Mitsubishi QD75P1N, QD75P2N, QD75P4, QD75D1N, QD75D1 User Manual

...

SAFETY PRECAUTIONS

(Read these precautions before using this product.)

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

In this manual, the safety precautions are classified into two levels: "

WARNING

CAUTION

Under some circumstances, failure to observe the precautions given under " serious consequences. Observe the precautions of both levels because they are important for personal and system safety.

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

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

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

[Design Precautions]

WARNING" and "!CAUTION".

CAUTION" may lead to

WARNING

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

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

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

limit/lower limit to prevent mechanical damage outside the programmable controller.

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

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

(3) When the module detects an error, normally deceleration stop or sudden stop will 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.

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[Design Precautions]

CAUTION

Do not bundle or adjacently lay the connection cable connected to the module external I/O

signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.

[Mounting Precautions]

CAUTION

Use the programmable controller in an environment that meets the general specifications

contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use.

Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product.

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

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

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

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

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

[Wiring Precautions]

WARNING

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

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[Wiring Precautions]

CAUTION

Use applicable solderless terminals and tighten them within the specified torque range. If any

spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.

Tighten the connector screws within the specified torque range.

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

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

must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.

When disconnecting the cable from the module, do not pull the cable by the cable part.

For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

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

can cause a fire, failure, or malfunction.

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

chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

[Startup/Maintenance Precautions]

WARNING

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 Precautions]

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 install/remove the module to/from the base unit, or the terminal block to/from the module

more than 50 times after the first use of the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction.

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

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

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

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

[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 Precautions]

CAUTION

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

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• CONDITIONS OF USE FOR THE PRODUCT •

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

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

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

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

cases in which the public could be affected if any problem or fault occurs in the PRODUCT.

y Railway companies or Public service purposes, and/or any other cases in which establishment of a

special quality assurance system is required by the Purchaser or End User.

y Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator

and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.

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

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REVISIONS

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

Print Date Manual Number Revision

Dec., 1999 SH (NA)-080058-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

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

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

Partial corrections and additions

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

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

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

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

Print Date Manual Number Revision

Nov., 2004 SH (NA)-080058-G

Partial corrections and additions 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

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

Partial corrections and additions 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

Aug., 2006 SH (NA)-080058-I

Partial corrections and additions Section 3.4.4, Section 5.2.1, Section 14.5 to 14.7, Appendix 6.1, INDEX

Jul., 2008 SH (NA)-080058-J

Partial corrections and additions SAFETY INSTRUCTIONS, ABOUT MANUALS, Compliance with the EMC and Low Voltage Directives, Section 1.3, Section 2.3, 2.4, Section 3.1, 3.4.1, Section 4.1.2, 4.2.1, 4.3.1, Section 5.1.2, 5.2.1,

5.2.4, 5.2.5, Section 6.2, Section 6.4, Section 9.2.16, 9.2.17, Section 12.6, Section 12.7.2, Section 14.3 to14.7, Appendix 12,13

Oct., 2010 SH (NA)-080058-K Full revision Apr., 2011 SH (NA)-080058-L

Partial corrections and additions Section 3.4.1, Section 4.3.1, 4.3.2, Section 5.6.1, 5.7.2, Section 6.2,

6.4, Section 7.2, Section 8.2.7, 8.2.8, Section 9.2.3, 9.2.16, 9.2.18, Section 10.5, Section 11.2.1, Section 12.4.2, 12.6, 12.7.4, Section 13.2, 13.3, 13.5, Section 14.3, Appendix 3, Appendix 9.2, Appendix 10, 10.2, 10.3 Additions Appendix 10.4 Changed item numbers Appendix 10.4 to 10.12 → Appendix 10.5 to 10.13

Sep., 2011 SH (NA)-080058-M

Partial corrections and additions Generic Terms and Abbreviations, Component List, Section 1.1.1,

1.2.1, Section 2.2, 2.3, 2.4, Section 3.1, 3.4.1 to 3.4.4, Section 4.1.2,

4.3.2, Section 5.1.1, 5.1.7, 5.2.1 to 5.2.4, 5.3, 5.4, 5.6.1, 5.6.2, 5.7.1,

5.7.2, Section 6.1, 6.4, 6.5.3, Section 7.1.1, 7.1.2, Section 8.2.2, 8.2.5,

8.3.1, Section 9.1.2, 9.1.4, 9.2.9, 9.2.16 to 9.2.18, Section 11.1.1,

11.2.1, 11.3.1, 11.3.4, 11.4.1, 11.4.4, Section 12.3.2, 12.7.5, 12.7.7, Section 13.5, Section 14.3, 14.6, Section 15.3, 15.4, Appendix 1.1, Appendix 2.2, Appendix 10.1 to 10.13, Appendix 12 to 14 Additions Appendix 1.2 Addition model QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N, QD75D4N

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

Print Date

Dec., 2011 SH (NA)-080058-N

Manual Number Revision

Partial corrections and additions COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES, Section 2.4, Section 3.4.2, Section 9.1.2, Appendix 2.2

Mar., 2012

SH (NA)-080058-O

Partial corrections and additions Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 5.7.1, Section 9.1.2, Chapter 12, Section 12.1.1, Section 12.3, Appendix 1.1, Appendix 13 Additions Section 12.3.4

Japanese Manual Version SH-080047-U

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

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INTRODUCTION

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

CONTENTS

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

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

REVISIONS ....................................................................................................................................................A- 6

INTRODUCTION ...........................................................................................................................................A- 9

CONTENTS....................................................................................................................................................A- 9

ABOUT MANUALS .......................................................................................................................................A- 17

USING THIS MANUAL .................................................................................................................................A- 17

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES ..............................................................A- 18

GENERIC TERMS AND ABBREVIATIONS ................................................................................................A- 18

COMPONENT LIST ......................................................................................................................................A- 19

PART 1 PRODUCT SPECIFICATIONS AND HANDLING

1. PRODUCT OUTLINE 1- 1 to 1- 24

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 of restarting .......................................................................................................................... 1- 22

1.3 Restrictions with a system using a stepping motor................................................................................ 1- 23

1.4 Function additions/modifications according to function version B ......................................................... 1- 23

2. SYSTEM CONFIGURATION 2- 1 to 2- 12

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

2.2 Configuration list....................................................................................................................................... 2- 4

2.3 Applicable system .................................................................................................................................... 2- 6

2.4 How to check the function version and SERIAL No. ............................................................................ 2- 10

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3. SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 28

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

3.2 List of functions ....................................................................................................................................... 3- 6

3.2.1 QD75 control functions...................................................................................................................... 3- 6

3.2.2 QD75 main functions......................................................................................................................... 3- 8

3.2.3 QD75 sub functions and common functions ...................................................................................3- 10

3.2.4 Combination of QD75 main functions and sub functions................................................................ 3- 14

3.3 Specifications of input/output signals with CPU module........................................................................ 3- 16

3.3.1 List of input/output signals with CPU module.................................................................................. 3- 16

3.3.2 Details of input signals (QD75

3.3.3 Details of output signals (CPU module

3.4 Specifications of input/output interfaces with external devices ............................................................. 3- 19

3.4.1 Electrical specifications of input/output signals ............................................................................... 3- 19

3.4.2 Signal layout for external device connection connector.................................................................. 3- 23

3.4.3 List of input/output signal details...................................................................................................... 3- 24

3.4.4 Input/output interface internal circuit................................................................................................ 3- 26

4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4- 1 to 4- 16

CPU module) ............................................................................. 3- 17

QD75) ...........................................................................3- 18

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 Installation precautions ..................................................................................................................... 4- 7

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

4.3.1 Wiring precautions............................................................................................................................. 4- 8

4.3.2 Wiring of the differential driver common terminal............................................................................ 4- 14

4.4 Checking installation and wiring ............................................................................................................. 4- 15

4.4.1 Items to check when installation and wiring are completed............................................................ 4- 15

4.5 Maintenance............................................................................................................................................ 4- 16

4.5.1 Maintenance precautions ................................................................................................................. 4- 16

4.5.2 Disposal precautions ........................................................................................................................ 4- 16

5. DATA USED FOR POSITIONING CONTROL 5- 1 to 5-128

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- 5

5.1.3 Setting items for OPR parameters.................................................................................................... 5- 7

5.1.4 Setting items for positioning data...................................................................................................... 5- 8

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- 15

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5.2 List of parameters ................................................................................................................................... 5- 18

5.2.1 Basic parameters 1 .......................................................................................................................... 5- 18

5.2.2 Basic parameters 2 .......................................................................................................................... 5- 24

5.2.3 Detailed parameters 1 ...................................................................................................................... 5- 26

5.2.4 Detailed parameters 2 ...................................................................................................................... 5- 34

5.2.5 OPR basic parameters..................................................................................................................... 5- 43

5.2.6 OPR detailed parameters ................................................................................................................ 5- 50

5.3 List of positioning data ............................................................................................................................ 5- 54

5.4 List of block start data .............................................................................................................................5- 68

5.5 List of condition data ...............................................................................................................................5- 74

5.6 List of monitor data.................................................................................................................................. 5- 80

5.6.1 System monitor data ........................................................................................................................ 5- 80

5.6.2 Axis monitor data.............................................................................................................................. 5- 90

5.7 List of control data .................................................................................................................................. 5-104

5.7.1 System control data ........................................................................................................................ 5-104

5.7.2 Axis control data .............................................................................................................................. 5-108

6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6- 1 to 6- 46

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- 43

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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PART 2 CONTROL DETAILS AND SETTING

8. OPR CONTROL 8- 1 to 8- 24

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- 7

8.2.4 OPR method (2): Stopper method 1) ............................................................................................... 8- 9

8.2.5 OPR method (3): Stopper method 2) .............................................................................................. 8- 12

8.2.6 OPR method (4): Stopper method 3) .............................................................................................. 8- 15

8.2.7 OPR method (5): Count method 1) ................................................................................................. 8- 17

8.2.8 OPR method (6): Count method 2) ................................................................................................. 8- 20

8.3 Fast OPR ................................................................................................................................................. 8- 23

8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 23

9. MAJOR POSITIONING CONTROL 9- 1 to 9-120

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- 16

9.1.4 Confirming the current value............................................................................................................ 9- 17

