Mitsubishi Electronics QD73A1 manuel d'utilisation

MELSEC-Q QD73A1 Positioning Module User's Manual -QD73A1[...]

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1 SAFETY PRECAUTIONS (Read th ese precau tions bef ore using th is prod uct.) Befor e usin g this produc t, pl ease rea d thi s manua l and t he r elevan t manu als care full y and p ay f ull at tent ion to safet y to han dle th e product correc tly . The pre cauti ons giv en in th is manu al are concer ned wit h this product only . For the safet y[...]

2 [Inst allation Precautio ns] CAUTION ● Do not inst all the con necti on cabl es for ext ern al I/O si gnal s and for t he driv e unit to geth er wit h the main circu it lines, power cab les, or load c ircuit li nes o f a devi ce ot her t han the progr ammabl e contr olle r . Keep a di st ance of 100 mm or more be twe en them. Failu re to do so [...]

3 [Wiring Precautions ] W ARNING ● Shut of f the externa l power supp ly (a ll phas es) used in the syst em befor e inst allation and wi ring . Failur e to do so may result in ele ctric sh ock or ca use the modul e to fa il or mal funct ion. ● Aft er in st all ation and wiring , att ach the incl uded te rmin al cove r to th e modul e befor e tu[...]

4 [St artup and Mainten ance Precautions] [Precaut ion during operatio n] [Disposal Precautio n] W ARNING ● Shut of f the exte rnal pow er suppl y (al l phases ) used in t he syst em befo re cleani ng the module or reti ghte ning t he conne ctor scr ews. Fail ure to do so may resu lt in electr ic sho ck. CAUTION ● Do no t disa ssem ble o r modi[...]

5 CONDITIONS OF USE FOR THE PRODUCT (1) Mit subi shi pr ogra mmable control ler ("the PR ODUCT") sh all be used in co nditi ons; i) where an y prob lem, fau lt or failur e occur ring in the PROD UCT , if any , shall not lead t o any majo r or seri ous acci dent; a nd ii) whe re the bac kup and f ail- safe fu nction are syst ematic ally or[...]

6 INTRODUCTION Thank y ou for purcha sing the Mit s ubis hi ME LSEC-Q serie s progr ammab le co ntrolle rs. This m anual describe s the o perati ng proc edure, syste m config uration , p aramete r settings , func tions, pro gramm ing, and trou blesh ooting of the QD7 3A1 positioning mo dule (h ereaf ter ab brevia ted as QD7 3A1) . Before us ing th [...]

7 COMPLIANCE W ITH EMC AND LOW VOL T AGE DIRECTIVES (1) Method of ensuring compliance T o ensure tha t Mit subishi pro gramm able co ntrollers m aint ain EMC and Low V olt age Direc tives whe n incorp orated into ot her ma chiner y or eq uipment, cert ain measures may be ne cess ary . Plea se refer to one of the fol lowing manua ls. • QCPU U ser&[...]

8 RELEV ANT MANUA LS (3) CPU mo dule use r's manu al (4) Operating manual Manual nam e <manual number (m odel cod e)> Descriptio n QCPU User's Manual (Hardware D esign, Maintenance and Inspection) <SH-080483ENG , 13JR73> S pecifications of the hardware (CPU modules, power supply modules, base un its, extension cables, and memo[...]

9 Memo[...]

CONTENTS 10 CONTENTS SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . .[...]

11 CHAPTER 5 DA T A USED FO R POSITIONING 73 5.1 T ypes of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.2 Positioning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 5.3 OPR Parameters .[...]

12 CHAPTER 8 OPR CONTROL 178 8.1 Overview of OPR Contr ol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 8.2 Near-point Dog Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 8.3 Count Method . . . . . . . . . . . . . . . .[...]

13 13.2 Error Histor y Functi on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 13.3 Module Error Collection Func tion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 13.4 Error Clear Fun ction . . . . . . . . . . . . . . . . . . . . .[...]

14 MANUAL P AGE ORGANIZA TION In th is manua l, p ages are orga nized and the s ymbo ls are us ed as shown b elow . The foll owin g illust ration is for exp lanation p urpos e only , and shoul d not b e referre d to as an actua l docum enta tion. *1 The mouse operation example is provided below . The section of the current page is shown. The chapte[...]

15 The follo wing sy mbol s are u sed to represe nt buf fer memory a reas in th is ma nual. Se rial n umbers fi t in "*" . Symbol Descri ption Symbol indicating positioning parameter and OPR p arameter item Symbol indicating positioning dat a item Symbol indicating monitor data item Symbol indicating control data item Pr .* Da.* Md.* Cd.*[...]

16 TERMS Unles s otherw ise spe cifie d, this ma nual u ses t he foll owing t erms. For terms relat ed to po sitio ning, r efer to t he follow ing. Page 278 , Append ix 5 P ACKING LIST The prod uct packag e cont ains t he foll owing. Te r m De scription QD73A1 The abbreviation f or t he QD73A1 positioning module QCPU Another term for the MELSEC- Q [...]

17 CHA PTER 1 OVERV IEW 1 CHAPTER 1 OVER VIEW The QD73A1 possesses a deviatio n counter and D/ A convert er insi de as in the following figure. A system w ith the Q D73A1 op erates as follows . The rot ation speed of a servo motor i s proporti onal to comm and p ulse fr equency , while th e rot ation degree of the servomo tor is propo rtional to th[...]

18 1.1 Features (1) Analog output type that possesses a deviation counter and D/A conver ter inside This m odule conv erts c omma nd pul se for posit ioning i nto analog volt age inside, then outp uts a sp eed com mand to a servo ampli fier . (2) Compatible with analog i nput servo amplifiers A servo ampli fier doe s not requ ire an extra m odule t[...]

19 CHA PTER 1 OVERV IEW 1 1.2 Signal Transmission Between the QD73A1 and Others 1.2 Signal T ransmission Between t he QD73A1 and Others The follo wing figure sh ows signal tra nsmiss ion betw een th e QD73A1 and a CPU mo dule, and a drive unit. Y2D X11 X12 Y20 X20 X13 Y21 to Y23 X21 to X23 X14 X15 Y2C Y24, Y25 Y26 Y27 X18 Y28 X19 Y29 X1A Y2A X16 X1[...]

20 (1) Between the CPU module and the QD73 A1 The CPU modul e and th e QD73 A1 trans mit cont rol signals and dat a to ea ch oth er throu gh the base u nit. (2) Betwee n the dri ve uni t and the Q D73A1 Control signals are tra nsmitted betw een the drive un it and the QD7 3A1, and spee d comma nds (an alog vol tag e) are ou tput from the Q D73A1 to[...]

21 CHAPTER 2 SYSTEM CONFIGURA TION 2 2.1 Applicable Syst ems CHAPTER 2 SYSTEM CONFIGURA TION This chapte r describe s the system co nfigura tion of the QD73A1 . 2.1 Applicable System s This sec tion d escribes appl icabl e syst ems. (1) Applicable m odules and base unit s, and number of mount able modules For the applicab le CPU modul es and base u[...]

22 (4) Applicable sof tware p ackages The f ollowin g ta ble li st s syst ems tha t use the QD7 3A1 and appli cable sof tware pa ckages. A prog ramming tool is req uired to use the QD7 3A1. *1 When using GX Developer , configure the initial sett ings and auto refresh setti ngs with the sequence program. PROGRAMMI NG ( Page 1 1 1, CHA PTER 7) Item S[...]

23 CHAPTER 2 SYSTEM CONFIGURA TION 2 2.2 How to Check the Function Version and Serial Number 2.2 How to Ch eck the Function V ersion an d Serial Number The funct ion version and seria l number of t he QD73 A1 can be checke d on the rating pl ate, fro nt p art of the modul e, or system monit or of the progra mmin g tool. (1) Checking on the ra ting [...]

24 (3) Checking on t he system monitor The func tion v ersion an d seri al numbe r can be checked o n the " Produc t Inform ation Lis t" windo w . [Diagn ostics] [System Monit or ...] button ● The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front p ar [...]

25 CHAPT ER 3 SPECIFICA T IONS 3 3.1 Performanc e Specifications CHAPTER 3 SPECIFICA TIONS This cha pter de scribe s perf ormance s pecif ications , I/O s ignal s from/to the CP U modul e, and buf fer me mory specifi cation s of th e QD73A1. For general spec ificatio ns of t he QD73 A1, refe r to the followin g. QCPU U ser's Manu al (Hardware [...]

26 3.2 Numb er of Paramet er Se ttings Set initia l settin gs and a uto refresh se ttings of the QD73 A1 so that th e number of p arame ters, inc luding tho se of oth er intelli gent fu nctio n module s, doe s not e xceed th e numb er of p aram eters that ca n be s et in the C PU mod ule. For the m aximum numb er of p aram eters t hat ca n be set i[...]

27 CHAPT ER 3 SPECIFICA T IONS 3 3.3 List of Functions 3.3 List of Fu nctions This sec tion i ntroduces the fu nctions of the QD73A1. (1) Main functions Major pos itioni ng fun ctions a re as fo llows. (2) Sub functions Sub functi ons c ompensat e or li mit co ntrol, o r add fu nctio ns at t he execu tion o f majo r posit ioning funct ions. Item De[...]

28 (3) Common functions Comm on functi ons can be used regardles s of con trol m ethod wh en neces sary . Functions to change control details Current value ch ange function This function changes the value set in " Current feed value" to a specified value. Page 217, Section 1 1.5 S peed change function This function changes speed during ma[...]

29 CHAPT ER 3 SPECIFICA T IONS 3 3.3 List of Functions (4) Combination of main function and sub function : Always used together , : Can be used together , ×: Cannot be used together Item Functions to compensate control Functions to limit control Functi ons to change contr ol det ails Other fu nctions Electronic gear f unction Speed limit function [...]

30 3.4 I/O Signals from/to the CPU Module This s ection describ es I/O signals of the QD73A1 . 3.4. 1 I/O signal list This s ection desc ribes I/O sign al ass ignm ent and use of e ach si gnal. The first half of the I/O a ssignme nt is empty 1 6 poin ts, and t he secon d half is intel ligen t 32 po int s. When the module is mounte d on the sl ot No[...]

31 CHAPT ER 3 SPECIFICA T IONS 3 3.4 I/O Signals from/to the CPU Module 3.4.1 I/O signal list (2) Output signal list If a "Use prohibited" area is turned on/off through a sequence program, the Q D73A1's function cannot be g uaranteed. Out put si gnal (C PU m odul e  QD73A 1) Output signal (CPU module  QD73A1) Device No. Signal [...]

32 3.4. 2 Det ails of input signals (1) WDT error , H/W error signal (X10) This s ignal turns o n when a watch dog tim er error is detec ted thro ugh th e sel f-diagnost ic function of the QD7 3A1. In this case, Servo O N sign al (SVON) turns o ff and analo g outpu t beco mes 0. (2) QD73A1 READY signal (X 1 1) When PLC READY sig nal (Y2D) is turn e[...]

33 CHAPT ER 3 SPECIFICA T IONS 3 3.4 I/O Signals from/to the CPU Module 3.4.2 Details of input signals (6) Positioning comple te signal (X15) This sig nal turn s on wh en ma jor positi oning contro l is com pleted (comp letion of command puls e outp ut). This sig nal turn s of f when the ne xt pos itioning (majo r posit ioning contro l, OPR, or JOG[...]

34 (9) Error detection signal (X18) When a maj or or mino r error occurs, the corres pondi ng error co de is stor ed in the buf fer memory , and this signa l turns on . When Error reset sig nal (Y28 ) is tur ned on, thi s signal turns of f. (10)Overflow signal (X19) This s ignal t urns on w hen " Current fe ed va lue" exc eeds 214748 3647[...]

35 CHAPT ER 3 SPECIFICA T IONS 3 3.4 I/O Signals from/to the CPU Module 3.4.2 Details of input signals (17)OPR st art complete signa l (X20) This sig nal turn s on wh en OPR p roces s sta rt s afte r OPR st art signal (Y20 ) was tu rned on . When OPR s tart signal (Y2 0) is tu rned of f after the st art of OPR, this signal tu rns of f. (18)Absolute[...]

