limit function

Hardware stroke limit function

Speed change function Override function Acceleration/deceleration

time change function Torque change function

<Other functions> Step function Skip function Continuous operation interrupt function M code output function Teaching function Target position change function Command in-position function Acceleration/deceleration processing function Pre-reading start function Deceleration start flag

function Stop command processing

for deceleration stop function

Common functions

Parameter initialization function Execution data backup function External I/O logic switching function External I/O signal monitor function

3 - 5

3 SPECIFICATIONS AND FUNCTIONS

3.2.2 QD75 main functions

The outline of the main functions for positioning control with the QD75 is described below. (Refer to Section 2 for details on each function.)

Main functions Details

Machine OPR control

Fast OPR control

OPR control

Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)

Position control

Speed control

Speed-position switching control

Major positioning control

Position-speed switching control

Other control

Fixed-feed control (1-axis fixed-feed control) (2-axis fixed-feed control) (3-axis fixed-feed control) (4-axis fixed-feed control)

2-axis circular interpolation control

Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)

Current value changing

NOP instruction

JUMP instruction LOOP Carries out loop control with repeated LOOP to LEND. 9.2.22 LEND

MELSEC-Q

Mechanically establishes the positioning st art point us ing a near-point dog or stopper. (Positioning start No. 9001)

Positions a target to the OP address ( feed value) stored in the QD75 using machine OPR.

(Positioning start No. 9002)

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

Positions a target by the movement amount designated with the amount set in the positioning data.

(With fixed-feed control, the " is set to "0" when the control is started. With

2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by interpolation.)

Positions a target using an arc path to the address set in the positioning data, or to the position designated with the movement amount, sub point or center point.

Continuously outputs the pulses corresponding to the command speed set in the positioning data.

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

First, carries out position control, and then carries out speed control (continuous output of the pulses corresponding to the designated command speed) by turning the "position-speed switching signal" ON.

Changes the Current feed value ( set in the positioning data.

The following two methods can be used. (The machine feed value cannot be changed.)

• Current value changing using positioning data

• Current value changing using current value changing start No. (No. 9003)

No execution control system. When NOP instruction is set, this instruction is not executed and the operation of the next data is started.

Unconditionally or conditionally jumps to designated positioning data No.

Returns to the beginning of the loop control with repeated LOOP to LEND.

Md.20

Md.21

Machine

Current feed value"

Md.20

) to the address

Reference

section

8.2

8.3

9.2.2

9.2.3

9.2.4

9.2.5

9.2.6

9.2.7

9.2.8

9.2.9

9.2.10

9.2.11

9.2.12

9.2.13

9.2.14

9.2.15

9.2.16

9.2.17

9.2.18

9.2.19

9.2.20

9.2.21

9.2.23

3 - 6

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Main functions Details

Block start (Normal start)

Condition start

Wait s t a rt

Simultaneous start

High-level positioning control

Repeated start (FOR loop)

Repeated start (FOR condition)

Multiple axes simultaneous start control

JOG operation Outputs a pulse to drive unit while the JOG start signal is ON. 11.2

Inching operation

Manual control

Manual pulse generator operation

With one start, executes the positioning data in a random bloc k with the set order.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "blo ck start data".

When the condition is established, the "block start data" is executed. When not established, that "block start data" is ignored, and the next point's "block start data" is ex ecuted.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "blo ck start data".

When the condition is established, the "block start data" is executed. When not established, stops the control until the condition is established. (Waits.)

Simultaneously executes the positioning data having the N o. for the axis designated with the "condition data". (Outputs pulses at the same timing.)

Repeats the program from the block start data set with the "FOR loop" to the block start data set in "NEXT" for the designated No. of times.

Repeats the program from the block start data set with the "FOR condition" to the block start data set in "NEXT" until the conditions set in the "condition data" are established.

Starts the operation of multiple axes simultaneously according to the pulse output level.

(Positioning start No. 9004, same as the "simultaneous start" above)

Outputs pulses corresponding to minute movement amount by manual operation to drive unit.

(Performs fine adjustment with the JOG start signal.) Outputs pulses commanded with the manual pulse generator to

drive unit. (Carry out fine adjustment, etc., at the pulse level.)

Reference

section

10.3.2

10.3.3

10.3.4

10.3.5

10.3.6

10.3.7

10.5

11.3

11.4

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

Da.1

Operation pattern

Independent positioning control (Positioning complete)

Continuous positioning control

Continuous path control

Details

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

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

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

3 - 7

Reference

section

9.1.2

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.2.3 QD75 sub functions and common functions

Sub functions

The functions that assist positioning control using the QD75 are described below. (Refer to Section 2 for details on each function.

Sub function Details

This function retries the machine OPR with the upper/low er

Functions characteristic to machine OPR

Functions that compensate control

Functions that limit control

Functions that change control details

Absolute position restoration function 3 This function restores the absolute position of designated axis. 12.6

1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters. 2: Using "Torque limit function" requires a "D/A conversion module" and a "drive unit capable of torque limit command with analog voltage". 3: Using "Absolute position restoration function" requires a "16-point input module", a "16-point output module", and a "drive unit that can

construct absolute position detection system".

OPR retry function

OP shift function

Backlash compensation function

Electronic gear function

Near pass function

Speed limit function

Torque limit function 2

Software stroke limit function

Hardware stroke limit function

Speed change function

Override function

Acceleration/deceleration time change function

Torque change function This function changes the "torque limit value" during co ntrol.

limit switches during machine OPR. T his allows machine OPR to be carried out even if the axis is not returned to before the near-point dog with JOG operation, etc.

After returning to the machine OP, this function compensates the position by the designated distance from the machin e O P position and sets that position as the OP address.

This function compensates the mechanical bac klash. F eed pulses equivalent to the set backlash amount are output e ach time the movement direction changes.

By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine sy ste m can be structured.

This function suppresses the machine vibration w hen the

speed changes during continuous path control in the interpolation control.

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

If the torque generated by the servomotor exceeds " Torque limit setting value" during control, this function li mits the generated torque to within the " value" setting range.

If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function w ill not execute positioning for that command.

This function carries out deceleration stop with the limit switch connected to the QD75 external device connector.

This function changes the speed during positioning. Set the new speed in the speed change buffer memory

Cd.14

( Speed change request (

This function changes the speed within a percentage of 1 to 300% during positioning. This is executed using " Positioning operation speed override".

This function changes the acceleration/deceleration ti me during speed change.

Pr.8

Speed limit value" setting range.

New speed value), and change the speed with the

Cd.15

Pr.8

Speed limit value"

Pr.17

Torque limit setting

Pr.17

Cd.13

Reference

section

12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.4.1

12.4.2

12.4.3

12.4.4

12.5.1

12.5.2

12.5.3

12.5.4

3 - 8

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Other functions

Sub function Details

This function temporarily stops the operation to confirm the

Step function

Skip function

M code output function

Teaching function

Target position change function

Command in-position function

Acceleration/deceleration process function

Continuous operation interrupt function

Pre-reading start function This function shortens the virtual start time. 12.7.8

Deceleration start flag function

Stop command processing for deceleration stop function

positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration " or "positioning data".

This function stops (decelerates to a stop) the positioning be ing executed when the skip signal is input, and carries out the next positioning.

This function issues a command for a sub work (clamp or dril l stop, tool change, etc.) corresponding to the M code No. (0 to 65535) that can be set for each positioning data.

This function stores the address positioned with manual contro l into the positioning address having the designated posit ioning

data No. ( This function changes the target position during positioning.

Position and speed can be changed simultaneously . At each automatic deceleration, this function calculates the

remaining distance for the QD75 to reach the positioning stop position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work.

This function adjusts the control acceleration/decelerati on. 12.7.7 This function interrupts continuous operation. When this

request is accepted, the operation stops when the ex ecution of the current positioning data is completed.

Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control, whose operation pattern is "Positioning complete", to make the stop timing known.

Function that selects a deceleration curve when a stop caus e occurs during deceleration stop processing to speed 0.

Cd.39

Reference

section

12.7.1

12.7.2

12.7.3

12.7.4

12.7.5

12.7.6

6.5.4

12.7.9

12.7.10

3 - 9

3 SPECIFICATIONS AND FUNCTIONS

Common functions

The outline of the functions executed as necessary are described below. (Refer to Section 2 for details on each function.)

MELSEC-Q

Common functions Details

This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values.

Parameter initialization function

Execution data backup function

External I/O signal logic switching function

External I/O signal monitor function

4: Usable on GX Developer (SW6D5C-GPPW-E or later).

The following two methods can be used.