9.1.5 Control unit "degree" handling ......................................................................................................... 9- 19

9.1.6 Interpolation control.......................................................................................................................... 9- 22

9.2 Setting the positioning data ................................................................................................................... 9- 26

9.2.1 Relation between each control and positioning data ...................................................................... 9- 26

9.2.2 1-axis linear control .......................................................................................................................... 9- 28

9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 30

9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 34

9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -40

9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 44

9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 46

9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 49

9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 54

9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 57

9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 63

9.2.12 1-axis speed control ....................................................................................................................... 9- 71

9.2.13 2-axis speed control ....................................................................................................................... 9- 74

9.2.14 3-axis speed control ....................................................................................................................... 9- 77

9.2.15 4-axis speed control ....................................................................................................................... 9- 81

9.2.16 Speed-position switching control (INC mode) ............................................................................... 9- 86

9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 95

9.2.18 Position-speed switching control .................................................................................................. 9-103

9.2.19 Current value changing ................................................................................................................. 9-110

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9.2.20 NOP instruction .............................................................................................................................9-115

9.2.21 JUMP instruction ...........................................................................................................................9-116

9.2.22 LOOP............................................................................................................................................. 9-118

9.2.23 LEND ............................................................................................................................................. 9-119

10. HIGH-LEVEL POSITIONING CONTROL 10- 1 to 10- 28

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- 14

10.3.7 Repeated start (FOR condition) .................................................................................................. 10- 15

10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 16

10.4 Setting the condition data ................................................................................................................... 10- 17

10.4.1 Relation between various controls and the condition data ......................................................... 10- 17

10.4.2 Condition data setting examples ................................................................................................. 10- 20

10.5 Multiple axes simultaneous start control ............................................................................................10- 21

10.6 Start program for high-level positioning control ................................................................................. 10- 24

10.6.1 Starting high-level positioning control .......................................................................................... 10- 24

10.6.2 Example of a start program for high-level positioning control .................................................... 10- 25

11. MANUAL CONTROL 11- 1 to 11- 34

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- 16

11.3.1 Outline of inching operation ......................................................................................................... 11- 16

11.3.2 Inching operation execution procedure ....................................................................................... 11- 19

11.3.3 Setting the required parameters for inching operation................................................................ 11- 20

11.3.4 Creating a program to enable/disable the inching operation ...................................................... 11- 21

11.3.5 Inching operation example........................................................................................................... 11- 24

11.4 Manual pulse generator operation...................................................................................................... 11- 26

11.4.1 Outline of manual pulse generator operation .............................................................................. 11- 26

11.4.2 Manual pulse generator operation execution procedure ............................................................11- 30

11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 31

A - 13

11.4.4 Creating a program to enable/disable the manual pulse generator operation .......................... 11- 32

12. CONTROL SUB FUNCTIONS 12- 1 to 12-108

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- 12

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

12.3.2 Electronic gear function ............................................................................................................... 12- 14

12.3.3 Near pass function ....................................................................................................................... 12- 20

12.3.4 Output timing selection of near pass control ............................................................................... 12- 22

12.4 Functions to limit the control ............................................................................................................... 12- 26

12.4.1 Speed limit function ...................................................................................................................... 12- 26

12.4.2 Torque limit function ..................................................................................................................... 12- 28

12.4.3 Software stroke limit function ....................................................................................................... 12- 32

12.4.4 Hardware stroke limit function ..................................................................................................... 12- 38

12.5 Functions to change the control details.............................................................................................. 12- 40

12.5.1 Speed change function ................................................................................................................ 12- 40

12.5.2 Override function .......................................................................................................................... 12- 47

12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 50

12.5.4 Torque change function ............................................................................................................... 12- 55

12.5.5 Target position change function .................................................................................................. 12- 57

12.6 Absolute position restoration function ................................................................................................ 12- 61

12.7 Other functions .................................................................................................................................... 12- 72

12.7.1 Step function................................................................................................................................. 12- 72

12.7.2 Skip function ................................................................................................................................. 12- 77

12.7.3 M code output function................................................................................................................. 12- 80

12.7.4 Teaching function ......................................................................................................................... 12- 84

12.7.5 Command in-position function .....................................................................................................12- 91

12.7.6 Acceleration/deceleration processing function............................................................................ 12- 94

12.7.7 Pre-reading start function............................................................................................................. 12- 97

12.7.8 Deceleration start flag function ...................................................................................................12-102

12.7.9 Stop command processing for deceleration stop function......................................................... 12-106

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- 24

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

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

A - 14

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

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

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

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

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

15. TROUBLESHOOTING 15- 1 to 15- 48

15.1 Troubleshooting ................................................................................................................................... 15- 2

15.2 Error and warning details ..................................................................................................................... 15- 6

15.3 List of errors ........................................................................................................................................ 15- 10

15.4 List of warnings ................................................................................................................................... 15- 40

APPENDICES Appendix- 1 to Appendix-156

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

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

Appendix 1.2 Precautions for the replacement of QD75P

.......................................................................................................................................................Appendix- 3

Appendix 2 Format sheets ................................................................................................................Appendix- 6

Appendix 2.1 Positioning Module operation chart ....................................................................... Appendix- 6

Appendix 2.2 Parameter setting value entry table .......................................................................Appendix- 8

Appendix 2.3 Positioning data setting value entry table ............................................................Appendix- 14

Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses...............................Appendix- 15

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

.......................................................................................................................................Appendix- 39

Appendix 4.1 Connection example of QD75D Appendix 4.2 Connection example of QD75D Appendix 4.3 Connection example of QD75D Appendix 4.4 Connection example of QD75D

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

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

Appendix 5.1 Connection example of QD75P

Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation

.......................................................................................................................................Appendix- 44

Appendix 6.1 Connection example of QD75D

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

.......................................................................................................................................Appendix- 45

Appendix 7.1 Connection example of QD75D

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

.......................................................................................................................................Appendix- 46

Appendix 8.1 Connection example of QD75D

Appendix 9 Comparisons with conventional positioning modules.................................................. Appendix- 47

Appendix 9.1 Comparisons with A1SD71S2 model....................................................................Appendix- 47

Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 48

Appendix 10 When using GX Works2 ............................................................................................. Appendix- 71

Appendix 10.1 Adding a module ..................................................................................................Appendix- 72

Appendix 10.2 Setting parameters ..............................................................................................Appendix- 73

N and MR-J3- A (Differential driver) ...........Appendix- 39

N and MR-H A (Differential driver).............. Appendix- 40

N and MR-J2/J2S- A (Differential driver) .... Appendix- 41

N and MR-C A (Differential driver).............. Appendix- 42

N and VEXTA UPD (Open collector) .............. Appendix- 43

N and MINAS-A series (Differential driver) ....Appendix- 44

N and PYO series (Differential driver) ............ Appendix- 45

N and Σ- series (Differential driver)...............Appendix- 46

/QD75D with QD75P N/QD75D N

A - 15

Appendix 10.3 Setting auto refresh .............................................................................................Appendix- 78

Appendix 10.4 Positioning monitor ..............................................................................................Appendix- 79

Appendix 10.5 Positioning test..................................................................................................... Appendix- 89

Appendix 10.6 Wave trace ..........................................................................................................Appendix- 97

Appendix 10.7 Location trace .....................................................................................................Appendix-100

Appendix 10.8 Parameter initialization function .........................................................................Appendix-103

Appendix 10.9 Execution data backup function .........................................................................Appendix-105

Appendix 10.10 External I/O signal logic switching function......................................................Appendix-107

Appendix 10.11 External I/O signal monitor function .................................................................Appendix-108

Appendix 10.12 History monitor function .................................................................................... Appendix-109

Appendix 10.13 Checking errors.................................................................................................Appendix-111

Appendix 11 MELSEC Explanation of positioning terms...............................................................Appendix-115

Appendix 12 Positioning control troubleshooting ...........................................................................Appendix-135

Appendix 13 List of buffer memory addresses...............................................................................Appendix-141

Appendix 14 External dimension drawing ......................................................................................Appendix-150

INDEX Index- 1 to Index- 12

A - 16

ABOUT MANUALS

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

Related Manuals

Manual Name

GX Configurator-QP Version 2 Operating Manual

Data creation (such as parameters and positioning data) and operations of transferring data to modules,

positioning monitor, and tests using GX Configurator-QP........................................... (sold separately)

Manual Number

(Model Code)

SH-080172

(13JU19)

GX Developer Version 8 Operating Manual

Operating methods of GX Developer, such as programming, printing, monitoring, and debugging

(sold separately)

GX Works2 Version1 Operating Manual (Common)

System configuration, parameter settings, and online operations (common to Simple project and

Structured project) of GX Works2.................................................................................. (sold separately)

GX Works2 Version1 Operating Manual (Intelligent Function Module)

Parameter settings, monitoring, and operations of the pre-defined protocol support function of intelligent

function modules, using GX Works2 ............................................................................. (sold separately)

1: The manual is included in the CD-ROM of the software package in a PDF-format file.

For users interested in buying the manual separately, a printed version is available. Please contact us with the manual number (model code) in the list above.

SH-080373E

(13JU41)

SH-080779ENG

(13JU63)

SH-080921ENG

(13JU69)

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 monitor data item.

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

(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

A - 17

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

(1) Method of ensuring compliance

To ensure that Mitsubishi programmable controllers maintain EMC and Low

Voltage Directives when incorporated into other machinery or equipment, certain

measures may be necessary. Please refer to one of the following manuals.

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

• Safety Guidelines (this manual is included with the CPU module or base unit)

The CE mark on the side of the programmable controller indicates compliance

with EMC and Low Voltage Directives.

(2) Additional measures

To ensure that this product maintains EMC and Low Voltage Directives, please

refer to Section 4.3.1.

GENERIC TERMS AND ABBREVIATIONS

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

Generic term/abbreviation Details of generic term/abbreviation

CPU module Generic term for CPU module on which QD75 can be mounted.

QD75 Generic term for positioning module QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N,

QD75P N Generic term for positioning module QD75P1N, QD75P2N, QD75P4N.

QD75D N Generic term for positioning module QD75D1N, QD75D2N, QD75D4N.

QD75P Generic term for positioning module QD75P1, QD75P2, QD75P4.