36 (23)Zero/gain adjustment c hange comple te flag (X2B) This s ignal t urns on w hen z ero adjus tment and ga in adjust ment were switc hed af ter Zero/gain a djustmen t change request s ignal (Y1B) was t urned o n. When Zero /gain adjustme nt change reques t sig nal (Y1B) is turned off , this signa l turns of f. Use th is sign al as an inte rlock[...]

37 CHAPT ER 3 SPECIFICA T IONS 3 3.4 I/O Signals from/to the CPU Module 3.4.3 Details of output signals 3.4.3 Det ails of output signals (1) Zero/gain adjust ment dat a writing request signal (Y1A) T urn on this sign al to wr ite t he zero/ga in adj ustme nt value to the Q D73A1. For the on/o ff timin g of this s ignal, re fer to th e det ail of Ze[...]

38 (7) Reverse st art signal (Y23) T urn on this si gnal to st art positi oning in the address d ecreas ing d irection. The f ollowin g ta ble de scribes the co nsequenc e of tu rning o n this signal for e ach type of p ositioning (ma jor posit ionin g cont rol) . (8) Forward JOG st art signal (Y24) T urn on this si gnal to st art JOG operati on in[...]

39 CHAPT ER 3 SPECIFICA T IONS 3 3.4 I/O Signals from/to the CPU Module 3.4.3 Details of output signals (14)Underflow reset si gnal (Y2A) T urn on this sign al to t urn of f Unde rflow si gnal (X1 A) when i t is on . For the on/o ff t i ming of this signal, re fer to th e det ail of Underflo w signa l (X1A). ( Page 34 , Sectio n 3.4.2 (1 1)) (15)S [...]

40 3.5 Specifications of I/O In terfaces with External D evices This s ection describ es I/O interface s betwe en the QD73A1 and external devices . 3.5. 1 Electri cal specificati ons of I/O signals This s ection describ es ele ctric al speci ficati ons of I/O interf aces between the QD7 3A1 and extern al devic es. (1) Input specifications *1 The fo[...]

41 CHAPT ER 3 SPECIFICA T IONS 3 3.5 Specifications of I/O Interfaces with External Devices 3.5.1 Electrical specifications of I/O signals (2) Output specifications *1 The load current of Servo ON signal (SVON) is 30mA at the maximum. When using a miniature relay , t ake the load current into cons ideration. Signal nam e Analog output volt age/curr[...]

42 3.5. 2 Signal layout for exte rnal device connectors The followin g t able show s sign al lay outs on externa l device conn ectors. Connector name Pin arrange ment Pin number Signal name CONT . Viewed from the front of the module 1 Near-point dog signal ( DOG) 2E m p t y 3E m p t y 4E m p t y 5 Power supply (5 to 24V) 6 Lower limit signal (RLS) [...]

43 CHAPT ER 3 SPECIFICA T IONS 3 3.5 Specifications of I/O Interfaces with External Devices 3.5.3 List of I/O signal details 3.5.3 List of I/O s ignal det a ils This sec tion d escribes det ails of signa ls tha t are in put or o utput th rough ext ernal d evice conn ectors on the QD 73A1. Signal name Connector name Pin number Signal d et ail Phase-[...]

44 Servo READY signal (READY) (+ side) SERVO 1 • This signal turns on when t he drive unit is ready to operate. • Positioning cannot be started when this signal is off. • If th is signal turns off during positioning, t he system st ops. The system does not operate even if this signal is turned on again. Servo READY signal (READY) (- side) 2 T[...]

45 CHAPT ER 3 SPECIFICA T IONS 3 3.5 Specifications of I/O Interfaces with External Devices 3.5.4 I/O interface int ernal circuit 3.5.4 I/O in terface internal cir cuit This sec tion sho ws internal ci rcuits of ex ternal device i nterfac es on the QD73A1 in schem atic diagrams . *1 When input impedanc e of the servo amplifier is low , analog out p[...]

46 Pin No. Internal circuit External wiring Signal name Remark Phase-A feedback pulse Phase-B feedback pulse Phase-Z feedback pulse Analog GND Phase-A feedback pulse Phase-B feedback pulse Phase-Z feedback pulse Analog GND [For open collector input] Connect these terminals to the terminal/ connector for pulse output of an encoder. Output is pulled [...]

47 CHAPT ER 3 SPECIFI CA TION S 3 3.6 Memory Configuration and Use 3.6 Memory Config uration and U se Ther e are t wo memo ries in the QD 73A1. : Data set ting and sto rage,  : N o data sett ing and stor age The f ollow ing ta ble de scrib es ea ch memo ry ar ea. Memory confi gurati on Use Area configuration Parameter area Monitor dat a area Con[...]

48 3.7 List of Bu ffer Memory Add resses This s ection list s the buf fer memory addre sses of t he QD 73A1. For det ails on the buffe r mem ory , refer to the following. Page 73, CHAPTER 5 Do not wr ite data to system areas and area where data cannot be written from sequen ce programs in the buffer memory . Writing data to these areas m ay cause m[...]

49 CHAPT ER 3 SPECIFI CA TION S 3 3.7 List of Buffer Memory Addresses 40 28 H OPR parameter OP address 0R / W Para met er area Page 79, Section 5.3 (1) 41 29 H 42 2A H OPR spe ed 10000 R/W Page 79, Section 5.3 (2) 43 2B H 44 2C H Creep sp eed 1000 R/W Page 80, Section 5.3 (3) 45 2D H 46 2E H Setting for t he movement amount after near-point dog ON [...]

50 100 64 H Monitor dat a (monitor area) Current feed value 0R Monitor data a rea Page 85, Section 5.5 101 65 H 102 66 H Actual current va lue 0R 103 67 H 104 68 H Error code (ERR.1) 0R 105 69 H Error code (E RR.2) 0R 106 6A H Deviation counter value (address) 0R 107 6B H 108 6C H Movement amount after near- point dog ON 0R 109 6D H 11 0 6E H S pee[...]

51 CHAPT ER 3 SPECIFI CA TION S 3 3.7 List of Buffer Memory Addresses 132 84 H Monitor data (monitor area) Record 3 Error code and error occurrence (The same data structure as record 0) Same a s record 0 R Monitor data area Page 85, Section 5.5 133 85 H 134 86 H 135 87 H 136 88 H Record 4 Error code and error occurrence (The same data structure as [...]

52 164 A4 H Monitor dat a (monitor area) Record 1 1 Error code and error occurrence (T he same data structure as record 0) Same a s record 0 R Monitor data a rea Page 85, Section 5.5 165 A5 H 166 A6 H 167 A7 H 168 A8 H Record 12 Error code and error occurrence (T he same data structure as record 0) Same a s record 0 R 169 A9 H 170 AA H 171 AB H 172[...]

53 CHAPT ER 3 SPECIFI CA TION S 3 3.7 List of Buffer Memory Addresses *1 For types of data, refer to the fol lowing. Page 73, Section 5.1 *2 Default values are set after the power was turned off and on or t he CPU module was r eset. *3 This column indicates whether the data can be read from or written to the buffer mem ory area through s equence pr[...]

54 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERA TION This c hapter describes the p rocedu re prior to opera tion, p art names, zero /gain adju stmen t, and wiring m ethod of the QD73A1. 4.1 Handl ing Precautions This secti on des cribe s the h andli ng pr ecaut ions f or th e QD73 A1. • Do not d isassem ble th e module . Doi ng so ma y cause fai[...]

55 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.2 Settings and P rocedure Before O peration 4.2 Settings and Procedu re Before Operati on This sec tion sho ws the procedu re befo re operat ing the Q D73A1. Start Operation Mounting the module Mount the QD73A1 on a specified slot. Wiring Wire external devices to the QD73A1. Switch setting [...]

56 4.3 Part Names This se ctio n desc ribes t he part names of the QD73A1 . Number Name Descrip tion Re fer en ce 1) RUN LED Indicates the op erating status or error status of the QD73A1 Page 58, Sect ion 4.4 ERR. LED  A LED  B LED  Z LED Indicates the status of pulses on an encoder input phase A, B, or Z BUSY LED Indicates the st atus of [...]

57 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.3 Part Nam es 5) SER VO connector A connector for a drive unit Page 43, Section 3.5.3 Page 69, Section 4.6.3 6) CONT . connector A connector for external control devices 7) Serial number display Displays the se rial number of t he QD73A1  8) Mode switch A switch to change the operation m[...]

58 4.4 LED The LE Ds on t he front of the Q D73A1 i ndica te the sta tuses of the module and axis control . Indication  : OFF  : ON : Flashing Attention Descr iption RUN LED: OFF (All the other LEDs are OFF or O N.) • The power is off. • A hardware error is occurring. • A watchdog timer error is occurring. If the RUN LED does not turn o[...]

59 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.5 Zero/gain Ad justment 4.5 Zero/gain Adju stment Zero/gain adjus tment i s a proce s s to adjust an alog o utput v olt age acc ording to accum ulated pulse am ount. Adjust the analo g outpu t volt age value ac cording to the a nalog speed comm and inpu t of the drive unit u sed. Adjust ana[...]

60 ● When setting a smaller value than the above reference value (l arger value for a negative value) as the accumulated pulse amount at the gain value output , making the setting value too small at a time may cause the hunting of a servomotor . T o mak e the accumula ted pulse amount value smaller , chec k the machine operat ion and adjust the v[...]

61 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.5 Zero/gain Ad justment (4) Setting method The follow ing are the procedures fo r zero a djust ment and gain adjustmen t. (a) W hen usi ng the swit ches on t he front of the QD73A1 *1 The operation mode cannot be switched to the zero/gain adjus tment mode if the power is turned on ahead of [...]

62 (b) When using I/O signals and the buff er memory *1 The zero adjustment v alue and gain adjustment value are recorded in the flash ROM inside the QD73A1 by t urning on Zero/gain adjustment data writing request signal (Y1A), and they are not erased even at a power-off. *2 If an error occurs in the zero/gain adjustment mode, the ERR. LED turns on[...]

63 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.5 Zero/gain Ad justment (5) R estori ng the ze ro/gai n adjus tmen t value of the fact ory de fault Wri ting "1" in " Factory d efault zero/g ain ad justment value restoratio n reque st" re stores the ze ro/gain adjustme nt val ue of t he factory defaul t. O nce the rest[...]

64 4.6 Wiring This s ection describ es prec autio ns on w iring the Q D73A1 a nd ext ernal d evice s, and connec tion of extern al devic e connec tors. 4.6. 1 Wiring precautions This se ctio n des cribes t he pr ecaut ions o n wiri ng. • Check the termin al lay out be forehan d to wire cable s to the m odule correc tly . • Connec tors for ex te[...]

65 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.6 Wiring 4.6.1 Wiring precautions • As a measure aga inst no ise, us e shiel ded cab les if the cab les con nected to the module are clos e (less th an 100mm) to a po wer cabl e. Ground t he shields of s hield ed ca bles t o the control p anel securely on the mo dule s ide. • T o comply[...]

66 4.6. 2 Precautions when connecting an encoder This s ection desc ribes prec autio ns when conn ecting an enc oder . (1) Operation of the QD73A1 (deviation c ounter and feedback puls es) The dev iation count er in th e QD73 A1 count s up and down . An additi on/su btracti on swit chove r can b e proc essed through th e phas es of feedba ck puls e[...]

67 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.6 Wiring 4.6.2 Precautions whe n connecting an e ncoder For det ails on "Rota tion di rection s etting" in the s witch s etting, refer to the followi ng. Page 101, Se ction 6.2.1 The conn ection betw een the Q D73A1 an d the encoder va ries d epending on "Rotatio n direct ion[...]