1) Method using sequence program

2) Method using GX Configurator-QP

This functions stores the "setting data", currently being executed, into the flash ROM.

1) Method using sequence program

2) Method using GX Configurator-QP

This function switches I/O signal logic according to externally connected devices.

This function enables the use of the system that does not use b (N.C.)-contact signals, such as Drive unit READY or Upper/lower limit signal, by setting parameters to positive logic.

This function monitors the external I/O signal monitor information in the module's detailed information w hich can be displayed on the system monitor of GX Developer* 4.

Reference

section

13.2

13.3

13.4

13.5

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

MEMO

MELSEC-Q

3 - 11

3 SPECIFICATIONS AND FUNCTIONS

3.2.4 Combination of QD75 main functions an d sub functi ons

With positioning control using the QD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below.

MELSEC-Q

Main functions

OPR control

Major positioning control

Manual control

Machine OPR control Fast OPR control

1-axis linear control 2-, 3-, or 4-axis linear

interpolation control 1-axis fixed-feed

Position control

Speed control (1- to 4-axis)

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation Manual pulse generator operation

control 2-, 3-, or 4-axis fixed-

feed control (interpolation)

2-axis circular interpolation control

Current value changing NOP instruction

JUMP instruction LOOP to LEND

Sub functions

Combination with operation pattern.

(Continuous path control cannot be set)

(Only independent positioning control can be set)

(Continuous path control cannot be set)

(Only independent positioning control can be set)

(Continuous path control cannot be set)

Functions characteristic

to machine OPR

OPR retry function

OP shift function

: Always combine, : Combination possible, : Combination limited, : Combination not possi ble

1 The operation pattern is one of the "positioning data" setting item s. 2 The near pass function is featured as standard and is valid on ly for setting continuous path control for position control. 3 Invalid during creep speed. 4 Invalid during continuous path control. 5 Inching operation does not perform acceleration/deceleration proc essi ng. 6 Valid for the reference axis only. 7 Valid for only the case where a deceleration start is made during posit ion contro l. 8 Disabled for a start of positioning start No. 9003.

3 - 12

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Functions that

compensate

control

Backlash compensation

function

Electronic gear function

Functions that limit

control

Near pass function

Speed limit function

Torque limit function

Functions that change

Software stroke limit

function

Hardware stroke limit

function

control details

Speed change function

Override function

3 3

Acceleration/ deceleration

time change function

Torque change function

Step function

Skip function

Other functions

M code output function

Teaching function

Target position change

function

Command in-position

function

Acceleration/deceleration

process function

Pre-reading start function

Deceleration start flag

function

Stop command processing

for deceleration stop

function

REMARK

•

The "common functions" are functions ex ecuted as neces sary . (T hese are not combined with the control.)

•

"High-level positioning control" is a control used in co mbinatio n with the "major positioning control". For combinations with the sub functions, refer to the combin ations of the "major positioning control" and sub functions.

3 - 13

3 SPECIFICATIONS AND FUNCTIONS

3.3 Specifications of input/output signals w ith PLC CPU

3.3.1 List of input/output signals with PLC C PU

The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75 to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD75.

Signal direction: QD75 PLC CPU Signal direction: PLC CPU QD75

Device No. Signal name Device No. Signal name

X0 QD75 READY Y0 PLC READY X1 Synchronization flag Y1 X2 Y2 X3 X4 Axis 1 Y4 Axis 1 X5 Axis 2 Y5 Axis 2 X6 Axis 3 Y6 Axis 3 X7 Axis 4 X8 Axis 1 Y8 Axis 1 Forward run JOG start

X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4 XC Axis 1 YC Axis 3 Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4

X10 Axis 1 Y10 Axis 1 X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 X14 Axis 1 Y14 Axis 1 X15 Axis 2 Y15 Axis 2 X16 Axis 3 Y16 Axis 3 X17 Axis 4 X18 Y18

X19 Y19 X1A Y1A X1B Y1B X1C Y1C X1D Y1D X1E Y1E

X1F

Use prohibited

M code ON

Error detection

BUSY

Start complete

Positioning complete

Use prohibited

MELSEC-Q

Use prohibited

Axis sto p

Y7 Axis 4

YB Axis 2 Reverse run JOG start

YF Axis 4 Reverse run JOG start

Positioning start

Y13 Axis 4

Execution prohibition flag

Y17 Axis 4

Use prohibited

Y1F

Important

[Y1 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be used by the user. If these devices are used, the operation of the QD75 will not be guaranteed.

3 - 14

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (QD75 PLC CPU)

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

Device

No.

X0 QD75 READY ON: READY

X1 Synchronization

flag

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

X10

Axis 1

X11

Axis 2

X12

Axis 3

X13

Axis 4

Signal name Details

• When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting

OFF: Not READY/

Watch dog timer error

OFF: Module

access disabled

ON: Module

access enabled

M code ON OFF: M code is

Error detection

BUSY

Start complete

1 OFF: Not BUSY

not set

ON: M code is

set

OFF: No error ON: Error

occurrence

ON: BUSY

OFF: Start

incomplete

ON: Start

complete

range is checked. If no error is found, this signal turns ON.

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

• When watch dog timer error occurs, this signal turns OFF.

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

PLC READY signal [Y0] OFF

QD75 READY signal [X0] OFF

• After the PLC is turned ON or the CPU module is reset, this signal turns ON if the access from the CPU module to the QD75 is possible.

• When "Asynchronous" is selected in the module synchronization setting of the CPU module, this signal can be used as interlock for the access from a sequence program to the QD75.

• In the WITH mode, this signal turns ON when the positioning data operation is started. In the AFTER mode, this signal turns ON when the positioning data operation is completed.

• This signal turns OFF with the "

• When M code is not designated (when " remain OFF.

• With using continuous path control for the positioning operation, the positioning will continue even when this signal does not turn OFF. However, a warning will occur. (Warning code: 503)

• When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF.

• If operation is started while the M code is ON, an error will occur.

• This signal turns ON when an error listed in Section 15.1 occurs, and turns OFF when the error is reset on "

• This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF

Da.9

when the " remains ON during positioning.) This signal turns OFF when the positioning is

stopped with step operation.

• During manual pulse generator operation, this signal turns ON while the " Manual pulse generator enable flag" is ON.

• This signal turns OFF at error completion or positioning stop.

• This signal turns ON when the positioning start signal turns ON and the QD75 starts the positioning process. (The start complete signal also turns ON during OPR control.)

Positioning start signal [Y10]

Dwell time" has passed after positioning stops. (This signal

Cd.7

Cd.5

Axis error rest".

OFF

M code OFF request".

Da.10

M code" is "0"), this signal will

MELSEC-Q

Cd.21

X14 X15 X16 X17

Axis 1 Axis 2 Axis 3 Axis 4

Positioning complete

OFF: Positioning

incomplete

ON: Positioning

complete

Start complete signal [X10]

• This signal turns ON for the time set in " time" from the instant when the positioning control for each positioning data No. is

completed. (It does not turn ON when "

• If positioning (including OPR), JOG/Inching operation, or manual pulse generator operation is started while this signal is ON, the signal will turn OFF.

• This signal will not turn ON when speed control or positioning is canceled midway.

OFF

Pr.40

Positioning complete signal output

Pr.40

Positioning complete signal output time" is "0".)

3 - 15

3 SPECIFICATIONS AND FUNCTIONS

Important

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

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

: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is

completed. Thus, even if the QD75's positioning complete signal turns ON, the system may continue operation.

3.3.3 Detail of output signals (PLC CPU QD75)

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

Device No. Signal name Details

Y0 PLC READY OFF:

ON:

Axis 1 Y5 Y6 Y7

Y8 Y9

YA YB YC YD YE

Y10 Y11 Y12 Y13

Y14 Y15 Y16 Y17

Axis stop OFF: Axis 2 Axis 3 Axis 4

Axis 1

Forward run JOG start Axis 1

Reverse run JOG start Axis 2

Forward run JOG start Axis 2

Reverse run JOG start Axis 3

Forward run JOG start Axis 3

Reverse run JOG start Axis 4

Forward run JOG start Axis 4

Reverse run JOG start Axis 1

Positioning start OFF: Axis 2 Axis 3 Axis 4

Execution prohibition

Axis 1

flag

Axis 2 Axis 3 Axis 4

ON:

OFF: ON:

ON:

OFF:

ON:

PLC READY OFF PLC READY ON

Axis stop not requested

Axis stop requested

JOG not started JOG started

Positioning start not requested

Positioning start requested

Not during execution prohibition

During execution prohibition

(a) This signal notifies the QD75 that the PLC CPU is normal.