QD75D Generic term for positioning module QD75D1, QD75D2, QD75D4.

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

GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later).

GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later).

GX Works2 Product name of the software package for the MELSEC programmable controllers.

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

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

Axis 1, axis 2, axis 3, axis 4 Indicates each axis connected to QD75.

1-axis, 2-axis, 3-axis, 4-axis Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis

manual.

QD75D4N, QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4.

The module type is described to indicate a specific module.

"GX Configurator-QP".

IBM PC/AT

Generic term for personal computer which supports Windows

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

and compatible DOS/V compliant personal computer.

A - 18

COMPONENT LIST

Module name Description Quantity

QD75P1N QD75P1N Positioning Module(1-axis open collector output system) 1

QD75P2N QD75P2N Positioning Module(2-axes open collector output system) 1

QD75P4N QD75P4N Positioning Module(4-axes open collector output system) 1

QD75D1N

QD75D2N

QD75D4N

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

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

QD75D1N Positioning Module(1-axis differential driver output system) 1

Differential driver common terminal 1

QD75D2N Positioning Module(2-axes differential driver output system) 1

Differential driver common terminal 1

QD75D4N Positioning Module(4-axes differential driver output system) 1

Differential driver common terminal 1

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

A - 19

MEMO

A - 20

PART 1 PRODUCT SPECIFICATIONS AND HANDLING

PART 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

Read PART 2 for details on each control.

CHAPTER 1 PRODUCT OUTLINE................................................................................. 1- 1 to 1- 24

CHAPTER 2 SYSTEM CONFIGURATION..................................................................... 2- 1 to 2- 12

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS ...................................................... 3- 1 to 3- 28

CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT ... 4- 1 to 4- 16

CHAPTER 5 DATA USED FOR POSITIONING CONTROL.......................................... 5- 1 to 5-126

CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... 6- 1 to 6- 46

CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS ............................ 7- 1 to 7- 12

PART 1

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 of restarting........................................................................................1- 22

1.3 Restrictions with a system using a stepping motor ....................................................1- 23

1.4 Function additions/modifications according to function version B .............................1- 23

1 - 1

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

(2) Wide variety of positioning control functions

MELSEC-Q

(a) The pulse output types of the available modules are either the open

collector output system or the differential driver output system. A module can be selected from the following depending on the drive unit type and the number of axes. (Refer to Section 2.2.)

• Open collector output system: QD75P1N/QD75P2N/QD75P4N (QD75P1/QD75P2/QD75P4)

• Differential driver output system: QD75D1N/QD75D2N/QD75D4N (QD75D1/QD75D2/QD75D4)

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

32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the CPU module, up to 64 modules can be used. (Refer to Section 3.1.)

(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 either be the independent positioning control using 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 either be the independent positioning control using 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.)

1 - 2

1 PRODUCT OUTLINE

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

(4) Faster pulse output and allowance of longer distance to drive unit

(5) Easy maintenance

MELSEC-Q

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 premier reference position for positioning control. 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: trapezoidal

acceleration/deceleration and S-curve acceleration/deceleration. (Refer to Section 12.7.6.) (The S-curve acceleration/deceleration control is disabled if stepping motors are used. Refer to Section 1.3.)

The processing time to start the positioning operation is shortened. QD75P 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

Axis 2 and Axis 4 are started by the

N/QD75D N: 1.5ms (QD75P /QD75D : 6ms)

: No delay in Axis 1 and

simultaneous start function

interpolation operation

Axis 3 start

: No delay in Axis 2 and

Axis 4 start

(Refer to Section 3.1.)

The modules with a differential driver (QD75D N (QD75D )) incorporate the improvements in pulse output speed and maximum distance to the drive unit.

• QD75D

• QD75P N: 200kpulse/s, 2m max. (QD75P : 200kpulse/s, 2m max.)

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

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

N: 4Mpulse/s, 10m max. (QD75D : 1Mpulse/s, 10m max.)

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

troubleshooting procedure. (Refer to Section 15.1.)

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

1 - 3

1 PRODUCT OUTLINE

(6) Support of intelligent function module dedicated instructions

(7) Setups, monitoring, and testing through GX Configurator-QP

MELSEC-Q

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.

1 - 4

•

1 PRODUCT OUTLINE

1.1.2 Purpose and applications of positioning control

"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.

Punch press (X, Y feed positioning)

Y axis servomotor

Gear and ball screw

Servo amplifier

Press head

Y axis

X axis

Y axis

X axis servomotor

160mm

320mm

Press punching

12s

X axis Gear and rack & pinion

QD75

15m/min (2000r/min)

15m/min (1875r/min)

MELSEC-Q

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.

X axis

Y axis

Palletizer

Conveyor control

Servomotor

(with brakes)

Servo amplifier

Reduction gears

Ball screw

(From QD75)

Conveyor

Position detector

Palletizer

Unloader control

QD75

Compact machining center (ATC magazine positioning)

Servomotor

Servo amplifier

QD75

Coupling

Positioning pin

Reduction gears

Tool (12 pcs., 20 pcs.)

ATC tool magazine

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

Rotation direction for calling 17 to 20, 1 to 5

Current value retrieval position

Rotation direction for calling 7 to 16

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.

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.

1 - 5

•

1 PRODUCT OUTLINE

Lifter (Storage of Braun tubes onto aging rack)

B conveyor

Lifter

Counterweight

Reduction gears

Servomotor (with brakes)

C conveyor

A conveyor

Loader

Servomotor

Servo amplifier

Aging rack

Index table (High-accuracy indexing of angle)

QD75

Unloader

Loader/unloader

Servo amplifier

QD75

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

220VAC

60Hz

QD75

Servo amplifier

Motor

Workpiece

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

Operation panel

Detector Servomotor

Grinding stone

Motor

Inverter

a. Total feed amount ( m) b. Finishing feed amount ( m) c. Compensation amount ( m)

Servo amplifier

d. Rough grind ing speed ( m/s) e. Fine grinding speed ( m/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.

1 - 6

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 CPU module.

Creates control order and conditions as a sequence program.

Stores the created program.

The QD75 outputs the start signal and stop signal following the stored program.

QD75 errors, etc., are detected.

MELSEC-Q

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.

CPU module

QD75 positioning module

Servo amplifier

Motor

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

External signal Issues commands by

transmitting pulses.

Manual pulse generator

Stores the parameter and data.

Outputs pulses to the servo according to the instructions from the CPU module, GX Configurator-QP, external signals and manual pulse generator.

Receives pulse commands from QD75, and drives the motor.

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

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

Workpiece

1 - 7

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.

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.

MELSEC-Q

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

Pulse frequency [pps]

ta td (s)

0.4 1.2 0.4

Movement amount t = 2

This area is the total No. of commanded pulses.

Positioning module

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

Servo amplifier

Detector (Pulse encoder)

Feedback pulses

Servo motor

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".

1 - 8

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

MELSEC-Q

CPU module

Program

Peripheral devices interface

Read, write, etc.

GX Configurator-QP

Read, write, etc.

Positioning module

QD75

Forward run pulse train

Reverse run

Setting

pulse train

data

Deviation counter

Drive unit

D/A converter

Speed command

Interface

Feedback pulse

Servo amplifier

Servomotor

PLG

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

(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 converter outputs an analog DC current proportionate to the count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal.

2) The 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 rotation speed. The feedback pulses are fed back to the drive unit and decrements the pulse droop, the pulse count maintained by the deviation counter. The motor keeps on rotating as the pulse droop is maintained at a certain level.

3) When the 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).

1 - 9

1 PRODUCT OUTLINE

MELSEC-Q

(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 stabilizes when the motor speed equals the target

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

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 system using worm gears

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

Workpiece

Pulse encoder (PLG)

Servomotor

Table

Worm gear

Fig. 1.4 System using worm gears

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

: Deviation counter droop pulse amount

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

1 - 10

1 PRODUCT OUTLINE

MELSEC-Q

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

command pulse frequency, and the deviation counter droop pulse 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 =

R × n

[mm/pulse]

2) Command pulse frequency

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

Vs =

V A

[pulse/s]

3) Deviation counter droop pulse amount.

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

[pulse]

ε =

(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 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.

1 - 11

1 PRODUCT OUTLINE

1.1.5 Communicating signals between QD75 and each module

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

CPU module

Y8,YA,YC,YE

Y9,YB,YD,YF

Y14,Y15,Y16,Y17

Forward run JOG start signal

Reverse run JOG start signal

connected)

QD75

PLC READY signal

QD75 READY signal

Syncronization flag

Execution prohibition flag

External interface

MELSEC-Q

Drive unit READY signal

Upper/lower limit signal

Near-point dog signal

External signal

Zero signal

Deviation counter clear

Pulse train

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)

Operation monitor

Interface with CPU module

Manual pulse generator A-phase

Manual pulse generator B-phase

Stop signal

External command signal

Manual pulse generator

External signal

Peripheral device

1 - 12

1 PRODUCT OUTLINE

MELSEC-Q

QD75 CPU module

Communication

Control signal

Data (read/write)

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

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

Direction

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

• Parameter

• Positioning data

• Block start data

• Control data

• Monitor data

QD75

CPU module CPU module QD75

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

• Parameter

• Positioning data

• Block start data

• Control data

QD75 Peripheral device

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

Communication

Data (read/write)

Test operation –

Operation monitor • Monitor data –

module:

Direction

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

Communication

Control signal

Pulse train • Pulse train output –

connection connector.

Direction

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

Communication

Pulse signal –

connector for axis 1 or for axes 1 and 2.)

Direction

QD75

Manual pulse generator Manual pulse generator QD75

1 - 13

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

•

1 PRODUCT OUTLINE

QD75 External signal

The QD75 and external signal communicate the following data via the external

Communication

Control signal –

device connection connector.

Direction

QD75

MELSEC-Q

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

1 - 14

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.

MELSEC-Q

Design

Preparation

GX Configurator-QP

1) Understand the functions and performance, and determine the positioning operation method

3) 4) Setting of the:

• Parameters

• Positioning data

• Block start data

• Condition data

Writing of setting data

QD75

5) 6)

Servo, etc.

