Mitsubishi Electronics QD75MH4, QD75MH2, QD75MH1 User Manual

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
Refer to the Users manual of the QCPU module to use for a description of the PLC system safety
precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

Depending on circumstances, procedures indicated by
results.
In any case, it is important to follow the directions for usage.

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

DANGER

CAUTION

conditions, resulting in death or severe injury.

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

CAUTION may also be linked to serious

A - 1

For Safe Operations

1. Prevention of electric shocks

DANGER

Never open the front case or terminal covers while the power is ON or the unit is running, as this

may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and

charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or periodic

inspections even if the power is OFF. The insides of the module and servo amplifier are charged
and may lead to electric shocks.

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

the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.

When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and

then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.

Be sure to ground the module, servo amplifier and servomotor (Ground resistance : 100 or

less). Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may

lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to electric shocks.
Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the

power is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo

amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the module, servo amplifier, servomotor and regenerative resistor on incombustible.

Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's

power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative

resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead

to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the

servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may

lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this

may lead to fire

.

A - 2

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in the instruction manual on any terminal.

Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and

servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this

timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these

parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.

Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions. Mistaken handling of the unit may lead to faults,
injuries or electric shocks.

(1) System structure

CAUTION

Always install a leakage breaker on the module and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in

the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.

Install the emergency stop circuit externally so that the operation can be stopped immediately and

the power shut off.

Use the module, servo amplifier, servomotor and regenerative resistor with the correct

combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the CPU module, base unit and positioning module with the correct combinations listed in the

instruction manual. Other combinations may lead to faults.

If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo

amplifier and servomotor, make sure that the safety standards are satisfied.

Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of

the module or servo amplifier differ from the safety directive operation in the system.

In systems where coasting of the servomotor will be a problem during the forced stop, emergency

stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,

emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic

brakes.
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or

servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,

and must not be used for normal braking.

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CAUTION

The system must have a mechanical allowance so that the machine itself can stop even if the

stroke limits switch is passed through at the max. speed.

Use wires and cables that have a wire diameter, heat resistance and bending resistance

compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than module, servo amplifier and servomotor)

used in a system must be compatible with the module, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during

operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the

life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,

etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

CAUTION

Set the parameter values to those that are compatible with the module, servo amplifier,

servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to

the operation mode, servo amplifier and servo power supply module. The protective functions

may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system

application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value

that is compatible with the system application. The protective functions may not function if the

setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that

are compatible with the system application. The protective functions may not function if the

settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the

system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction

manual.
Set the sequence function program capacity setting, device capacity, latch validity range, I/O

assignment setting, and validity of continuous operation during error detection to values that are

compatible with the system application. The protective functions may not function if the settings

are incorrect.

A - 4

CAUTION

Some devices used in the program have fixed applications, so use these with the conditions

specified in the instruction manual.

The input devices and data registers assigned to the link will hold the data previous to when

communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.

Use the interlock program specified in the intelligent function module's instruction manual for the

program corresponding to the intelligent function module.

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the mass.

Use the servomotor suspension bolts only for the transportation of the servomotor. Do not

transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the module or servo amplifier, never hold the connected wires or cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the module or servo amplifier, never hold the front case as it may fall off.
When transporting, installing or removing the module or servo amplifier, never hold the edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the module or servo amplifier and control panel inner

surface or the module and servo amplifier, module or servo amplifier and other devices.
Do not install or operate modules, servo amplifiers or servomotors that are damaged or that have

missing parts.
Do not block the intake/outtake ports of the servo amplifier and servomotor with cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil

enter the module, servo amplifier or servomotor.

The module, servo amplifier and servomotor are precision machines, so do not drop or apply

strong impacts on them.

Securely fix the module, servo amplifier and servomotor to the machine according to the

instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so

may lead to oil leaks.

A - 5

CAUTION

Store and use the unit in the following environmental conditions.

Environment

Ambient

temperature

Ambient humidity

Storage

temperature

Atmosphere

Altitude

Vibration

Module/Servo amplifier Servomotor

According to each instruction manual.

According to each instruction manual.

According to each instruction manual.

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

1000m (3280.84ft.) or less above sea level

According to each instruction manual

Conditions

0°C to +40°C (With no freezing)

(32°F to +104°F)

80% RH or less

(With no dew condensation)

-20°C to +65°C

(-4°F to +149°F)

When coupling with the servomotor shaft end, do not apply impact such as by hitting with a

hammer. Doing so may lead to detector damage.

Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead

to shaft breakage.

When not using the module for a long time, disconnect the power line from the module or servo

amplifier.
Place the module and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.

Also, execute a trial operation.
Make sure that the connectors for the servo amplifier and peripheral devices have been securely

installed until a click is heard.

Not doing so could lead to a poor connection, resulting in erroneous input and output.

(4) Wiring

CAUTION

Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal

screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on

the output side of the servo amplifier.

Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the

servomotor to operate abnormally.

Do not connect a commercial power supply to the servomotor, as this may lead to trouble.

A - 6

CAUTION

Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control

signal output of brake signals, etc. Incorrect installation may lead to signals not being output

when trouble occurs or the protective functions not functioning.

Servo amplifier

DOCOM

Control output
signal

DICOM

For the sink output interface For the source output interface

24VDC

RA

Servo amplifier

DOCOM

Control output
signal

DICOM

24VDC

RA

Do not connect or disconnect the connection cables between each unit, the encoder cable or

PLC expansion cable while the power is ON.

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may

lead to the cables combing off during operation.
Do not bundle the power line or cables.
Use applicable solderless terminals and tighten them with the specified torque.

If any solderless spade terminal is used, it may be disconnected when the terminal screw comes

loose, resulting in failure.

(5) Trial operation and adjustment

CAUTION

Confirm and adjust the program and each parameter before operation. Unpredictable

movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the module or

absolute value motor has been replaced, always perform a home position return.

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.

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(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the

module, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters

have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our

company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using

wire shields, etc.

Electromagnetic obstacles may affect the electronic devices used near the module or servo

amplifier.
When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines"

(data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the

servo amplifiers and other equipment.
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).
Use the units with the following conditions.

Item Conditions

Input power According to each instruction manual.

Input frequency According to each instruction manual.

Tolerable momentary power failure According to each instruction manual.

A - 8

(7) Corrective actions for errors

CAUTION

If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details

according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor

with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be

operated by emergency stop signals set externally.

Shut off with the

Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.

Servomotor

Electro­magnetic
brakes

RA1

emergency stop
signal(EMG).

EMG

24VDC

If an error occurs, remove the cause, secure the safety and then resume operation after alarm

release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the

machine. (Design the machine so that personal safety can be ensured even if the machine

restarts suddenly.)

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to the instruction manual.

Perform maintenance and inspection after backing up the program and parameters for the

module and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.

Before touching the module, always touch grounded metal, etc. to discharge static electricity from

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

Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module.
Do not place the module or servo amplifier on metal that may cause a power leakage or wood,

plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the module or servo amplifier, always set the new module settings correctly.
When the module or absolute value motor has been replaced, carry out a home position return

operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the positioning module using programming software, switch on
the power again, then perform a home position return operation.

A - 9

CAUTION

After maintenance and inspections are completed, confirm that the position detection of the

absolute position detector function is correct.

Do not drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the

dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the

module or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary

damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install

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

compliant), after the first use of the product. Failure to do so may cause malfunction.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.

(9) About processing of waste

When you discard module, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).

CAUTION

This product is not designed or manufactured to be used in equipment or systems in situations

that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems

used in passenger transportation, medical, aerospace, atomic power, electric power, or

submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly

advised to install safety devices to forestall serious accidents when it is used in facilities where a

breakdown in the product is likely to cause a serious accident.

(10) General cautions

CAUTION

All drawings provided in the instruction manual show the state with the covers and safety

partitions removed to explain detailed sections. When operating the product, always return the

covers and partitions to the designated positions, and operate according to the instruction

manual.

A - 10

REVISIONS

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

Print Date Manual Number Revision

May., 2005 IB(NA)-0300117-A First edition

Dec., 2011 IB(NA)-0300117-B

[Partial correction]

Safety instructions, Section 4.3.1 Partial change of sentence

Japanese Manual Version IB-0300098

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.

© 2005 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

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

CONTENTS

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

REVISIONS ...................................................................................................................................................A- 11

INTRODUCTION...........................................................................................................................................A 12

CONTENTS...................................................................................................................................................A- 13

About Manuals ..............................................................................................................................................A- 19

Using This Manual.........................................................................................................................................A- 19

Conformation to the EMC Directive ..............................................................................................................A- 19

Generic Terms and Abbreviations ................................................................................................................A- 20

Component List .............................................................................................................................................A- 20

Section 1 Product Specifications and Handling

1. Product Outline 1- 1 to 1- 28

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

1.1.1 Features of QD75MH ........................................................................................................................ 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 Overview of positioning control functions ......................................................................................... 1- 8

1.1.5 Outline design of positioning system ...............................................................................................1- 18

1.1.6 Communicating signals between QD75MH and each module....................................................... 1- 19

1.2 Flow of system operation ........................................................................................................................ 1- 22

1.2.1 Flow of all processes........................................................................................................................ 1- 22

1.2.2 Outline of starting ............................................................................................................................. 1- 24

1.2.3 Outline of stopping ........................................................................................................................... 1- 26

1.2.4 Outline for restarting ......................................................................................................................... 1- 28

2. System Configuration 2- 1 to 2- 8

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

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

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

2.4 How to check the function version and SERIAL No. .............................................................................. 2- 8

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

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

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

3.2.1 QD75MH control functions ................................................................................................................ 3- 4

3.2.2 QD75MH main functions ................................................................................................................... 3- 6

A - 12

3.2.3 QD75MH sub functions and common functions .............................................................................. 3- 8

3.2.4 Combination of QD75MH main functions and sub functions .......................................................... 3- 12

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

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

3.3.2 Details of input signals (QD75MH

3.3.3 Details of output signals (PLC CPU

3.4 Specifications of interfaces with external devices.................................................................................. 3- 18

3.4.1 Electrical specifications of input signals .......................................................................................... 3- 18

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

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

3.4.4 Interface internal circuit .................................................................................................................... 3- 21

3.5 External circuit design ............................................................................................................................. 3- 22

4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 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 Precautions for installation................................................................................................................ 4- 7

4.3 Wiring....................................................................................................................................................... 4- 10

4.3.1 Precautions for wiring....................................................................................................................... 4- 10

4.4 Confirming the installation and wiring..................................................................................................... 4- 16

4.4.1 Items to confirm when installation and wiring are completed .........................................................4- 16

4.5 Maintenance............................................................................................................................................ 4- 17

4.5.1 Precautions for maintenance ........................................................................................................... 4- 17

4.5.2 Disposal instructions ........................................................................................................................ 4- 17

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

QD75MH) .......................................................................... 3- 17

5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-172

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- 6

5.1.3 Setting items for OPR parameters.................................................................................................... 5- 8

5.1.4 Setting items for servo parameters................................................................................................... 5- 9

5.1.5 Setting items for positioning data..................................................................................................... 5- 11

5.1.6 Setting items for block start data ..................................................................................................... 5- 14

5.1.7 Setting items for condition data ....................................................................................................... 5- 15

5.1.8 Types and roles of monitor data ......................................................................................................5- 18

5.1.9 Types and roles of control data ....................................................................................................... 5- 20

5.2 List of parameters ................................................................................................................................... 5- 24

5.2.1 Basic parameters 1 .......................................................................................................................... 5- 24

5.2.2 Basic parameters 2 .......................................................................................................................... 5- 28

5.2.3 Detailed parameters 1...................................................................................................................... 5- 30

5.2.4 Detailed parameters 2...................................................................................................................... 5- 38

5.2.5 OPR basic parameters..................................................................................................................... 5- 50

5.2.6 OPR detailed parameters ................................................................................................................ 5- 56

A - 13

5.2.7 Servo parameters (Basic setting) .................................................................................................... 5- 62

5.2.8 Servo parameters (Gain • filter setting)........................................................................................... 5- 68

5.2.9 Servo parameters (Expansion setting) ............................................................................................ 5- 80

5.2.10 Servo parameters (Input/Output setting) ....................................................................................... 5- 86

5.3 List of positioning data ............................................................................................................................ 5- 90

5.4 List of block start data ............................................................................................................................5-106

5.5 List of condition data ..............................................................................................................................5-112

5.6 List of monitor data................................................................................................................................. 5-118

5.6.1 System monitor data .......................................................................................................................5-118

5.6.2 Axis monitor data............................................................................................................................. 5-128

5.7 List of control data ..................................................................................................................................5-148

5.7.1 System control data ........................................................................................................................ 5-148

5.7.2 Axis control data ..............................................................................................................................5-150

6. Sequence Program Used for Positioning Control 6- 1 to 6- 72

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

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

6.3 Creating a program .................................................................................................................................6- 15

6.3.1 General configuration of program .................................................................................................... 6- 15

6.3.2 Positioning control operation program............................................................................................. 6- 16

6.4 Positioning program examples ............................................................................................................... 6- 20

6.5 Program details ....................................................................................................................................... 6- 52

6.5.1 Initialization program ........................................................................................................................6- 52

6.5.2 Start details setting program ............................................................................................................6- 53