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

• The PLC READY signal is turned ON during positioning control, OPR control, JOG operation, inching operation, and manual pulse generator operation, unless the system is in the peripheral device test mode.

(b) When parameters are changed, the PLC READY signal is turned

OFF depending on the parameter (Refer to Chapter 7.).

signal turns from OFF to ON.

• The parameter setting range is checked.

• The QD75 READY signal [X0] turns ON.

(d) The following processes are carried out when the PLC READY

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

• The QD75 READY signal [X0] turns OFF.

• The operating axis stops.

• The M code ON signal [X4 to X7] for each axis turns OFF, and

Md.25

"0" is stored in "

(e) When parameters or positioning data (No. 1 to 600) are written

from the peripheral device or PLC CPU to the flash ROM, the PLC READY signal will turn OFF.

• When the axis stop signal turns ON, the OPR control, positioning control, JOG operation, inching operation and manual pulse generator operation will stop.

• By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped".

• Whether to decelerate or suddenly stop can be selected with

Pr.39

• During interpolation control of the positioning operation, if the axis stop signal of any axis turns ON, all axes in the interpolation control will decelerate and stop.

• When the JOG start signal is ON, JOG operation will be carried out at the " OFF, the operation will decelerate and stop.

• When inching movement amount is set, the designated movement amount is output for one control cycle and then the operation stops.

• OPR operation or positioning operation is started.

• The positioning start signal is valid at the rising edge, and the operation is started.

• When the positioning start signal turns ON during BUSY, the operation starting warning will occur (warning code: 100).

• If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. (Pulse output not provided) Used with the "Pre-reading start function". (Refer to Section

12.7.8)

Stop group 3 sudden stop selection".

Cd.17

Valid M code".

JOG speed". When the JOG start signal turns

MELSEC-Q

3 - 16

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of input/output interfaces w i th exter nal dev ices

3.4.1 Electrical specifications of input/output signals

Input specifications

MELSEC-Q

Signal name

Drive unit READY (READY)

Stop signal (STOP) Upper limit signal

(FLS) Lower limit signal

(RLS)

Zero signal (PG05/PG024)

Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B)

Near-point dog signal (DOG)

External command signal (CHG)

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

24VDC/5mA 12 to 26.4VDC

Working

voltage rangeONvoltage/current

19.2 to

26.4VDC

17.5VDC or more/

3.5mA or more

2VDC or more/

2mA or more

10VDC or more/

3mA or more

3 s or less

1ms or more

OFF

voltage/current

7VDC or less/

1.7mA or less

0.5VDC or less/

0.5mA or less 3VDC or less/

0.2mA or less

Differential receiver equivalent to Am26LS32 (ON/OFF level ON: 1.8V or more, OFF: 0.6V or less)

5VDC/5mA 4.5 to 6.1VDC

Pulse width

4ms or more

2ms or more

Phase difference

A phase B phase

24VDC/5mA

(Duty ratio: 50 %)

1ms or more

19.2 to

26.4VDC

2.5VDC or more/ 2mA or more

17.5VDC or more/

3.5mA or more

1VDC or less/

0.1mA or less

When the A phase leads the B phase, the positioning address (current value) increases.

7VDC or less/

1.7mA or less

OFF

resistance

Approx. 4.7k

Approx. 0.3k

Approx. 4.7k

3 s or les

Approx. 1.5k

Approx. 4.3k

Input

Response

4ms or less

Ω

1ms or less

Ω

1ms or less

Ω

1ms or less

Ω

1ms or less

Ω

time

3 - 17

3 SPECIFICATIONS AND FUNCTIONS

φBφ

Output specifications

Signal name

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

Rated load

voltage

•

Differential driver equivalent to Am26C31 (For QD75D

•

Select the CW/CCW type, PULSE/SIGN type and A phase/B phase type using the parameter ( output mode) according to the drive unit specifications.

•

The relation of the pulse output with the " selection" is shown below:

Pr.5

Pulse

output mode

CCW

PULSE

SIGN

Working load

voltage range

Forward run Reverse run Forward run Reverse run

High

MELSEC-Q

Max. load

current/rush

current

Pr.5

Pr.23

Positive logic Negative logic

Low

Max. voltage

drop at ON

)

Pulse output mode" and "

Output signal logic selection (bit 0)

Leakage current

at OFF

Pr.23

Low

Output signal logic

Response time

Pr.5

Pulse

High

The table below shows the rising/falling edge time and duty ratio when the QD75P is used.

N FF

5 to 24VDC 4.75 to 30VDC

Deviation counter clear (CLEAR)

: Pulse rising/falling edge time when the QD75P is used (Unit for "tr" and "tf": µs, unit for "Duty": %)

... When ambient temperature is room temperature.

Load voltage (V) 26.4 4.75 Cable length (m) 1 2 1 2

Load

current

(mA)

Pulse speed (kpps)

(Rising

edge) 200 2.33 0.08 6.6 2.20 0.08 14.6 0.57 0.07 44.8 0.95 0.07 39.0 100 2.42 0.09 34.7 4.44 0.10 12.6 0.57 0.07 47.5 1.01 0.08 45.3

10 2.44 0.09 48.7 4.52 0.10 47.7 0.60 0.07 49.7 1.04 0.08 49.5 200 1.00 0.09 39.8 1.77 0.11 24.5 0.32 0.07 48.4 0.45 0.08 45.8 100 1.01 0.09 45.3 1.76 0.10 40.3 0.31 0.07 49.2 0.45 0.08 48.7

10 1.00 0.10 49.6 1.72 0.10 49.2 0.33 0.08 49.9 0.49 0.08 49.8 200 0.27 0.10 50.1 0.44 0.11 48.0 0.15 0.08 50.7 0.15 0.08 51.3 100 0.29 0.10 49.8 0.48 0.11 49.1 0.15 0.08 50.4 0.18 0.08 50.4

10 0.30 0.10 49.9 0.48 0.12 49.9 0.17 0.08 50.1 0.18 0.08 49.9 200 0.19 0.11 50.5 0.24 0.12 50.6 0.15 0.10 51.8 0.14 0.11 51.7 100 0.19 0.11 50.4 0.24 0.12 50.4 0.14 0.10 50.7 0.15 0.10 50.8

10 0.18 0.12 50.0 0.22 0.13 50.1 0.14 0.10 50.1 0.15 0.12 50.1

5 to 24VDC 4.75 to 30VDC

(Falling

edge)

Dutytr(Rising

edge)

50mA/1 point/

200mA 10ms or

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

(Falling

edge)

0.5VDC (TYP) 0.1mA or less —

less

2.5VDC (MAX)

Dutytr(Rising

edge)

1VDC (TYP)

(Falling

edge)

0.1mA or less

Dutytr(Rising

edge)

(resistance load)

(Falling

edge)

2ms or less

Duty

The time for H/L width of differential output waveform with the QD75D . (Cable length: 2m, Ambient temperature: room temperature)

Pulse speed H width L width

1Mpps 410ns 456ns

500kpps 936ns 1µs

3 - 18

3 SPECIFICATIONS AND FUNCTIONS

3.4.2 Signal layout for external devi ce connection connector

The specifications of the connector section, which is the input/output interface for the QD75 and externa l dev i ce , ar e sh own be low. The signal layout for the QD75 external device connection connector is shown.

MELSEC-Q

Pin layout

QD75P1

RUN

AX1

ERR

AX1

Axis 4(AX4) Axis 3(AX3) Axis 2(AX2) Axis 1(AX1)

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

QD75P2

RUN

ERR

AX1 AX2

QD75P4

RUN

ERR

AX3 AX4

AX1 AX2

AX1 AX2 AX3 AX4

2B20 Vacant 2A20 Vacant 1B20 PULSER B– 1A20 PULSER B+ 2B19 Vacant 2A19 Vacant 1B19 PULSER A– 1A19 PULSER A+

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

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

2B18

2B17

2B16

2B15

2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM 2B11 READY 2A11 READY 1B11 READY 1A11 READY 2B10 PGOCOM 2A10 PGOCOM 1B10 PGOCOM 1A10 PGOCOM

PULSE COM

PULSE R–

PULSE R

PULSE R+

PULSE COM

PULSE F–

PULSE F

PULSE F+

2A183PULSE COM

PULSE R–

2A173PULSE R

PULSE R+

2A163PULSE COM

PULSE F–

2A15

PULSE F

PULSE F+

1B183PULSE COM

PULSE R–

1B17

PULSE R

PULSE R+

1B163PULSE COM

PULSE F–

1B15

PULSE F

PULSE F+

1A183PULSE COM

PULSE R–

1A173PULSE R

PULSE R+

1A163PULSE COM

PULSE F–

1A153PULSE F

PULSE F+

2B9 PG05 2A9 PG05 1B9 PG05 1A9 PG05 2B8 PG024 2A8 PG024 1B8 PG024 1A8 PG024 2B7 COM 2A7 COM 1B7 COM 1A7 COM 2B6 COM 2A6 COM 1B6 COM 1A6 COM

Front view of the module

2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG 2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP 2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG 2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS 2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS

1: Pin No. "1

" indicates the pin No. for the right connector. Pin No. "2

" indicates the pin No. for the left connector. 2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant". 3: The upper line indicates the signal name for the QD75P1/QD75P2/QD75P4, and the lower line indicates the signal name for the

QD75D1/QD75D2/QD75D4.