(system design)

Installation, wiring

CPU module

Creation of sequence program for operation

Refer to (Note)

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

Monitoring and debugging of operation program

Monitor

(Note)

When not using GX Configurator

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

1 - 15

•

1 PRODUCT OUTLINE

MELSEC-Q

Details Reference

Understand the product functions and usage methods, the configuration devices

1) and specifications required for positioning control, and design the system.

Install the QD75 onto the base unit, wire the QD75 and external connection

2) devices (drive unit, etc.).

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

3) and condition data required for the positioning control to be executed.

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 with GX Configurator-QP

5) into the QD75.

Using GX Developer, write the created sequence program into the CPU module.

(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 the connection with the QD75 and external connection device, and to confirm that the designated

7) positioning operation is executed correctly. (Debug the set "parameters" 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

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

10) Service the QD75 as required.

11) Dispose of the QD75.

1: When setting the QD75P N/QD75D N using GX Configurator-QP, there are restrictions on the setting ranges of

some items. (Refer to Appendix 1.2.)

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

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

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.

Flow of starting

MELSEC-Q

Preparation

Control functions

Positioning parameters

OPR parameters

Positioning data

Block start data

Control data

Start signal

Installation and connection of module

Setting of hardware

Major positioning control

•Position control

•Speed control

•Speed-position switching control

•Position-speed switching control

•Other control

High-level positioning control

•Block start (Normal start)

•Condition start

•Wait start

•Simultaneous start

•Repeated start

OPR control

•Machine OPR control

•Fast OPR control

Set the positioning parameters.

Set the OPR parameters.

)

Pr.43

Set the positioning data.

)

Da.1)Da.10

Set the block start data.

)

Da.19

)

Cd.3

Da.11

Set the positioning start No.

Set the positioning starting point No.

)

Cd.4

Input the start signal. Method (1) Turn ON the QD75 start signal from the CPU module Method (2) Issue the Z.PSTRT instruction from the CPU module Method (3) Turn the QD75 external start signal ON

•JOG operation

)

to ,

Pr.1

Pr.42

)

Pr.57

Set the JOG speed.

)

Cd.17

Set the inching movement amount to other than 0.

Set the inching movement amount to 0.

)

Cd.16

Turn the QD75 JOG start signal ON from the CPU module

Manual control

•Inching operation

•Manual pulse generator operation

)

Pr.150

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

)

Cd.16

Set the manual pulse generator

1 pulse input magnification.

)

Cd.21

)

Cd.20

Operate the manual pulse generator

)

Control start

Operation

Control end

Stop

1 - 18

1 PRODUCT OUTLINE

Setting method

: Indicates the sequence program that must be created.

MELSEC-Q

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.

Create sequence program for executing main function

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

Write

Operation sequence program

CPU module

Write

QD75

Write

CPU module

• 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

MELSEC-Q

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)

Each control is stopped in the following cases.

(1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When a CPU module 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 CPU module turned ON,

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

Drive unit READY signal OFF

Hardware stroke limit upper/lower limit error occurrence

CPU module 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 CPU module

stop signal from an external device, etc.)

Axis

Stop

axis

Each axis

All axes

Each axis

M code

ON signal

after stop

No change

Turns OFF

No change

operation

status

after

stopping

Md.26

(

Error Immediate stop

Error

Stopped

(Standby)

OPR control Manual control

Machine

OPR

control

)

Fast

OPR

control

Deceleration stop/sudden stop

(Select with "

stop selection")

Deceleration stop/sudden stop

(Select with "

stop selection")

Deceleration stop/sudden stop

(Select with "

stop selection")

Stop process

Major positioning control

Pr.37

Pr.38

Pr.39 Stop group 3 sudden

High-level positioning control

Stop group 1 sudden

Stop group 2 sudden

JOG/ Inching operation

Manual pulse generator operation

Deceleration stop

Deceleration

stop

Deceleration

stop

Deceleration

stop

1 - 20

1 PRODUCT OUTLINE

MELSEC-Q

1: When multiple positioning data is executed by the continuous positioning control and there is invalid setting value in a

positioning data, an error occurs and deceleration is performed at the previous positioning data. In this case, sudden stop is not performed even when it is set for the stop group 3.If any of the following error occurs, the operation is immediately stopped after executing up to previous positioning data of the positioning data where an error occurred.

• No command speed (error code: 503)

• Outside linear movement amount range (error code: 504)

• Large arc error deviation (error code: 506)

• Software stroke limit + (error code: 507)

• Software stroke limit - (error code: 508)

• Sub point setting error (error code: 525)

• End point setting error (error code: 526)

• Center point setting error (error code: 527)

• Outside radius range (error code: 544)

• Illegal setting of ABS direction in unit of degree (error code: 546)

1 - 21

1 PRODUCT OUTLINE

1.2.4 Outline of 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 position by using the "

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.

When "

(1) If the "

(2) When "

[Example for incremental system]

Axis 1

MELSEC-Q

Cd.6

Restart command".

Cd.6

Restart command" is ON

Md.26

Axis operation status" is "Stopped", positioning to the end point

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

Md.26

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

not possible" (warning code: 104) will be applied, and the restart command will be ignored.

(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

Designated end point position

Axis 2

Restart

Stop position due to stop cause

400

200

100

100 300 700

Stop position after restart

Operation during restart

Axis 2

Reference

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

Md.26

Axis operation status" is "Standby" or "Stopped", positioning will

be restarted from the start of the positioning start data regardless of the absolute system or incremental system. (

: When the external command signal is set to "External positioning start") (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 point address

200

100

100 300 700

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 - 22

is turned ON

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) For the system that uses a stepping motor, executing the S-curve

acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur.

(2) Although setting the bias speed at start is required by the characteristics of the

stepping motor, the setting of the bias speed at start is disabled for circular interpolation control.

1.4 Function additions/modifications according to function version B

MELSEC-Q

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

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

Speed-position switching control (ABS mode)

Pre-reading start function Function which shortens virtual start time. Section 12.7.7

External I/O signal monitor function

Deceleration start flag function 2

Stop command processing for deceleration stop function 3

1: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For details, refer to

GX Developer Operating Manual. For the QD75P GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common).

2: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "03042" or later.

3: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "05072" or later.

QD75:

Function Outline Reference

Function which starts the axis under speed control, 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 which 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 whose operation pattern is "Positioning complete".

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

N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of

Section 9.2.17

Section 13.5

Section 12.7.8

Section 12.7.9

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1 PRODUCT OUTLINE

MEMO

MELSEC-Q

1 - 24

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 explained. Prepare the required configuration devices to match the positioning control system.

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

2.2 Configuration list ...........................................................................................................2- 4

2.3 Applicable system.........................................................................................................2- 6

2.4 How to check the function version and SERIAL No. .................................................. 2- 10

2 - 1

2 SYSTEM CONFIGURATION

2.1 General image of system

The general image of the system, including the QD75, CPU module 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

GX Configurator

-QP

Personal computer

SWnD5C

-QD75P-E

(For details, refer to GX Configurator

-QP Operatin

Manual.)

2 - 3

2 SYSTEM CONFIGURATION

2.2 Configuration list

MELSEC-Q

No. Part name Type Remarks

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)

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

QD75P1N QD75P2N QD75P4N QD75D1N QD75D2N QD75D4N QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4

D5C-

QD75P-E

Personal computer which supports Windows

–

QD75

No. of control axes

P: Open collector output system

Refer to Appendix 1.2 for differences between QD75P QD75P /QD75D .

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 with a personal computer. 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.

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 drive 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

N/QD75D N and

2 - 4

2 SYSTEM CONFIGURATION

Specifications of recommended manual pulse generator

Model name MR-HDP01

Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4)

Output method

Power supply voltage

Current consumption 60mA

Output level

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

Start friction torque 0.06N·m (at 20 (68 ))

Use the stabilized power supply of 4.5 to 6.1 VDC for the power supply of the manual

pulse generator.

MELSEC-Q

Item Specifications

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

Output current

4.5 to 13.2VDC*1

"H" level: power supply voltage

"L" level: 0.5V or less (with maximum leading-in)

Radial load: Max. 19.6N

Thrust load: Max. 9.8N

Max. 20mA

-1V or more (in no-load)

2 - 5

2 SYSTEM CONFIGURATION

2.3 Applicable system

The QD75 can be used in the following system.

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

(a) When mounted with a CPU module

The table below shows the CPU modules and base units applicable to the QD75 and quantities for each CPU model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the

Applicable CPU module

CPU type CPU model

Basic model QCPU

High Performance model QCPU

Process CPU

Redundant CPU

Programmable controller CPU

Universal model QCPU

modules.

Q00JCPU Up to 8

Q00CPU

Q01CPU

Q02CPU

Q02HCPU

Q06HCPU

Q12HCPU

Q25HCPU

Q12PHCPU

Q25PHCPU

Q12PRHCPU

Q25PRHCPU

Q00UJCPU Up to 8

Q00UCPU

Q01UCPU

Q02UCPU Up to 36

Q03UDCPU

Q04UDHCPU

Q06UDHCPU

Q10UDHCPU

Q13UDHCPU

Q20UDHCPU

Q26UDHCPU

Q03UDECPU

Q04UDEHCPU

Q06UDEHCPU

Q10UDEHCPU

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

No. of modules*1

Up to 24

Up to 64

Up to 53

Up to 24

Up to 64

MELSEC-Q

Base unit*2

Main base unit Extension base unit

: Applicable, : N/A

2 - 6

2 SYSTEM CONFIGURATION

Applicable CPU module

CPU type CPU model

Q13UDEHCPU

Programmable controller CPU

C Controller module*3

Universal model QCPU

Safety CPU QS001CPU N/A

Q20UDEHCPU

Q26UDEHCPU

Q50UDEHCPU

Q100UDEHCPU

Q06CCPU-V-H01

Q06CCPU-V

Q06CCPU-V-B

Q12DCCPU-V

Limited within the range of I/O points for the CPU module. 2: Can be installed to any I/O slot of a base unit. 3: Use the QD75 of function version B or later.

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

The table below shows the network modules and base units applicable to the QD75 and quantities for each network module model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the

Applicable network module

QJ72LP25-25

QJ72LP25G

QJ72LP25GE

QJ72BR15

modules.