6.5.3 Start program.................................................................................................................................... 6- 55

6.5.4 Continuous operation interrupt program.......................................................................................... 6- 64

6.5.5 Restart program ............................................................................................................................... 6- 66

6.5.6 Stop program.................................................................................................................................... 6- 69

7. Memory Configuration and Data Process 7- 1 to 7- 20

7.1 Configuration and roles of QD75MH memory......................................................................................... 7- 2

7.1.1 Configuration and roles of QD75MH memory..................................................................................7- 2

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

7.2 Data transmission process ...................................................................................................................... 7- 8

A - 14

Section 2 Control Details and Setting

8. OPR Control 8- 1 to 8- 16

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

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

8.2 Machine OPR........................................................................................................................................... 8- 5

8.2.1 Outline of the machine OPR operation............................................................................................. 8- 5

8.2.2 Machine OPR method....................................................................................................................... 8- 6

8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 7

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

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

8.2.6 OPR method (4): Data set method .................................................................................................. 8- 13

8.3 Fast OPR ................................................................................................................................................. 8- 14

8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 14

8.4 Selection of OPR set condition .............................................................................................................. 8- 16

8.4.1 Outline of the selection of OPR set condition.................................................................................. 8- 16

9. Major Positioning Control 9- 1 to 9-116

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 48

9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 52

9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 54

9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 60

9.2.12 1-axis speed control ....................................................................................................................... 9- 68

9.2.13 2-axis speed control ....................................................................................................................... 9- 71

9.2.14 3-axis speed control ....................................................................................................................... 9- 74

9.2.15 4-axis speed control ....................................................................................................................... 9- 78

9.2.16 Speed-position switching control (INC mode)............................................................................... 9- 83

9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 91

9.2.18 Position-speed switching control ................................................................................................... 9- 99

9.2.19 Current value changing ................................................................................................................9- 106

A - 15

9.2.20 NOP instruction ............................................................................................................................ 9- 111

9.2.21 JUMP instruction .......................................................................................................................... 9- 112

9.2.22 LOOP............................................................................................................................................ 9- 114

9.2.23 LEND ............................................................................................................................................ 9- 115

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

11. Manual Control 11- 1 to 11- 36

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

A - 16

12. Control Sub Functions 12- 1 to 12-106

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

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

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

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

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

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

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

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

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

12.4 Functions to limit the control ............................................................................................................... 12- 23

12.4.1 Speed limit function ...................................................................................................................... 12- 23

12.4.2 Torque limit function .....................................................................................................................12- 25

12.4.3 Software stroke limit function ....................................................................................................... 12- 29

12.4.4 Hardware stroke limit function ..................................................................................................... 12- 35

12.4.5 Forced stop function..................................................................................................................... 12- 39

12.5 Functions to change the control details.............................................................................................. 12- 42

12.5.1 Speed change function ................................................................................................................ 12- 42

12.5.2 Override function .......................................................................................................................... 12- 49

12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 52

12.5.4 Torque change function ............................................................................................................... 12- 56

12.6 Absolute position system ....................................................................................................................12- 59

12.7 Other functions .................................................................................................................................... 12- 61

12.7.1 Step function................................................................................................................................. 12- 61

12.7.2 Skip function ................................................................................................................................. 12- 66

12.7.3 M code output function................................................................................................................. 12- 69

12.7.4 Teaching function .........................................................................................................................12- 73

12.7.5 Target position change function .................................................................................................. 12- 79

12.7.6 Command in-position function .....................................................................................................12- 83

12.7.7 Acceleration/deceleration processing function............................................................................ 12- 86

12.7.8 Pre-reading start function............................................................................................................. 12- 89

12.7.9 Deceleration start flag function ................................................................................................... 12- 94

12.7.10 Stop command processing for deceleration stop function ..................................................... 12- 98

12.7.11 Speed control 10 x multiplier setting for degree axis function .............................................12- 101

12.7.12 Operation setting for incompletion of OPR function .............................................................12- 103

12.8 Servo ON/OFF ..................................................................................................................................12- 105

12.8.1 Servo ON/OFF ........................................................................................................................... 12- 105

12.8.2 Follow up 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 signal selection function ........................................................................................................ 13- 7

13.5 External I/O signal logic switching function ......................................................................................... 13- 8

A - 17

14. Dedicated Instructions 14- 1 to 14- 18

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

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

14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 3

14.4 TEACH1, TEACH2, TEACH 3, TEACH 4 ........................................................................................... 14- 7

14.5 PFWRT................................................................................................................................................ 14- 11

14.6 PINIT.................................................................................................................................................... 14- 15

15. Troubleshooting 15- 1 to 15- 60

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

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

15.2.1 QD75MH detection error ............................................................................................................... 15- 6

15.2.2 MR-J3-B detection error............................................................................................................... 15- 36

15.3 List of warnings ................................................................................................................................... 15- 50

15.3.1 QD75MH detection warning......................................................................................................... 15- 50

15.3.2 MR-J3-B detection warning .........................................................................................................15- 56

15.4 LED display functions ......................................................................................................................... 15- 60

Appendices Appendix- 1 to Appendix-72

Appendix 1 Functions........................................................................................................................Appendix- 3

Appendix 1.1 Multiple CPU correspond function..........................................................................Appendix- 3

Appendix 1.2 The combination of software package for QD75MH and QCPU ..........................Appendix- 3

Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses.................................Appendix- 4

Appendix 3 Connection with servo amplifiers .................................................................................Appendix- 28

Appendix 3.1 Connection of SSCNET

Appendix 3.2 Wiring of SSCNET

Appendix 4 Connection with external device connector .................................................................Appendix- 34

Appendix 4.1 Connector...............................................................................................................Appendix- 34

Appendix 4.2 Wiring of manual pulse generator cable ...............................................................Appendix- 36

Appendix 5 Comparisons with conventional positioning modules..................................................Appendix- 37

Appendix 5.1 Comparisons with QD75P model ..........................................................................Appendix- 37

Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models ...................................Appendix- 38

Appendix 6 Positioning control troubleshooting ..............................................................................Appendix- 51

Appendix 7 List of buffer memory addresses..................................................................................Appendix- 57

Appendix 8 External dimension drawing .........................................................................................Appendix- 71

INDEX Index- 1 to Index - 10

INDEX..................................................................................................................................................... Index - 1

cables .........................................................................Appendix- 28

cables.................................................................................. Appendix- 30

A - 18

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 Operating Manual

Describes how to use GX Configurator-QP for the following and other purposes: creating data

(parameters, positioning data, etc.), sending the data to the module, monitoring the positioning

operations, and testing.

(The manual is supplied with the software.)

Using This Manual

The symbols used in this manual are shown below.

Pr.

Da.

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

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

data item.

Md.
Cd.

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

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

(A serial No. is inserted in the

mark.)

Conformation to the EMC Directive

The CE logo is printed on the rating plate on the main body of the PLC that
conforms to the EMC directive instruction.
To make this product conform to the EMC directive instruction, please refer to
section 4.3.1 "Precautions for wiring" of the chapter 4 "Installation, Wiring and
Maintenance of the Product" and the EMC Installation Guidelines (IB(NA)67339).

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" or "h" are represented in hexadecimal.

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

10H ......Hexadecimal

Manual Number

(Model Code)

SH-080172

(13JU19)

A - 19

Generic Terms and Abbreviations

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

Generic term/abbreviation Details of generic term/abbreviation

PLC CPU Generic term for PLC CPU on which QD75MH can be mounted.

QD75MH

MR-J3-B Servo amplifier: Abbreviation for MR-J3-B. ( = capacity)

Peripheral device

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

GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E (Version 2.21X) or later).

Servo amplifier (drive unit) Abbreviation for SSCNET compatible servo amplifier (drive unit).

Manual pulse generator Abbreviation for manual pulse generator (MR-HDP01) (prepared by user).

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

Personal computer Generic term for DOS/V personal computer.

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

Axis 1, axis 2, axis 3,

axis 4

1-axis, 2-axis, 3-axis,

4-axis

OPR Generic term for "Home position return".

OP Generic term for "Home position".

SSCNET

(Note)

Generic term for positioning module QD75MH1, QD75MH2 and QD75MH4.
The module type is described to indicate a specific module.

Generic term for DOS/V personal computer that can run the following "GX Developer" and
"GX Configurator-QP".

Indicates each axis connected to QD75MH.

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

High speed synchronous communication network between QD75MH and servo amplifier.

(Note): SSCNET: Servo System Controller NETwork

Component List

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

Module name

QD75MH1 QD75MH2 QD75MH4

QD75MH1 positioning module 1

QD75MH2 positioning module 1

QD75MH4 positioning module 1

Before Using the Product 1

Quantity

A - 20

Section 1

Section 1 Product Specifications and Handling

Section 1 is configured for the following purposes (1) to (5).
(1) To understand the outline of positioning control, and the QD75MH 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 PLC program required for positioning control
(5) To understand the memory configuration and data transmission process

When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.

Read "Section 2" for details on each control.

Chapter 1 Product outline .............................................................................................. 1- 1 to 1- 28

Chapter 2 System configuration .................................................................................... 2- 1 to 2- 8

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

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

Chapter 5 Data Used for Positioning Control................................................................ 5- 1 to 5-172

Chapter 6 PLC Program Used for Positioning Control ................................................. 6- 1 to 6- 72

Chapter 7 Memory Configuration and Data Process .................................................... 7- 1 to 7- 20

MEMO

1

Chapter 1 Product Outline

The purpose and outline of positioning control using QD75MH 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 QD75MH .....................................................................................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 Overview of positioning control functions.......................................................1- 8

1.1.5 Outline design of positioning system.............................................................1- 18

1.1.6 Communicating signals between QD75MH and each module ....................1- 19

1.2 Flow of system operation ............................................................................................1- 22

1.2.1 Flow of all processes .....................................................................................1- 22

1.2.2 Outline of starting...........................................................................................1- 24

1.2.3 Outline of stopping.........................................................................................1- 26

1.2.4 Outline for restarting ......................................................................................1- 28

1 - 1

1 PRODUCT OUTLINE

1.1 Positioning control

1.1.1 Features of QD75MH

The features of the QD75MH are shown below.

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

(a) One, two and four axis positioning modules are available.

(b) For connecting any of the QD75MH modules to the base unit, a single slot

(2) Wide variety of positioning control functions

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

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

MELSEC-Q

They can be selected according to the PLC CPU type and the number of
required control axes. (Refer to Section 2.2.)

and 32 dedicated I/O channels are required.
Within the limit imposed by the maximum number of inputs and outputs
supported by the PLC CPU, up to 64 modules can be used. (Refer to
Section 2.3.)

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.

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) SSCNET makes the connection to the servo amplifier possible

(5) Easy application to the absolute position system

MELSEC-Q

(c) Continuous positioning control using multiple positioning data can be

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.)

Four different machine OPR methods are provided: the near point dog
method, two count methods, and the data set method.

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

trapezoidal acceleration/deceleration and S-pattern acceleration/
deceleration. (Refer to Section 12.7.7.)

A positioning operation starts up quickly taking as little as 3.5 ms to 4 ms.
When operation using simultaneous start function or interpolation operation is
executed, the axes start without delay.
(Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and

simultaneous start function Axis 3 start
Axis 2 and Axis 4 are started by the : No delay in Axis 2 and
interpolation operation Axis 4 start

(a) The QD75MH can be directly connected to the servo amplifier using the

MELSERVO (Mitsubishi's servo amplifier: MR-J3-B).

(b) Because the SSCNET

servo amplifier, or servo amplifiers, saving wiring can be realized. The
cable between the QD75MH and servo amplifier or servo amplifiers can be
extended up to 50m (164.04ft.).

(c) By the use of SSCNET

electromagnetic noise and others from servo amplifier, etc. are reduced.

(d) The servo parameters can be set on the QD75MH side to write or read

them to/from the servo amplifier using the SSCNET

(e) The actual current value and error description contained in the servo can

be checked by the buffer memory of the QD75MH.

(a) The absolute position-corresponding servo amplifier is connected to have

an application to the absolute position system.

(b) Once the OP have been established, the OPR operation can also be made

unnecessary when the power is supplied.

(c) With the absolute position system, the data set method OPR is used to

establish the OP.

(d) When the setting unit is "degree", the absolute position system with

unlimited length feed can be configured.

1 - 3

cable is used to connect the QD75MH and the

cable (Optical communication), influence of

.

1 PRODUCT OUTLINE

(6) Control can be realized with the mechanical system input

(7) Easy maintenance

(8) Support of intelligent function module dedicated instructions

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

(10) Addition of forced stop function

MELSEC-Q

The external inputs, such as external start, stop, and speed/position switching is
used to perform the positioning control without using the PLC program.

Each QD75MH positioning module incorporates the following improvements in
maintainability:

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

ROM inside the QD75MH, eliminating the need of a battery for retaining
data. (Refer to Section 7.1.1.)

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

troubleshooting procedure. (Refer to Section 15.1.)

(c) The module retains 16 error messages and 16 warning messages recently

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

Dedicated instructions such as the positioning start instruction, and teaching
instruction are provided.
The use of such dedicated instruction simplifies PLC programs.(Refer to Chapter

14.)