68 ● If the connection of the QD 73A1 and the encoder is incorrect , the motor rotates at a power-on and E xcessive error signal (X17) turns on. ● T o replace the positioning module AD70/A1SD70 with the QD 73A1 while us ing the same equipment of the servo amplifier , encod er , and external wiring in the existing syst em, check th e setting of [...]

69 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.6 Wiring 4.6.3 External device connectors 4.6.3 Exte rnal dev ice conn ect ors This sec tion d escribes the a ssembla ge of an external devi ce co nnecto r and i ts conne ction met hod. (1) Assembling a connector The f ollo wing connec tors are r equir ed to connec t the QD73 A1 and e xte r[...]

70 (From the previous page)  5. Fix the prote ctive se al p a rt or the p rotection t ube pa rt with th e wire clam p using the s crews A.  6. Att ach th e screws C to the cover A.  7. Put the co ver B o ver th e cove r A, an d fas ten t hem using the screws B and nut s.  End Wire clamp Screw A Screw A Screw C Screw C Screw B[...]

71 CHAPTER 4 SETTINGS AND P ROCEDURE BEFORE OPERA TION 4 4.6 Wiring 4.6.3 External device connectors (2) Wiring connec tors The figure below s hows th e pin a rrangem ent on the connectors. Wire pins correc tly acco rding t o the s ignal assigne d to ea ch pin numb er . For det ails o n the s ignal assigne d to each pin nu mber , refer to the follo[...]

72 (c) Connector type a nd the manuf acturer The fol lowing t able list s applicab le 9-pin connector and 15 -pin connector . When wiring, use appli cable wire and an app ropr iate tight eni ng tor que. T o contact th e manufa cturer re gardin g the conn ectors, re fer to th e follo wing. http://www .dd knet.co. jp/English /index .html External wir[...]

73 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.1 Types of D ata CHAPTER 5 DA T A USED FOR POSITIONING This cha pter de scribe s para meters and d ata used for positi oning. 5.1 T ypes o f Dat a The pa ramete rs and dat a requi red to c arry out c ontrol with the QD7 3A1 inclu de "se tting d ata ", "moni tor dat a", a nd "con[...]

74 Set control data using sequence programs. Control data (Data for the user to control the positioning system) Zero/gain adjustment data area Set data for zero/gain adjustment. ( , Cd.9 Cd.12 to ) Cd.5 Control change area Set data for operation and data for current value change or speed change during operation. (t o , , to to Cd.4 Cd.6 Cd.8 Cd.13 [...]

75 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.2 Positioning Parameters 5.2 Posi tion ing Pa rame ters This sec tion d escribes the d etai ls of pos ition ing pa rameters. ● The set data of fixed parameters are activated when PLC READY signal (Y2D) is t urned on, and the e rror check is executed at the same time. ● V ariable parameters can be se[...]

76 (1) St roke limi t upper limit, St roke limit l ower limit Set the up per and lower l imit s of the workpiece movi ng rang e. For det a ils on the st roke limit func tion, re fer to the fo llowing . Page 213, Sectio n 1 1 .3 Remark ● In general, the OP is set at the lower lim it or upper limit of t he stroke limit. ● Setting the upper and lo[...]

77 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.2 Positioning Parameters (2) Numerator of c ommand pulse mu ltip lication for electronic gear , Denominator of command puls e multiplicat ion for electronic gear Set the num erator (CM X) and d enomi nator (CDV) of command pulse multi plica tion fo r electroni c gea r . For deta ils o n the e lectronic [...]

78 (4) Ac celeration time, Deceleration ti me • Accelera tion time: Set the time t akes for spe ed (0) to reach the va lue in " S peed limit value ". • Deceleration t ime: Set the time takes fo r the spe ed (the v alue in " Sp eed lim it val ue") to r each 0. Remark ● The parameters are active for OP R control, major posit[...]

79 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.3 OPR P arameters 5.3 OPR Parameters This sec tion d escribes the det ails of OPR para meters. The set data of OPR parameters are activated when PLC RE AD Y signal (Y2D) is turned on, and the error check is executed when OPR start signal (Y20) is t urned on. For det ails on OPR cont rol, refe r to the f[...]

80 (3) Creep speed Once t he near-poi nt dog turns o n, the control dece lerates fro m " OPR speed" a nd sto ps . Set the speed of right bef ore the stop, wh ich is a creep speed . Satisfy the fol lowing condit ion when s etting the sp eed. Creep sp eed  OPR spee d  S peed limit val ue If the cre e p sp eed ex ceeds " O PR spe [...]

81 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.3 OPR P arameters (4) Setting for the movement amount af ter near-point dog ON When the O PR meth od is the co unt me thod, s et the movemen t amou nt from the posi tion w here Ne ar-point dog signal (X1 C) turn s on t o the or iginal po int. Set a value e qual t o or grea ter than the de celera tion d [...]

82 5.4 Posit ioni ng Da t a This s ection describ es the detail s of p ositioni ng dat a. Positioning data can be set any time, but the error c heck is ex ecuted when a positioning start signal (Y21 to Y23) is t urned on. For d eta ils on po sition ing c ontrol, two-phas e trape zoida l posi tionin g cont rol, an d speed-p ositio n con trol swi tch[...]

83 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.4 Positioning Data (2) Positioning a ddress P1 Set the add ress th at is the destin ation of major p ositio ning con trol. Th e setti ng range d epends on the ty pe of major positi oning control. If the spe cified posi tionin g address is ou tside the st roke ra nge, th e error " Positio ning a ddr[...]

84 (3) Positioning speed V1 Set the c ommand s peed of major p ositio ning con trol. Set a val ue equal t o or les s tha n " S peed limit value ". If the value ex ceed s " S peed limi t value", the error "Position ing s peed Out side the set ting ran ge" (err or code: 3 2) occ urs, and th e com mand sp eed is limi ted [...]

85 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.5 Monitor Data 5.5 Monitor Dat a This sec tion d escribes the d etai ls of mo nitor da ta. Item Descri ption Default v alue Buffer memory address (decimal) Current feed value • The current commanded position is stored. (different from the actual motor position dur ing operation) • The update cycle i[...]

86 S peed-pos ition switching command The on/off status of S peed-position switching command signal (CHANGE) is stored. 0: S peed-position switching command input OFF 1: S peed-position switching command input ON 0: S peed- position switching command input OFF 11 0 Control mode The control mode under the speed-pos ition control switch mode is store[...]

87 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.5 Monitor Data Error occurrence (Minute: Second) The time (minute: second) of error detection is stored in BCD code. • b15 to b8: Minute • b7 t o b0: Second The data can be monitored in hexadecimal. 0000 H Page 88, Section 5.5 (1) Error history pointer • The pointer No. for the next error record i[...]

88 (1) Buffer memory areas for error occurrence dat a Ex. Pointer No. Item 184 Md.16 15 180 181 182 183 14 176 177 178 179 13 172 173 174 175 12 168 169 170 171 11 164 165 166 167 10 160 161 162 163 9 156 157 158 159 8 152 153 154 155 7 148 149 150 151 6 144 145 146 147 5 140 141 142 143 4 136 137 138 139 3 132 133 134 135 2 128 129 130 131 1 124 1[...]

89 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.6 Control Data 5.6 Control Data This sec tion d escribes the d etai ls of co ntrol da ta. Item Descript ion Setting range Default value Buffer memor y address (decimal) New current value • Set a new current feed value when changing the c urrent value. • Writing data in this area a nd setting "1[...]

90 Deviation counter clear command • Use this area to clear the accumulated pulses in the deviation c ounter . • Write "1" to clear the c ounter . If a value other than "1" is set, the command is ignored. • After t he deviation counter was cleared, "0" is stored automatically . • T o start positioning af t er t[...]

91 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.6 Control Data Current value change request • Use th is area to request a current value change. • A fter setting " New current value", set "1" in this area. If a va lue other than "1" is set, the setting is ignored. • Af ter the current value change was accepted, &quo[...]

92 Zero/gain adjustment specification • S pecify "zero adjustment" or "gain adjustment". • When ze ro/gain adjustment is perf ormed using switches on th e front of the QD73A1, the set value is i gnored. • If a value other than 0, 1, and 2 is set, t he error "Zero/gain adjustment setting error" (error code: 1 23) [...]

93 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.6 Control Data Alert output accumulated pu lse setting value (maximum value) The difference between the ref erence value (maximum v alue) and the judgment value (alert output accumulat ed pulses (maximum value)) is set . The relation between this setting and the judgment value is as follows. [If " [...]

94 Immediate stop accumulated pulse setting value (maximu m value) The difference between the ref erence value (maximum value) and the judgment value (immediate stop accumulated pulses (maximum value)) is set. The relation betw een this setting and the judgment value is as follows. [If " Accumulated pu lse setting value se lecti on" is se[...]

95 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.6 Control Data Alert output accumulated pu lse setting value (minimum value) The difference between the ref erence value (minimum value) and the judgment value (alert output accumulate d pulses (minimum value) ) is set. The relation between this setting and the judgment value is as follows. [If " A[...]

96 Immediate stop accumulated pulse setting value (minimum value) The difference between the ref erence value (minimum value) and the judgment value (immediate stop accumulated pulses (minimum value)) is set. The relation betw een this setting and the judgment value is as follows. [If " Accumulated pu lse setting value se lecti on" is set[...]

97 CHAPTER 5 DA T A USED FOR P OSITIONING 5 5.6 Control Data Accumulated pulse error detection request • Use this ar ea to start/stop the accumulated pulse error det ection function. • While this area is set to 1, the accumulated pulse error detection function is executed. However , if the reference value has never been measured, the error &quo[...]

98 Reference value wr ite request • Use this area to save the measured reference value in the flash ROM of the QD73A1. • When this ar ea setting is changed to 1, the measured reference v alue is saved in the flash ROM. • When " Reference value measurement flag" is set to 1, the v alue is written to the flash ROM. If " Reference[...]

99 CHAPTER 6 V ARIOUS SET TINGS 6 6.1 Adding a Module CHAPTER 6 V A RIOUS SETTINGS This cha pter de scribe s set ting pr ocedu res of t he QD73 A1. ● After writing t he contents of the new module, parameter sett ings, and auto refresh settings into the CPU module, reset the CPU module and switch its st atus as ST OP  RUN  STO P [...]

100 6.2 Switch Setting Confi gure se ttings rel ated to the dri ve unit a nd enc oder th at are c onnected to the QD73A1. (1) Setting method Open th e "Switch Se tting" window . Project win dow [Intelligen t Function Modu le] Module name [Switch Settin g] Item Descrip tion Setting val ue Default va lue Reference Rotation direction setting[...]

101 CHAPTER 6 V ARIOUS SET TINGS 6 6.2 Switch Setting 6.2.1 Rotation di rection setting 6.2.1 Rot ation direction setting Set the direct ion in which positi oning add resses inc rease. The rot ation direction of a mo tor dep ends o n the p olarity of the voltage to be a pplied to the servo amplifie r . For det ails, refer to the manua l for the s e[...]

102 6.2. 2 Accumulated pulse setting Select t he maximum a ccumula ted pul se am ount t hat can be counted in the devia tion c ounter . (1) Calculating accumulate d pulse amount When a servomotor is u sed, "maximu m ac cumulate d pulse amoun t" obt ained by the follow ing for mula gen erates. Config ure thi s setting so th at "ma xim[...]

103 CHAPTER 6 V ARIOUS SET TINGS 6 6.2 Switch Setting 6.2.2 Accumulated pulse setting (b) Accumulated pulse amount and analog output volt age from the QD73A1 The analo g outpu t volt age from the Q D73A1 is c ontrolled in pro portion to acc umulate d puls e amount . The follow ing is an exa mple of selec ting an optio n in "Ac cumula ted pul s[...]

104 (2) Excess ive er ror If accu mulate d puls e amoun t exce eds a n uppe r limit va lue (v alues marked * in Pa ge 103 , Section 6 .2.2 (1) (b)), an exc essive error occurs and t he foll owing c ondit ions occ ur in the s ystem. • Excessive erro r signa l (X17): ON • Analog output volt age: 0V • Accumul ated pu lses: R eset t o 0 • Servo[...]