3 - 19

3 SPECIFICATIONS AND FUNCTIONS

3.4.3 List of input/output signal details

The details of each QD75 external device connection connector are shown below:

MELSEC-Q

Signal name

Manual pulse generator A phase Manual pulse generator B phase

Manual pulse generator A common Manual pulse generator B common

Zero signal (+24V) 1A8 1B8 2A8 2B8

Zero signal (+5V) 1A9 1B9 2A9 2B9

Zero signal common 1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V). Pulse output F (+) <CW+> Pulse output F (–) <CW–> Pulse output R (+) <CCW+> Pulse output R (–) <CCW–> Pulse output F <CW> Pulse output F common <CWCOM> Pulse output R <CCW> Pulse output R common <CCWCOM>

Upper limit signal 1A1 1B1 2A1 2B1

Lower limit signal 1A2 1B2 2A2 2B2

Near-point dog signal 1A3 1B3 2A3 2B3

1A15 1A16 1A17

1A18 1A15

1A16

1A17

1A18

Pin No.

AX1 AX2 AX3 AX4

1A19 1A20

1B19 1B20

1B15 1B16 1B17

1B18 1B15

1B16

1B17

1B18

2A15 2A16 2A17

2A18 2A15

2A16

2A17

2A18

—

2B15 2B16 2B17

2B18 2B15

2B16

2B17

2B18

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

• Input the pulse signal from the manual pulse generator A phase and B phase.

• If the A phase leads the B phase, the positioning address will increase at the rising and falling edges of each phase.

• If the B phase leads the A phase, the positioning address will decrease at the rising and falling edges of each phase.

[When increased] [When decreased]

A phase

B phase

Positioning address

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

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

• The zero signal is detected at turning from OFF to ON.

• Output the positioning pulses and pulse sign for the differential driver output system compatible drive unit. (QD75D

• Output the positioning pulses and pulse sign for the open collector output system compatible drive unit. (QD75P

• This signal is input from the limit switch installed at the upper limit position of the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the upper limit for finding the near-point dog signal.

• This signal is input from the limit switch installed at the lower limit position of the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the lower limit for finding the near-point dog signal.

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

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

+1+1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1

only)

Signal details

A phase

B phase

Positioning address

3 - 20

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Signal name

Pin No.

AX1 AX2 AX3 AX4

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

Signal details

• Input this signal to stop positioning.

• When this signal turns ON, the QD75 will stop the positioning being

Stop signal 1A4 1B4 2A4 2B4

executed. After that, even if this signal is turned from ON to OFF, the system will not start.

• Input a control switching signal during speed-position or position-speed switching control.

External command signal 1A5 1B5 2A5 2B5

• Use this signal as the input signal of positioning start, speed change request, and skip request from an external source.

Set the function to use this signal in " selection".

1A6

1B6

2A6

2B6

Common

1A7

1B7

2A7

• Common for upper/lower limit, near-point dog, stop, and external command

2B7

signals.

• This signal turns ON when the drive unit is normal and can accept the feed pulse.

• The QD75 checks the drive u n i t R EAD Y signal, and outputs the OPR request if the system is not in the READY state.

Drive unit READY 1A11 1B11 2A11 2B11

• When the drive unit is inoperable, such as if an error occurs in the drive unit's control power supply, this signal will turn OFF.

• If this signal is turned OFF during positioning, the system will stop. The system will not start even if this signal is turned ON again.

• When this signal turns OFF, the OPR complete signal will also turn OFF.

Drive unit READY common 1A12 1B12 2A12 2B12 • Common for drive unit READY signal.

• This signal is output during machine OPR. (Note that it is not output during the count method

(Example) When machine OPR is carried out in the stopper

Speed

Pr.46

OPR speed

Pr.42

External command function

Creep sp eed

Pr.47

method.

Stopper

Near-point dog

Deviation counter clear 1A13 1B13 2A13 2B13

CLEAR

Zero signal

Deviation counter

Pr.55

clear signal output time

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

• Use the drive unit that can reset the droop pulse amount in the internal deviation counter when the QD75 turns this signal ON.

(Note) The deviation counter clear is a signal output by the QD75 during

machine OPR. It cannot be output randomly by the user.

Deviation counter clear common 1A14 1B14 2A14 2B14 • Common for deviation counter clear signal

3 - 21

Time

OFF ON

After feed pulse output stops

Pr.55

3 SPECIFICATIONS AND FUNCTIONS

3.4.4 Input/output interface internal cir c uit

The outline diagrams of the internal circuits for the QD75P1/QD75D1 external device connection i nt er fa ce a re sho w n bel ow .

(1) Input (Common to QD75P1 and QD75D 1)

MELSEC-Q

External wiring Pin No. Internal circuit Signal name

1A3 Near-point dog signal DOG

When upper limit switch is not used

When lower limit switch is not used

24VDC

1A1

Upper limit signal FLS

1A2 Lower limit signal RLS

1A4

1A5

1A6

Stop signal STOP

External command signal

Common COM

1A7

5VDC

(+)

1A19

(–)

1B19

Manual pulse generator A phase

(+)

Manual pulse

generator

(MR-HDP01)

1A20

(–)

Manual pulse generator B phase

1B20

Need for wiring

CHG

PULSER A+

PULSER A–

PULSER B+

PULSER B–

1A11

1A12

Drive unit READY READY

Drive unit READY common

1A8 PG024

Zero signal

1A9

1A10 Zero signal common PG0 COM

1:The symbols in Need for wiring column indicate the following meanings:

• : Wiring is necessary for positioning.

• : Wiring is necessary depending on the situation.

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

3 - 22

RDY COM

PG05

3 SPECIFICATIONS AND FUNCTIONS

(a) Input signal ON/OFF status

The input sign al ON/ OF F sta tu s i s de fie d by th e e xte r nal wi ring an d lo gi c setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).)

MELSEC-Q

Logic setting

3, 4

Negative logic (Initial value)

Positive logic

External wiring

(Voltage not applied)

24VDC

(Voltage applied)

24VDC

(Voltage not applied)

24VDC

(Voltage applied)

24VDC

ON/OFF status of near-point dog

signal (DOG) as seen from QD75

DOG

OFF

COM

DOG

COM

DOG

COM

DOG

OFF

COM

3: Set the logic setting using "

"Section 5.2.3 Detailed parameters 1" and "Section 13.4 External I/O signal logic switching function".

4: When using the upper limit signal (FLS) or lower limit signal (RLS), always wire it as a "b" (normally

closed) contact in the negative logic setting. The sign al will turn OFF to stop positioning.

Input signal logic selection". For details of the setting s, refer to

Pr.22

(b) About logic setting and internal circuit

In the QD75, the ca se w he re th e inte rnal circuit (photo co upl e r) is OFF in the negative logi c set ti ng i s de fi ne d a s "inp ut sign al OF F". Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logi c se ttin g i s defined as "input signal ON".

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

3 - 23

3 SPECIFICATIONS AND FUNCTIONS

(2) Output (For QD75P1)

MELSEC-Q

External wiring Pin No. Internal circuit Signal name

1A13 Deviation counter clear CLEAR

1A14 Common CLEAR COM

1A15 PULSE F

1A16

1A17 PULSE R

1A18

CW A phase PULSE

CCW B phase SIGN

(3) Output (For QD75D1)

External wiring Pin No. Internal circuit Signal name

1A13 Deviation counter clear CLEAR

1A14

1A15 PULSE F+ 1A16

Common CLEAR COM

CW A phase PULSE

Need for wiring

PULSE COM

Need for wiring

PULSE F– 1A17 1A18

2 2

1: The symbols in Need for wiring column indicate the following meanings:

• : Wiring is necessary for positioning. : Wiring is necessary depending on the situation.