Using GX Configurator-QP, the user can control the QD75MH 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 PLC program for positioning control, or test operation
the QD75MH 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.

As forced stop input signal to the connector for external equipment connection is
added, batch forced stop is available for all axes of servo amplifier.
(Refer to Section 12.4.5.)
Selection for whether using "Forced stop input signal" or not can be made with
parameter.

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

Gear and ball screw

Y axis
servomotor

Servo
amplifier

Y axis

Palletizer

Press head

Servo
amplifier

Conveyor control

Servomotor
(with brakes)

Servo
amplifier

Y axis

X axis
servomotor

Conveyor

G

Reduction
gears

Ball screw

(From QD75MH)

)

X axis

Y axis

X axis
Gear and rack & pinion

160mm

320mm

Press
punching

12s

PLC
MELSEC-Q

X axis

Position detector

Palletizer

Unloader control

QD75MH

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.

•

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.

PLC
MELSEC-Q

QD75MH

Compact machining center (ATC magazine positioning)

Servo
amplifier

QD75MH

Servomotor

Coupling

Positioning
pin

PLC
MELSEC-Q

Reduction
gears

ATC tool
magazine

Tool
(12 pcs., 20 pcs.)

Rotation direction
for calling
11, 12, 1, 2 or 3

1

2

12

11

95

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

3

Current
value

410

retrieval
position

6

8

7

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

1

220

19

18

17

16

15

14

13

10

12

11

Rotation direction
for calling
17 to 20, 1 to 5

3

4

Current

5

value

6

retrieval

7

8

position

9

Rotation direction
for calling 7 to 16

1 - 5

•

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.

r

1 PRODUCT OUTLINE

Lifter (Storage of Braun tubes onto aging rack)

B conveyor

Lifter

Counter­weight

Reduction
gears

Servomotor
(with brakes)

G1

A conveyor

Loader

C conveyor

G2

Servomotor

Servo
amplifier

Aging rack

Unloader

Loader/unloader

Servo
amplifier

QD75MH

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.

Index table (High-accuracy indexing of angle)

Index table

PLC
MELSEC-Q

Digital switch

Worm gears

QD75MH

Inner surface grinder

PLC
MELSEC-Q

Inverter

220VAC
60Hz

QD75MH

Servomotor

Servo
amplifier

Motor

IM

G

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

Operation panel

Workpiece

a
b
c

Grinding stone

a. Total feed

d

amount (µm)
b. Finishing

e

feed amount (µm)
c. Compensation
amount (µm)

G

Detector
Servomotor

Motor

G

IM

PLC MELSEC-Q

Inverter

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

Servo
amplifie

•

The index table is positioned at a high accuracy

using the 1-axis servo.

•

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

In the positioning system using the QD75MH, various software and devices are used
for the following roles. The QD75MH realizes complicated positioning control when it
reads in various signals, parameters and data and is controlled with the PLC CPU.

MELSEC-Q

Creates control order and
conditions as a sequence
program.

GX Developer

GX
Configurator

-QP

Sets the parameters and
positioning data for control.

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

Monitors the positioning operation.

Stores the created program.
The QD75MH outputs the start signal and

QD75MH positioning
module

stop signal following the stored program.
QD75MH errors, etc., are detected.

PLC CPU

Servo
amplifier

Outputs signals such as the start
signal, forced stop input signal, stop
signal, limit signal and control
changeover signal to the QD75MH.

External signal

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

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

Manual pulse
generator

Issues commands by
transmitting pulses.

Receives positioning commands and control
commands from QD75MH, and drives the motor.

Outputs the positioning data of the motor
data and etc., and external input signal of the
servo amplifier to the QD75MH by the SSCNET .

Motor

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

Workpiece

(Note): For QD75MH1, 2 and 4, use SW2D5C-QD75P (Version 2.21X) or later of the GX Configurator.

1 - 7

1 PRODUCT OUTLINE

1.1.4 Overview of positioning control functions

The outline of the "overview of positioning control" and "overview of individual
positioning control and continuous positioning control", "overview of block positioning
control" and "overview of acceleration/deceleration processing control" is shown below.

Positioning control

An overview of positioning using positioning data described below.

(1) Linear control

(a) 1-axis linear control

This performs positioning from the start point address (location the axis is
presently stopped) defined on the specified axis to the specified position.

[Control using the absolute system]

1) This performs positioning from the start point address to the specified

position.

2) The start point address and the specified address determine the

movement direction.

[Example]
The following figure shows the operations when the start point address
is 5000 and the positioning address are 2000 and 8000:

2000 5000 8000

MELSEC-Q

Positioning when the specified
address is 2000

Positioning when the specified
address is 8000

Start point address

[Control using the increment system]

1) This performs positioning from the specified increment of travel from the

start point address.

2) The sign of the travel increment determines the direction of travel.

• For positive travel increment…….Positioning in the positive direction

(direction of address increase)

• For negative travel increment…...Positioning in the negative direction

(direction of address decrease)

[Example]
The following figure shows the operations when the start point address
is 5000 and the travel increments are 3000 and -3000:

2000 5000 8000

Movement direction for a negative
movement amount.

Movement direction for a positive
movement amount.

Positioning when the specified
address is -3000.

Positioning when the specified
address is 3000.

Start point address

1 - 8

t

1 PRODUCT OUTLINE

MELSEC-Q

(b) 2-axis linear interpolation control

(Note)

This controls interpolation along a linear locus from the start point address
(current stop position) defined by two axes.

[Control using the absolute system]

1) This performs linear interpolation using two axes from the start point

address to the endpoint address.

2) The start point address and the specified address determine the

direction of travel.
[Example]
The operation when the start point address is 800 for axis 1 and 2000
for axis 2 and the positioning address specified to 2000 for axis 1 and
8000 for axis 2, is shown below.

Axis 1

2000

Start point address
(2000, 800)

800

0

2000

Specified address
(8000, 2000)

Positioning operation

8000

Axis 2

[Control using the increment system]

1) This performs positioning from the specified increment of travel from the

start point address.

2) The sign of the travel increment determines the direction of travel.

• For positive travel increment…….Positioning in the positive direction
(direction of address increase)

• For negative travel increment…….Positioning in the negative direction
(direction of address decrease)
[Example]
The operation when the start point address is 800 for axis 1 and 2000
for axis 2 and the positioning address specified to 1200 for axis 1 and

2000

6000 for axis 2, is shown below.

Axis 1

Start point address
(2000, 800)

End position when the travel incremen
is 1200 for axis 1 and 6000 for axis 2.

800

0

2000

Positioning operation

8000

Axis 2

REMARK

(Note): The interpolation speed during linear interpolation control can be selected

from "synthesized axis" and "reference-axis speed" using the detailed
parameter 1. (Refer to the Section 5.2.3 information about setting "

Interpolation speed designation method" of the detailed parameter 1.)

1 - 9

Pr.20

1 PRODUCT OUTLINE

MELSEC-Q

(2) Circular interpolation control

(Note)

There are two types of circular interpolation controls: circular interpolation with a
specified sub point and circular interpolation with the specified center point.
(a) Circular interpolation with a specified sub point

Circular interpolation is performed using the specified endpoint address and
sub point (passing point) address.
Two methods are available: absolute system and increment system.

Forward
direction

Reverse
direction

Sub point

Start point
address

Reverse

direction

End point

Center point
(Calculated by the QD75)

Forward
direction

(b) Circular interpolation with the specified center point

Circular interpolation is performed using the specified endpoint address and
center point address.
Two methods are available: absolute system and increment system.
Also, the direction of movement can be selected from clockwise or
counterclockwise.

Forward
direction

End point

Reverse
direction

Stop position

Reverse
direction

Center point

Forward
direction

REMARK

(Note): The interpolation speed during circular interpolation control may only be set

to "synthesized speed" for the interpolation speed of the detailed parameter

1. (Refer to the Section 5.2.3 information about setting "
speed designation method" of the detailed parameter 1.)

1 - 10

Pr.20

Interpolation

t

1 PRODUCT OUTLINE

(3) Fixed-feed control

Positioning direction
[1-axis fixed-feed control]

This performs positioning for the specified increment of travel.

Operation timing

V

Stop position

Forward directionReverse direction

MELSEC-Q

Movement direction for
a negative movement amount

[2-axis fixed-feed control]

Forward
direction

Travel along
axis 1

Reverse
direction

Stop position

Reverse
direction

Movement direction for
a positive movement amount

Travel along axis 2

Positioning
direction

Forward
direction

Start
command

Start

ON

OFF

(4) Speed control

After command is executed, control continues with the command speed until the
stop command is input.

V

t

ON

Positioning start
signal

BUSY signal

Axis stop signal

OFF

ON

OFF

ON

OFF

(By the PLC
program creation)

1 - 11

1 PRODUCT OUTLINE

(5) Speed-position switching control

MELSEC-Q

This starts positioning under speed control, and switches to position control
according to the input of the QD75MH speed-position switching signal and
perform positioning for the specified increment of travel.

V

Specified travel
increment

Dwell time

t

(By the PLC
program creation)

Positioning start signal

BUSY signal

Speed-position switching
signal (external signal)

Speed-position switching
enable flag

Speed control Position control

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1 - 12

1 PRODUCT OUTLINE

Individual positioning control and continuous positioning control

The QD75 performs positioning according to the user-set positioning data, which is a
set of information comprised of the control method (position control, speed control,
speed-position switching control), positioning address, operation pattern, and so on.
Up to 600 of positioning data are assigned respectively to positioning data Nos. 1 to
600 per axis and registered to the QD75MH.
The operation pattern set in each positioning data by the user determines whether to
perform positioning operation with one positioning data item or to perform continuous
positioning operation with multiple positioning data items.

(1) Independent positioning control (operation pattern = 00: positioning

MELSEC-Q

complete)

The operation completed upon completion of positioning for the specified
positioning data. The positioning completion of this operation pattern is also used
as the operation pattern for the last positioning data of continuous positioning and
continuous-locus positioning.

V

Positioning complete (00)

Dwell time

t

ON

Positioning start signal

Positioning start
complete signal

BUSY signal

Positioning complete
signal

OFF

ON

OFF

ON

OFF

ON

OFF

(By the PLC
program creation)

1 - 13

1 PRODUCT OUTLINE

(2) Continuous positioning control (operation pattern = 01: positioning

Address(+)
direction

Address(-)
direction

Positininig start signal

Positioning start
complete signal

BUSY signal

Positioning complete
signal

MELSEC-Q

continues)

The operation stops temporarily upon the completion of positioning for the
specified positioning data, and then continues with the next positioning data
number.
This is specified when performing positioning in which the direction changes
because of multiple positioning data items having consecutive positioning data
numbers.

V

Positioning continues (01)

V

OFF

OFF

OFF

OFF

Positioning continues (01)

Positioning

complete

(00)

ON

ON

ON

ON

Dwell time

t

(By the PLC
program creation)

1 - 14

1 PRODUCT OUTLINE

(3) Continuous path control (operation pattern = 11: positioning

Address(+)
direction

Address(-)
direction

Positininig start signal

Positioning start
complete signal

BUSY signal

Positioning complete
signal

MELSEC-Q

continue)

After executing positioning using the specified positioning data, the operation
changes its speed to that of the next positioning data number and continues
positioning.
This is specified when continuously executing multiple positioning data items
having consecutive positioning data numbers at a specified speed.

V

Positioning continue (11)

V

ON

OFF

ON

OFF

ON

OFF

OFF

Positioning continue (11)

ON

Positioning

complete

(00)

Dwell time

t

(By the PLC
program creation)

1 - 15

g

1 PRODUCT OUTLINE

Block positioning control

Block positioning is a control that continuously executes the positioning of specified

blocks. One block equivalent to a series of positioning data up to the completion of

positioning (operation pattern = 00) by Independent or continuous positioning control.
A maximum of 50 blocks per axis can be specified.
Using a one-time start command from the QCPU or external, complex positioning

control can be performed.
The block positioning control can be performed by specifying the positioning start

Address(+)
direction

Address(-)
direction

number and positioning start information in the buffer memory.

V

Positioning complete (00)

V

One block

Positioning continues (01)

Positioning
continue (11)

One block One block

Positioning

complete (00)

Dwell time

Positioning
continue (11)

MELSEC-Q

Positioning

complete (00)

t

Positininig start signal

Start complete signal

BUSY signal

Positioning complete

nal

si

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1 - 16

e

V

1 PRODUCT OUTLINE

Overview of acceleration/deceleration processing control

Acceleration/deceleration processing for the positioning processing, manual pulse-

generator processing, OPR processing and JOG processing is performed using the

user-specified method, acceleration time and deceleration time.

(1) Acceleration/deceleration method

MELSEC-Q

There are two types of acceleration and deceleration processing: the automatic
trapezoidal acceleration/deceleration processing method and S-pattern
acceleration/deceleration processing method. A detailed parameter is used to set
which method is used. The specified acceleration/deceleration method is applied
to all accelerations and decelerations when starting and completing positioning
processing, OPR processing and JOG processing, as well as when changing the
speed.
(a) Automatic trapezoidal acceleration/deceleration processing method

This is a method in which linear acceleration/deceleration is carried out
based on the acceleration time, deceleration time, and speed limit value set
by the user.