105 CHAPTER 6 V ARIOUS SET TINGS 6 6.2 Switch Setting 6.2.6 Encoder I/F setting 6.2.6 Encoder I/F sett ing Select an encod er outp ut type from open coll ector , TTL, or dif ferential outp ut. For conne ction between the QD73A1 and an en coder , refe r to the followi ng. Page 66, Sec tion 4 .6.2 6.2.7 Analog volt age resolution setting Set resolu t[...]

106 6.2. 8 Feedback pulse addition/subtraction setting Set whet her to add o r subtrac t the feed back puls es to/fro m the devia tion co unter w hen the p hase A of feedb ack pu lse proceed s 90 d egrees than p hase B. This s etting becomes en abled only when "1: Ne gative volt age is outpu t wh en the posi tioni ng add ress in creas es."[...]

107 CHAPTER 6 V ARIOUS SET TINGS 6 6.2 Switch Setting 6.2.9 Deviation counter clear setting 6.2.9 Deviation counter clear setting Set wheth er to clea r the de viation c ounte r when Serv o READY signa l turns of f. If "0: Clear the deviat ion counter w hen the servo ready si gnal is OFF ." is set, the devi ation co unter is c leared an d[...]

108 6.3 Parameter Setting Set posi tionin g p aramet ers an d OPR p aram eters. Setting p arameters on the sc reen omi ts the p arame ter set ting in a seq uence pro gram. (1) Setting method Open th e "Para meter" w indow . 1. St art "Parameter" in the pro ject window . Project w indow [Intelli gent Fu nction M odule] Module nam[...]

109 CHAPTER 6 V ARIOUS SET TINGS 6 6.4 Positioning Data Setti ng 6.4 Positioning Dat a Setting Set positioni ng dat a. Setting posit ioning da ta o n the s creen omit s th e posi tioning d ata setting in a se quenc e progra m. (1) Setting method Open the "Posit ioning _Axis _#1_Dat a" window . 1. S t art "Posit ioning_Axis_ #1_Dat a&[...]

110 6.5 Auto Refres h This func tion tra nsfers da ta i n the b uf fer memory to sp ecified d evices. The auto refresh setting omit s dat a read ing/wr iting thro ugh a program. (1) Setting method Open th e "Auto _Refresh " windo w . 1. St art "Auto_Refresh" in the projec t window . Project w indow [Intelli gent Fu nction M odul[...]

111 CHAPT ER 7 PRO GRAMM ING 7 7.1 Precautions on Programming CHAPTER 7 PROGRAMMING This chapte r describe s seque nce progra ms of the QD73A1. When appl ying the prog ram exam ples introdu ced i n this ch apter to the ac tual sys tem, e nsure the applic abil ity and confir m that they wi ll not cause system contro l probl ems. 7.1 Precautions on P[...]

112 (9) Communication with the QD73A1 There are follow ing wa ys of co mmunication wi th the Q D73A1 u sing a sequenc e prog ram. • Communic ation using intellig ent functi on modul e device s • Commu nication using the FROM/ TO inst ruction The seq uence program s intr oduced i n this chapter us es in telligen t function modul e dev ices. Whe [...]

113 CHAPT ER 7 PRO GRAMM ING 7 7.1 Precautions on Programming (10)I/O number assignment for the QD73A1 The Q D73A 1 occ upies 48 I/O poin ts of 2 sl ots. (a) Default I/O number ass ignment Set the firs t half to "Emp ty 16 p oint s" a nd the se cond h alf to " Intell igent 32 poin ts " in GX W orks2. When exec uting th e FROM/T [...]

114 7.2 Programs for Positioning Follow the p rocedu re below when c reating program s that ex ecute position i ng us ing th e QD73 A1. Proced ure Program Re fer en ce 1 Parameter setting Create a p rogram for parameter setting. Page 1 17, Section 7.3.1 Page 149, Section 7.4.1 2 OPR Create a p rogram for one of the f ollowing. • Near-point dog me[...]

115 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3 When Using th e Module in a St andard System Configurat ion This sec tion i ntroduces progra m examp les whe re t he follow ing s ystem c onfigu ration applie s. (1) System configuration (2) Switc h setting Configu re the sw itch sett ing as follows . Pr[...]

116 (3) Writing p arameters Wr ite th e set p arame ters to the CPU modul e, then reset the CPU mo dule o r turn of f and on the p ower suppl y of the pr ogramm able co ntrolle r . [Online ] [Write to PLC...] (4) I/O signals of the QD73A1 Refer to Page 3 0, Sect ion 3.4 .1. I/O si gnals used in program exampl es are assig ned as in the li st on Pag[...]

117 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.1 Parameter setting program 7.3.1 Parameter setting pr ogram This prog ram se ts fix ed p arame ters and v ariabl e p arameters . Parameters desc ribed in t his section can be set through GX W orks2 also. ( Page 108, Section 6.3) The sequence program in [...]

118 (4) Program example D12 A cceleration time D13 Deceleration time D14 I n-position range D15 P ositioning mode M0 Fixed parameter setting memory M1 V aria ble p ara met er set ti ng m emor y SM402 T urns on for one scan once t he CPU module is in t he RUN status Device De scrip tio n Stroke limit upper limit (20000000pulse) Stroke limit lower li[...]

119 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.2 OPR program 7.3.2 OPR progra m Programs i n this sect ion exec ute OPR in the near-poi nt dog metho d or the count metho d. (1) Near-point dog method OPR program This progr am executes O PR in the near-po int do g method. Suppose that fix ed p arameter[...]

120 (c) Execution condit ion (d) Device used by the user Check ite m Condition External I/O signal Servo READY signal (READY) ON S top signal (STOP) OFF Upper limit signal (FLS) O N Lower limit signal (RLS) ON Near-point dog signal ( DOG) OFF I/O signal WDT error , H/W error signal (X10) OFF QD73A1 READY signal (X1 1) OFF OPR complete signal (X13) [...]

121 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.2 OPR program (e) Program example *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary wh en the parameters were set through GX Work s2. OP address (100pulse) OPR speed[...]

122 (2) Count method OPR program This pro gram e xecutes OPR in the cou nt me thod. Su ppose that fix ed pa ramete rs and variab le p arame ters are already set. ( Page 1 17, Section 7.3.1) (a) Program det ail • The following OPR parameters ar e written once the CPU module is in th e RUN status, and PLC RE ADY signal (Y2 D) turns on. • As X31 i[...]

123 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.2 OPR program (c) Execution condition (d) Device used by the user Check item Condition External I/O signal Servo READY signal (REA DY) ON S t op signal (ST OP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON I/O signal WDT error , H/W error s[...]

124 (e) Program example *1 OPR parameters can be set through GX Works2 also. ( P age 108, Section 6.3) The sequence program that sets OPR p arameters is unneces sary when the parameters were set through GX Works2. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog ON (2000pulse) Set OPR param[...]

125 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.3 Major posit ioning control program 7.3.3 Major position ing contro l program Programs i n this se ction execute major position ing co ntrol. (1) Positioning control program This progr am executes po sitioning con trol in the abs olute syst em. Suppos e[...]

126 (c) Device used by the user (d) Program e xample *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data i s unnecessary when the data were set through GX W orks2. Device De scrip tio n X33 Pos itioning dat a write command X34 Pos itioning start command D30 P ositioning pat[...]

127 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.3 Major posit ioning control program (2) T wo-phase trapezoidal positioning control program This progr am executes two -phase trapezoid al pos ition ing co ntrol in th e abso lute s ystem. Supp ose tha t the parame ter set ting an d OPR w ere com pleted [...]

128 (d) Program e xample *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data i s unnecessary when the data were set through GX W orks2. Positioning pattern (T wo-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) [...]

129 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.3 Major posit ioning control program (3) Speed-posi tion control switch mode program This progr am switches the pos ition ing mode to the "spee d-posi tion c ontrol sw itch mode" . Suppo se that the parame ter set ting an d OPR w ere com pleted[...]

130 (c) Device used by the user (d) Program e xample *1 V ariable parameters and positioning dat a can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable p arameters and po sitioning data i s unnecessary when the data were set through GX Works2. Device De scrip tio n X37 V ar iable[...]

131 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.3 Major posit ioning control program (4) Speed control operation program This progra m exe cutes sp eed co ntrol us ing th e speed c ontrol f unctio n of the speed -position contro l switc h mode . Suppose th at p arame ters are al ready s et. ( Page 1 1[...]

132 (c) Device used by the user (d) Program e xample *1 V ariable parameters and positioning dat a can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable parameters and positioning data is unnecessary when the dat a were set through GX Works2. Device De scrip tio n X3C S peed contr[...]

133 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.4 Fixed-feed oper ation program 7.3.4 Fixed-feed operation pr ogram This prog ram exec utes p ositioni ng i n the addr ess i ncreas ing di rection a ccordi ng to t he speci fied m ovement amoun t and spee d. Exec ute fixed -feed o peratio n by tu rning o[...]

134 (3) Device used by the use r (4) Program example *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data i s unnecessary when the data were set through GX W orks2. Device De scrip tio n X40 F ixed-feed positioning data write command X41 Fixed-feed start command D57 New curr[...]

135 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.5 JOG o peration program 7.3.5 JOG operation program This prog ram ex ecutes J OG ope ration w hile a JOG sta rt comma nd is on. Sup pose that parameters are alread y set . ( Page 1 17, Sec tion 7 .3.1) (1) Program det ail • As X42 is turned on, JO G s[...]

136 (4) Program example JOG speed (10000pulse/s) Set JOG speed data to the QD73A1. T urn on JOG command. T urn on/off Forward JOG start signal. T urn on/off Reverse JOG start signal. T urn off JOG command.[...]

137 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.6 Control change pr ogram 7.3.6 Control change program (1) Current value change program This pr ogram chang es the cu rrent value to "0". (a) Program detai l As X45 is turned o n, the current value is ch anged . (b) Execution condition (c) Devi[...]

138 (2) Speed change program This pro gram c hanges p ositi oning speed. (a) Program det ail As X46 is turne d on, po sitionin g spe ed is cha nged. (b) Executi on condit ion (c) Device used by the user Item Setting d etai l New speed value 50000pulse/s Check item C onditi on Note Exter nal I /O signal Servo READY signal (REA DY) ON  S top signa[...]

139 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.6 Control change pr ogram (d) Program example New speed value (50000pulse/s) Set a new speed value to the QD73A1. Completes the new speed value setting. Speed change Request a speed change. Completes the speed change.[...]

140 (3) Deviation counter clearing progra m This pro gram cle ars the dev iatio n counter to 0. (a) Program det ail As X47 is turne d on, th e deviati on co unter is cleared to 0. (b) Executi on condit ion (c) Device used by the user (d) Program e xample Item Setting de t ail Deviation counter clear command 1: Clear the deviation counter Check item[...]

141 CHAPT ER 7 PRO GRAMM ING 7 7.3 When Using the Module in a Standard System Configuration 7.3.7 Stop program during positioning 7.3.7 S top program duri ng positioning This prog ram st ops the posi tioning in exec ution . (a) Program detai l As X3A is tu rned on , the m odule st ops the posi tionin g in e xecution . (b) Device used by the user (c[...]

142 7.4 When Using the Modu le in a Remote I/O Netwo rk This s ection introd uces prog ram exam ples of when the QD7 3A1 is used in a MELSEC NET/H r emote I/O ne twork. For details on a MELSECNET /H remote I/O network, refer to the fol lowing. Q Corres ponding MELSECNET/H Network System Ref erence Manual (Remot e I/O network) (1) System configurati[...]

143 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network (2) Setting on th e maste r st ation 1. Create a proj ect on GX W orks2. Select " QCP U (Q mo de)" for "PLC Serie s", an d selec t the CP U modu le used f or "PLC T ype". [Project] [New ... ] 2. Display the network p arameter setting windo[...]

