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

...

SAFETY PRECAUTIONS

(Read these precautions before using this product.)

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

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

WARNING

CAUTION

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

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

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

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

[Design Precautions]

WARNING" and "!CAUTION".

CAUTION" may lead to

WARNING

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

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

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

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

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

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

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

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

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[Design Precautions]

CAUTION

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

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

[Mounting Precautions]

CAUTION

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

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

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

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

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

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

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

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

[Wiring Precautions]

WARNING

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

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[Wiring Precautions]

CAUTION

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

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

Tighten the connector screws within the specified torque range.

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

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

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

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

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

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

can cause a fire, failure, or malfunction.

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

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

[Startup/Maintenance Precautions]

WARNING

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

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

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[Startup/Maintenance Precautions]

CAUTION

Never disassemble or modify the module.

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

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

removing the module.

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

Do not install/remove the module to/from the base unit, or the terminal block to/from the module

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

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

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

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

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

[Precautions for use]

CAUTION

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

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

[Disposal Precautions]

CAUTION

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

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• CONDITIONS OF USE FOR THE PRODUCT •

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

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

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

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

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

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

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

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

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

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

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REVISIONS

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

Print Date Manual Number Revision

Dec., 1999 SH (NA)-080058-A First edition

Oct., 2000 SH (NA)-080058-B Addition of function version B

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

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

QD75 software package) have been replaced by the product names (GX Developer, GX Configurator-QP) for standardization.

Partial corrections and additions

CONTENTS, About Manuals, Generic Terms and Abbreviations, Section 1.4, Section 2.2, Section 2.3, Section 3.2.2 to Section 3.2.4, Section 3.3.2, Section 3.3.3, Section 3.4.1, Section 3.4.3, Section

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

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

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

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

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

9.2, Appendix 11, INDEX

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

Partial corrections and additions

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

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

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

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

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

7.1, Appendix 9.2, Appendix 10 to Appendix 13, INDEX

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

Partial corrections and additions

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

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

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

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

Partial corrections and additions

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

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

Print Date Manual Number Revision

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

Partial corrections and additions SAFETY INSTRUCTIONS, Section 1.4, Section 2.3, Section 2.4, Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.7, Section 5.2.1, Section 5.2.6, Section 5.6.2, Section 6.1, Section 9.2.19, Section 12.2.1, Section 12.4.4, Section 12.7.4, Appendix 1.1, Appendix 9.1

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

Partial corrections and additions Section 5.1.2, Section 9.1.2, Section 9.2.10, Section 9.2.21, Section 10.3.8, Section 11.4.1, Section 12.5.2, Section 12.7.1, Section 12.7.6, Section 15.1, Section 15.2

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Print Date

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

Manual Number Revision

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

Mar., 2012

SH (NA)-080058-O

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

Japanese Manual Version SH-080047-U

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

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INTRODUCTION

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

CONTENTS

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

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

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

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

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

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

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

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

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

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

PART 1 PRODUCT SPECIFICATIONS AND HANDLING

1. PRODUCT OUTLINE 1- 1 to 1- 24

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

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

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

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

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

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

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

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

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

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

1.2.4 Outline of restarting .......................................................................................................................... 1- 22

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

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

2. SYSTEM CONFIGURATION 2- 1 to 2- 12

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

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

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

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

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

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

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

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

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

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

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

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

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

3.3.2 Details of input signals (QD75

3.3.3 Details of output signals (CPU module

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

5.1.8 Types and roles of control data ....................................................................................................... 5- 15

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

6.5.6 Stop program.................................................................................................................................... 6- 43

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

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

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

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

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

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PART 2 CONTROL DETAILS AND SETTING

8. OPR CONTROL 8- 1 to 8- 24

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

9.1.3 Designating the positioning address................................................................................................ 9- 16

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

10.3.6 Repeated start (FOR loop) ......................................................................................................... 10- 14

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

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

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

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

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

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

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

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

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

11. MANUAL CONTROL 11- 1 to 11- 34

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

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

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

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

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

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

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

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

11.3 Inching operation................................................................................................................................. 11- 16

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

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

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

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

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

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

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

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

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

A - 13

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

13. COMMON FUNCTIONS 13- 1 to 13- 8

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

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

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

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

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

14. DEDICATED INSTRUCTIONS 14- 1 to 14- 24

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

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

A - 14

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

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

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

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

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

15. TROUBLESHOOTING 15- 1 to 15- 48

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

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

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

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

APPENDICES Appendix- 1 to Appendix-156

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

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

Appendix 1.2 Precautions for the replacement of QD75P

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

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

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

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

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

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

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

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

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

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

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

Appendix 5.1 Connection example of QD75P

Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation

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

Appendix 6.1 Connection example of QD75D

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

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

Appendix 7.1 Connection example of QD75D

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

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

Appendix 8.1 Connection example of QD75D

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

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

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

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

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

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

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

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

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

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

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

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

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

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

/QD75D with QD75P N/QD75D N

A - 15

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

INDEX Index- 1 to Index- 12

A - 16

ABOUT MANUALS

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

Related Manuals

Manual Name

GX Configurator-QP Version 2 Operating Manual

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

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

Manual Number

(Model Code)

SH-080172

(13JU19)

GX Developer Version 8 Operating Manual

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

(sold separately)

GX Works2 Version1 Operating Manual (Common)

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

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

GX Works2 Version1 Operating Manual (Intelligent Function Module)

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

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

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

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

SH-080373E

(13JU41)

SH-080779ENG

(13JU63)

SH-080921ENG

(13JU69)

USING THIS MANUAL

The symbols used in this manual are shown below.

Pr.

Da.

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

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

data item.

Md. Cd.

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

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

(A serial No. is inserted in the

mark.)

Representation of numerical values used in this manual.

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

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

ended by "H" are represented in hexadecimal.

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

10H ......Hexadecimal

A - 17

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

(1) Method of ensuring compliance

To ensure that Mitsubishi programmable controllers maintain EMC and Low

Voltage Directives when incorporated into other machinery or equipment, certain

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

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

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

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

with EMC and Low Voltage Directives.

(2) Additional measures

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

refer to Section 4.3.1.

GENERIC TERMS AND ABBREVIATIONS

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

Generic term/abbreviation Details of generic term/abbreviation

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

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

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

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

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

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

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

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

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

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

Drive unit (servo amplifier) Abbreviation for pulse input compatible drive unit (servo amplifier).

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

DOS/V personal computer

Personal computer

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

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

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

manual.

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

The module type is described to indicate a specific module.

"GX Configurator-QP".

IBM PC/AT

Generic term for personal computer which supports Windows

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

and compatible DOS/V compliant personal computer.

A - 18

COMPONENT LIST

Module name Description Quantity

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

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

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

QD75D1N

QD75D2N

QD75D4N

QD75P1 QD75P1 Positioning Module(1-axis open collector output system) 1

QD75P2 QD75P2 Positioning Module(2-axes open collector output system) 1

QD75P4 QD75P4 Positioning Module(4-axes open collector output system) 1

QD75D1

QD75D2

QD75D4

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

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