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

No. of modules*1

Up to 64

No. of modules

Up to 64

Main base unit of remote I/O station

MELSEC-Q

Base unit*2

Main base unit Extension base unit

: Applicable, : N/A

Base unit*2

Extension base unit of remote I/O station

: Applicable, : N/A

REMARK

The basic model QCPU and C controller cannot configure MELSECNET/H remote I/O network.

(2) Compatibility with multiple CPU system

When using the QD75 in a multiple CPU system, refer to the QCPU User's Manual (Multiple CPU System).

2 - 7

2 SYSTEM CONFIGURATION

(3) Supported software packages

The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer or GX Works2 is required for use of the

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/

Q12H/Q25HCPU

Q02PH/Q06PHCPU

Q12PH/Q25PHCPU

Q02U/Q03UD/

Q04UDH/

Q06UDHCPU

Q13UDH/Q26UDH/

Q03UDE/Q04UDEH/

Q06UDEH/Q13UDE

H/Q26UDEHCPU

Q00U/Q00UJ/Q01U/

Q10UDH/Q20UDH/

Q10UDEH/

Q20UDEHCPU

Q50UDEH/

Q100UDEHCPU

For use on MELSECNET/H remote I/O

station

QD75.

(a) QD75P N/QD75D N

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

To use the QD75P

QD75P /QD75D as the model name. The QD75P N/QD75D N can be used in the

same manner as the QD75P

speed exceeding 1000000pulse/s cannot be set in some items. (Refer to Appendix 1.2)

Software version

GX Developer

Version 7 or later

Version 8 or later

Version 4 or later

Version 6 or later

Version 8.68W or

later

Version 7.10L or

later

Version 8.48A or

later

Version 8.68W or

later

Version 8.76E or

later

Not available Not available

Version 6 or later Version 2.00A or later

N/QD75D N with GX Configurator-QP, select the

GX Configurator-QP

Version 2.10L or later

Version 2.00A or later

Version 2.29F or later

Version 2.13P or later

Version 2.25B or later

Version 2.29F or later

Version 2.32J or later

/QD75D ; the setting ranges are the same. Therefore, a

2 - 8

MELSEC-Q

GX Works2

Version 1.64S or later

Not available

Version 1.64S or later

2 SYSTEM CONFIGURATION

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/

Q12H/Q25HCPU

Q02PH/Q06PHCPU

Q12PH/Q25PHCPU

Q02U/Q03UD/

Q04UDH/

Q06UDHCPU

Q13UDH/Q26UDH/

Q03UDE/Q04UDEH/

Q06UDEH/Q13UDE

H/Q26UDEHCPU

Q00U/Q00UJ/Q01U/

Q10UDH/Q20UDH/

Q10UDEH/

Q20UDEHCPU

Q50UDEH/

Q100UDEHCPU

For use on MELSECNET/H remote I/O

station

(b) QD75P /QD75D

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

Single

programmable

controller system

Multiple

programmable

controller system

MELSEC-Q

Software version

GX Developer GX Configurator-QP GX Works2

Version 7 or later

Version 2.10L or later

Version 8 or later

Version 1.15R or later

Version 4 or later

Version 2.00A or later

Version 6 or later

Version 8.68W or

later

Version 7.10L or

later

Version 8.48A or

later

Version 8.68W or

later

Version 8.76E or

later

Not available Not available Version 1.31H or later

Version 6 or later Version 2.00A or later Version 1.40S or later

Version 2.29F or later

Version 2.13P or later

Version 2.25B or later

Version 2.29F or later

Version 2.32J or later

Not available

Version 1.15R or later

2 - 9

2 SYSTEM CONFIGURATION

2.4 How to check the function version and SERIAL No.

(1) Confirming the serial number on the rating plate

The rating plate is situated on the side face of the QD75.

100113

(2) Checking on the front of the module

The serial No. on the rating plate is also indicated on the front of the module (lower part).

MELSEC-Q

Serial number (The first six digits) Function version

Relevant regulation standards

100113000000000-B

Serial No.

Function version

2 - 10

2 SYSTEM CONFIGURATION

(3) Confirming the serial number with software

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

(a) Checking on the System monitor (Product Information List) screen

To open the screen, select [Diagnostics]

[System monitor] and click

the Product Information List button in GX Developer.

Serial number

MELSEC-Q

Function version

Product number

[Production No. display] Since the QD75 does not support the production number display, "-" is

POINT

displayed.

The serial No. on the rating plate may be different from the serial No. displayed on the product information screen of GX Developer.

•

The serial No. on the rating plate indicates the management information of the

product.

•

The serial No. displayed on the product information screen of GX Developer

indicates the function information of the product. The function information of the product is updated when a new function is added.

(b) Checking with GX Configurator-QP

100113000000000

SERIAL No.

Function version

1: For details, refer to GX Configurator-QP Operating Manual.

2 - 11

2 SYSTEM CONFIGURATION

MEMO

MELSEC-Q

2 - 12

CHAPTER 3 SPECIFICATIONS AND

FUNCTIONS

The various specifications of the QD75 are explained in this chapter.

The "Performance specifications", "List of functions", "Specifications of input/output signals with CPU module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system.

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

3.2 List of functions ............................................................................................................3- 6

3.2.1 QD75 control functions ................................................................................... 3- 6

3.2.2 QD75 main functions ...................................................................................... 3- 8

3.2.3 QD75 sub functions and common functions ................................................. 3- 10

3.2.4 Combination of QD75 main functions and sub functions ............................. 3- 14

3.3 Specifications of input/output signals with CPU module ............................................3- 16

3.3.1 List of input/output signals with CPU module ...............................................3- 16

3.3.2 Details of input signals (QD75

3.3.3 Details of output signals (CPU module

3.4 Specifications of input/output interfaces with external devices .................................. 3- 19

3.4.1 Electrical specifications of input/output signals............................................. 3- 19

3.4.2 Signal layout for external device connection connector ............................... 3- 23

3.4.3 List of input/output signal details ...................................................................3- 24

3.4.4 Input/output interface internal circuit .............................................................3- 26

CPU module) ...........................................3- 17

QD75).........................................3- 18

3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance specifications

MELSEC-Q

QD75P N/QD75D N

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 N represents the open collector output system, and QD75D N 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)".

Model

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 /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) 2

• 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 4000000 (pulse/s)

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

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

1 to 8388608 (ms)

QD75P1N 1 QD75D1N

QD75P2N 1 QD75D2N

2-axis linear interpolation

2-axis circular interpolation

QD75P4N 1 QD75D4N

2-, 3-, or 4-axis linear

interpolation

2-axis circular interpolation

3 - 2

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Item

Starting time 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: intelligent 32 points) Outline dimensions

Weight

1: QD75P N represents the open collector output system, and QD75D N 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 12.7.7 "Pre-reading start

function".

Model

1-axis linear control 1.5ms 1-axis speed control 1.5ms 2-axis linear interpolation control (Composite speed) 1.5ms 2-axis linear interpolation control (Reference axis speed) 2-axis circular interpolation control 2.0ms 2-axis speed control 1.5ms 3-axis linear interpolation control (Composite speed) 1.7ms 3-axis linear interpolation control (Reference axis speed) 3-axis speed control 1.7ms 4-axis linear interpolation control 1.8ms 4-axis speed control 1.8ms

0.3mm

0.088 to 0.24mm

A6CON1, A6CON2, A6CON4 (sold separately)

QD75P1N, QD75P2N, QD75P4N: 200kpps QD75D1N, QD75D2N, QD75D4N: 4Mpps QD75P1N, QD75P2N, QD75P4N: 2m QD75D1N, QD75D2N, QD75D4N: 10m

98 (H)

QD75P1N 1 QD75D1N

(22AWG) (for A6CON1 or A6CON4),

QD75P1N: 0.29A QD75D1N: 0.43A

QD75P1N: 0.14kg QD75D1N: 0.15kg

(28 to 24AWG) (for A6CON2)

27.4 (W) × 90 (D) mm

QD75P2N: 0.30A

QD75D2N: 0.45A

QD75P2N: 0.14kg QD75D2N: 0.15kg

QD75P2N 1 QD75D2N

QD75P4N 1 QD75D4N

Factors in starting time extension

The following times will be added to

1.5ms

1.7ms

the starting time in the described conditions:

• S-curve acceleration/ deceleration is selected: 0.1ms

• Other axis is in operation: 0.5ms

• During continuous positioning control: 0.3ms

• During continuous path control: 0.3ms

QD75P4N: 0.36A QD75D4N: 0.66A

QD75P4N: 0.16kg

QD75D4N: 0.16kg

3 - 3

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

QD75P /QD75D

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)".

Model

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

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) 2

• 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)

Trapezoidal acceleration/deceleration, S-curve 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 - 4

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Item

Starting time 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: intelligent 32 points)

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 12.7.7 "Pre-reading start

function".

Model

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

4-axis speed control 7ms

0.3mm

0.088 to 0.24mm

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

(22AWG) (for A6CON1 or A6CON4),

QD75P1 : 0.40A QD75D1 : 0.52A

(28 to 24AWG) (for A6CON2)

27.4 (W) × 90 (D) mm

QD75P2 : 0.46A QD75D2 : 0.56A

QD75P2 1 QD75D2

QD75P4 1 QD75D4

Factors in starting time extension

The following times will be added to the starting time in the described conditions:

• S-curve acceleration/ deceleration is selected: 0.5ms

• Other axis is in operation: 1.5ms

• During continuous positioning control: 0.2ms

• During continuous path control: 1.0ms

QD75P4 : 0.58A QD75D4 : 0.82A

Differential driver common terminal specifications(QD75D N/QD75D only)

Applicable wire size 0.24 to 2.5mm2 (24 to 12AWG)

Applicable sizes of two wires inserted into same spot of terminal

Screw tightening torque 0.5 to 0.6N • m

Solid wire: 0.2 to 0.8mm2 2 pcs.

Stranded wire: 0.2 to 0.8mm

2 pcs.

Fig. 3.1 Two wires inserted into same spot of terminal

3 - 5

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".)

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".)

MELSEC-Q

3 - 6

3 SPECIFICATIONS AND FUNCTIONS

Main functions

MELSEC-Q

Sub functions

OPR control

[Positioning start No.]