Velocity

Tim

(b) S-pattern acceleration/deceleration processing method

This method reduces the load on the motor when starting and stopping.
This is a method in which acceleration/deceleration is carried out gradually,
based on the acceleration time, deceleration time, speed limit value, and

Pr.35

"

S-pattern proportion" (1 to 100%) set by the user.

elocity

Time

(2) Acceleration time, deceleration time, sudden-stop deceleration time

(a) For types each of the acceleration time and deceleration time for positioning

control can be set using basic parameters 2 and detailed parameters 2.

• Acceleration time…….The time elapses before the speed of 0 reaches
the limit value.

• Deceleration time…….The time elapses before the speed at the limit
value reaches 0.

(b) The sudden-stop deceleration time (1 to 8388608 ms) is set using the

acceleration time/deceleration time setting size selection of detailed
parameters 2.

1 - 17

1 PRODUCT OUTLINE

1.1.5 Outline design of positioning system

The outline of the positioning system operation and design, using the QD75MH, is
shown below.

(1) Positioning system using QD75MH

MELSEC-Q

PLC

CPU

Read,
write
and
etc.

QD75MH

Positioning command

Control command

OS

Monitor data

Interface

S

S
C
N

Positioning command
Control command

E

Monitor data

T

External input signal
of servo amplifier

I

F

SSCNET

MR-J3-B

Positioning
control

+

-

Position feedback

+

S
S

-

C
N
E
T

I

F

External input signal of servo amplifier (Refer to MR-J3-B
Instruction manual)

FLS (Upper limit signal)
RLS (Lower limit signal)
DOG (Near-point dog signal)

Manual puse generator
A-phese/B-phese

External input signal (Refer to Section 3.4.2)

EMI (Forced stop input signal)
FLS (Upper limit signal)
RLS (Lower limit signal)
CHG (External command signal/switching signal)
STOP (Stop signal)
DOG (Near-point dog signal)

:Either the QD75MH or servo amplifier can be designated as the
external input signal .(Refer to Section 5.2.3 Detailed parameters 1)

+

Speed
control

-

Speed feedback

+

Current
control

Current feedback

Inverter

-

Interface

Servo
motor

M

PLG

Fig. 1.2 Outline of the operation of positioning system using QD75MH

1 - 18

1 PRODUCT OUTLINE

1.1.6 Communicating signals between QD75MH and each module

The outline of the signal communication between the QD75MH (positioning module)
and PLC CPU, peripheral device and servo amplifier, etc., is shown below.
(A peripheral device communicates with the QD75MH via the PLC CPU to which it is

PLC CPU

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

Y14,Y15,Y16,Y17

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

Y0
X0
Y1
X1

Forward run JOG start signal
Reverse run JOG start signal

connected)

PLC READY signal

QD75 READY signal

All axis servo ON signal

Syncronization flag

Execution prohibition flag

Positioning start signal

Positioning complete signal

QD75MH

External
interface

Manual puse generator A-phase
Manual puse generator B-phase

MELSEC-Q

SSCNET

Operating information of
the servo amplifer
Positioning command
Control command
Servo parameter
External input signal of
the servo amplifier

Servo
amplifer

Manual pulse
generator

XC,XD,XE,XF

X10,X11,X12,X13

Y4,Y5,Y6,Y7

X4,X5,X6,X7

X8,X9,XA,XB

Peripherral
device
interface

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

Home position return operation
(Test)
JOG operation, inching operation
(Test)

Positioning operation(Test)

Operation monitor

Interface
with
PLC CPU

Forced stop input signal
Upper/lower limit signal
External command signal/

switching signal
Stop signal
Near-point dog signal

External
signal

Peripheral
device

1 - 19

1 PRODUCT OUTLINE

QD75MH PLC CPU

Communication

Control signal

Data (read/write)

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

The QD75MH and PLC CPU communicate the following data via the base unit.

Direction

QD75MH Peripheral device

The QD75MH and peripheral device communicate the following data via the PLC

Communication

Data (read/write)

Test operation –

Operation monitor • Monitor data –

CPU:

Direction

QD75MH Servo amplifier

The QD75MH and servo amplifier communicate the following data via the

Communication

SSCNET

SSCNET

Direction

QD75MH

Signal indicating QD75MH state

• QD75 READY signal

• BUSY signal
and etc.

• Parameter

• Positioning data

• Block start data

• Control data

• Monitor data

QD75MH

• Parameter

• Positioning data

PLC CPU PLC CPU QD75MH

Peripheral device Peripheral device QD75MH

.

QD75MH

• Positioning commands

• Control commands

• Servo parameter

Servo amplifier Servo amplifier QD75MH

MELSEC-Q

Signal related to commands

• PLC READY signal

• Various start signals

• Stop signals

• All axis servo ON signal
and etc.

• Parameter

• Positioning data

• Block start data

• Control data

• Parameter

• Positioning data

• OPR control start command

• Positioning control start command

• JOG/Inching operation start command

• Teaching start command

• Manual pulse generator operation
enable/disable command

• Operating information of the servo
amplifier

• Servo parameter

• External input signal of the servo amplifier

1 - 20

1 PRODUCT OUTLINE

QD75MH Manual pulse generator

The QD75MH 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

QD75MH External signal

The QD75MH and external signal communicate the following data via the external

Communication

Control signal –

device connection connector.

Direction

QD75MH

QD75MH

MELSEC-Q

Manual pulse generator Manual pulse generator QD75MH

• Manual pulse generator A-phase

• Manual pulse generator B-phase

External signal External signal QD75MH

•

Forced stop input signal

•

Upper/lower limit signal

•

External command signal/switching

signal

•

Stop signal

•

Near-point dog signal

1 - 21

1 PRODUCT OUTLINE

1.2 Flow of system operation

1.2.1 Flow of all processes

The positioning control processes, using the QD75MH, are shown below.

MELSEC-Q

Design

Preparation

GX Configurator-QP

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

(system design)

3)
Setting of the:

· Parameters

· Positioning data

· Block start data

· Condition data

· Servo parameter

Writing of setting data

QD75MH

2)
Installation, wiring

Servo, etc.

5) 6)

PLC CPU

4)
Creation of PLC

program for operation

Refer to (Note)

GX Developer

Writing of program

7) 8)
Monitoring with

test operation,
and debugging
of setting data

Operation

Maintenance

Monitor

9)

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 - 22

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.

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

Install the QD75MH onto the base unit, wire the QD75MH and external connection

2)
devices (drive unit, etc.).

Using GX Configurator-QP, set the parameter, servo parameters, positioning data,

3)

block start data and condition data required for the positioning control to be
executed.

Using GX Developer, create the PLC program required for positioning operation.

4)

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

Write the parameters and positioning data, etc., created with GX Configurator-QP

5)
into the QD75MH.

Using GX Developer, write the created PLC program into the PLC CPU. (When not

6)
using GX Configurator-QP, also write in the PLC program for setting data.)

Carry out test operation and adjustments in the test mode to check the connection
with the QD75MH and external connection device, and to confirm that the

7)
designated 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

8)

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

•

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

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 QD75MH as required.

11) Dispose of the QD75MH.

1 - 23

•

Chapter 5

•

Chapter 15

•

GX Configurator-QP

Operating Manual

•

GX Developer Operating

Manual

•

Chapter 4

•

Chapter 4

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

Servo
parameters

PLC READY

All axis
servo ON

Positioning
data

Block start
data

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

Set the positioning data.

( Da.1 to Da.10 )

High-level positioning
control

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

Set the positioning parameters. ( Pr.1 to Pr.42 , Pr.80 to Pr.84 )

Set the servo parameters. ( Pr.100 to Pr.204 )

Turn the PLC READY signal ON(Y0 ON)

Turn the All axis servo ON signal(Y1 ON)

Set the block start
data.

( Da.11 to Da.19 )

Machine OPR control

Set the OPR parameters.

( Pr.43 to Pr.57 )

OPR control Manual control

JOG operation

Fast OPR control

Inching operation

Manual pulse generator operation

Control data

Start signal

Control start

Control end

Input the start signal.

Method (1) Turn ON the QD75MH start signal from the
PLC CPU
Method (2) Issue the PSTRT instruction from the PLC CPU.
Method (3) Turn the QD75MH external start signal ON

Set the positioning start No. ( Cd.3 )

Set the positioning
starting point No.

( Cd.4 )

1 - 24

Operation

Stop

Set the JOG speed

( Cd.17 )

Set the inching
movement
amount to 0.

( Cd.16 )

Turn the QD75MH JOG
start signal ON from the
PLC CPU

Set the inching
movement
amount to 0.

( Cd.16 )

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

( Cd.21 )

Set the manual pulse
generator 1 pulse input
magnification.

( Cd.20 )

Operate the
manual pulse
generator

1 PRODUCT OUTLINE

Setting method

: Indicates the PLC program that must be created.

MELSEC-Q

<GX Configurator-QP>

Set with GX Configurator-QP

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

<GX Developer>

Create PLC program
for setting data

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

<GX Developer>

Create PLC program for
executing main function

Create PLC program for
outputting control signals, such
as start signal, to QD75MH.

Write

Write

PLC
CPU

QD75MH

Write

<GX Developer>

· Speed change

· Current value changing

· Torque limit

· Restart, etc.

Operation PLC program

Create a PLC
program for the
sub functions.

1 - 25

Write

PLC

CPU

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)

Each control is stopped in the following cases.

(1) When each control is completed normally.
(2) When the Servo READY signal is turned OFF.
(3) When a PLC CPU error occurs.
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in the QD75MH.
(6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop

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

"Forced stop
input signal
from external
device" OFF
Servo

READY OFF

• Servo amplifier
power supply
OFF

• Servo alarm

• Forced stop
input to servo
amplifier

Hardware
stroke limit
upper/lower
limit error
occurrence

Error occurs
in PLC CPU

PLC READY
signal OFF

Error in test
mode

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

"Stop signal"
from
peripheral
device

signal from an external device, etc.).

Axis

Stop

axis

All
axes

Each
axis

Each
axis

All
axes

Each
axis

M code

ON signal

after stop

No
change

No
change

No
change

No
change

Turns
OFF

No
change

No
change

operation

status

after

stopping

Md.26

(

Servo
OFF

Servo
amplifier
disconnected

During
error

Servo
OFF

During
error

During
error

During
error

OPR control Manual control

Machine

OPR

control

)

Servo OFF or free run
(The operation stops with dynamic brake or

electromagnetic brake.)

Deceleration stop/sudden stop
(Select with "

sudden stop selection" )

Deceleration stop/sudden stop
(Select with "

sudden stop selection" )

Deceleration stop/sudden stop
(Select with "

sudden stop selection" )

Fast

OPR

control

Stop process

Major
positioning
control

Pr.37

Pr.38

High-level
positioning
control

Sudden stop group1

Sudden stop group2

JOG/
Inching
operation

Pr.39 Sudden stop group3

Manual
pulse
generator
operation

Deceleration
stop

Deceleration
stop

Deceleration
stop

1 - 26

1 PRODUCT OUTLINE

Stop cause

Intentional stop
(Stop group 3)

"Stop signal"
ON from
external
device

"Axis stop
signal" ON
from PLC
CPU

Stop

axis

Each
axis

Reference

Provide the emergency stop circuits external to the servo system to prevent cases
where danger may result from abnormal operation of the overall in the event of a
power supply fault or servo system failure.

M code
ON signal
after stop

No
change

Axis

operation

status

after

stopping

Md.26

(

When
stopped
(While
waiting)

MELSEC-Q

Stop process

OPR control Manual control

Machine

OPR

)

control

control

Deceleration stop/sudden stop
(Select with "

sudden stop selection" )

Fast

OPR

Major
positioning
control

Pr.39 Sudden stop group3

High-level
positioning
control

JOG/
Inching
operation

Manual
pulse
generator
operation

Deceleration
stop

1 - 27

4

4

1 PRODUCT OUTLINE

1.2.4 Outline for restarting

When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped 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

00

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 waiting 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

00

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 - 28

is turned ON

Stop position
after restart

Operation during
positioning start

Axis 2

Chapter 2 System Configuration

2

In this chapter, the general image of the system configuration of the positioning control
using QD75MH, 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 Component list..............................................................................................................2- 4

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

2.4 How to check the function version and SERIAL No. ..................................................2- 8

2 - 1

2 SYSTEM CONFIGURATION

2.1 General image of system

The general image of the system, including the QD75MH, PLC CPU and peripheral
devices is shown below.
(The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".

MELSEC-Q

Extension
cable

CPU
module 1

Main base unit 2

Positioning
module

1

I/O
module

Extension
system

USB cable

5

RS-232 cable

4

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.
3 For the items with , use the software package of "2" or later (Version 2.21X or later).

2 - 2

2 SYSTEM CONFIGURATION

MELSEC-Q

6

SSCNET cable

8

Peripheral device

Servo
amplifer

Extenal connector of servo amplifer
Upper/lower stroke limit switch
Near-point dog signal

Manual pulse generator

7

9

Cable

Machine system inputs (switches)

Forced stop input
signal
Upper/lower stroke
limit switch
External-command
signal/switching signal
Stop signal
Near-point dog signal

Motor

GX Configurator

-QP

Personal
computer

3

(For details, refer to GX Configurator

-QP Operating Manual.)