144 3. Display the network range assign ment se tting win dow , and configure the setting a s follow s. Proj ect wi ndow [ Para meter ] [Net work Parame ter] [Ethernet/CC IE/ MELSECNET] button Proj ect wi ndow [ Para meter ] [Net work Parame ter] [Ethernet/CC IE/ MELSECNET] button "Switch Sc reens" "XY Setting" 4. Display the re[...]

145 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network (3) Se tting on the remote I/ O station 1. Create a proj ect on GX W orks2. Select " QCPU (Q mo de)" for "PLC Serie s", an d selec t "QJ72L P25/QJ 72BR15(Re moteI/O )" for "PLC Ty p e " . [Proje ct] [New ...] 2. Add th e QD73 A1 [...]

146 3. Display the QD73A1' s switc h setting window , and configure the setting as follows . Project win dow [Intelligen t Func tion Modu le] [QD73A1] [Switch Se tting] 4. Wr ite the se t pa rameters to the rem ote I/O mod ule, then reset the remote I/O m odule. [Online ] [Write to PLC...] Item Setting v alue Rotation direction setting Set thi[...]

147 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network (4) I/O signal s of the Q D73A1 The follow ing is the I/O signal assig nment viewed from the m aster sta tion s ide. (a) Input signal list (5) Output signal list If a "Use prohibited" area is turned on/off through a sequence program, the Q D73A1's functi[...]

148 (6) Interlock program of MELSECNET/H r emote I/O network For pr ograms in troduc ed in Pa ge 149 , Secti on 7.4. 1 to Page 17 7, Sect ion 7.4 .7, make interlocks us ing dat a link stat us of the own s tat ion an d the o ther st atio n as sho wn be low . (7) Program example Refer to th e follo wing. Program e xample Reference Parameter s etting [...]

149 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.1 Parameter setting program 7.4.1 Parameter setting pr ogram This prog ram se ts fix ed p arame ters and v ariabl e p arameters . Parameters desc ribed in t his section can be set through GX W orks2 also. ( Page 108, Section 6.3) The sequence program in this sectio[...]

150 (4) Program example D1 1 S peed limit value (upper 16 bits) D12 A cceleration time D13 Deceleration time D14 I n-position range D15 P ositioning mode M1 Fixed parameter setting memory M2 V aria ble p ara met er set ti ng m emor y M200 Z(P).REM TO instruction completion M201 Z(P).RE MTO in structi on fai lure M202 Z(P). REMTO instruction complet[...]

151 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.2 OPR program 7.4.2 OPR progra m Programs i n this sect ion exec ute OPR in the near-poi nt dog metho d or the count metho d. (1) Near-point dog method OPR program This progr am executes O PR in the near-po int do g method. Suppose that fix ed p arameters and v ari[...]

152 (c) Execution condit ion (d) Device used by the user Check ite m Condition External I/O signal Servo READY signal (READY) ON S top signal (STOP) OFF Upper limit signal (FLS) O N Lower limit signal (RLS) ON Near-point dog signal ( DOG) OFF I/O signal WDT error , H/W error signal (X1020) OFF QD73A1 READY signal (X1021) OFF OPR complete signal (X1[...]

153 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.2 OPR program (e) Program example *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary wh en the parameters were set through GX Work s2. Command OPR parameter settings. OP address[...]

154 (2) Count method OPR program This pro gram e xecutes OPR in the cou nt me thod. Su ppose that fix ed pa ramete rs and variab le p arame ters are already set. ( Page 1 49, Sect ion 7.4.1 ) (a) Program det ail • As X22 is turned o n, the followi ng OPR p arameters are w ritten and PLC READY signal (Y10 3D) turns on. • As X24 is turned o n af [...]

155 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.2 OPR program (c) Execution condition (d) Device used by the user Check item Condition External I/O signal Servo READY signal (REA DY) ON S t op signal (ST OP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON I/O signal WDT error , H/W error signal (X102[...]

156 (e) Program example *1 OPR parameters can be set through GX Works2 also. ( P age 108, Section 6.3) The sequence program that sets OPR p arameters is unneces sary when the parameters were set through GX Works2. Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point [...]

157 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.3 Major posit ioning control program 7.4.3 Major position ing contro l program Programs i n this se ction execute major position ing co ntrol. (1) Positioning control program This progr am executes po sitioning con trol in the abs olute syst em. Suppos e that the p[...]

158 (c) Device used by the user (d) Program e xample *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data i s unnecessary when the data were set through GX W orks2. Device De scrip tio n X25 Pos itioning dat a write command X26 Pos itioning start command D31 P ositioning pat[...]

159 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.3 Major posit ioning control program (2) T wo-phase trapezoidal positioning control program This progr am executes two -phase trapezoid al pos ition ing co ntrol in th e abso lute s ystem. Su ppose that th e parame ter set ting an d OPR w ere com pleted . ( Page 14[...]

160 (d) Program e xample *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data i s unnecessary when the data were set through GX W orks2. Command to write positioning data. Positioning pattern (T wo-phase trapezoidal positioning control) Positioning address P1 (100000pulse) P[...]

161 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.3 Major posit ioning control program (3) Speed-posi tion control switch mode program This progr am switches the pos ition ing mode to the "spee d-posi tion c ontrol sw itch mode" . Suppo se that the parame ter set ting an d OPR w ere com pleted . ( Page 1[...]

162 (c) Device used by the user Device De scrip tio n X29 V ar iable parameter change c ommand X2A Pos itioning dat a write command X2B Speed-position control positioning start command X2D Speed-position control positioning restart command D40 P ositioning mode D42 P ositioning address P1 (lower 16 bits) D43 P ositioning address P1 (upper 16 bits) [...]

163 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.3 Major posit ioning control program (d) Program example *1 V ariable parameters and positioning data can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable p arameters and pos itioning data is unn[...]

164 (4) Speed control operation program This pro gram ex ecutes s peed con trol us ing the speed contro l function of the s peed-p osition c ontrol swi tch mo de. Suppose that p aram eters are alre ady set. ( Page 149, Sec tion 7 .4.1) (a) Program det ail • As X2E i s turned o n, the p ositioni ng mod e is set to "speed -posit ion co ntrol s[...]

165 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.3 Major posit ioning control program (c) Device used by the user Device Description X2E V ariable parameter change com mand X2F Positi oning data write comm and X30 Forw ard run comm and X31 Reverse run command D46 P ositioning mode D48 P ositioning speed V1 (lower[...]

166 (d) Program e xample *1 V ariable parameters and positioning dat a can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable p arameters and po sitioning data i s unnecessary when the data were set through GX Works2. Command to change variable parameters. T urn off Speed-position [...]

167 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.4 Fixed-feed oper ation program 7.4.4 Fixed-feed operation pr ogram This prog ram exec utes p ositioni ng i n the addr ess i ncreas ing di rection a ccordi ng to t he speci fied m ovement amoun t and spee d. Exec ute fixed -feed o peratio n by tu rning o n F ixed-f[...]

168 (3) Device used by the use r Device De scrip tio n X32 F ixed-feed positioning data write command X33 Fixed-feed start command D50 P ositioning address P1 (lower 16 bits) D51 P ositioning address P1 (upper 16 bits) D52 P ositioning speed V1 (lower 16 bits) D53 P ositioning speed V1 (upper 16 bits) D100 New curren t value (lower 16 bit s ) D101 [...]

169 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.4 Fixed-feed oper ation program (4) Program ex ample *1 Positioning data can be s et through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnec es sary when the data we re set through GX Works2. Command to change posit[...]

170 7.4. 5 JOG operation program This pr ogram executes JO G opera tion while a JOG start comman d is o n. Suppo se that param eters are already set. ( Pa ge 149 , Section 7 .4.1) (1) Program det ail • As X34 i s turne d on, J OG sp eed is writt en. • As X35 is turn ed on, the module exe cutes fo rward JOG ope ration. As X36 is turned on, the m[...]

171 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.5 JOG o peration program (4) Program ex ample Command a JOG speed setting. JOG speed (10000pulse/s) Completes the JOG speed setting. Set JOG speed data to the QD73A1. T urn on JOG command. T urn on/off Reverse JOG start signal. T urn off JOG command. T urn on/off F[...]

172 7.4. 6 Control change program (1) Current value change pr ogram This pro gram cha nges t he curre nt val ue to "0" . (a) Program det ail As X37 is turned on , the c urrent val ue is cha nged. (b) Executi on condit ion (c) Device used by the user Item Setting det ail New current value 0pul se Check item C onditi on Note I/O signal WDT [...]

173 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.6 Control change pr ogram (d) Program example Command a current value change. New current value (0pulse) Set a new current value to the QD73A1. Current value change Completes the current value change. Read the current value change from the QD73A1. Completes checkin[...]

174 (2) Speed change program This pro gram c hanges p ositi oning speed. (a) Program det ail As X38 is turne d on, po sitionin g spe ed is cha nged. (b) Executi on condit ion (c) Device used by the user Item Setting det ail New speed value 50000pulse/s Check item C onditi on Note Exter nal I /O signal Servo READY signal (REA DY) ON  S top signal[...]

175 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.6 Control change pr ogram (d) Program example Command a speed change. New speed value (50000pulse/s) Set a new speed value to the QD73A1. Speed change Completes the speed change. Read the speed change from the QD73A1. Completes checking the speed change. Command to[...]

176 (3) Deviation counter clearing progra m This pro gram cle ars the dev iatio n counter to 0. (a) Program det ail As X39 is turne d on, th e deviati on co unter is cleared to 0. (b) Executi on condit ion (c) Device used by the user (d) Program e xample Item Setting det ail Deviation counter clear command 1: Clear the deviation counter Check item [...]

177 CHAPT ER 7 PRO GRAMM ING 7 7.4 When Using the Module in a Remote I/O Network 7.4.7 Stop program during positioning 7.4.7 S top program duri ng positioning This prog ram st ops the posi tioning in exec ution . (a) Program detai l As X3A is tu rned on , the m odule st ops the posi tionin g in e xecution . (b) Device used by the user (c) Program e[...]

178 CHAPTER 8 OPR CONTROL This c hapter describes OPR c ontrol. 8.1 Overview of OPR Control In "OPR con trol", a starti ng poi nt (or OP ) of ma jor posit ioning control i s set, and posi tionin g is e xecuted toward th e orig inal point. Use this contro l to return a mac hine syste m at a position oth er than its OP to the OP when the QD[...]

179 CHAPTER 8 OPR CONTROL 8 8.2 Near-point Dog Method 8.2 Near-point Dog Method This sec tion d escribes the o peration ov ervie w of an O PR meth od, "near-point d og method". (1) Operation chart As in the f ollowin g figur e, af ter the near-po int dog turned of f, the p osition o f the fi rst Zero signa l from the pulse generat or beco[...]

180 (2) Precautions during operation (a) Another OPR af ter the comple tion of OPR If an other OPR is attem pted a fter the co mpletion of OPR, the error "OPR co mplet e signal ON at s tart " (error code: 84) oc curs. (b) Positions of the near-poi nt dog OFF and Zero signal If the positio n whe re the n ear-poi nt dog turns o ff is close [...]

181 CHAPTER 8 OPR CONTROL 8 8.3 Count Method 8.3 Count Meth od This sec tion d escribes the o peratio n overvie w of an O PR meth od, "count meth od". OPR in the co unt method can be execu ted also in c ase o f the fo llowing. • OPR on the near-po int dog O N • Another OPR aft er comple tion of O PR (1) Operation chart As in the f oll[...]

182 (2) Precautions during operation (a) Setting for the movement amount after ne ar-point dog ON If " Setting for th e movem ent am ount a fter nea r-point dog ON" i s smalle r than the dec eleration distance from " OPR spe ed" t o " Creep spee d", the error "Setting f or the movem ent a mount a fter near-p oint [...]

183 CHAPTER 8 OPR CONTROL 8 8.4 Operation Timing and Processing Time of OPR Control 8.4 Operation Timing and Processing Time of OPR Control This sec tion e xplains the op eration timing a nd proc essi ng time o f OPR co ntrol. *1 This is an indication of internal commands, and does not match with the actual analog output waveform. The f ollow ing v[...]