[9001]

[9002]

Major positioning control

Position control

Speed control

Speed-position switching control Position-speed switching control

Other control

High-level positioning control

Major positioning control

[Positioning start No.]

[9004]

Manual control

[Positioning start signal]

JOG start signal ON

Pulse input from manual pulse generator

Control registered in QD75

Machine OPR

Fast OPR

Control using "Positioning data"

•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

Independent positioning control

(Positioning complete)

Continuous positioning control

Continuous path control

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

Block start (Normal start)

Condition start

[Block start data

Wait start

Simultaneous start Repeated start

(FOR loop) Repeated start

(FOR condition) Multiple axes simultaneous start control

ol with signals input from external source

JOG operation, Inching operation

Manual pulse generator operation

(Functions characteristic to machine OPR)

OPR retry function

OP shift function

Backlash compensation function

Electronic gear function Near pass function

Output timing selection of near pass control

Speed limit function

Torque limit function

Software stroke limit function

Hardware stroke limit function

Speed change function

Override function

Acceleration/deceleration time change function

Torque change function

Target position change function

Step function

Skip function

Continuous operation interrupt function

M code output function

Teaching 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 - 7

3 SPECIFICATIONS AND FUNCTIONS

3.2.2 QD75 main functions

The outline of the main functions for positioning control with the QD75 is described

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 speed control) (2-axis speed control) (3-axis speed control) (4-axis speed control)

Current value changing

NOP instruction

JUMP instruction

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

LEND

below. (Refer to PART 2 for details on each function.)

Main functions Details

MELSEC-Q

Mechanically establishes the positioning start point using 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 - 8

3 SPECIFICATIONS AND FUNCTIONS

Main functions Details

Block start (Normal start)

Condition start

Wait start

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 block with the set order.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block 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 executed.

Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block 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 No. 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.)

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".

Da.1

Operation pattern

Independent positioning control (Positioning complete)

Continuous positioning control

Continuous path control

Outlines of the "operation patterns" are given below.

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 executed.

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

MELSEC-Q

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

Reference

section

9.1.2

3 - 9

3 SPECIFICATIONS AND FUNCTIONS

3.2.3 QD75 sub functions and common functions

MELSEC-Q

Functions characteristic to machine OPR

Functions that compensate control

Functions that limit control

Functions that change control details

Sub functions

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

Sub function Details

This function retries the machine OPR with the upper/lower

OPR retry function

OP shift function

Backlash compensation function

Electronic gear function

Near pass function 1

Output timing selection of near pass control

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 control.

Target position change function

limit switches during machine OPR. This 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 machine OP position and sets that position as the OP address.

This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes.

By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. A flexible positioning system that matches the machine system can be structured with this function.

This function suppresses the machine vibration when the positioning data is switched during continuous path control in the interpolation control.

This function allows the user to select the timing to output the difference ( end addresses in continuous path control, in which the difference ( ) is output during the execution of the next positioning data.

If the command speed exceeds "

during control, this function limits the commanded speed to

within the "

If the torque generated by the servomotor exceeds "

Torque limit setting value" during control, this function limits 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 will 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 time during

speed change. (Functions added to the speed change function and override function)

This function changes the target position during positioning. Position and speed can be changed simultaneously.

) between the actual and the set positioning

Pr.8

Speed limit value"

Pr.8

Speed limit value" setting range.

Pr.17

Torque limit setting

New speed value), and change the speed with the

Cd.15

Cd.13

Reference

section

12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.3.4

12.4.1

12.4.2

12.4.3

12.4.4

12.5.1

12.5.2

12.5.3

12.5.4

12.5.5

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

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".

Sub function Details

This function restores the absolute position of designated axis.

Absolute position restoration function 3

3: An I/O module (or general-purpose I/O function of QCPU) with arbitrary number of points and "the drive unit capable of configuring an

absolute position detection system (, which is a Mitsubishi General-Purpose AC Servo and has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3restoration function".

By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started.

A)" are required to execute the "absolute position

Reference

section

12.6

3 - 11

3 SPECIFICATIONS AND FUNCTIONS

Sub function Details

This function temporarily stops the operation to confirm the 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 being executed when the skip signal is input, and carries out the next positioning.

This function issues a command for a sub work (clamp or drill 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 control into the positioning address having the designated positioning

data No. (

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/deceleration. (acceleration/deceleration time and curve).

This function interrupts continuous operation. When this request is accepted, the operation stops when the execution 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 cause occurs during deceleration stop processing to speed 0.

Other functions

Step function

Skip function

M code output function

Teaching function

Command in-position function

Acceleration/deceleration process function

Continuous operation interrupt function

Pre-reading start function This function shortens the virtual start time. 12.7.7

Deceleration start flag function

Stop command processing for deceleration stop function

Cd.39

MELSEC-Q

Reference

section

12.7.1

12.7.2

12.7.3

12.7.4

12.7.5

12.7.6

6.5.4

12.7.8

12.7.9

3 - 12

3 SPECIFICATIONS AND FUNCTIONS

Common functions

The outline of the functions executed as necessary are described below.

Common functions Details

Parameter initialization function

Execution data backup function

External I/O signal logic switching function

External I/O signal monitor function

4: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later).

For the QD75P

N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2.

(Refer to PART 2 for details on each function.)

This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values. 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 which can be displayed on the system monitor of GX Developer*4.

MELSEC-Q

Reference

section

13.2

13.3

13.4

13.5

3 - 13

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.2.4 Combination of QD75 main functions and sub functions

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

Main functions

OPR control

Major positioning control

Manual control

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

1 The operation pattern is one of the "positioning data" setting items. 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control. 3 Invalid during creep speed. 4 Invalid during continuous path control. 5 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration

processing.) 6 Valid for the reference axis only. 7 Valid for only the case where a deceleration start is made during position control. 8 Valid when using the positioning data but invalid when using the positioning start No. 9003.

combinations is given below.

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 fixedfeed 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)

(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)

3 - 14

Functions characteristic

to machine OPR

OPR retry function

OP shift function

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Functions that

compensate control

Backlash compensation

function

Electronic gear function

Near pass function

Functions that limit

control

Output timing selection of

near pass control

Speed limit function

Torque limit function

Software stroke limit

Functions that change control

details

function

Hardware stroke limit

function

Speed change function

Override function

3 3 3

5 5 5

Acceleration/ deceleration

time change function

Torque change function

Target position change

function

Step function

Skip function

Other functions

M code output function

Teaching function

Command in-position

function

Acceleration/deceleration

process function

Pre-reading start function

Deceleration start flag

function

Stop command processing

for deceleration stop

function

3 - 15

3 SPECIFICATIONS AND FUNCTIONS

3.3 Specifications of input/output signals with CPU module

3.3.1 List of input/output signals with CPU module

The QD75 uses 32 input points and 32 output points for exchanging data with the CPU module. 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 CPU module, and device Y

Device No. Signal name Device No. Signal name

X1A Y1A X1B Y1B X1C Y1C X1D Y1D X1E Y1E

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.

refers to the signals output from the CPU module to the QD75.

Signal direction: QD75 CPU module Signal direction: CPU module QD75

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

X1F

Use prohibited

M code ON

Error detection

BUSY

Start complete

Positioning complete

Use prohibited

Y7 Axis 4

YB Axis 2 Reverse run JOG start

YF Axis 4 Reverse run JOG start

Y13 Axis 4

Y17 Axis 4

Y1F

MELSEC-Q

Use prohibited

Axis stop

Positioning start

Execution prohibition flag

Use prohibited

3 - 16

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (QD75 CPU module)

MELSEC-Q

Device

No.

X0 QD75 READY ON: READY

X1 Synchronization

flag

Axis 1 X5 X6 X7

X8 X9

XA XB

XC XD XE XF

X10 X11 X12 X13

M code ON OFF: M code is Axis 2 Axis 3 Axis 4

Axis 1

Error

detection

Axis 2 Axis 3 Axis 4

BUSY

Axis 1 Axis 2 Axis 3 Axis 4

Start

Axis 1

complete

Axis 2 Axis 3 Axis 4

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

Signal name Details

OFF: Not READY/

Watch dog timer error

OFF: Module

access disabled

ON: Module

access enabled

not set

ON: M code is

set

OFF: No error ON: Error

occurrence

1 OFF: Not BUSY

ON: BUSY

OFF: Start

incomplete

ON: Start

complete

• When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting 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 programmable controller 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, the warning "M CODE ON SIGNAL START" (warning code: 503) will occur.

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

• If the operation is started while the M code is ON, the error "M CODE ON SIGNAL START" (error code: 536) will occur.

• This signal turns ON when an error listed in Section 15.2 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

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.)

Da.9

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

Positioning start signal [Y10]

Cd.5 Axis error rest".

Cd.7

M code OFF request".

Da.10

OFF

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

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. For the interpolation control, the positioning completed signal of interpolation axis turns ON during the time set to the reference axis.

(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 - 17

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 (CPU module QD75)

MELSEC-Q

Device No. Signal name Details

Y0 PLC READY OFF:

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

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

PLC READY OFF

ON:

PLC READY ON

Axis stop not requested

ON:

Axis stop requested

OFF:

JOG not started

ON:

JOG started

Positioning start not requested

ON:

Positioning start requested

OFF:

Not during execution prohibition

ON:

During execution prohibition

(a) This signal notifies the QD75 that the CPU module 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 CPU module 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 warning "Start during operation" (warning code: 100) will occur.

• 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

12.7.7)

Stop group 3 sudden stop selection".

Cd.17

Valid M code".