2 - 3

2

SW D5C

-QD75P-E

3

2 SYSTEM CONFIGURATION

2.2 Component list

MELSEC-Q

No. Part name Type Remarks

1 Positioning module

GX Configurator-

2

QP

3 Personal computer

4 RS-232 cable QC30R2

5 USB cable –

6 Servo amplifier – (Prepared by user)

Manual pulse

7

generator
SSCNET

1

(For connecting

8

between the
QD75MH and the
servo amplifier)

Cable
(For connecting

9

between the
QD75MH and the
external device)

1: The SSCNET cable connecting the QD75MH and servo amplifier, external device connection connector has been

prepared. Refer to the below table.

cable

1

The positioning system using the QD75MH is configured of the following devices.

QD75MH1
QD75MH2
QD75MH4

SW

D5C-QD75P-

E
DOS/V personal

computer

–

–

–

QD75MH

Number of control axes

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

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

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

(Prepared by user)
Recommended: MR-HDP01 (Mitsubishi Electric)

(Prepared by user)
Cables are needed to connect the QD75MH with the servo amplifier.

(Prepared by user)
Cables are needed to connect the QD75MH with the external device.
(Prepare them referring to the manuals for the connected devices and

information given in 3.4.2 of this manual.)

MH: SSCNET model

2 - 4

2 SYSTEM CONFIGURATION

MELSEC-Q

Part name Type Remarks

• Connection between QD75MH and MR-J3-B.

MR-J3BUSM

SSCNET cable

Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (sold separately)

Applicable wire size

:  = Cable length

(015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m
(32.80ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )

(Note): The cable length of the SSCNET

MR-J3BUSM: The cable length is 3m(0.98ft.) max. / MR-J3BUSM-A: The cable length is 20m(65.62ft.) max. /
MR-J3BUSM-B: The cable length is 50m(164.04ft.) max.

MR-J3BUSM-A

MR-J3BUSM-B

2

0.3 mm
AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)

(when A6CON1and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used),

• Connection between MR-J3-B and MR-J3-B.

• Standard code for inside panel.

• 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.)

• Connection between QD75MH and MR-J3-B.

• Connection between MR-J3-B and MR-J3-B.

• Standard code for outside panel.

• 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)

• Connection between QD75MH and MR-J3-B.

• Connection between MR-J3-B and MR-J3-B.

• Long distance cable.

• 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)

cable depends on the cable type.

Specifications of recommended manual pulse generator

Item Specification
Model name MR-HDP01
Pulse resolution 25PLS/rev (100 PLS/rev after magnification by 4)

Output method

Power supply voltage 4.5 to 13.2VDC
Current consumption 60mA
Life time 1000000 revolutions (at 200r/min)

Permitted axial loads

Operation temperature -10 to 60°C (14 to 140°F )
Weight 0.4 (0.88) [kg(lb)]
Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min
Pulse signal status 2 signals: A phase, B: phase, 90° phase difference
Friction torque 0.1N/m (at 20°C (68°F))

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

Output current Max. 20mA

Radial load: Max. 19.6N

Thrust load: Max. 9.8N

2 - 5

2 SYSTEM CONFIGURATION

2.3 Applicable system

The QD75MH can be used in the following system.

(1) Applicable modules and the number of installable modules

The following table indicates the CPU modules and network modules (for remote
I/O station) usable with the QD75MH and the number of installable modules.

Applicable modules Number of installable modules Remarks

CPU
module

QJ72LP25-25
Network
module

QJ72LP25GE

1: Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) of

the CPU module used.

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

(Remote I/O Network).

(2) Usable base unit

The QD75MH can be installed in any of the I/O slots (
When installing the QD75MH, always consider the power supply capacity since a
shortage of the power supply capacity may occur depending on the combination

with the other installed module and the number of installed module.

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

station).

(3) Compatibility with Multiple PLC system

When using the QD75MH in a Multiple PLC system, first refer to the QCPU User's
Manual (Multiple CPU system).

Q00JCPU Max. 8 modules

Q00CPU
Q01CPU

Q02CPU
Q02HCPU
Q06HCPU
Q12HCPU
Q25HCPU

Q12PHCPU
Q25PHCPU

QJ72BR15

QJ72LP25G

Max. 24 modules

Max. 64 modules

Max. 64 modules

Max. 64 modules

MELSEC-Q

( 1)

Installable in the Q mode

only

1)

(

1)

(

MELSECNET/H remote I/O

station (

) of a base unit.

3

2)

2 - 6

2 SYSTEM CONFIGURATION

(4) Supported software packages

The following table lists the compatibility between the systems using the QD75MH
and the software packages. GX Developer is required for use of the QD75MH.

Q00J/Q00/Q01CPU

Q02/Q02H/Q06H/
Q12H/Q25HCPU

Q12PH/Q25PHCPU

For use on MELSECNET/H remote
I/O station

Single PLC

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

Single PLC

system

Multiple PLC

system

MELSEC-Q

Software version

GX Developer GX Configurator-QP

Version 7 or later

Version 8 or later

Version 4 or later

Version 6 or later

Version 7.10L or later

Version 6 or later

Version 2.21X or later

2 - 7

2 SYSTEM CONFIGURATION

2.4 How to check the function version and SERIAL No.

The function version and the SERIAL No. of the QD75MH can be checked in the
following methods.

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

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

Check the alphabet of "SERIAL".

MELSEC-Q

027510

SERIAL No. (The first six digits)
Function version

[2] Method using the software

Check the alphabet at the end of "Product information" displayed on System
monitor "Module's Detailed Information" of GX Developer

2

information" of GX Configurator-QP

.

<GX Developer display screen> <GX Configurator-QP display screen>

M

QD75MH4

1

or on "OS

QD75MH4

M

QD75MH4

SERIAL No.

Function version

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

to GX Developer Operating Manual.

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

2 - 8

Chapter 3 Specifications and Functions

3

The various specifications of the QD75MH are explained in this chapter.

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

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

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

3.2.1 QD75MH control functions .............................................................................3- 4

3.2.2 QD75MH main functions ................................................................................3- 6

3.2.3 QD75MH sub functions and common functions ............................................3- 8

3.2.4 Combination of QD75MH main functions and sub functions .......................3- 12

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

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

3.3.2 Details of input signals (QD75MH

3.3.3 Details of output signals (PLC CPU

3.4 Specifications of interfaces with external devices ......................................................3- 18

3.4.1 Electrical specifications of input signals........................................................3- 18

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

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

3.4.4 Interface internal circuit..................................................................................3- 21

3.5 External circuit design .................................................................................................3- 22

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

QD75MH)........................................3- 17

3 - 1

3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance specifications

MELSEC-Q

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

Interpolation function None

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

Backup

Positioning system

Positioning range

Positioning

Speed command

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

: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to "Section 9.2.17 Speed-

1

position switching control (ABS mode)".)

2: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to "Section 12.7.8 Pre-reading start

function".)

: When "Speed control 10 x multiplier setting for degree axis function" is valid, this will be the setting range 0.01 to 20000000.00

3

(degree/min). (For details, refer to "Section 12.7.11 Speed control 10 x multiplier setting for degree axis function".)

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 (positioning data Nos. 1 to 600)/axis
(Can be set with peripheral device or PLC 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 (PLS)

In incremental system

• –214748364.8 to 214748364.7 (µm)

• –21474.83648 to 21474.83647 (inch)

• –21474.83648 to 21474.83647 (degree)

• –2147483648 to 2147483647 (PLS)

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 (PLS)

In speed-position switching control (ABS mode) 1

• 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 50000000 (PLS/s)

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

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

QD75MH1 QD75MH2 QD75MH4

2-axis linear interpolation

2-axis circular interpolation

3

2-, 3-, or 4-axis linear

interpolation

2-axis circular interpolation

1

3 - 2

×

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Item

Starting time (ms) 2

External wiring connection system 40-pin connector

Applicable wire size

Applicable connector for external
device

SSCNET cable

SSCNET cable over all length

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

Outline dimensions (mm(inch))
Weight (kg) 0.15 0.15 0.16

2: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to "Section 12.7.8 Pre-reading start

function".)

:  = Cable length

4

(015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.80ft.), 20: 20m
(65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )

Model

1-axis linear control 3.5
1-axis speed control 3.5
2-axis linear interpolation control (Composite speed) 4.0
2-axis linear interpolation control (Reference axis speed) 4.0
2-axis circular interpolation control 4.0
2-axis speed control 3.5
3-axis linear interpolation control (Composite speed) 4.0
3-axis linear interpolation control (Reference axis speed) 4.0
3-axis speed control 3.5
4-axis linear interpolation control 4.0

4-axis speed control 4.0

0.3 mm
AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)

A6CON1, A6CON2, A6CON3, A6CON4 (sold separately)

MR-J3BUSM 4

MR-J3BUSM-A 4

MR-J3BUSM-B

QD75MH1 : 0.60A QD75MH2 : 0.60A QD75MH4 : 0.60A

QD75MH1 QD75MH2 QD75MH4

Factors in starting time extension

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

• S-pattern acceleration/
deceleration is selected: 0.5

• Other axis is in
operation: 1.5

• During continuous
positioning control: 0.2

• During continuous path
control: 1.0

2

(when A6CON1 and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used),

• Connection between QD75MH and MR-J3-B.

• Connection between MR-J3-B and MR-J3-B.

• Standard code for inside panel.

• 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.)

• Connection between QD75MH and MR-J3-B.

• Connection between MR-J3-B and MR-J3-B.

• Standard code for outside panel.

• 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)

• Connection between QD75MH and MR-J3-B.

• Connection between MR-J3-B and MR-J3-B.

4

• Long distance cable.

• 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)

The cable length of the SSCNET

MR-J3BUSM: The cable length is 3m(0.98ft.) max. /
MR-J3BUSM-A: The cable length is 20m(65.62ft.) max. /
MR-J3BUSM-B: The cable length is 50m(164.04ft.) max.

98 (3.86) (H)

27.4 (1.08) (W) × 90 (3.54) (D)

cable depends on the cable type.

3 - 3

3 SPECIFICATIONS AND FUNCTIONS

3.2 List of functions

3.2.1 QD75MH control functions

The QD75MH has several functions. In this manual, the QD75MH 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 QD75MH 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 QD75MH.
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 QD75MH 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 QD75MH from an external device, the QD75MH
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 QD75MH for "parameter initialization" or "backup of
execution data" can be carried out. (Refer to Chapter 13 "Common Functions".)

MELSEC-Q

3 - 4

3 SPECIFICATIONS AND FUNCTIONS

Main functions

MELSEC-Q

Sub functions

OPR control

[Positioning start No.]

[9001]

[9002]

Major positioning control

<Control system>

Position control

Speed control

Speed-position switching control
Position-speed switching control

Other control

·1-axis linear control

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

·1-axis fixed-feed
control

·2-, 3-, or 4-axis fixed-feed
control

·2-axis circular interpolation
control

·1-axis linear control

·2-axis linear interpolation control

·3-axis linear interpolation control

·4-axis linear interpolation control

·Current value changing,
NOP instruction

·JUMP instruction,
LOOP to LEND

High-level positioning control

Major positioning
control

[Positioning start No.]

[9004]

Manual control

[Block start data]

[Positioning start signal]

JOG start signal ON
Pulse input from manual

pulse generator

Control registered in QD75MH

Control using "Positioning data"

Machine OPR

Fast OPR

<Operation
pattern>

Independent
positioning control
(Positioning complete)

Continuous
positioning control

Continuous path
control

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

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

Repeated start
(FOR loop)

Repeated start
(FOR condition)
Multiple axes
simultaneous start
control

Control with signals input from external device

JOG operation, Inching operation
Manual pulse generator

operation

(Functions characteristic to
machine OPR)

retry function

OPR
OP shift function

<Functions that compensate
control>

Backlash compensation function

Electronic gear function
Near pass function

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

Software stroke limit function

Hardware stroke limit function

Forced stop function

<Functions that change
control details>

Speed change function
Override function
Acceleration/deceleration

time change function
Torque change function

<Absolute position system>
<Other functions>

Step function
Skip function
Continuous operation

interrupt function
M code output function
Teaching function
Target position change function
Command in-position function
Acceleration/deceleration

processing function
Pre-reading start function
Deceleration start flag function
Stop command processing

for deceleration stop function
Follow up function
Speed control 10 x multipler

setting for degree axis function
Operation setting for in-

completion of OPR function

Common functions

Parameter initialization function Execution data backup function

External signal selection function

External I/O signal logic switching function

3 - 5

3 SPECIFICATIONS AND FUNCTIONS

3.2.2 QD75MH main functions

The outline of the main functions for positioning control with the QD75MH 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 linear control)
(2-axis linear interpolation control)
(3-axis linear interpolation control)
(4-axis linear interpolation control)

Current value changing

NOP instruction

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

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

Main functions Details

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 QD75MH 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 command 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 command
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.)

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.

MELSEC-Q

Md.21

Machine

Md.20

Current feed value"

Md.20

) to the address

• Current value changing using positioning data

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

Reference

section

8.2

8.3

9.2.2

9.2.3

9.2.4

9.2.5

9.2.6

9.2.7

9.2.8

9.2.9

9.2.10

9.2.11

9.2.12

9.2.13

9.2.14

9.2.15

9.2.16

9.2.17

9.2.18

9.2.19

9.2.20

9.2.21

9.2.23

3 - 6

3 SPECIFICATIONS AND FUNCTIONS

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

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 a pulse to servo amplifier while the JOG start signal is
ON.