184 8.5 OPR Parameter Setting For the Q D73A1 to exec ute OPR , OPR p aram eters mus t be s et. If th e dat a are not set, default v alues are used for contr ol. The defa ult values are set al so w hen the po wer was turned of f and o n, or whe n the CP U mod ule was reset . The followin g t able l ists t he OPR para meters to be set , setti ng con[...]

185 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.1 Overview of Major Positioning Control CHAPTER 9 MAJOR POSITIONING CONTROL "Major p ositio ning c ontrol " is exe cuted u sing "v ariable pa ramete rs" an d "pos itioni ng dat a" stored in the QD7 3A1. The pos itio n cont rol mo de or th e spe ed-p ositi on con trol switch [...]

186 9.2 Dat a R equired for Major Pos itioning Con trol This s ection describ es "po sitio ning dat a" required for " majo r posit ioning control" . (1) Composition of positioni ng dat a and setting det ails The sett ings o f to depend on " Positioni ng mo de" and " Positio ning p attern" . ( Page 187, Sec ti[...]

187 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.3 Relation Betwe en Each Control and P ositioning Data 9.3 Relation Between Each Control and Positioning Dat a Setting items an d det ails of po sition ing dat a depend on the settin gs of a posi tionin g dat a item " Positi oning patte rn" an d a var iabl e parame ter " P ositi oning mode[...]

188 9.4 Specifying a Positioning Address This s ection desc ribes syst ems to s pecify a positi on for c ontrol using posi tionin g dat a. (1) Absolute system Position ing is execut ed using the cu rrent ad dress as the st art address an d the a ddress s et with " Positi oning address P1" as the end address . (2) Incr emental sy stem Posi[...]

189 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.5 Checking the Current Value 9.5 Checking th e Current V alue In the QD 73A1, two type s of a ddress are used to ind icate position. (1) Addresses to be used The two t ypes of address , "cu rrent fee d value" and "a ctual current value ", are sto red to the monito r dat a area. They c[...]

190 9.6 Det ails of Major Positioning Control This s ection desc ribes det ails on the p ositi on con trol m ode (po sitioning contr ol and two-phas e tr apezoida l posi tionin g control ) an d the spee d-pos ition c ontrol switch mode . (1) Precautions (a) Dwell-time f unction The Q D73A1 does not ha ve the dwell- time func tion . Whe n dwel l-ti [...]

191 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.6 Details of Major Positioning Control 9.6.1 Position control mode 9.6.1 Position control mo de In the pos ition contro l mode, po sitio ning i s execu ted tow ard the po sitio ning a ddress s pecifi ed with positi oning da ta a t the sp ecified speed. There a re two ty pes of contro l in the p ositio n [...]

192 (b) Posit ioning dat a setting The followin g t able l ist s the positioni ng dat a to be set, s etting condi tion, a nd check timi ng. (2) T wo- phase trapezoi dal positioning control Set posi tionin g addre sses (P1 a nd P2) a nd positi oning speed (V1 and V2) for th is type o f cont rol. Positi oning of the abs olute s ystem o r the in creme[...]

193 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.6 Details of Major Positioning Control 9.6.1 Position control mode (b) Deceleration dist ance If the mov emen t amount fr om the position ing ad dress P1 to the po sitio ning a ddress P2 is les s than th e decelera tion dis ta nce from th e posi tionin g address P1 , two-phase trape zoida l positio ning [...]

194 (e) Positioning da t a setting The followin g t able l ist s the positioni ng dat a to be set, s etting condi tion, a nd check timi ng. Setting item Sett ing r ange Default value Setting co ndition Chec k tim ing of the set da t a Buffer memory add ress (deci mal) Positioning pattern 0: Positioning control 1: T wo- phase trapezoidal positioning[...]

195 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.6 Details of Major Positioning Control 9.6.2 Speed-posit ion control switch mode 9.6.2 S peed-positi on control switch mode In the spe ed-pos ition contro l switc h mode, p ulses that corre spond to the speci fied p ositio ning spe ed are o utput i n the direction spec ified by a st art signal. Then , on[...]

196 (3) " Current f eed value" and " Actual current v alue" In " Current feed value " and " Actual c urrent v alue", 0 i s set at the sta rt of the spee d-posi tion contr ol swit ch mode , and the sett ings a re no t upda ted du ring sp eed co ntro l. They are update d onc e the opera tion switched to posit i[...]

197 CHAPTER 9 M AJOR POSITIONING CONTROL 9 9.6 Details of Major Positioning Control 9.6.2 Speed-posit ion control switch mode Input S peed-pos ition switching command signal (CHANGE) at t he area where the speed is st abl e (constant speed st atus). When a serv omotor is used, the ac tual movement amoun t after the switchover to position co ntrol i[...]

198 (a) Operation of a speed-position movement amount change The operati on is as follows . (b) New speed-position movement amount The settin g is clea red to 0 when th e next operat ion st arts. (c) Data setting The follow ing t able list s the data to be set, s etting con dition, and che c k ti ming. If " New speed -posi tion mov ement amoun[...]

199 CHAPTER 9 MAJOR POSITIONING CONTROL 9 9.7 Operation Timing and Processing Time of Major Positioning Control 9.7 Operation Timing and Processing Time of Major Positi onin g Cont rol This sec tion e xplains the op eration timing a nd proc essi ng time o f majo r posi tioning c ontrol. *1 This is an indication of internal commands, and does not ma[...]

200 CHAPTER 10 JOG OPERA TION The QD 73A1's "JOG operat ion" can m ove the w orkpi ece with out using posit ioning dat a, but a ccording t o sign al input s and sp ecifie d mov ement amount. Use t his function for the fol lowing. • T o chec k the c onnec tion o f a pos ition ing sy stem • T o obt ain th e addre ss of pos itioni n[...]

201 CHAPTER 10 JOG OPERA TION 10 10.1 Operation of JOG Operation 10.1 Operation of JOG Operatio n Once J OG spe ed is set and while a JOG s tart signa l is turne d on through a s equen ce prog ram, t he QD 73A1 execut es JOG op eration in the sp ecified directi on by output ting an alog vol tag e to the drive unit. Choose forward ru n or rev erse r[...]

202 (2) Range of JOG operation The f ollowin g figur e shows the ran ge of JO G ope ration. (a) Range in which JOG operation can be executed JOG operati on can be exec uted wit hin the range between the upp er lim it switch (FLS) and the lo wer limi t switch ( R LS). No te that the stroke limit upper lim it and lower l imit ar e ignored in JOG oper[...]

203 CHAPTER 10 JOG OPERA TION 10 10.1 Operation of JOG Operation (d) When the uppe r li mit swit ch (FLS) or the l ower li mit swit ch (RLS) t urned off The error "U pper lim it si gnal OFF while BU SY" (error co de: 91 ) or the error "Lo wer limit s ignal O FF while BUSY" (error code: 92) occurs. If operatio n decelerated an d [...]

204 (4) JOG start timing • During d ecelerati on af ter a J OG st art signal w as turned off, if the JOG st art signal for the same directio n is turned on, JOG op eration start s again acce leratin g it s spe ed. • During d ecelerati on af ter a J OG st art signal w as turned off, if the JOG st art signal for the opposite direc tion is turned [...]

205 CHAPTER 10 JOG OPERA TION 10 10.1 Operation of JOG Operation • During decelerat ion af ter a JOG s tart signa l was turned of f, if OPR st art signal (Y20) or a posi tionin g sta rt signal (Y21 to Y2 3) is turne d on, an e rror occurs and th e opera tion does not st art. • If the JO G st art signal for the oppos ite direc tion is turned on [...]

206 10.2 Operation Timing and Processing Time of JOG Operation This s ection explain s the operati on tim ing and p rocess ing ti me of JO G op eration. *1 This is an indication of internal commands, and does not match with the actual analog output waveform. The followin g values appl y to t1 to t3. t1 t2 t3 0.7 to 1.2ms 0 to 0 .5ms 0 to 0.5ms JOG [...]

207 CHAPTER 10 JOG OPERA TION 10 10.3 Data Setting for JOG Operation 10.3 Dat a Setting for JOG Operation T o execute JOG op eration, certa in dat a m ust be se t and s tored i n the buf fer memory areas . The follo wing t able lists the JOG dat a to b e set, setting c onditi on, and check timing . Setting it em Setting range Default value Setting [...]

208 CHAPTER 1 1 CONTROL SUB FUNCTION S Functio ns ref erred to as "sub functi on" co mpensat e or lim it co ntrol, o r add fu nction s at the e x ecu tion of major positi oning functions . Execute these sub fu nctio ns by se tting p arameters or through a sequ ence p rogram for them. The foll owin g functio ns are referred to a s "su[...]

209 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.1 Electronic Gear Function 11 . 1 Electronic Gear Function The "e lectronic gear f unction" control s ma chine move ment a mount per one comm and p ulse b y mult iplying command puls e out put o f the Q D73A 1. Positioni ng is much mo re flexi ble with the us e of this functi on, elim inatin g [...]

210 (2) Precautions for control • Execute OPR w ithout fail afte r resetti ng the C PU modul e. If not, a posit ioning error occ urs by the f raction s of electr onic gear that were not ou tput du ring po sition ing before the CPU reset. • When the position ing speed value that w as multipl ied by the se t value of el ectroni c gear excee ds th[...]

211 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.2 Speed Limit Function 11 . 2 S peed Lim it Funct ion The "spe ed lim it func tion" li mits comm and sp eed to the va lue s et in " S peed li mit valu e" w hen co mmand s peed during ma jor pos ition ing co ntrol o r JOG op eratio n exc eeds " S peed limi t value". (1) Contr[...]

212 (3) Setting the speed limit function The f ollowin g ta ble li st s the d ata to be set , setting condit ion, and check timing. Set " S peed limit value" in a unit of 10 pulses. I f a single digit is set, the value is rounded off. For instance, if "1999" is set, the operati on is executed with a speed limit value of "19[...]

213 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.3 Stroke Limit Function 11 . 3 S troke Limit Funct ion The "strok e lim it functi on" c ontrols op eration not to execu te positi oning when a c omm and tha t moves the work piece out side the speci fied s troke lim it rang e is giv en. (1) Control det ail This func tion l imits the m oving ran[...]

214 (2) Stroke limit check det ails and processing for each control The f ollowin g ta ble de scribes stroke limi t chec ks and p roces sing i n case o f an erro r that a re perfo rmed by the QD73A1. *1 The range from " St roke limit upper limit" to " Stroke limit lower l i mit" Th e foll owing t abl e desc ribes the corres pond[...]

215 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.4 Upper Lim it Switch (FLS)/Lower Lim it Switch (RLS) Function 11 . 4 Upper Limit Switch (FLS)/Lower Lim it Switch (R LS) Functi on The "uppe r limi t switc h (FLS)/l ower limit s witch (RLS) func tion" d ecelerate s and stop s operat ion according t o sign al input s from limit switch es that [...]

216 (2) Wiring upper limit swi tch (FLS) and lower limit switch (RLS) T o use the up per limi t switch (FLS) /lower limit sw itch (RL S) function, w ire the QD73A1' s terminals for Upper limit signal (FLS) and Lo wer limit sig nal (RLS) a s in the follow ing figu re. When w iring t he termina ls, s et the sw itch that is pl aced o n the direc [...]

217 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.5 Current V alue Change Function 11 . 5 Current V alue Change Func tion The "curre nt val ue ch ange fu nction" c hange s the value set in " Current f eed va lue" t o a sp ecified v alue. Use thi s functi on when operati on ca nnot be starte d due to a c urrent fe ed va lue out side t[...]

218 11 . 6 S peed Chang e Functi on The "spe ed change function" change s the spee d of the opera tion in proc ess to a sp ecified sp eed at a specified timing. Set a new spe ed va lue to the buf fer memory and reques t the spee d change. (1) Control detail The f ollowin g figur e shows the op eration of sp eed ch anges. (2) Precautions f[...]