JOG speed". When the JOG start signal turns

3 - 18

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of input/output interfaces with external devices

3.4.1 Electrical specifications of input/output signals

QD75P N/QD75D N

Signal name

Drive unit READY (READY)

Stop signal (STOP)

Upper limit signal (FLS)

Lower limit signal (RLS)

(1) Input specifications

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

24VDC/5mA 12 to 26.4VDC

Working

voltage range

19.2 to

26.4VDC

voltage/current

17.5VDC or more/

3.5mA or more

2VDC or more/

2mA or more

10VDC or more/

3mA 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

Input

resistance

Approx. 4.7k

Approx. 620

Approx. 4.7k

MELSEC-Q

Response

time

4ms or less

1ms or less

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)

3 s or less

1ms or more

OFF

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

(Duty ratio: 50%)

1ms or more

19.2 to

26.4VDC

19.2 to

26.4VDC

Phase difference

B phase

24VDC/5mA

2.5VDC or more/ 2mA or more

17.5VDC or more/

3.5mA or more

19VDC or more/

2.7mA 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

7VDC or less/

0.8mA or less

3 s or les

1ms or less

Approx. 1.1k

Approx. 4.3k

Approx. 7.7k

1ms or less

3 - 19

3 SPECIFICATIONS AND FUNCTIONS

Signal name

QD75P N: Pulse output F (PULSE F) (CW/PULSE/Phase A) Pulse output R (PULSE R) (CCW/SIGN/Phase B)

QD75D Pulse output F (+) (PULSE F+) (CW/PULSE/Phase A) Pulse output R (+) (PULSE R+) (CCW/SIGN/Phase B)

Deviation counter clear (CLEAR)

QD75P N

QD75D

(2) Output specifications

Rated load

voltage

5 to 24VDC 4.75 to 30VDC

The rise/fall time and duty ratio must be adjusted, using the external device to be connected, to the

specifications of the external device. After confirming the specifications of the external device to be connected

in the above load voltage or max. load voltage current range, adjust the pulse waveform.

N Differential driver equivalent to Am26C31

•

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

Positive logic Negative logic

Pulse

output mode

CCW

PULSE

SIGN

A B

5 to 24VDC 4.75 to 30VDC

Working load

voltage range

Forward run Reverse run Forward run Reverse run

High

Max. load

current/rush

current

50mA/1 point/ 200mA 10ms or

less

Pr.5

Pulse output mode" and "

Pr.23

Output signal logic selection (bit 0)

Low

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

MELSEC-Q

Max. voltage

drop at ON

0.5VDC (TYP) 0.1mA or less —

1VDC (TYP)

2.5VDC (MAX)

Leakage current

at OFF

Pr.23

Output signal logic

Low

0.1mA or less

Response time

Pr.5

High

2ms or less

(resistance load)

Pulse

3 - 20

3 SPECIFICATIONS AND FUNCTIONS

QD75P /QD75D

Signal name

Drive unit READY (READY)

Stop signal (STOP)

Upper limit signal (FLS)

Lower limit signal (RLS)

(1) Input specifications

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

24VDC/5mA 12 to 26.4VDC

Working

voltage range

19.2 to

26.4VDC

voltage/current

17.5VDC or more/

3.5mA or more

2VDC or more/

2mA or more

10VDC or more/

3mA 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

Input

resistance

Approx. 4.7k

Approx. 0.3k

Approx. 4.7k

MELSEC-Q

Response

time

4ms or less

1ms or less

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)

3 s or less

1ms or more

OFF

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

(Duty ratio: 50%)

1ms or more

19.2 to

26.4VDC

Phase difference

B phase

24VDC/5mA

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

3 s or les

1ms or less

Approx. 1.5k

1ms or less

Approx. 4.3k

3 - 21

3 SPECIFICATIONS AND FUNCTIONS

Signal name

QD75P : Pulse output F (PULSE F) (CW/PULSE/Phase A) Pulse output R (PULSE R) (CCW/SIGN/Phase B)

QD75D Pulse output F (+) (PULSE F+) (CW/PULSE/Phase A) Pulse output R (+) (PULSE R+) (CCW/SIGN/Phase B)

Deviation counter clear (CLEAR)

QD75P

QD75D

(2) Output specifications

Rated load

voltage

5 to 24VDC 4.75 to 30VDC

The rise/fall time and duty ratio must be adjusted, using the external device to be connected, to the

specifications of the external device. After confirming the specifications of the external device to be connected

in the above load voltage or max. load voltage current range, adjust the pulse waveform.

Differential driver equivalent to Am26C31

•

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

Positive logic Negative logic

Pulse

output mode

CCW

PULSE

SIGN

A B

5 to 24VDC 4.75 to 30VDC

Working load

voltage range

Forward run Reverse run Forward run Reverse run

High

Max. load

current/rush

current

50mA/1 point/ 200mA 10ms or

less

Pr.5

Pulse output mode" and "

Pr.23

Output signal logic selection (bit 0)

Low

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

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Max. voltage

drop at ON

0.5VDC (TYP) 0.1mA or less —

1VDC (TYP)

2.5VDC (MAX)

Leakage current

at OFF

Pr.23

Output signal logic

Low

0.1mA or less

Response time

Pr.5

High

2ms or less

(resistance load)

Pulse

3 - 22

3 SPECIFICATIONS AND FUNCTIONS

3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown.

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

Pin No. Signal name Pin No. Signal name

2B20 Vacant 2A20 Vacant 1B20 PULSER B– 1A20 PULSER B+ 2B19 Vacant 2A19 Vacant 1B19 PULSER A– 1A19 PULSER A+ 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 PG0COM 2A10 PG0COM 1B10 PG0COM 1A10 PG0COM

PULSE COM

PULSE R–

PULSE R

PULSE R+

PULSE COM

PULSE F–

PULSE 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 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

2A183 PULSE COM

PULSE R–

2A173 PULSE R

2A163 PULSE COM

2A15

PULSE R+

PULSE F–

PULSE F

PULSE F+

Pin No.

1B183 PULSE COM

1B173 PULSE R

1B163 PULSE COM

1B153 PULSE F

Signal name Pin No. Signal name

PULSE R–

PULSE R+

PULSE F–

PULSE F+

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

Pin layout

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

1A18 3 PULSE COM

1A17 3 PULSE R

1A16 3 PULSE COM

1A15 3 PULSE F

Front view of the module

1: Pin No. "1 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 QD75P N/QD75P , and the lower line indicates the signal name for the

QD75D

N/QD75D .

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

" indicates the pin No. for the left connector.

PULSE R–

PULSE R+

PULSE F–

PULSE F+

3 - 23

3 SPECIFICATIONS AND FUNCTIONS

3.4.3 List of input/output signal details

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Signal name

Manual pulse generator A

phase (PULSER A+)

Manual pulse generator B

phase (PULSER B+)

Manual pulse generator A

common (PULSER A-)

Manual pulse generator B

common (PULSER B-)

Zero signal (+24V)

(PG024)

Zero signal (+5V)

(PG05)

Zero signal common

(PG0COM)

Pulse output F (+)

(PULSE F+)

Pulse output F (–)

(PULSE F-)

Pulse output R (+)

(PULSE R+)

Pulse output R (–)

(PULSE R-)

Pulse output F

(PULSE F)

Pulse output F common

(PULSE COM)

Pulse output R

(PULSE R)

Pulse output R common

(PULSE COM)

Upper limit signal (FLS) 1A1 1B1 2A1 2B1

Lower limit signal (RLS) 1A2 1B2 2A2 2B2

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

Pin No.

AX1 AX2 AX3 AX4

1A19

1A20

1B19

1B20

1A8 1B8 2A8 2B8

1A9 1B9 2A9 2B9

1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V).

1A15

1B15

1A16

1B16

1B17

1A17

1B18

1A18

1B15

1A15

1B16

1A16

1B17

1A17

1B18

1A18

—

2A15

2B15

2A16

2B16

2B17

2A17

2B18

2A18

2B15

2A15

2B16

2A16

2B17

2A17

2B18

2A18

Signal details

(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]

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.

+1+1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1

N/QD75D only)

N/QD75P only)

A phase

B phase

Positioning address

3 - 24

3 SPECIFICATIONS AND FUNCTIONS

Signal name

Near-point dog signal (DOG) 1A3 1B3 2A3 2B3

Stop signal (STOP) 1A4 1B4 2A4 2B4

External command signal

(CHG)

Common (COM)

Drive unit READY (READY) 1A11 1B11 2A11 2B11

Drive unit READY common

(RDYCOM)

1A12 1B12 2A12 2B12 • Common for drive unit READY signal.

Pin No.

AX1 AX2 AX3 AX4

1A5 1B5 2A5 2B5

1A6

1B6

2A6

2B6

1A7

1B7

2A7

2B7

• 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.

• Input this signal to stop positioning.

• When this signal turns ON, the QD75 will stop the positioning being

• Input a control switching signal during speed-position or position-speed

• Use this signal as the input signal of positioning start, speed change request,

• Common for upper/lower limit, near-point dog, stop, and external command

• This signal turns ON when the drive unit is normal and can accept the feed

• The QD75 checks the drive unit READY signal, and outputs the OPR request

• When the drive unit is inoperable, such as if an error occurs in the drive unit's

• If this signal is turned OFF during positioning, the system will stop. The

• When this signal turns OFF, the OPR complete signal will also turn OFF.

• This signal is output during machine OPR. (Note that it is not output during

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Signal details

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

executed.

After that, even if this signal is turned from ON to OFF, the system will not

start.

switching control.

and skip request from an external source.

Set the function to use this signal in "

Pr.42

External command function

selection".

signals.

pulse.

if the system is not in the READY state.

control power supply, this signal will turn OFF.

system will not start even if this signal is turned ON again.

Speed

Pr.46

OPR speed

Pr.47

Creep speed

method.

Stopper

the count method

(Example) When machine OPR is carried out in the stopper

Deviation counter clear

(CLEAR)

Deviation counter clear common

(CLRCOM)

Near-point dog

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.

1A14 1B14 2A14 2B14 • Common for deviation counter clear signal

3 - 25

After feed pulse output stops

Pr.55

Time

OFF

3 SPECIFICATIONS AND FUNCTIONS

3.4.4 Input/output interface internal circuit

The outline diagrams of the internal circuits for the QD75P1N/QD75D1N/QD75P1/QD75D1 external device connection interface are shown below.

External wiring Pin No. Internal circuit Signal name

(1) Input (Common to QD75P1N, QD75D1N, QD75P1, and QD75D1)

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Need for wiring

5VDC

When upper limit switch is not used

When lower limit switch is not used

24VDC

Manual pulse generator (MR-HDP01)

1A3

1A1

1A2

1A4

1A5

1A6

1A7

(+)

1A19

(–)

1B19

(+)

1A20

(–)

1B20

Near-point dog signal DOG

Upper limit signal FLS

Lower limit signal RLS

Stop signal STOP

External command signal

CHG

Common COM

PULSER A+ Manual pulse generator A phase

PULSER A–

PULSER B+ Manual pulse generator B phase

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 - 26

RDY COM

PG05

3 SPECIFICATIONS AND FUNCTIONS

(a) Input signal ON/OFF status

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

Logic setting

3, 4

Negative logic

(Initial value)

dog signal (DOG).)