Outputs pulses corresponding to minute movement amount by
manual operation to servo amplifier.

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

servo amplifier. (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.

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.

Details

MELSEC-Q

Reference

section

10.3.2

10.3.3

10.3.4

10.3.5

10.3.6

10.3.7

10.5

11.2

11.3

11.4

Reference

section

9.1.2

3 - 7

3 SPECIFICATIONS AND FUNCTIONS

3.2.3 QD75MH sub functions and common functions

MELSEC-Q

Sub functions

The functions that assist positioning control using the QD75MH are described

Sub function Details

Functions
characteristic
to machine
OPR

Functions that
compensate
control

Functions that
limit control

Functions that
change control
details

Absolute position system This function restores the absolute position. 12.6

1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters.

OPR retry function

OP shift function

Backlash compensation
function

Electronic gear function

Near pass function

Speed limit function

Torque limit function

Software stroke limit
function

Hardware stroke limit
function

Forced stop function

Speed change function

Override function

Acceleration/deceleration
time change function

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

below. (Refer to Section 2 for details on each function.

This function retries the machine OPR with the upper/lower
limit switches during OPR. This allows machine OPR to be
carried out even if the axis is not returned to before the near­point 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.
When the movement amount per pulse is set, a flexible
positioning system that matches the machine system can be
structured.

This function suppresses the machine vibration when the

1

speed changes during continuous path control in the
interpolation control.

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 QD75MH external device connector.

This function is stopped the all axis of the servo amplifier when
the forced stop input signal of the QD75MH external connector
is turned ON.

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.

Pr.8

Speed limit value" setting range.

New speed value), and change the speed with the

Cd.15

Pr.8

Speed limit value"

Pr.17

Torque limit setting

).

Pr.17

Cd.13

Reference

section

12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.4.1

12.4.2

12.4.3

12.4.4

12.4.5

12.5.1

12.5.2

12.5.3

12.5.4

3 - 8

3 SPECIFICATIONS AND FUNCTIONS

Sub function Details

This function temporarily stops the operation to confirm the

Step function

Skip function

M code output function

Teaching function

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

This function stops (decelerates to a stop) the positioning 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. (

Cd.39

MELSEC-Q

Reference

section

12.7.1

12.7.2

12.7.3

12.7.4

).

Other functions

Target position change
function

Command in-position
function

Acceleration/deceleration
process function

Continuous operation
interrupt function

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

Deceleration start flag
function

Stop command processing
for deceleration stop
function

Follow up function

Speed control 10 x
multiplier setting for degree
axis function

Operation setting for
incompletion of OPR
function

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

At each automatic deceleration, this function calculates the
remaining distance for the QD75MH 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. 12.7.7

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.

This function monitors the motor rotation amount with the servo
turned OFF, and reflects it on the current feed value.

This function is executed the positioning control by the 10 x
speed of the command speed and the speed limit value when
the setting unit is "degree".

This function is provided to select whether positioning control is
operated or not, when OPR request flag is ON.

12.7.5

12.7.6

6.5.4

12.7.9

12.7.10

12.8.2

12.7.11

12.7.12

3 - 9

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 signal selection function

External I/O signal logic switching function

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

This function returns the "parameters" stored in the QD75MH
buffer memory and flash ROM to the default values.
The following two methods can be used.

1) Method using PLC program

2) Method using GX Configurator-QP

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

1) Method using PLC program

2) Method using GX Configurator-QP

This functions is selected either of external device connector of
QD75MH or external input signal of servo amplifier whether
connect the upper/lower limit signal and the Near-point dog
signal.

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 Upper/lower limit signal, by
setting parameters to positive logic.

MELSEC-Q

Reference

section

13.2

13.3

13.4

13.5

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

MEMO

3 - 11

3 SPECIFICATIONS AND FUNCTIONS

3.2.4 Combination of QD75MH main functions and sub functions

With positioning control using the QD75MH, the main functions and sub functions can
be combined and used as necessary. A list of the main function and sub function
combinations is given below.

Sub functions

MELSEC-Q

Functions characteristic to

machine OPR

Main functions Combination with operation pattern. 1

OPR control

Major positioning
control

Manual control

Machine OPR control

Fast OPR control

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

Position control

Speed control (1- to 4-axis)

Speed-position switching control (Continuous path control cannot be set)

Position-speed switching control

Other control

JOG operation, inching operation

Manual pulse generator operation

1-axis fixed-feed control

2-, 3-, or 4-axis fixed-feed
control (interpolation)
2-axis circular interpolation
control

Current value changing (Continuous path control cannot be set)

NOP instruction

JUMP instruction

LOOP to LEND

(Continuous path control cannot be set)

(Continuous path control cannot be set)

(Only independent positioning control

(Only independent positioning control

can be set)

can be set)

: 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 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 Disabled for a start of positioning start No. 9003.

9 Valid for "

10 Valid for a start of positioning start No.9003, but invalid for a start of positioning data (No. 1 to 600).

Md.22

Feedrate " and "

Md.28

Axis feedrate".

OPR retry function

OP shift function

3 - 12

g

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Functions that

compensate control

Functions that limit control

Functions that change

control details

Other functions

Backlash compensation function

Electronic gear function

Near pass function

Speed limit function

Torque limit function

Software stroke limit function

Hardware stroke limit function

Forced stop function

Speed change function

2

3

e function

cceleration/ deceleration time

han

Override function

3

Torque change function

Step function

Skip function

M code output function

Teaching function

Target position change function

4

cceleration/deceleration process

unction

Pre-reading start function

Command in-position function

Deceleration start flag function

6

6

top command processing for

peed control 10 x multiplier

eceleration stop function

etting for degree axis function

peration setting for incompletion

f OPR function

8

7

10

5

9

REMARK

•

The "common functions" are functions executed as necessary. (These are not combined

with the control.)

•

"High-level positioning control" is a control used in combination with the "major positioning

control". For combinations with the sub functions, refer to the combinations of the "major
positioning control" and sub functions.

3 - 13

3 SPECIFICATIONS AND FUNCTIONS

3.3 Specifications of input/output signals with PLC CPU

3.3.1 List of input/output signals with PLC CPU

The QD75MH uses 32 input points and 32 output points for exchanging data with the
PLC CPU.
The input/output signals when the QD75MH is mounted in slot No. 0 of the main base
unit are shown below.
Device X refers to the signals input from the QD75MH to the PLC CPU, and device Y

Device No. Signal name Device No. Signal name

X1A Y1A
X1B Y1B
X1C Y1C
X1D Y1D
X1E Y1E
X1F

Important

[Y2 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 QD75MH will not be guaranteed.

refers to the signals output from the PLC CPU to the QD75MH.

Signal direction: QD75MH PLC CPU Signal direction: PLC CPU QD75MH

X0 QD75 READY Y0 PLC READY
X1 Synchronization flag Y1 All axis servo ON
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

Use prohibited

M code ON

Error detection

BUSY

Start complete

Positioning complete

Use prohibited

MELSEC-Q

Y3

Y7 Axis 4

YB Axis 2 Reverse run JOG start

YF Axis 4 Reverse run JOG start

Y13 Axis 4

Y17 Axis 4

Y1F

Use prohibited

Axis stop

Positioning start

Execution prohibition flag

Use prohibited

3 - 14

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (QD75MH PLC CPU)

MELSEC-Q

Device

No.

X0 QD75 READY ON: READY

X1 Synchronization

flag

X4

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
Axis 1

BUSY
Axis 2
Axis 3
Axis 4

Axis 1

Start

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

OFF: Not BUSY

1

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 PLC program, etc.

PLC READY signal [Y0] OFF

QD75 READY signal [X0] OFF

• After the PLC is turned ON or the CPU module is reset, this signal turns ON if the
access from the CPU module to the QD75MH 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 PLC program to
the QD75MH.

• 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"
OFF.

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

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

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

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

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

Da.9

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

stopped with step operation.

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

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

• This signal turns ON when the positioning start signal turns ON and the QD75MH
starts the positioning process.
(The start complete signal also turns ON during OPR control.)

Positioning start signal [Y10]

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

Cd.5

ON

ON

Cd.7

M code OFF request".

Da.10

Axis error rest".

ON

OFF

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

Cd.21

ON

X14
X15
X16
X17

Axis 1
Axis 2
Axis 3
Axis 4

Positioning
complete

2

OFF: Positioning

incomplete

ON: Positioning

complete

Start complete signal [X10]

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

completed.
(It does not turn ON when "

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

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

OFF

Pr.40

Positioning complete signal output

Pr.40

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

3 - 15

3 SPECIFICATIONS AND FUNCTIONS

Important

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

1

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

: "Positioning complete" of the QD75MH refers to the point when the pulse output from

2

QD75MH is completed.
Thus, even if the QD75MH's positioning complete signal turns ON, the system may
continue operation.

MELSEC-Q

3 - 16

3 SPECIFICATIONS AND FUNCTIONS

3.3.3 Detail of output signals (PLC CPU QD75MH)

MELSEC-Q

Device No. Signal name Details

Y0 PLC READY OFF:

Y1 All axis servo ON OFF:

Y4

Axis 1
Y5
Y6
Y7

Y8
Y9

YA
YB
YC
YD
YE

YF

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

Servo OFF

ON:

Servo 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 QD75MH that the PLC CPU is normal.

• It is turned ON/OFF with the PLC 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 the data (parameter etc.) are changed, the PLC READY

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

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

signal turns from OFF to ON.

• The parameter setting range is checked.

• The QD75 READY signal [X0] turns ON.

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

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

• The QD75 READY signal [X0] turns OFF.

• The operating axis stops.

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

Md.25

"0" is stored in "

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

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

• The servo for all the servo amplifiers connected to the QD75MH is
turned ON or OFF.

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

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

• Whether to decelerate or suddenly stop can be selected with

Pr.39

"

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

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

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

• OPR operation or positioning operation is started.

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

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

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

12.7.8)

Stop group 3 sudden stop selection".

Cd.17

Valid M code".

JOG speed". When the JOG start signal turns

3 - 17

3 SPECIFICATIONS AND FUNCTIONS

3.4 Specifications of interfaces with external devices

3.4.1 Electrical specifications of input signals

MELSEC-Q

Signal name

Forced stop input
signal (EMI)

Upper limit signal
(FLS)

Lower limit signal
(RLS)

Stop signal (STOP)

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)

Input specifications

Rated input

voltage/current

24VDC/5mA

5VDC/5mA 4.5 to 6.1VDC

1

Pulse width

2

Phase difference

A phase

B phase

24VDC/5mA

Working

voltage range

19.2 to

26.4VDC

4ms or more

2ms
or more

2ms or more

(Duty ratio: 50%)

1ms or more

19.2 to

26.4VDC

ON

voltage/current

17.5VDC or more/

3.5mA or more

2.5VDC or more/
1mA or more

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

17.5VDC or more/

3.5mA or more

OFF

voltage/current

7VDC or less/

1.0mA or less

1VDC or less/

0.1mA or less

7VDC or less/

1.0mA or less

Input

resistance

Approx. 6.8kΩ

Approx. 1.2kΩ

Approx. 6.8kΩ

Response

time

4ms or less

1ms or less

1ms or less

3 - 18

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
QD75MH and external device, are shown below.
The signal layout for the QD75MH external device connection connector is shown.

MELSEC-Q

QD75MH1 QD75MH2

QD75MH1

AX1

ERR

AX1

RUN

ERR

QD75MH2

AX1
AX2

AX1RUN
AX2

Pin layout

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

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

Front view of
the module

1: Pin No. "1
2: When a 1-axis module is used, pin Nos. 1B1 to 1B7 are "No connect".
3: For 1-axis module and 2-axis module do not have AX3 and AX4 connector of the left side.

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

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

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

2B20 No connect 2A20 No connect 1B20 PULSER B– 1A20 PULSER B+
2B19 No connect 2A19 No connect 1B19 PULSER A– 1A19 PULSER A+
2B18 No connect 2A18 No connect 1B18 No connect 1A18 No connect
2B17 No connect 2A17 No connect 1B17 No connect 1A17 No connect
2B16 No connect 2A16 No connect 1B16 No connect 1A16 No connect
2B15 No connect 2A15 No connect 1B15 P5 1A15 P5
2B14 No connect 2A14 No connect 1B14 SG 1A14 SG
2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect
2B12 No connect 2A12 No connect 1B12 No connect 1A12 No connect
2B11 No connect 2A11 No connect 1B11 No connect 1A11 No connect
2B10 No connect 2A10 No connect 1B10 No connect 1A10 No connect

2B9 No connect 2A9 No connect 1B9 No connect 1A9 No connect
2B8 No connect 2A8 No connect 1B8 EMI.COM 1A8 EMI
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

QD75MH4

RUN

AX1
AX2
AX3

ERR AX4

QD75MH4

AX1

AX3

AX2

AX4

" indicates the pin No. for the left connector.