219 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.6 Speed Change Function (c) New speed and " Speed li mit value" When th e valu e set in " New spe ed val ue" excee ds " S peed limit value ", the po sition ing is operate d at " S peed limit v alue". (d) Successive speed changes T o chang e spe ed succ essivel y , [...]

220 11 . 7 Deviation Coun ter Clear Function The "de v iati on counte r clear functi on" clea rs the a ccumul ated pu lses in the deviation c ounter to 0. When th e servomotor powe r was turn ed of f due to an em ergenc y stop d uring positionin g, cle aring the accum ulate d pulses in the de viati on cou nter to 0 prev ents s ervomoto r [...]

221 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.8 In-position Function 11 . 8 In-position Funct ion The "in-po sitio n func tion" turns on In -positi on si gnal (X1 6) while the ac cumulat ed pulse amoun t in th e devi ation counter i s withi n the s pecified in-pos ition range (1 to 204 79pulse) af ter de celera tion s tart ed. In-positi on[...]

222 (3) Setting the in-position function The f ollowin g ta ble li st s the d ata to be set , setting condit ion, and check timing. Setting item Setting range Default valu e Setting conditio n Check timing of the set da t a Buffer memory address (deci mal) In-position range 1 to 20479pulse 5pulse The data can be set anytime. Note that the set dat a[...]

223 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.9 Accumulate d Pulse Error Det ection Function 11 . 9 Accumulated Pulse Error De tection Fun ction The accu mulat ed pul se erro r detec tion fu nction ou tputs an alert and immediate ly stop s the positio ning whe n the accumu lated p ulses re ached the am ount s pecified by the user b efore the p ulses[...]

224 (a) Alert output The QD 73A1 c ompa res ac cumu lated p ulses th at are o utput d uring t he pos itioning with ale rt output accum ulated pu lses. If accumul ated pu lses ex ceed t he amo unt of the ale rt outpu t accum ulated pulses, the error "Acc umulate d puls e alert" (e rror cod e: 130) oc curs. (E ven af ter the error occurs , [...]

225 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.9 Accumulate d Pulse Error Det ection Function 11.9.1 Measuring and saving the refere nce value in the flash ROM 11 . 9 . 1 Measuring and saving the reference value in the flash ROM Before usi ng the accumul ated p ulse error d e tecti on fun ction, the referenc e val ue nee ds to be measu red to d etect[...]

226 1 1.9.2 Setting the accumulated pulse error detection function Set the v alues of " Al ert outp ut accum ulated pulse s etting value (maximu m value )" to " I mmediate stop accum ulated pulse set ting value (mi nimum va lue)", a nd set " Accumulated pulse error detec tion re quest" to 1 to execu te the a ccumulated[...]

227 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.9 Accumulate d Pulse Error Det ection Function 11.9.2 Setting t he accumulated pulse err or detection function (1) Alert output accumulated pulse s a nd immediate stop ac cumulated pulses Alert ou tput accu mulate d puls es (acc umula ted pul ses set to output an alert ) and immediate stop a ccumul ated [...]

228 (c) Alert output accumulated pul se setting value, immediate stop accumulat ed pulse setting val ue, and "Accumulated puls e setting" in the switch setti ng The se tting range of " Alert output accu mula ted puls e settin g value (maxi mum va lue)" is 1 to 14800 0 (the range of " Al ert output accum ulated p ulse s etti[...]

229 CHAPTER 1 1 CO NTROL SUB FUNCTIONS 11 11.9 Accumulate d Pulse Error Det ection Function 11.9.2 Setting t he accumulated pulse err or detection function Ex. When the s etting value s are a s follows : • Alert out put ac cumulate d puls e sett ing va lue (max imum va lue): 1 200 • Immed iate stop accum ulate d pulse s etting valu e (max imum [...]

230 CHAPTER 12 STOPPING AND REST ARTING CONTROL This c hapter describes stop s and restart s of control. 12.1 S top ping Cont rol This se ctio n descr ibes c ontr ol sto ps. The QD73A1 stop s contro l in c ase of the fol lowing. • When eac h contr ol end ed norm ally • When Servo READY sign al (REA DY) turned off • When an e rror occurre d in[...]

231 CHAPTER 12 STOPPING AND REST ARTING CONTROL 12 12.1 Stopping Control An emergency stop circuit should be built outside the programmable controller . (2) Stop during OPR If an error (a caus e of a s top) occu rs duri ng OPR, a dece lerati on stop s tart s at the error occurrence. At the comple tion of the decele ration st op, OPR requ est sig na[...]

232 (3) Stop during major positioning control or JOG operation (a) Stop bef ore decel eration st art of major positioni ng control o r JOG operation If an erro r (a cau se of a s top) oc curs pr ior to a s tart of dec eleration d uring maj or pos itioning control or JOG oper ation, a de celeration stop st arts at the error oc currence. The de celer[...]

233 CHAPTER 12 STOPPING AND REST ARTING CONTROL 12 12.1 Stopping Control (b) Stop du ring deceleration of major posit ioning control or JOG operati on If an error (a caus e of a s top) occ urs dur ing decel eration of ma jor pos ition ing contro l or JO G op eration, the decelera tion c ontinu es and the op eration stop s since it is tow ard com pl[...]

234 12.2 Rest art ing the Speed-position Control Switch Mode Af ter a decel eration stop follo wing S top sign al, the o peratio n of the s peed-p osition c ontrol s witch mod e before t he stop can be rest arted b y turning on S peed-pos ition mode rest art signa l (Y26). (1) Control detail (a) When positioning is stopped using S top signal (Y27) [...]

235 CHAPTER 12 STOPPING AND REST ARTING CONTROL 12 12.2 Restarting the Speed-position Control Switch Mode (b) When speed is chan ged during positioning After a stop follo wing th e input of S top s ignal (ST OP), if S peed-p ositi on mode rest art signa l (Y26) is turne d on, the positio ning res tart s according to the positio ning speed set in th[...]

236 CHAPTER 13 COMMON FUNCTIONS Functio ns ref erred to as "com mon fu nction " can be used regardle ss of co ntrol m ethod when nec essary . Comm on functi ons c an be used o n GX W orks2. 13.1 Module St atus Mo nitor Function The "m odule sta tus m onitor func tion" monit ors the module i nforma tion, s witch s etting informat[...]

237 CHAPTER 13 COMM ON FUNCTIONS 1 13 13.1 Module Status Monitor Function (2) Hardware s witch inform ation The follow ing switch settin g st atus es are d ispla yed. For det ails on the syste m monitor of G X W orks2, re fer to th e followin g. GX Wor ks2 V ersion1 Opera ting M anual (C ommon) Item Switch setting Va l u e ROT DIR Rotation directio[...]

238 13.2 Error Hist ory Funct ion This fu nction monitors the QD 73A1's error h istory s tored in the bu ffe r memory . The error history of pa s t 16 records c an be m onitored. Once 16 records are s tored, t he next rec ord ov erwrites the oldest record. Therefore, the latest 16 errors ar e stored a t all times. T o check the er ror hist ory[...]

239 CHAPTER 13 COMM ON FUNCTIONS 1 13 13.3 Module Error Collection Function 13.3 Module Error Coll ectio n Func tion Errors that o ccurred i n the QD 73A1 ar e collec ted int o the CPU m odule. The e rror info rmat ion of the QD 73A1 module is hel d in a CPU mo dule m emory as a mo dule e rror h ist ory , ev en wh en the power is turne d off o r th[...]

240 13.4 Error Clear Function When an error occurs, the error ca n be c leared on the system mo nitor . By clic king the b utton in th e system monitor , the error code s stored i n " Error code (ERR.1 )" and " Error code (ERR.2)" are c leared , and the ERR. LED turns of f. This opera tion i s the sa me as the one th at uses Err[...]

241 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.1 Checking an Error on GX Works2 CHAPTER 14 TROUBLESHOOTING This cha pter de scribes errors th at may o ccur in th e QD73 A1 and t roubles hooti ng for them . 14.1 Checking an Error on GX Works2 The error c odes t hat oc curred i n the QD 73A1 c an be ch ecked by th e follow ing. Choose a met hod depen ding [...]

242 (2) Checking on the "Error History" window An error hi story that inc ludes errors in the Q D73A1 and other m odules is dis played in a li st, an d it ca n be outpu t to a CSV file. T he error code s and the error occu rrence time ca n be chec ked eve n after the pow er was turned off and on o r the C PU modu le was reset. [Diagn osti[...]

243 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.1 Checking an Error on GX Works2 (b) Error a nd Solution, Intel ligent Modul e Informa tion • Error and So lution : Displ ays the d eta il and correctiv e action for the e rror sel ected on "Error History List" . • Intellig ent Module I nformation : Displays the Q D73A1' s sta tus at the o[...]

244 (c) Button to create a CSV file An error hi story is out put to a CSV file. If errors o ccur in the QD73A 1 frequently , " * HST .LOSS * " may be displayed under "Error Code" instead of an actual error code. If " * HST .LOSS * " is displayed frequently , set a large v alue for the number of errors collected per sca[...]

245 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.2 Troubleshooting 14.2.1 Troubleshooting procedure 14.2 T rou bleshooting 14.2.1 T roubleshooting procedure This sec tion sho ws the troubles hooti ng proc edure f or the QD73 A1. Start (Error occurrence) End Check the LED on the front of the QD73A1. Consult your local Mitsubishi representative. Has the moto[...]

246 14.2. 2 When the motor does not stop 14.2. 3 When posi tioning cannot be executed Check item Action Is the QD73A1's z ero adjustment performed properly? Perform zero adjustm ent. ( Page 59, Section 4.5) Is the servo amplifier's zero adjust ment performed properly? Refer to the manual for the servo amplifier , and perform zero adjus tm[...]

247 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.2 Troubleshooting 14.2.4 When a positioning error occurs 14.2.4 When a positioning error occurs Is proper wave output displayed when t he QD73A1's speed command terminal is connected to an oscilloscope? If proper wave output is not displayed, please consult your local Mitsubishi representative. Is prope[...]

248 14.2. 5 When the positioning speed is different from the specified speed 14.2. 6 When oper ation stop s abnor mally during positionin g Check item Action Are the positioning data set pr operly? Set proper positioning dat a. Is the set posit ioning speed value grea ter than " Speed limit value"? Set a positioning speed v alue that is s[...]

249 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.2 Troubleshooting 14.2.7 OPR error 14.2.7 OPR e rror (1) When OPR cannot be completed (2) When the OP position is in error Check ite m Action Does Near-point dog signal (DOG) stay of f? Check if Near-point d og signal (DOG) is wired properly . Does the speed change to the creep speed aft er Near-point dog si[...]

250 14.3 Det ails of Errors 14.3. 1 T ypes of errors The errors detec ted in the QD73A1 are categorized into f ive ty pes. (1) Setting dat a range error The QD73 A1 che cks p arame ters with the setti ng rang es at t he foll owing ti ming s, and detect s an e rror when a dat a is out side th e settin g range. If an error occurs, the corres pondi ng[...]

251 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.2 Storage of errors 14.3.2 Storage of errors When an e rror occ urs in the QD73A1 , the c orrespondi ng erro r code is sto red in the buf fer memory . (1) ERR.1 and E RR.2 Errors are cl assi fied into ERR.1 an d ERR.2 depen ding on th e error d eta ils. (2) Buffer memory areas for er[...]

252 14.3. 4 Error code list The foll owin g t able desc ribes error de tai ls and c orrective actions. Error category Error code (decimal) Error classifica tion Error name Descriptio n Operation at th e error occurrence Action Setting data range error (Fixed parameter) 1 ERR.1 S troke limit lower limit The set value in " S t r o k e l i m i t [...]

253 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.4 Error code list Setting data range erro r (OPR parameter) 20 ERR.1 OPR speed Outside the setting range The set value in " OPR speed" is outside the setting range. If a setting is outside the setting range, the OPR doe s not st art . Set a value within t he setting range. [...]