External wiring

(Voltage not applied)

(Voltage applied)

24VDC

DOG

COM

DOG

COM

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ON/OFF status of near-point dog

signal (DOG) as seen from QD75

OFF

(Voltage not applied)

DOG

24VDC

COM

Positive logic

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 signal will turn OFF to stop positioning.

(Voltage applied)

Pr.22

DOG

24VDC

COM

Input signal logic selection". For details of the settings, refer to

OFF

(b) About logic setting and internal circuit

In the QD75, the case where the internal circuit (photocoupler) is OFF in the negative logic setting is defined as "input signal OFF". Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logic setting is defined as "input signal ON".

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

3 - 27

3 SPECIFICATIONS AND FUNCTIONS

External wiring Pin No. Internal circuit Signal name

Load

5 to 24VDC

(2) Output (For QD75P1N and QD75P1)

1A13 Deviation counter clear CLEAR

1A14 Common CLEAR COM

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Need for wiring

Load

5 to 24VDC

1A15 PULSE F

1A16

1A17 PULSE R

1A18

CW A phase PULSE

CCW B phase SIGN

External wiring Pin No. Internal circuit Signal name

Load

5 to 24VDC

(3) Output (For QD75D1N and QD75D1)

1A13 Deviation counter clear CLEAR

1A14

1A15 PULSE F+

1A16

1A17

1A18

Common CLEAR COM

CW A phase PULSE PULSE F–

CCW B phase SIGN

Differential driver common terminal

PULSE COM

PULSE R+

PULSE R–

PULSE COM

Need for wiring

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)

3 - 28

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 Installation precautions ................................................................................... 4- 7

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

4.3.1 Wiring precautions .......................................................................................... 4- 8

4.3.2 Wiring of the differential driver common terminal .........................................4- 14

4.4 Checking the installation and wiring ........................................................................... 4- 15

4.4.1 Items to check when installation and wiring are completed ......................... 4- 15

4.5 Maintenance ................................................................................................................4- 16

4.5.1 Maintenance precautions .............................................................................. 4- 16

4.5.2 Disposal precautions .....................................................................................4- 16

4 - 1

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1 Outline of installation, wiring and maintenance

4.1.1 Installation, wiring and maintenance procedures

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 module (QD75)

Install the module (QD75) on the base unit.

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Wiring the module

Checking installation and wiring

Servicing the module

STEP 3

Refer to Section 4.3

STEP 4

Refer to Section 4.3

Wire the external device connection connector pins, and assemble the connector.

Connect the cable to the module (QD75)

STEP 5

Refer to Section 4.4

STEP 6

Refer to Section 4.5

STEP 7

Refer to Section 4.5

Operation of the positioning system.

Check the connection

Carry out maintenance

Dispose of the QD75

The cables used to connect the QD75 with the drive unit, with the mechanical system input (each input/output signal), and with the manual pulse generator are manufactured by soldering each signal wire onto the "external device connection connector" sold separately.(Refer to "Applicable connector for external wiring" in Section 3.1 "Performance specifications" for the optional connector.)

Wire and connect the manufactured cable to QD75 after reading the precautions for wiring.

Check the connection using GX Configurator-QP.

Carry out maintenance as necessary.

When the QD75 is no longer necessary, dispose of it with the specified 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 described with the QD75P N/QD75D N as an

example. The QD75P indication of their model names and serial numbers

QD75P4N QD75D4N

N/QD75D N and QD75P /QD75D are different in the

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No. Name Details

1) RUN indicator LED, ERR indicator LED

2) Axis display LED (AX1 to AX4)

3) External device connector

Differential driver common terminal

(Differential driver output system (the QD75D

5) Serial number plate Indicates the serial number of the QD75

N/QD75D ) only)

Refer to the next page.

Connector for connection with the drive unit, mechanical system input or manual pulse generator. (40-pin 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".

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 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(2) The LED display indicates the following operation statuses of the QD75 and axes.

Display Attention point Description Display Attention point Description

RUN

ERR

RUN

ERR

RUN

ERR

RUN

ERR

AX1 AX2

RUN is OFF.

AX3 AX4

AX1

RUN illuminates.

AX2 AX3

ERR is OFF.

AX4

Hardware failure, watch dog timer error

The module operates normally.

AX1 AX2

ERR illuminates. System error

AX3 AX4

AX1 AX2

AX1 to AX4 are

AX3

OFF.

AX4

: Turns OFF. : Illuminates. : Flashes.

The axes are stopped or on standby.

RUN

ERR

RUN

ERR

RUN

ERR

The symbols in the Display column indicate the following statuses:

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

(3) The interface of each QD75 is as shown below.

QD75P1N QD75P2N QD75P4N QD75D1N QD75D2N QD75D4N

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The corresponding axis is in operation.

An error occurs on the corresponding axis.

Hardware failure

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.

Use the programmable controller in an environment that meets the general specifications

contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use.

Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product.

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

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

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.

[1] Handling precautions

CAUTION

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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 faults.

(2) Cable

•

Do not press on the cable with a sharp object.

•

Do not twist the cable with force.

•

Do not forcibly pull on the cable.

•

Do not step on the cable.

•

Do not place objects on the cable.

•

Do not damage the cable sheath.

(3) Installation environment

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

•

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

•

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

•

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

•

Where there is corrosive gas or flammable gas.

•

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

chips, oil mist, salt or organic solvents.

•

Where the module will be subject to direct sunlight.

•

Where there are strong electric fields or magnetic fields.

•

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

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4 - 6

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.2 Installation

4.2.1 Installation precautions

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.

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.

Installation precautions

WARNING

MELSEC-Q

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 install/remove the module to/from the base unit, or the terminal block to/from the module

more than 50 times after the first use of the product (IEC 61131-2 compliant). Failure to do so may cause the module to malfunction due to poor contact of connector.

Use the programmable controller in an environment that meets the general specifications

contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use.

Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product.

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

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 Handling precautions" when carrying out the work.

4.3.1 Wiring precautions

(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 such as cutting chips and wire scraps does not

enter the QD75. Failure to observe this could lead to fires, faults or malfunctioning.

(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) Tighten the connector screws within the specified torque range.

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

(6) When disconnecting the cable from the QD75 or the drive unit, do not pull the

cable by the cable part. Hold the connector part of the cable. Pulling the cable connected to the QD75 or the drive unit may result in malfunction or damage to the module, drive unit, or cable.

(7) Do not bundle or adjacently lay the connection cable connected to the QD75

external I/O signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.

(8) 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 pulling on it could result in damage to the QD75 or drive unit 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 panel on the QD75 side. page.)

(A wiring example is given on the next

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4 - 8

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Applicable connectors]

The table below shows applicable connectors for external devices. When wiring, use applicable wires and an appropriate tightening torque.

Mitsubishi 40-pin connector Wire

Model Tightening torque Diameter Type Material

A6CON1 0.3mm2(22AWG)

A6CON2

0.20 to 0.29N • m

0.088 to 0.24mm (28 to 24AWG)

Stranded Copper

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Temperature

rating

75°C or more

A6CON4

[Wiring example of shielded cable]

The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.

Connector (A6CON1)

To QD75

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

To external devices (for two drive units)

0.3mm2(22AWG)

Use the shortest possible length to ground the 2mm (The shield must be grounded on the QD75 side.)

Shielded cable

To external device

To drive unit

Connector

or more FG wire.

Drive unit

4 - 9

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Processing example of shielded cables]

Connect a cable with the FG wire and bind all shielded cables as shown below.

Coat the wire with insulaing tape.

Remove the covering from all shielded cables and bind th e ap p eared s h i e ld with a c o nducti v e t ape.

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

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4 - 10

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

Assembling of connector (A6CON1)

Wrap the coated parts with a heat contractile tube.

MELSEC-Q

4 - 11

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(10) For compliance with the EMC and Low Voltage Directives, satisfy the

following requirements.

•

The cable connecting the drive unit and the QD75 must be the length

below. QD75P QD75D

•

The cables connected to the external device for the QD75 must be 30m or

shorter. (except the one for pulse output)

Even when compliance with the EMC Directive is not required, attaching an AD75CK type cable clamp to the cable connected to the QD75 may reduce the influence of external noise.

N/QD75P : 2m or shorter

N/QD75D : 10m or shorter

•

Use shielded twisted pair cables and an AD75CK type cable clamp

(manufactured by Mitsubishi Electric) to ground the cables to the control box.

MELSEC-Q

Inside control box

QD75

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

AD75CK

For details on AD75CK, refer to the following. AD75CK-type Cable Clamping Instruction Manual

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Mitsubishi QD75P1N, QD75P2N, QD75P4, QD75D1N, QD75D1 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

• CONDITIONS OF USE FOR THE PRODUCT •

REVISIONS

INTRODUCTION

ABOUT MANUALS

USING THIS MANUAL

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

GENERIC TERMS AND ABBREVIATIONS

COMPONENT LIST

PART 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 positioning control

1.1.3 Mechanism of positioning control

1.1.4 Outline design of positioning system

1.1.5 Communicating signals between QD75 and each module

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 of restarting

1.3 Restrictions with a system using a stepping motor

1.4 Function additions/modifications according to function version B

CHAPTER 2 SYSTEM CONFIGURATION

2.1 General image of system

2.2 Configuration list

2.3 Applicable system

2.4 How to check the function version and SERIAL No.

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 and sub functions

3.3 Specifications of input/output signals with CPU module

3.3.1 List of input/output signals with CPU module

3.4 Specifications of input/output interfaces with external devices

3.4.1 Electrical specifications of input/output signals

3.4.2 Signal layout for external device connection connector

3.4.3 List of input/output signal details

3.4.4 Input/output interface internal circuit

4.1 Outline of installation, wiring and maintenance

4.1.1 Installation, wiring and maintenance procedures

4.1.2 Names of each part

4.1.3 Handling precautions

4.2 Installation

4.2.1 Installation precautions

4.3 Wiring

4.3.1 Wiring precautions