3 - 19

3 SPECIFICATIONS AND FUNCTIONS

3.4.3 List of input signal details

MELSEC-Q

Signal name

Manual pulse generator A
phase
Manual pulse generator B
phase

Manual pulse generator A
common
Manual pulse generator B
common

Upper limit signal 1A1 1B1 2A1 2B1

Lower limit signal 1A2 1B2 2A2 2B2

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

Stop signal 1A4 1B4 2A4 2B4

External command signal/
switching signal

Common

Forced stop input signal 1A8 —
Forced stop input signal
common
Manual pulse generator power
supply (+ 5VDC)
Manual pulse generator power
supply (GND)

The details of each QD75MH external device connection connector are shown below:

Pin No.

AX1 AX2 AX3 AX4

1A19
1A20

1B19
1B20

1A5 1B5 2A5 2B5

1A6

1B6

1A7

1B7

1B8 —

1A15
1B15
1A14
1B14

—

—

2A6

2B6

2A7

2B7

— • Power supply for manual pulse generator. (+ 5VDC)

— • Power supply for manual pulse generator. (GND)

Signal details

(Negative logic is selected by external input signal logic selection)

• Input the pulse signal from the manual pulse generator A phase and B
phase.

• If the A phase leads the B phase, the positioning address will increase at the
rising and falling edges of each phase.

• If the B phase leads the A phase, the positioning address will decrease at the
rising and falling edges of each phase.

[When increased] [When decreased]

A phase

B phase

Positioning
address

• This signal is input from the limit switch installed at the upper limit position of
the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the upper limit for finding the
near-point dog signal.

• This signal is input from the limit switch installed at the lower limit position of
the stroke.

• Positioning will stop when this signal turns OFF.

• When OPR retry function is valid, this will be the lower limit for finding the
near-point dog signal.

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

• The near-point dog OFF ON is detected at the rising edge.

• The near-point dog ON

• Input this signal to stop positioning.

• When this signal turns ON, the QD75MH will stop the positioning being
executed.
After that, even if this signal is turned from ON to OFF, the system will not
start.

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

• Use this signal as the input signal of positioning start, speed change request,
and skip request from an external device.

Set the function to use this signal in "
selection".

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

• This signal is input when batch forced stop is available for all axes of servo
amplifier.

• When this signal turns OFF, the QD75MH will be the forced stop.

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

OFF is detected at the falling edge.

A phase

B phase

Positioning
address

Pr.42

External command function

3 - 20

3 SPECIFICATIONS AND FUNCTIONS

3.4.4 Interface internal circuit

The outline diagrams of the internal circuits for the QD75MH1 external device
connection interface are shown below.

External wiring Pin No. Internal circuit Signal name

When Upper-limit
switch is not used

When Lower-limit
switch is not used

(1) Input

1A1

1A2

1A3

Upper-limit LS signal

Lower-limit LS signal

Near-point dog signal

MELSEC-Q

Need for wiring

1

4

4

4

FLS

RLS

DOG

24VDC

5V

A

B

0V

Manual pulse

generator

(MR-HDP01)

1A4

1A5

2

1A6
1B7
1A8 EMI
1B8

Stop signal

External command

signal/switching signal

Common COM

Forced stop input signal

(+)

1A19

(-)

Manual pulse generator

A phase

1B19

(+)

1A20

(–)

1B20

(5V)

1A15

(5V)

5VDC

Manual pulse generator

B phase

Manual pulse generator
power supply (+ 5VDC)

3, 5

STOP

CHG

EMI. COM

PULSER A+

PULSER A-

PULSER B+

PULSER B–

P5

1B15

(0V)

1A14

(0V)

Manual pulse generator

power supply (GND)

5

SG

1B14
1A10

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: If using separately-placed power supply as manual pulse generator power supply, do not connect power supply 5V(P5) on QD75MH

side. Use separately-placed power supply as 5V stabilized power supply. Using power supply of different voltage between P5 and SG
could lead to faults.

4: When using external input signal of servo amplifier, set "1" with "

for wiring of upper/lower limit signal and Section 8.1.1 for wiring of near-point dog signal.

5: Do not use P5 and SG for other than manual pulse generator power supply.

Pr.80

— — —

External signal selection". In addition, refer to Section 12.4.4

3 - 21

3 SPECIFICATIONS AND FUNCTIONS

3.5 External circuit design

Configure up the power supply circuit and main circuit which turn off the power supply
after detection alarm occurrence and servo forced stop.
When designing the main circuit of the power supply, make sure to use a no fuse
breaker (NFB).
The outline diagrams of the internal circuits for the QD75MH external device
connection interface are shown next page.

MELSEC-Q

3 - 22

3 SPECIFICATIONS AND FUNCTIONS

(1) Example when using the forced stop of the QD75MH

Alarm

1

Ra1

Forced stop Operation ready

OFF ON

MC

MC

SK

MELSEC-Q

3-phase
200VAC to
230VAC

CP1

NFB

Q61P-A2

SSCNET

8

EMI.
COM EMI

MC

CP3

SSCNET

QY41PQD75MHQnCPU

COM

Alarm

Ra1

Servo amplifer

L1

MR-J3-B

L2
L3

A

L11

0

DICOM

L21

CN1A

CN1B

DOCOM

Servo amplifer

L1

MR-J3-B

L2
L3

B

L11

1

DICOM

L21

CN1A

CN1B

DOCOM

Servo amplifer

L1

MR-J3-B

L2
L3

C

L11

2

DICOM

L21

CN1A

CN1B

DOCOM

7

ALM
EM1

7

ALM

EM1

7

ALM

EM1

Servomotor

Electromagnetic
breake

Ra2

Electromagnetic
breake

Ra3

Electromagnetic
breake

Ra4

U
V

W

Servomotor

U

V

W

Servomotor

U
V

W

2

2

2

SM

SM

SM

Ra2

Ra3

Ra4

U

V

W

Ground

3

24VDC

U
V

W

Ground

3

24VDC

U
V

W

Ground

3

24VDC

CP2

24VDC
Powerr
supply

24VDC

Forced stop

24GDC

1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC

CPU.
2: The power supply for the electromagnetic brake is possible to use a full wave rectified power supply.
3: The forced stop is possible to use a forced stop terminal of the servo amplifier.
4: When turning off the control power supply of servo amplifier, communication with servo amplifier is not possible from then on.

Example) If turning off the control power supply of servo amplifier L11/L21 in the above figure

amplifier of

C

cannot be performed either. For turning off power supply of certain servo amplifier, turn off the main circuit

B

, communication with the servo

power L1/L2/L3, but do not turn off the control power supply L11/L21.

5: When changing servo amplifier, turn off both the main circuit power L1/L2/L3 and the control power supply L11/L21. As communication

between servo amplifier and QD75MH is not possible at this time, stop the machine operation in advance and then change servo

amplifier.
6: If the emergency stop signal of QD75MH turns OFF when setting of

Pr.82

Forced stop valid/invalid setting to "0 : Valid", servomotor is

stopped with dynamic brake. (The LED display of servo amplifier indicates "E7" (Controller forced stop warning).)
7: If setting servo amplifier to Axis 1, set the rotary axis setting switch of servo amplifier to "0".

Set "Axis2 => 1 for rotary switch", "Axis3 => 2 for rotary switch" and "Axis4 => 3 for rotary switch" respectively.
8: The status of forced stop input signal can be confirmed with

Md.50

Forced stop input.

3 - 23

3 SPECIFICATIONS AND FUNCTIONS

(2) Example when using the forced stop of the QD75MH and MR-J3-B

Alarm

1

Ra1

Forced stop Operation ready

OFF ON

MC

MC

SK

MELSEC-Q

COM

MC

CP3

Ra1

Alarm

Ra2

SSCNET

Servo amplifer

L1
L2
L3

L11
L21

Servo amplifer

L1
L2
L3

L11
L21

Servo amplifer

L1
L2
L3

L11

L21

Forced stop

MR-J3-B

A

0

DICOM

CN1A

CN1B

DOCOM

MR-J3-B

B

1

DICOM

CN1A

CN1B

DOCOM

MR-J3-B

C

2

DICOM

CN1A

CN1B

DOCOM

6

ALM
EM1

6

ALM
EM1

6

ALM

EM1

Servomotor

U

V

W

Ground

Ra2

24VDC

U
V

W

Ground

Ra2

24VDC

U
V

W

Ground

Ra2

24VDC

U
V

W

Electromagnetic
breake

Ra3

U

V

W

Electromagnetic
breake

Ra4

U
V

W

Electromagnetic
breake

Ra5

SM

2

Servomotor

SM

2

Servomotor

SM

2

Ra3

Ra4

Ra5

3-phase
200VAC to
230VAC

CP1

CP2

NFB

Q61P-A2

SSCNET

24VDC
Powerr
supply

24VDC

24GDC

EMI.
COM EMI

QY41PQD75MHQnCPU

1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC

CPU.
2: The power supply for the electromagnetic brake is possible to use a full wave rectified power supply.
3: When turning off the control power supply of servo amplifier, communication with servo amplifier is not possible from then on.

Example) If turning off the control power supply of servo amplifier L11/L21 in the above figure

amplifier of

C

cannot be performed either. For turning off power supply of certain servo amplifier, turn off the main circuit

B

, communication with the servo

power L1/L2/L3, but do not turn off the control power supply L11/L21.

4: When changing servo amplifier, turn off both the main circuit power L1/L2/L3 and the control power supply L11/L21. As communication

between servo amplifier and QD75MH is not possible at this time, stop the machine operation in advance and then change servo

amplifier.
5: The dynamic brake is operated, and servomotor occurs to the free run when EM1 (forced stop) of servo amplifier turn OFF. At the time,

the display shows the servo forced stop warning (E6).

During ordinary operation, do not used forced stop signal to alternate stop and run.

The service life of the servo amplifier may be shortened.
6: If setting servo amplifier to Axis 1, set the rotary axis setting switch of servo amplifier to "0".

Set "Axis2 => 1 for rotary switch", "Axis3 => 2 for rotary switch" and "Axis4 => 3 for rotary switch" respectively.

3 - 24

Chapter 4 Installation, Wiring and Maintenance

of the Product

4

The installation, wiring and maintenance of the QD75MH are explained in this chapter.

Important information such as precautions to prevent malfunctioning of the QD75MH,
accidents and injuries as well as the proper work methods are described.
Read this chapter thoroughly before starting installation, wiring or maintenance,
and always following the precautions.

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

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

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

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

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

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

4.3 Wiring ........................................................................................................................4- 10

4.3.1 Precautions for wiring ....................................................................................4- 10

4.4 Confirming the installation and wiring .........................................................................4- 16

4.4.1 Items to confirm when installation and wiring are completed.......................4- 16

4.5 Maintenance ................................................................................................................4- 17

4.5.1 Precautions for maintenance.........................................................................4- 17

4.5.2 Disposal instructions......................................................................................4- 17

4 - 1

g

w

g

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 QD75MH installation, wiring and maintenance are
shown below.

Understand the "Handling precautions" and
"Names of each part" of the module (QD75
MH)

Install the module (QD75MH) on the base unit.

Understand the "Precautions for wiring of
SSCNET cable" before wiring of the
module (QD75MH).

Preparation

Installing the
module

Refer to
Section 4.1

Refer to
Section 4.2

Refer to
Section 4.2

STEP 1

STEP 2

STEP 3

MELSEC-Q

Wiring the
module

Confirmin
installation and

irin

Servicing the
module

the

STEP 4

Refer to
Section 4.3

STEP 5

Refer to
Section 4.3

STEP 6

Refer to
Section 4.4

STEP 7

Refer to
Section 4.5

STEP 8

Refer to
Section 4.5

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

Connect the cable to the module (QD75MH)

Confirm the connection

Operation of the positioning system.

Carry out maintenance

Dispose of the QD75MH and SSCNET
cable

The cables used to connect the QD75MH 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
MH after reading the precautions for wiring.

Check the connection using GX Configurator-QP.

Carry out maintenance as necessary.

When the QD75MH 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 QD75MH are shown below:

For QD75MH4

(1) RUN indicator LED, ERR indicator LED

QD75MH4

RUN

ERR AX4

AX3
AX4

AX1
AX2
AX3

QD75MH4

AX1
AX2

(2) Axis display LED

MELSEC-Q

(3) External device connector

(40-pin connector)

AX1: Axis 1
AX2: Axis 2
AX3: Axis 3
AX4: Axis 4

Refer to Section 3.4.2 "Signal layout for external
device connection connector" for details.

(4) SSCNET cable connector

No. Name Details

(1) RUN indicator LED, ERR indicator LED
(2) Axis display LED (AX1 to AX4)

(3) External device connector

(4) SSCNET cable connector A connector connected with servo amplifier.

Refer to the next page.

A connector connected with a drive unit, mechanical system
input, manual pulse generator, or forced stop input.

4 - 3

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(2) The LED display indicates the following operation statuses of the QD75MH and

axes.

MELSEC-Q

QD75

RUN

MH

4

AX1
AX2
AX3

ERR AX4

QD75MH4

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

The axes are
stopped or on
standby.

RUN

ERR
RUN

ERR
RUN

ERR

The symbols in the Display column indicate the following
statuses:

: Turns OFF. : Illuminates. : Flashes.

(3)

The interface for each QD75MH is shown below:

QD75MH1 QD75MH2 QD75MH4

QD75MH1 QD75MH2

AX1

ERR

AX1

RUN

ERR

AX1RUN
AX2

AX1
AX2

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

AX1
AX2
AX3
AX4

QD75MH4

RUN

ERR AX4

AX3
AX4

AX1 (or other
axis) illuminates.