•

2: A terminal block at the bottom of the module. (Refer to Section 4.1.2)

CCW B phase SIGN

Differential driver common terminal

PULSE R+ PULSE R–

3 - 24

Chapter 4 Installation, Wiring and Maintenance

of the Product

The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75,

accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

4.1 Outline of installation, wiring and maintenance...........................................................4- 2

4.1.1 Installation, wiring and maintenance procedures ..........................................4- 2

4.1.2 Names of each part ........................................................................................4- 3

4.1.3 Handling precautions......................................................................................4- 5

4.2 Installation.....................................................................................................................4- 7

4.2.1 Precautions for installation .............................................................................4- 7

4.3 Wiring .........................................................................................................................4- 8

4.3.1 Precautions for wiring .....................................................................................4- 8

4.3.2 Wiring of the differential driver common terminal .........................................4- 13

4.4 Confirming the installation and wiring.........................................................................4- 14

4.4.1 Items to confirm when installation and wiring are completed.......................4- 14

4.5 Maintenance ................................................................................................................4- 15

4.5.1 Precautions for maintenance.........................................................................4- 15

4.5.2 Disposal instructions......................................................................................4- 15

4 - 1

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1 Outline of installation, wiring and mai ntenance

4.1.1 Installation, wiring and mai ntenance pr ocedures

The outline and procedures for QD75 installation, wiring and maintenance are shown below.

Preparation

Installing the module

STEP 1

Refer to Section 4.1

STEP 2

Refer to Section 4.2

Understand the "Handling precautions" and "Names of each part" of the modul e (QD 75)

Install the module (QD75) on the base unit.

MELSEC-Q

Wiring the module

Confirming the installati on an d wiring

Servicing the module

STEP 3

Refer to Section 4.3

STEP 4

Refer to Section 4.3

STEP 5

Refer to Section 4.4

STEP 6

Refer to Section 4.5

STEP 7

Refer to Section 4.5

Wire the external device co nnec t ion connector pins, and assem bl e t he co nnector.

Connect the cable to the mod ule (QD75)

Confirm the connection

Operation of the positioning system.

Carry out maintenance

Dispose of the QD75

The cables used to connec t the QD75 with the drive unit, with the mechanical system inp ut (each input/outpu t signal), and with the manual pulse generator are manufactured by soldering each signal wire onto the "ext ernal device connection connector" sold separately.(Refer to "Applicable connector for external wiring" in Section 3.1 "Performance spe c ifications" for the optional connector.)

Wire and connect th e manufactured cable to QD75 after reading the precautions for wiring.

Check the connection us ing GX Configurator-QP.

Carry out maintenance as nec es sa ry .

When the QD75 is no longer ne c es sa ry, dispose of it with the specifie d methods.

4 - 2

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1.2 Names of each part

(1) The part names of the QD75 are shown below:

MELSEC-Q

For QD75P4

QD75P4

RUN

ERR

AX3 AX4

AX1 AX2 AX3 AX4

AX1 AX2

(1)

(2)

(3)

For QD75D4

QD75D4

RUN

ERR

AX3 AX4

AX1 AX2 AX3 AX4

AX1 AX2

(1)

(2)

(3)

No. Name Details

(1) RUN indicator LED, ERR indicator LED (2) Axis display LED (AX1 to AX4)

Refer to the next page. Connector for connection with the drive unit, mechanical

system input or manual pulse generator. (40-pin connector)

(3) External device connector

AX1: Axis 1, AX2: Axis 2, AX3: Axis 3, AX4: Axis 4 For details, refer to Section 3.4.2 "Signal layout for external device connection connector".

Differential driver common terminal

(4)

(Differential driver output system (QD75D1, QD75D2, QD75D4) only)

Terminal connected to the differential receiver common of the drive unit. For details, refer to Section 4.3.2 "Wiring of the differential driver common terminal".

4 - 3

(4)

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(2) The LED display indicates the following operation statuses of the QD75 and axes.

QD75P4

MELSEC-Q

RUN

AX1 AX2 AX3

ERR

Display Attention point Description Display Attention point Description

RUN

ERR RUN

ERR

AX1 AX2

RUN is OFF.

AX3 AX4

AX1

RUN illuminates.

AX2 AX3

ERR is OFF.

AX4 AX1

AX2

ERR illuminates. System error

AX3 AX4

AX1 AX2

AX1 to AX4 are

AX3

OFF.

AX4

Hardware failure, watch dog timer error

The module operates normally.

The axes are stopped or on standby.

AX4

RUN

ERR RUN

ERR

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

: Turns OFF. : Illuminates. : Flashes.

AX1 AX2

AX1 (or other

AX3

axis) illuminates.

AX4 AX1

ERR flashes.

AX2

AX1 (or other

AX3

axis) flashes.

AX4 AX1

AX2

All LEDs illuminate.

AX3 AX4

The corresponding axis is in operation.

An error occurs on the corresponding axis.

Hardware failure

QD75P1

RUN

ERR

(3) The interface of each QD75 is as shown below.

QD75P2 QD75P4 QD75D1 QD75D2 QD75D4

QD75P2

RUN

AX1

AX1 AX2

ERR

AX1 AX2

QD75P4

RUN

ERR

AX3 AX4

AX1 AX2 AX3 AX4

AX1 AX2

QD75D1

RUN

ERR

AX1

QD75D2

RUN

ERR

QD75D4

RUN

AX1 AX2

AX1 AX2 AX3 AX4

ERR

AX1

AX3

AX2

AX4

4 - 4

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1.3 Handling precautions

Handle the QD75 and cable while observing the following precautions.

[1] Handling precautions

CAUTION

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

Using the PLC outside the general specification range environ ment could lead to electr ic shocks, fires, malfunctioning, product damage or deterioration.

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

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

Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.

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

Never disassemble or modify the module.

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

MELSEC-Q

4 - 5

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[2] Other precautions

(1) Main body

•

The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case.

•

Do not remove the QD75 PCB from the case. Failure to observe this could lead to fa ul t s.

(2) Cable

•

Do not press on the cable with a sharp object.

•

Do not twis t th e cabl e with force.

•

Do not forcibly pull on the cable.

•

Do not step on the cable.

•

Do not place objects on the cable.

•

Do not damage the cable sheath.

(3) Installation environment

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

•

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

•

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

•

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

•

Where there is corrosive gas or flammable gas.

•

Where there are high levels of dust, conductive powder, such as iron chips, oil mist, salt or organic solvents.

•

Where the module will be subject to direct sunlight.

•

Where there are strong electric fields or magnetic fields.

•

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

MELSEC-Q

4 - 6

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.2 Installation

4.2.1 Precautions for installation

The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.

Precautions for installation

DANGER

Completely turn off the externally supplied power used in the system before cleaning or

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

CAUTION

MELSEC-Q

Never disassemble or modify the module.

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

Completely turn off the externally supplied power used in the system before installing or

removing the module.

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

Do not mount/remove the module onto/from base unit more than 50 times (IEC61131-2-

compliant), after the first use of the product. Failure to do so may cause the module to malfunction due to poor contact of connector.

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

Using the PLC outside the general specification range environ ment could lead to electr ic shocks, fires, malfunctioning, product damage or deterioration.

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

module fixing projection into the fixing holes of the base module. Improper mounting of the module may lead to malfunctioning, faults, or dropping.

When using the module in the environment subject to much vibration, secure the module wit h a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctionin g. Excessive tightening may damage the screw or module, leading to dropping, short- circuit, or malfunctioning

4 - 7

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.3 Wiring

The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handli ng p recau ti on s" w hen ca rry ing ou t t he wor k.

4.3.1 Precautions for wiring

(1) Always confirm the terminal layout before connecting the wires to the QD75.

(For the terminal layout, refer to Section 3.4.2 "Signal layout for external device

connection connector".)

(2) Correctly solder the external wiring connector. An incomplete soldering could lead

to malfunctioning.

(3) Make sure that foreign matter su ch as cu ttin g chi ps and wi re scraps do e s not

enter the QD75. Failure to observe this could lead to fires, faults or malfuncti oning.

(4) A protective label is attached on the top of the QD75 to avoid foreign matter such

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

(5) Securely mount the external device connector to the connector on the QD75 with

two screws.

(6) Do not disconnect the external wiring cable connected to the QD75 and the drive

unit by pulling the cable section. When the cable has a connector, be sure to hold the connector connected to the QD75 and the drive unit. Pulling the cable while it is connected to the QD75 and the drive unit may lead to malfunctioning or damage of the QD75 and the drive unit or cable.