254 Setting data range error (Positioning data) 32 ERR.1 Positioning speed Outside the setting range The positioning speed is outside the setting range. The positioning does not start when t he set value is 0. In case of an error due to a set value other than 0, the positioning is controlled with " S peed limit value". Set a value wi thin[...]

255 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.4 Error code list S tart error 74 ERR.2 Near-point dog signal ON at start Near-point dog signal (DOG) is on at the start of OPR in the near-point dog method. The operation does not start. Return the workpiece to a position away from the near-point dog using JOG operation or major pos[...]

256 S tart error 85 ERR.1 Restart error S peed-position mode restart signal (Y26) was turned on when positioning was complete in the speed-position control switch mode. The operation does not start. S tart operation using Forward start signal (Y22) or Rever se start signal (Y23). S peed-position mode restart signal (Y26) was turned on in the positi[...]

257 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.4 Error code list Operation error 93 ERR.2 External stop signal ON during OPR S t op signal (STOP) turned on during OPR. The operation decelerates and stop s. • St art OPR if the workpiece stops when the nea r-point dog turns on in the count method. • In the near-point dog method[...]

258 Operation error 105 ERR.1 PLC READY signal OFF during opera tion PLC READY signal (Y2D) was turned off during major positioning or JOG operation. The operation decelerates and stops. T urn on PLC READY signal (Y2D). Control change error during operation 11 0 Current value change error A current v alue change is attempted when BUSY signal (X14) [...]

259 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.4 Error code list Zero/gain adjustment error 120 ERR.1 Flash ROM write exceeded For zero/gain adjustment, a setting value has been consecutively w ritten to the flash ROM more than 25 times. The zero/gain adjustment values are not re flected. Turn of f and on the power supply , or re[...]

260 Zero/gain adjustment error 125 ERR.1 Analog output adjustment area 1 Outside the setting range The set value in " Analog output adjustment area 1" is outside the setting range. The zero/gain adjustment values are not reflected. Set a value wi thin the setting range. [Setting range] Depends on "Accumulated pulse setting" in t[...]

261 CHAPT ER 14 T ROUBLE SHOOTIN G 14 14.3 Details of Errors 14.3.4 Error code list Accumulated pulse erro r detection function error 130 ERR.1 Accumulated pulse alert Accumula ted pulses reached the alert level. The positioning continues.  131 Accumulated pulse error undetectable • T he number of accumulated p ulses used as t he reference of [...]

262 Accumulated pulse error detection function error 133 ERR.1 Flash ROM write exceeded The measured reference value has been con secutively written to the flash ROM more than 25 times. The measured reference value is not saved in the flash ROM. T urn of f and on the power supply or reset the CPU module, or clear the error . 134 Flash ROM write err[...]

263 APPENDICES A Appendix 1 Functions Added or Changed Appendix 1.1 Functions added APPENDICES Appendix 1 Fu nct ions Add ed o r Cha nged Appendix 1.1 Fu nctions added The follo wing li sts the fu nction s added t o the QD73A1 and c orresp ondin g produ ct informa tion. Appendix 1.2 Fu nctions changed The follo wing list s the c hanged funct ion of[...]

264 Appendix 2 Connection Examples Appendix 2.1 Example of connection with a servo amplifier manufactured by Mit subishi Electric Corporation (1) Connection with MR-J3  A (Differential driv er) *1 indicates use of shielded cabl es. Use shielded cables f or wiring. *2 indicates use of shielded twisted pair cabl es. Use shielded twisted p air cabl[...]

265 APPENDICES A Appendix 2 Connec tion Examples Appendix 2.2 Example of connection wit h a servo am plifier manufactured by Y ASKAWA Elect ric Corporation Appendix 2.2 Examp le of connection with a servo amplifier manufactured by Y ASKA W A Electric Co rporation (1) Connection with  -V ser ies (Differ ential driver) • For DC power s upply in [...]

266 • For AC power supply inp ut type CONT. connector SERVO connector DOG Near-point dog signal QD73A1 CN1 -V series N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal FLS Upper limit signal CHANGE Speed-position switching command signal STOP Stop signal 1 2 3 4 5 6 7 8 9 1 2 13 11 5 10 6 7 4 3 15 14 8 9 12 READY Servo READY signal (+ [...]

267 APPENDICES A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 Appendix 3 Comp arison o f the QD73A1 and the AD70/A1SD70 (1) P erfo rmanc e spec ifica tion co mparison Item Spe cifications QD7 3A1 AD70 A1SD70 Number of occupied I/O points 48 points (I/O assignment: empty 16 points and intelligent 32 points) 32 points (special 32 points) 4[...]

268 All the o ther specifica tions are the sa me. LED RUN None ERR. ERR.1/ERR.2 (Minor/m ajor error) ZERO None GAIN None None (check with X signal) SV RDY (Servo REA DY signal) None (check with X signal) DOG (Near-point dog signal) None (check with X signal) STOP (S t op signal) None (check with X signal) FLS (Upper limit signal) None (check with X[...]

269 APPENDICES A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 (2) Function comp arison : Usable ×: Unusable Function Q D73A1 AD70/A1SD70 Differen ce OPR control [Movement am ount after near-point dog ON (buffer memo ry) ] • QD73A1: The movement amount where the OPR direction is reflected is stored in Movement amount after near-point d[...]

270 Accumulated puls e error detection function ×  Zero/gain adjustment [Method] • QD73A1: Switches on the f ront of the QD73A1 or a sequence program • AD70/A1S D70: Switches on the AD70/A1SD70 Module status moni tor function ×  Error history function ×  Module error collection function ×  Error clear function ×  Function QD[...]

271 APPENDICES A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 Remark Positioning execution t ime (BUSY signal (X14) ON t o Positioning complete signal (X15) ON ) of the QD73 A1 and AD70/A1SD70 may be dif f erent since their int ernal processing methods are different. As a result, the timing when In-position signal (X16) turns on may al s[...]

272 (4) Input (X)/output ( Y) comp arison : Usable ×: Unusabl e *1 For assignment t o X/Y10 to X /Y2F All the o ther I/O signals are th e same. Device No. *1 Signal name QD 73A 1 AD70/A1SD70 X20 OPR start complete signal × X21 A bsolute positioning start complete signal × X22 Forward start complete signal × X23 Rev erse start complete signal ×[...]

273 APPENDICES A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 (5) Buffer memory address comp arison Buffer m emory ar ea name Buffer memory address (decimal) QD73A1 AD70/A1SD70 Current value change request 90  S peed c hange request 91  Analog output adjustment area 2 92  93  Zero/gain adjustment spec ification 94  Zero/ga[...]

274 All the o ther buf fer memory addres ses are th e same. (6) External I/ O signal co mp arison All the o ther ex ternal I/O signa ls are the sa me. Measurement start request 410  Reference value write request 41 1  Input/out put Signal name Descriptio n QD73A1 AD70/A1SD70 Input Power supply T erminal block None ±15V DC (±14.55 to ±15.45[...]

275 APPENDICES A Appendix 4 When Using GX Developer Appendix 4.1 Operation of GX Developer Appendix 4 When Using GX Developer This sec tion d escribes the o peratin g proce dure of GX Dev eloper . When usi ng GX Dev elope r , configu re the p arameter settings and th e auto r efresh set tings with the s equence program . • PROGRAMMING ( Page 1 1 [...]

276 (2) Intelligent function m odule switch set ting Conf igure t he s etti ng on "Sw itch setti ng" in "PLC parame ter" . Parame ter [PLC p arameter] [I/O assig nment] Click the button. Item S etti ng detail Switch 1 Bit b0 Rotation direction setting 0 Positive voltage is output when t he positioning address increases. 1 Negati[...]

277 APPENDICES A Appendix 4 When Using GX Developer Appendix 4.1 Operation of GX Developer *1 When setting values (values in b7 to b4 of Switch 1) are 1111 H to 1001 H , the setting becomes the same as the one for the default value (0000 H ) *2 The setting becomes enabled only when "1: Negat ive voltage is output when the pos itioning address [...]

278 Appendix 5 Te r m s (1) Encoder One of the pul se ge nerators th at con vert s input d ata into b inary dat a (on and of f) (2) Near-point dog A swit ch use d in pos itioni ng syste ms, whi ch is placed before the o rigina l point of a wo rkpiece. Whe n this swit ch turns on , the fe edrate i s swit ched t o creep speed. T herefore , there i s [...]

279 APPENDICES A Appendix 5 T erms (6) Drive unit (servo a mplifier ) A generic t erm for drive uni ts that su pport analog vol tag e inpu ts. The comm ands that ar e outpu t from t he QD73A1 are low v olt age. T his un it is use d to am plify the energ y and activ ate a moto r . The unit , also called a serv o amp lifi er , is an ac cesso ry on a [...]

280 Appendix 6 Ext ernal Dim ensi ons (Unit: mm) 90 98 4 55.2 50.8[...]

281 APPENDICES A Appendix 6 E xternal Dimensions Memo[...]

282 INDEX 0 to 9 15-pin co nnect or for ex ternal wiring (p in typ e) . . . . . 72 9-pin con nector for externa l wiring (pin type ) . . . . . . 72 A Absolute positi oning sta rt complete sig nal (X2 1) . . . 35 Absolute positi oning sta rt sign al (Y21 ) . . . . . . . . . . 37 Absolu te syste m . . . . . . . . . . . . . . . . . . 83,188 ,190 Accel[...]

2 2 4 7 I 283 Factor y def ault zero/g ain ad justm ent va lue re storati on request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Feedb ack pul se . . . . . . . . . . . . . . . . 17,43,104,279 Feedr ate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Fixed p aramete r . . . . . . . . . . . . . . . . . . . . . [...]

284 Part names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Phase differen ce . . . . . . . . . . . . . . . . . . . . . . . . . 40 Phase-A fee dback pulse (PUL SE A) . . . . . . 40,42,43 Phase-B fee dback pulse (PUL SE B) . . . . . . 40,42,43 Phas e-Z f eedba ck pu lse ( PULSE Z) . . . . . . . 40,42,43 PLC READY signal (Y2D) . . . .[...]

2 2 4 7 I 285 Upper lim it signal (X1E) . . . . . . . . . . . . . . . . . . . . . 34 Upper limit s witch (FLS)/ lower li mit switch (RLS) . . 215 V Variable para meter . . . . . . . . . . . . . . . . . . . . . . . . 75 Voltage ra nge/Curre nt con sumptio n . . . . . . . . . . . . 40 W WDT error, H/W error si gnal (X10) . . . . . . . . . . . . . 32 [...]

286 REVISIONS *The m anual number is give n on th e bottom l eft of the back cov er . Jap anese manua l versio n SH-0 81074-F © 2012 MITSUBISHI ELECTRIC CORPORA TION Print date *Manual nu mber R evision July 2012 SH(N A)-081075ENG-A First edition November 2012 SH(N A)-081075ENG-B The accumula ted pulse error d etection function is added. September[...]

287 W ARR ANTY Please confirm the follo wing prod uct warrant y details befor e using this produc t. 1. Grati s W arranty T er m and Grat is W arranty Range If any fa ults or de fect s (here inaf ter "Fa ilure") found to be the respons ibility of Mit subishi occu rs duri ng use of the prod uct w ithin the gr atis warra nty t erm, t he pr [...]

288 Micros oft , Windo ws, Win dows V ist a, Wi ndows NT , Windows XP , Windows Server , V isio, Excel, Pow erPoin t, V isual Basic, V isual C ++, and Ac cess are eit her registe red trad emarks or trademarks of Micr osoft Corporati on in the United S tates , Jap an, and other cou ntries. Intel, Pe ntium, and C eleron are eithe r regist ered tra de[...]

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SH(NA)-081075ENG-C( 1 409 )MEE MODEL: QD73A1-U-E MODEL CODE: 13JZ69 Specifications subject to change without notice. When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN N[...]