ERR flashes.
AX1 (or other

axis) flashes.

All LEDs
illuminate.

AX1
AX2
AX3

QD75MH4
AX1
AX2

The
corresponding
axis is in
operation.

An error occurs
on the
corresponding
axis.

Hardware failure

QD75MH1

QD75MH2

4 - 4

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.1.3 Handling precautions

Handle the QD75MH and cable while observing the following precautions.

Use the PLC within the general specifications environment given in this manual.

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

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

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

Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.

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

Never disassemble or modify the module.

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

Completely turn off all lines of power supply externally before loading or unloading the module. Not

doing so could result in electric shock or damage to the product.

Because the connector has its orientation, check it before attaching or detaching the connector

straight from the front.
Unless it is properly installed, a poor contact may occur, resulting in erroneous input and output.

Do not directly touch the module's conductive parts and electronic components of the module.

Touching the conductive parts and electronic components of the module could cause an
operation failure or give damage to the module.

[1] Handling precautions

!

CAUTION

MELSEC-Q

4 - 5

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[2] Other precautions

(1) Main body

•

The main body case is made of plastic. Take care not to drop or apply

strong impacts onto the case.

•

Do not remove the QD75MH 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.

MELSEC-Q

4 - 6

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.2 Installation

4.2.1 Precautions for installation

The precautions for installing the QD75MH are given below. Refer to this section as
well as "4.1.3 Handling precautions" when carrying out the work.

[1] Precautions for SSCNET cable wiring

SSCNET cable is made from optical fiber. If optical fiber is added a power
such as a major shock, lateral pressure, haul, sudden bending or twist, its inside
distorts or breaks, and optical transmission will not be available. Make sure to
use optical fiber within the range of operating temperature described in this
manual. The optical cable and code part melts down if being left near the fire or
high temperature. Therefore, do not make it touched the part which becomes
high temperature, such as radiator or regenerative brake option of servo
amplifier, or servomotor.

(1) Minimum bend radius

Make sure to lay SSCNET cable with greater radius than the minimum
bend radius.
If the SSCNET
transmission is interrupted and it may cause malfunctions.

SSCNET cable Minimum bend radius [mm] ([inch])

MR-J3BUS M 25

MR-J3BUS M-A

MR-J3BUS M-B

cable is less than the minimum bend radius, optical

Reinforcement film cable : 50 (1.97)
Code part : 25 (0.98)
Reinforcement film cable : 50 (1.97)
Code part : 30 (1.18)

(2) Tension

If tension is added on SSCNET cable, the increase of transmission loss
occurs because of external force which concentrates on the fixing part of
SSCNET
worst, the breakage of SSCNET
connector may occur. For SSCNET
forced tension. (For the tension strength, refer to section Appendix 3.1
Connection of SSCNET

cable or the connecting part of SSCNET connector. At

cable or damage of SSCNET

cable laying, handle without putting

cables.)

(3) Lateral pressure

If lateral pressure is added on optical cable, the SSCNET cable itself
distorts, internal optical fiber gets stressed, and then transmission loss will
increase. At worst, the breakage of SSCNET
same condition also occurs at cable laying, do not tighten up SSCNET
cable with a thing such as nylon band (TY-RAP).

cable may occur. As the

MELSEC-Q

4 - 7

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(4) Twisting

If SSCNET cable is twisted, it will become the same stress added
condition as when local lateral pressure or bend is added. Consequently,
transmission loss increases, and the breakage of SSCNET
occur at worst.

[2] Precautions for SSCNET cable wiring

Fix the cable at the closest part to the connector with bundle material in order to
prevent SSCNET

• Wiring duct
If the duct is below the bottom of the module, leave sufficient clearance to
eliminate effects on the SSCNET
(2.76 inch) MIN.

cable from putting its own weight on connector.

cable, limit the space height to 70 mm

Unit: [mm] ([inch])

MELSEC-Q

cable may

70(2.76)

• Bundle fixing

Optical cord
Loose slack

Bundle
materialRecommended:
NK clamp SP type(NIX, INC.)

Cable

4 - 8

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[3] Precautions for installation

!

DANGER

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

tightening the screws.
Not doing so may cause electric shocks.

!

CAUTION

Never disassemble or modify the module.

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

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

removing the module.
Not doing so may cause an operation failure or damage to the module.

Use the PLC within the general specifications environment given in CPU module User's

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

Don't directly touch the conductive area or electronic components of the module.

Failure to observe this could lead to trouble or malfunctioning.

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 module in the environment of much vibration, tighten 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

.

MELSEC-Q

4 - 9

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

4.3 Wiring

The precautions for wiring the QD75MH are given below. Refer to this section as well
as "4.1.3 Handling precautions" when carrying out the work.

4.3.1 Precautions for wiring

MELSEC-Q

DANGER

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

wiring. Not doing so could result in electric shock or damage to the product.

CAUTION

Check the layout of the terminals and then properly route the wires to the module.
Connectors for external input signal must be crimped with the tool specified by the

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

Be careful not to let foreign matter such as sawdust or wire chips get inside the module. These

may cause fires, failure or malfunction.

The top surface of the module is covered with protective films to prevent foreign objects such as

cable off cuts from entering the module when wiring. Do not remove this film until the wiring is
complete. Before operating the system, be sure to remove the film to provide adequate

ventilation.
Securely connect the connector for SSCNET cable to the front connector on the module.
When removing the cable from the module, do not pull the cable. Hold the connector that is

connected to the module. Pulling the cable that is still connected to the module may cause

malfunction or damage to the module or cable.
The external input/output signal cable and the communication cable should not be routed near

or bundled with the main circuit cable, power cable and/or other such load - carrying cables

other than those for the PLC. These cables should be separated by at least 100mm (3.94inch)

or more. They can cause electrical interference, surges and inductance that can lead to mis-

operation.
The shielded cable for connecting QD75MH 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 QD75MH, servo amplifier or shielded cable or defective cable connections could

cause mis-operation of the unit.
If the cable connected to the QD75MH and the power line must be adjacently laid (less than

100mm (3.94inch)), use a shielded cable. Ground the shield of the cable securely to the control

panel on the QD75MH side. (A wiring example is given on this section "[1] Precautions for

wiring").
Forcibly removal the SSCNET cable from the QD75MH will damage the QD75MH and

SSCNET

cables.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

CAUTION

After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector.

Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.
Do not remove the SSCNET cable while turning on the power supply of QD75MH and servo

amplifier. Do not see directly the light generated from SSCNET

SSCNET

source of SSCNET

cable. When the light gets into eye, may feel something is wrong for eye. (The light

cable complies with class1 defined in JISC6802 or IEC60825-1.)

connector and the end of

If the SSCNET cable is added a power such as a major shock, lateral pressure, haul, sudden

bending or twist, its inside distorts or breaks, and optical transmission will not be available.

Be sure to take care enough so that the short SSCNET

cable is added a twist easily.

Be sure to use the SSCNET cable within the range of operating temperature described in this

manual. Especially, as optical fiber for MR-J3BUS

M and MR-J3BUS M-A are made of
synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not
make it touched the part which becomes high temperature, such as radiator or regenerative
option of servo amplifier, or servomotor.

When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more.

(Refer to this Section [2] Precautions for SSCNET

cable wiring.)

Put the SSCNET cable in the duct or fix the cable at the closest part to the QD75MH with

bundle material in order to prevent SSCNET

cable from putting its own weight on SSCNET
connector. When laying cable, the optical cord should be given loose slack to avoid from
becoming smaller than the minimum bend radius, and it should not be twisted.
Also, fix and hold it in position with using cushioning such as sponge or rubber which does not
contain plasticizing material.

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A

cables away from vinyl tape because the optical characteristic may be affected.

SSCNET cable Cord Cable

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

: Normally, cable is not affected by plasticizer.

: Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

Optical cord

Cable

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non­migrating plasticizer and they do not affect the optical characteristic of SSCNET

cable.
However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate
ester), may affect MR-J3BUS
In addition, MR-J3BUS

M and MR-J3BUS M-A cables (made of plastic).

M-B cable (made of quartz glass) is not affected by plasticizer.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

CAUTION

If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical

characteristic and machine characteristic. If it is used such an environment, be sure to do the
protection measures to the cord part.

When keeping the QD75MH or servo amplifier, be sure to put on a cap to connector part so that

a dirt should not adhere to the end of SSCNET

connector.

SSCNET connector to connect the SSCNET cable is put a cap to protect light device inside

connector from dust. For this reason, do not remove a cap until just before connecting
SSCNET

cable. Then, when removing SSCNET cable, make sure to put a cap.

Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with

a zipper of SSCNET

cable to prevent them from becoming dirty.

When exchanging the QD75MH or servo amplifier, make sure to put cap on SSCNET

connector. When asking repair of QD75MH or servo amplifier for some troubles, make also sure
to put a cap on SSCNET

connector. When the connector is not put a cap, the light device may

be damaged at the transit. In this case, exchange and repair of light device is required.

[1] Precautions for wiring

(1) Use separate cables for connecting to the QD75MH and for the power cable

that create surge and inductance.

(2) The shielded cable for connecting QD75MH can be secured in duct or

bundle fixing.
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
QD75MH or servo amplifier or shielded cable or defective cable connections
could cause mis-operation of the unit.

(3) If a duct is being used and cables to connect to QD75MH are separated

from the power line duct, use metal piping.
Ground the pipes securely after metal piping.

(4) The cable is to use the twisted pair shielded cable (wire size 0.3 mm

shielded must be grounded on the QD75MH side.

(5) Use separate shielded cables of the forced stop input signal (EMI,

EMI.COM), limit signal (FLS, RLS, DOG, STOP, CHG, COM) and etc., and
manual pulse generator signal (PULSER A+, PULSER A-, PULSER B+,
PULSER B-, P5, SG) for connecting to the QD75MH.
They can cause electrical interference, surges and inductance that can lead
to mis-operation.

2

). The

4 - 12

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Wiring example of shielded cable]

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

Connector
(A6CON1)

For forced stop
input signal

Shielded
cable

For limit signal
and etc.

For manual paluse
generator signal

MELSEC-Q

To QD75MH

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

Use the shortest possible length to
ground the 2mm or more FG wire.
(The shield must be grounded on
the QD75MH side.)

4 - 13

s

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Processing example of shielded cables]

Connections of FG wire and each shielded cable

Coat the wire with
insulaing tape.

Remove the covering from all shielded cables and bind
th e appeare d shiel d w ith a c o nduc t i ve tape .

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

MELSEC-Q

Assembling of connector (A6CON1)

Wrap the coated part
with a heat contractile
tube.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

(5) To make this product conform to the EMC directive and low voltage

instruction, be sure to used of a AD75CK type cable clamp (manufactured
by Mitsubishi Electric) for grounding connected to the control box and the
shielded cable.

Inside control box

QD75MH

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

AD75CK

MELSEC-Q

[How to ground shielded cable using AD75CK]

Shielded cable

Shield

Ground terminal

Ground terminal installation screw (M4 8 screw)

Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for
grounding.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

[Wiring examples using duct (incorrect example and corrected example)]

Relay

Relay

MELSEC-Q

Wiring duct

Control panel

Control panel

Servo

amplifier

Noise source

(Power system,

Noise source

(Power system,

Servo

amplifier

etc.)

Changed

Relay Relay

etc.)

Servo

amplifier

Relay

PLC

Relay

PLC

QD

75

MH

QD

75

MH

Servo

amplifier

The servo amplifiers are placed

near the noise source.

The connection cable between

the QD75MH and servo amplifiers

is too long.

Wiring duct

The QD75MH and servo amplifiers

are placed closely. The connection

cable between the QD75MH and

servo amplifier is separately laid

from the power line (in this example,

the cable is outside of the duct) and

is as short as possible.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

4.4 Confirming the installation and wiring

4.4.1 Items to confirm when installation and wiring are completed

Check the following points when completed with the QD75MH installation and wiring.

•

Is the module correctly wired? ... "Connection confirmation"

With "connection confirmation", the following three points are confirmed using GX
Configurator-QP's connection confirmation function. (GX Configurator-QP is

Important

If the QD75MH is faulty, or when the required signals such as the near-point dog signal and stop signal
are not recognized, unexpected accidents such as "not decelerating at the near-point dog during
machine OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur.
The "connection confirmation" must be carried out not only when structuring the positioning system, but
also when the system has been changed with module replacement or rewiring, etc.

required for this "connection confirmation".)

•

Are the QD75MH and servo amplifier correctly connected?

•

Are the servo amplifier and servomotor correctly connected?

•

Are the QD75MH and external device (input/output signal) correctly

connected?

With this "connection confirmation", "whether the direction that the QD75MH
recognizes as forward run matches the address increment direction in the actual
positioning work", and "whether the QD75MH recognizes the external
input/output signals such as the near-point dog signal and stop signal" can be
checked.

Refer to GX Configurator-QP Operating Manual for details on "Connection
confirmation".

Note that the monitor data of the "
Developer may also be used to "confirm the connection between the QD75MH
and external device (input signals)".

Md.30

External input signal" in the GX

4 - 17