(7) Do not bundle or adjacently lay the connection cable connected to the QD75

external I/O si gn al s or d riv e un it wi th th e mai n cir cui t line , power line, or the loa d line other than that for the PLC. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.

(8) The shielded cable for connecting QD75 can be secured in place.

If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pull in g on it could result in damage to the QD 75 or d rive un it or shielded cable or defective cable connections could cause mis-operation of the unit.

(9) If the cable connected to the QD75 and the power line must be adjacently laid

(less than 100mm), use a shielded cable. Ground the shield of the cable securely to the control pane l on th e QD75 si de. page.)

(A wiring example is given on the next

MELSEC-Q

4 - 8

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Wiring example of shielded cable]

The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.

Connector

Connector (A6CON1)

To external devices

Shielded cable

To external device

To drive unit

MELSEC-Q

Drive unit

To QD75

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

[Processing example of shielded cables]

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

Coat the wire with insulaing tape.

Use the shortest possible length to ground the 2mm or m ore FG wire. (The shield must be grounded on the QD75 side.)

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

4 - 9

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

Assembling of connector (A6CON1)

Wrap the coated parts with a heat contractile tube.

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4 - 10

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(10) To make this product conform to the EMC and Low Voltage Directive, be

sure to use of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding to the control box.

Inside control box

QD75

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

AD75CK

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[How to ground shielded cable using AD 75C K]

Shielded cable

Shield

Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for grounding.

Ground terminal

Ground terminal instal lation screw (M4 8 screw)

4 - 11

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Wiring examples using duct (incorr ect ex ampl e and cor r ected ex ampl e) ]

Relay

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Wiring duct

Control pan el

Drive

unit

Noise source

(power system,

Noise source

(power system,

Drive

unit

etc.)

Changed

Relay Relay

etc.)

Drive

unit

PLC

Relay

Drive

unit

The drive units are placed near the noise source. The connection cable between the QD75 and drive units is too long.

Wiring duct

The QD75 and drive units are placed closely. The connection cable between the QD75 and drive units is separately laid from the power line (in this example, the cable is outside of the duct) and is as short as possible.

(11) The influence of noise may be reduced by installing ferrite cores to the cable

connected to the QD75 as a noise reduction technique. For the noise reduction techniques related to connection with the servo amplifier, also refer to the instruction manual of the servo amplifier.

(12) If compliance with the EMC directive is not required, the influence of external

noise may be reduced by making the configuration compliant with the EMC directive. For the configuration compliant with the EMC directive, refer to Chapter 3 "EMC AND LOW-VOLTAGE DIRECTIVES" in the User's Manual (Hardware) of the used CPU module.

4 - 12

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.3.2 Wiring of the differential driver common terminal

When the differential driver output system (QD75D1, QD75D2, QD75D4) is used, a potential difference between commons may occur between the differential driver common terminal and the differential receiver common terminal of the drive unit. To remove the potential difference between commons, connect the differential driver common terminal of the QD75D1/QD75D2/QD75D4 and the differential receiver common terminal o f the d riv e un it. When the common terminal of the drive unit is photocoupler-connected, the wiring to the differential driver common terminal of the QD75D1/QD75D2/QD75D4 is not needed since a potential difference between commons does not exist. (For the drive unit specifications, refer to the manual of the used drive unit.) The following shows an example of wiring to the differential driver common terminal of the QD75D1/QD75D2/QD75D4. Up to two cables can be connected to one differential driver common terminal. (For details, refer to Section 3.1 "Performance specifications".

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Insert until hook catches.

Module bottom

Module front

Differential driver common terminal

To differential receiver common terminal of drive unit

Module side

Module bottom

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.4 Confirming the installati on and wi ring

4.4.1 Items to confirm when installati on and wiring are completed

Check the following points when completed with the QD75 installation and wiring.

•

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

With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function. (GX Configurator-QP is required for this "connection confirmation".)

•

Are the QD75 and se rv o a mpli fi e r co rre ctly connected?

•

Are the servo amplifier and servomotor correctly connected?

•

Are the QD75 and e x ter nal dev i ce (inp ut / ou tput sig nal ) co rrec t ly conn e cted ?

With this "connection confirmation", "whether the direction that the QD75 recognizes as forward run matches the address increment direction in the actual positioning work", and "whether the QD75 recognizes the external input/output signals such as the near-point dog signal and stop signal" can be checked.

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Refer to GX Configurator-QP Operating Manual for details on "Connection confirmation".

Note that GX Dev el ope r may also be used to "con fi r m th e conn e ction between the QD75 and external device (I/O signals). For details, re fe r to S ect ion 13 .5 "External I/O signal mon it o r fun ction" and GX Developer Operating Manual (SW6D5C-GPPW-E or later).

Important

If the QD75 is fau lty, or when the requi r ed sign al s su ch a s the nea r -p oin t dog si gn al and stop sig nal a re not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur. The "connection confirmation" must be carried out not only when structuring the positioning system, but also when the system has been changed with module replacement or rewiring, etc.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.5 Maintenance

4.5.1 Precautions for maintenance

The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.

DANGER

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

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

CAUTION

Never disassemble or modify the module.

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

Completely turn off the externally supplied power used in the system before installing or

removing the module.

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

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4.5.2 Disposal instructions

CAUTION

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

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MEMO

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4 - 16

Chapter 5 Data Used for Positioning Control

The parameters and data used to carry out positioning control with the QD75 are explained in this chapter.

With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control. Read this section thoroughly and make settings according to each control or application.

Refer to Section 2 for details on each control.

5.1 Types of data................................................................................................................5- 2

5.1.1 Parameters and data required for control......................................................5- 2

5.1.2 Setting items for positioning parameters........................................................5- 4

5.1.3 Setting items for OPR parameters.................................................................5- 6

5.1.4 Setting items for positioning data...................................................................5- 7

5.1.5 Setting items for block start data...................................................................5- 10

5.1.6 Setting items for condition data.....................................................................5- 11

5.1.7 Types and roles of monitor data....................................................................5- 12

5.1.8 Types and roles of control data.....................................................................5- 16

5.2 List of parameters........................................................................................................5- 20

5.2.1 Basic parameters 1........................................................................................5- 20

5.2.2 Basic parameters 2........................................................................................5- 26

5.2.3 Detailed parameters 1 ...................................................................................5- 28

5.2.4 Detailed parameters 2 ...................................................................................5- 36

5.2.5 OPR basic parameters..................................................................................5- 46

5.2.6 OPR detailed parameters..............................................................................5- 54

5.3 List of positioning data.................................................................................................5- 58

5.4 List of block start data..................................................................................................5- 74

5.5 List of condition data....................................................................................................5- 80

5.6 List of monitor data......................................................................................................5- 86

5.6.1 System monitor data......................................................................................5- 86

5.6.2 Axis monitor data...........................................................................................5- 96

5.7 List of control data ......................................................................................................5-110

5.7.1 System control data......................................................................................5-110

5.7.2 Axis control data ...........................................................................................5-112

5 - 1

5 DATA USED FOR POSITIONING CONTROL

5.1 Types of data

5.1.1 Parameters and data requir ed for control

The parameters and data required to carry out control with the QD75 include the "setting data", "monitor data" and "control data" shown below.

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Setting data

Parameters

)

Pr.1 )

Positioning data Positioning data

Block start data

(Data set beforehand according to the machine and application, and stored in the flash ROM.)

Positioning

Pr.57

)

Pr.1

parameters

Pr.42

Pr.150

Basic parameters 1 Basic parameters 2

)

Set according to the machine and applicable motor when system is started up.

Note) If the setting of the basic parameters 1 is incorrect, the rotation direction may be reversed, or no operation may take place.

Detailed parameters 1 Detailed parameters 2

Set according to the system configuration when the system is started up.

Note) Detailed parameters 2 are data items for using the QD75 functions to the fullest. Set as required.

)

Da.1

Da.10

)

Da.11)Da.19

)

OPR parameters

)

Pr.43

)

Pr.57

Block start data

Condition data Set the condition data for "high-level positioning control".

OPR basi c parameters OPR detailed parameters

)

Da.14

Da.19

)

Da.11

)

Da.15

Memo data

Set the values required for carrying out OPR control.

Set the data for "major positioning control".

Set the block start data for "high-level positioning control".

Set the condition judgment values for the condition data used in "high-level positioning control".

The data is set with the sequence program or peripheral device.

In this chapter, the method using the peripheral device will be explained. (Refer to "Poi nt" on th e ne xt pag e.)

The basic parameters 1, detailed parameters 1, and OPR parameters become valid

when the PLC READY signal [Y0] turns from OFF to ON. Note, however, that the only valid value of the "

Pr.5

Pulse output mode" is the value at the moment when

the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switche d O N or th e P L C CP U i s re se t. On ce the P LC REA DY s ign al [Y 0 ] has been turned ON, th e val ue w ill no t be reset even if a noth e r valu e i s set t o th e parameter and the PLC READY signal [Y0] is turned from OFF to ON.

The basic parameters 2 and detailed parameters 2 become valid immediately when

they are written to the buffer memory, regardless of the state of the PLC READY signal [Y0].

Even when the PLC READY signal [Y0] is ON, the values or contents of the

following can be changed: basic parameters 2, detailed parameters 2, positioning data, and block start data.

5 - 2

5 DATA USED FOR POSITIONING CONTROL

The only valid data assigned to these parameters are the data read at the moment

when a positioning or JOG operation is started. Once the operation has started, any modification to the data i s ig no re d . Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command.

• Accelerat io n ti me 0 to 3 an d de cel e ra tion time 0 to 3: Positioning data are pre-read and pre-analyzed. Modifications to the data four or more steps after the current step are valid.

• External command function selection: The value at the time of detection is valid.

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Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)

Md.1

Md.48

System monitor data Monitors the QD75 specifications and the operation history.

)

Md.1

Axis monitor data

)

Md.20

Md.19

Md.48

)

Monitors the data related to the operating axis, such as the current position and speed.

The data is monitored with the sequence program or peripheral device. In this chapter, the method using the peripheral device will be explained.

Control data

System control data

)

Cd.1 Cd.2

(Data for user to control positioning system.)

Performs write/initialization, etc. of the "setting data" in the module.

Cd.42

)

Cd.41

Cd.1

Cd.42

Axis control data

)

Cd.3)Cd.40

(1) The "setting data" is created for each axis. (2) The "setting data" parameters have determined default values, and are set to

(3) The "setting data" can be initialized with GX Configurator-QP or the sequence (4) It is recommended to set the "setting data" with GX Configurator-QP. When

Makes settings related to the operation, and controls the speed change during operation, and stops/resta rts th e opera tio n.

Control using the control data is carried out with the sequence program. " Deceleration start flag valid" is valid for only the value at the time

Cd.41

when the PLC READY signal [Y0] turns from OFF to ON.

POINT

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

program. executed with the sequence program, many sequence programs and devices

must be used. This will not only complicate the program, but will also increase the scan time.

5 - 3

5 DATA USED FOR POSITIONING CONTROL

5.1.2 Setting items for positioning parameter s

The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to Section 2. For details of setting items, refer to Section

5.2 "List of parameters".

Control Major positioning control Manual control

Position control Other control

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Positioning pa ra meter

Unit setting –

Pr.1

No. of pulses per rotation (Ap)

Pr.2

(Unit: pulse)

Pr.3 Movement amount per rotation (Al) Pr.4

Unit magnification (Am)

Pr.5

Pulse output mode –

Basic parameters 1

Pr.6

Rotation direction setting –

Pr.7

Bias speed at st ar t – ––– – Speed limit value –– 12.4.1

Pr.8

Acceleration time 0 –––

Pr.9

Basic

parameters 2

Detailed parameters 1

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

– : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no

Deceleration time 0 –––

Pr.10 Pr.11 Back compensation amoun t –– 12.3.1

Pr.12 Software stroke limit upper limit value – –– Pr.13 Software stroke limit lower limit value – –– Pr.14 Software stroke limit selection – ––

Software stroke limit valid/invalid

Pr.15

selection

Pr.16 Command in-position width – – –––– Pr.17 Torque limit setting value –– 12.4.2 Pr.18 M code ON signal output ti ming – – – – 12.7.3

Speed switch in g mod e – – –––– –

Pr.19 Pr.20 Interpolation sp ee d des ign at ion meth od – ––––– –

Current feed value during speed control – – – – –––– –

Pr.21 Pr.22 Input signal logic selection – Pr.23 Output signal logic selection –

Manual pulse gene ra tor in pu t se le ct io n – – – – – – – – ––

Pr.24

Pr.150

Speed-posit ion fu nct ion se lec t ion – – – – – –––– –

problem.)

OPR control

1-axis linear con tr ol

2/3/4-axis linear interpolation control

1-axis fixed- fe ed contr o l

2/3/4-axis fixed-feed control

2-axis circular interpolation control

1 to 4 axis speed control

Speed-posit ion or position-speed

control

–– – –––

Current value changing

JUMP instruction, NOP instruction,

LOOP to LEND

Manual pulse generator operation

JOG operation

Inching opera t ion

12.3.2

12.7.7

12.4.3

12.7.6

Related sub function

5 - 4

5 DATA USED FOR POSITIONING CONTROL

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Control Major positioning control Manual control

Positioning pa ra meter

Acceleration time 1 –––

Pr.25

Acceleration time 2 –––

Pr.26

Acceleration time 3 –––

Pr.27

Deceleration time 1 –––

Pr.28 Pr.29

Deceleration time 2 –––

Pr.30

Deceleration time 3 –––

Pr.31

JOG speed limit value –– – –––––– 12.4.1

Pr.32

JOG operation acceleration time selection – – – – – – – – – –

Pr.33

JOG operation deceleration time selection – – – – – – – – – – Acceleration /de ce ler at io n proc es s

Pr.34

selection

Pr.35

S-pattern pro por tio n –––

Detailed parameters 2

Pr.36

Sudden stop dece le ra t ion ti me –––

Pr.37

Stop group 1 sudden stop selection ––– –

Pr.38

Stop group 2 sudden stop selection ––– –

Pr.39

Stop group 3 sudden stop selection ––– –

Pr.40

Positioning co mp le te s igna l ou tpu t time – ––– –

Pr.41

Allowable circu l ar inter po la tio n er ror wid t h – – – –––––– –

Pr.42

External command function selection ––

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

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no

problem.)

OPR control

Position control Other control

1-axis linear con tr ol

2/3/4-axis linear interpolation control

1-axis fixed- fe ed contr o l

2/3/4-axis fixed-feed control

2-axis circular interpolation control

1 to 4 axis speed control

Speed-posit ion or position-speed

control

–––

Current value ch ang i ng

JUMP instruction, NOP instruction,

LOOP to LEND

Manual pulse generator operation

JOG operation

Inching opera t ion

12.7.7

12.5.1

12.7.2

Related sub function

Checking the positioning parameters

Pr.1

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75 (2) When the test operation button is turned ON in the test mode using GX (3) When an error check is carried out with GX Configurator-QP

Pr.42

are checked with the following timing.

changes from OFF to ON Configurator-QP

REMARK

•

"High-level positioning control" is carried out in combination with the "major positioning control". Refer to the "major positioning control" parameter settings for details on the parameters required for "high-level positioning control".

5 - 5

5 DATA USED FOR POSITIONING CONTROL

5.1.3 Setting items for OPR parameters

When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to Ch ap te r 8 "O PR co nt ro l" fo r d et ails on the "OPR con t ro l" , an d t o S e cti on 5.2 "List of parameters" for details on each setting item.

OPR control

OPR parameters

Pr.43

OPR method

Near-point dog

Pr.44

OPR direction

Pr.45

OP address

Pr.46

OPR basic parameters

OPR detailed parameters

OPR speed

Pr.47

Creep speed

Pr.48

OPR retry R R R – R R

Pr.49

OPR dwell time – –––– Setting for the movement amount after near-

Pr.50

point dog ON

Pr.51

OPR acceleration time selection

Pr.52

OPR deceleration time selection

Pr.53

OP shift amount S S S S S S

Pr.54

OPR torque limit value – ––

Pr.55

Deviation counter clear signal output time C C C C C –

Pr.56

Speed designation during OP shift S S S S S S

Pr.57

Dwell time during OPR retry R R R – R R

––––

Machine OPR control

method

Stopper method1)Stopper method2)Stopper method

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Fast

OPR control

Count method 1)

Count method 2)

: Always set : Preset parameters are used for machine OPR control.

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

within the setting range, there is no problem.)

R : Set when using the "12.2.1 OPR retry function". ("–" when not set.)

S : Set when using the "12.2.2

OP shift function". ("–" when not set.)

C : Set the deviation counter clear signal output time. (Read as "–" when the setting is not required.)

Checking the OPR parameters.

Pr.43

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75

changes from OFF to ON

(2) When the test operation button is turned ON in the test mode using GX

Configurator-QP

(3) When an error check is carried out with GX Configurator-QP

Pr.57

are checked with the following timing.

5 - 6

5 DATA USED FOR POSITIONING CONTROL

5.1.4 Setting items for positioning data

Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control". For details of the individual setting items, refer to Section 5.3 "List of positioning data".

Major positioning control Position control Other control

1-axis linear con tr ol

2/3/4-axis linear

interpolation control

1-axis fixed- fe ed contr o l

2/3/4-axis fixed-feed control

2-axis circular interpolation

control

Positioning da ta

Independent positioning control

Operation

Da.1

pattern

Da.2

Control system

Da.3

Acceleration time No.

Da.4

Deceleration time No. Axis to be

Da.5

interpolated Positioning ad dre s s/

Da.6

movement amount

Da.7

Arc address

Da.8

Command speed Dwell t ime

Da.9

(JUMP destination positioning data No.)

M code

Da.10

(JUMP condi tion data No.)

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

– :Setting not required.

(This is an irr e le va nt ite m, so the se t va lu e w i ll be i gnor ed . I f th e va lue is the def au lt va lu e or with i n th e se t ting ran g e , there i s no pr oble m. )

:Two control systems are available: the absolute (ABS) system and incremental (INC) system.

Continuous positioning control Continuous path control

: 2 axes

– : 1/3/4 axes

Fixed-

Circular Linear 1 Linear 2 Linear 3 Linear 4

feed 1 Fixedfeed 2 Fixedfeed 3 Fixedfeed 4

–––––––

––

sub

Circular

right

Circular

left

1 to 4 axis speed control

Forward run speed 1 Reverse run

speed 1

Forward run speed 2 Reverse run

speed 2

Forward run speed 3 Reverse run

speed 3

Forward run speed 4 Reverse run

speed 4

– –

––––

Speed-posit ion swi t ch ing

Forward

run

speed/

position

Reverse

run

speed/

position

control

Forward

position/

Reverse

position/

Position-s pee d sw it ch ing

run

speed

run

speed

control

NOP instr u ct i on

– –––

NOP

instruction

––––– –––––

–

Current value ch ang i ng

Current

value

changing

New

address

JUMP

instruction

––––

–––– ––––

JUMP

destination

–

positioning

data No.

JUMP

condition

data No.

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JUMP instruction

–––

LOOP

LOOP LEND

––

No. of

LOOP to

LEND

repetitions

LEND

–

5 - 7

5 DATA USED FOR POSITIONING CONTROL

Checking the positioning data

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The items

(1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP

Da.1

Da.10

are checked at the following timings:

5 - 8

5 DATA USED FOR POSITIONING CONTROL

MEMO

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5 - 9

5 DATA USED FOR POSITIONING CONTROL

5.1.5 Setting items for block start data

The "block start data" must be set wh en carry i ng out "hi g h-l evel po siti oni ng con trol". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item.

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High-level positioning

control

Block start data

Da.11

Da.12

Da.13

Da.14

Shape (end/continue)

Start data No.

Special start instruction –

Parameter –

: Set as required ("–" when not set)

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

setting range, there is no problem.)

Block start

(Normal start)

Condition

start

Wait s t a rt

Simultaneous

start

Repeated

start

(FOR loop)

Repeated

condition)

Checking the block start data

Da.11toDa.14

(1) When the "Block start data" starts (2) When an error check is carried out with GX Configurator-QP

are checked with the following timing.

start

(FOR

5 - 10

5 DATA USED FOR POSITIONING CONTROL

5.1.6 Setting items for condition data

When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.5" List of condition data" for details on each setting item.

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Control

Condition data

Da.15

Condition target – – –

Da.16

Condition operator – – –

Da.17

Address – – ––

Da.18

Parameter 1 – – –

Da.19

Parameter 2 – – –

: Set as required ("–" when not set) : Setting limited

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

setting range, there is no problem.)

Major positioning

control

Other than

JUMP

instruction

JUMP

Block start

(Normal

start )

Condition

start

High-level positioning control

Simul-

Wait s t a rt

taneous

start

Repeated

start

(FOR

loop)

Checking the condition data

Da.15toDa.19

are checked with the following timing.

Repeated

start

(FOR

condition)

(1) When the " Block start data" starts (2) When "JUMP instruction" starts (3) When an error check is carried out with GX Configurator-QP

5 - 11

5 DATA USED FOR POSITIONING CONTROL

5.1.7 Types and roles of monitor data

The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following da t a a re available for monitoring.

•

System monitoring:

Monitoring of the QD75 configuration and operation history (through the system

Md.1

monitor data

•

Axis operation monitoring:

through

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

Md.19

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)

Md.20

through

Md.48

)

The axis monitor data are refreshed every 1.8 ms. Note that "

feed value", " input/output signal" are refreshed every 56.8ms. Also, "

updated when the "M code ON signal [X4, X5, X6, X7]" turns ON.

[1] Monitoring the system

Monitoring the positioning system operation history

Monitoring details Corresponding item

Whether the system is in the test mode or not

Start information Start No.

History of data that started an operation

History of all errors

History of all warnings

Number of write accesses to the flash ROM after the power is switched ON

Start

Error upon starting Latest pointer No. Axis in which the error occurred Axis error No.

Axis error occurrence

Latest pointer No. Axis in which the warning occurred Axis warning No.

Axis warning occurrence

Latest pointer No.

Number of write accesses to flash ROM

Md.22

Feedrate", "

Hour Minute:second

Md.28

Md.1 Md.3 Md.4 Md.5 Md.6 Md.7 Md.8 Md.9

Md.10 Md.11 Md.12 Md.13 Md.14 Md.15 Md.16 Md.17 Md.18

Md.19

Md.21

Axis feedrate" and "

In test mode flag Start information Start No. Start (Hour) Start (Minute:second) Error judgment Start history pointer Axis in which the error occurred Axis error No. Axis error occurrence Hour Axis error occurrence Minute:second Error history pointer Axis in which the warning occurred Axis warning No. Axis warning occurrence (Hour) Axis warning occurrence (Minute:second) Warning history pointer

No. of write accesses to flash ROM

Md.30

Md.23

Machine External

Valid M code", is

5 - 12

Mitsubishi Electronics QD75D, QD75P User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

REVISIONS

INTRODUCTION

CONTENTS

About Manuals

Using This Manual

Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES

Generic Terms and Abbreviations

Component List

Section 1 Product Specifications and Handling

Chapter 1 Product Outline

1.1 Positioning control

1.1.1 Features of QD75

1.1.2 Purpose and applications of positioni ng contr ol

1.1.3 Mechanism of positioning control

1.1.4 Outline design of positioning system

1.1.5 Communicating signals betw een QD 75 and each mo dul e

1.2 Flow of system operation

1.2.1 Flow of all processes

1.2.2 Outline of starting

1.2.3 Outline of stopping

1.2.4 Outline for restarting

1.3 Restrictions with a system using a stepping motor

1.4 Function additions/modifications according to function v er si on B

Chapter 2 System Configuration

2.1 General image of system

2.2 Component list

2.3 Applicable system

2.4 How to check the function version and SERIAL No.

Chapter 3 Specifications and Functions

3.1 Performance specifications

3.2 List of functions

3.2.1 QD75 control functions

3.2.2 QD75 main functions

3.2.3 QD75 sub functions and common functions

3.2.4 Combination of QD75 main functions an d sub functi ons

3.3 Specifications of input/output signals w ith PLC CPU

3.3.1 List of input/output signals with PLC C PU

3.4 Specifications of input/output interfaces w i th exter nal dev ices

3.4.1 Electrical specifications of input/output signals

3.4.2 Signal layout for external devi ce connection connector

3.4.3 List of input/output signal details

3.4.4 Input/output interface internal cir c uit

4.1 Outline of installation, wiring and mai ntenance

4.1.1 Installation, wiring and mai ntenance pr ocedures

4.1.2 Names of each part

4.1.3 Handling precautions

4.2 Installation

4.2.1 Precautions for installation

4.3 Wiring

4.3.1 Precautions for wiring

4.3.2 Wiring of the differential driver common terminal

4.4 Confirming the installati on and wi ring

4.4.1 Items to confirm when installati on and wiring are completed

4.5 Maintenance

4.5.1 Precautions for maintenance

4.5.2 Disposal instructions

Chapter 5 Data Used for Positioning Control

5.1 Types of data

5.1.1 Parameters and data requir ed for control

5.1.2 Setting items for positioning parameter s

5.1.3 Setting items for OPR parameters

5.1.4 Setting items for positioning data

5.1.5 Setting items for block start data

5.1.6 Setting items for condition data

5.1.7 Types and roles of monitor data