Mitsubishi Electronics QD75P manual

Type QD75P/QD75D Positioning Module User's Manual U User's Manual User's Manual Mitsubishi Programmable Logic Controller When exported from Japan, this manual does not require application to the Ministry of International Trade and Industry for service transaction permission. Specifications subject to change without notice. Printed in[...]

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A - 1 SAFETY INSTRUCTIONS (Always read these instruct ions before using this equipment. ) Before using this product, please read t his manual and the relevant manuals introduced in this ma nual carefully and pay full attention t o safety to handle the product correct ly. The instructions giv en in this manual are concerned with this product . For t[...]

A - 2 [Design Instructions ] ! CAUTION Do not bundle or adjacently lay the control wire or communication cable w ith the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failur e to obser ve th is cou ld lead to m alfunc tion ing caus ed b y noise. [Mounting Instructions] ! CAUTION Use the PLC within t he general specification[...]

A - 3 [Startup/Maint enance Instructions] ! CAUTION Never disassemble or modify the module. Failure to observe t his could lead to trouble, malfunctioni ng, injuries or fires. Completely turn off the externally supplied pow er used in the sy stem before installing or removing the module. Failure to turn all phases OFF could lead to module tr ouble [...]

A - 4 REVI SION S The manual number is giv en on the bottom left of the ba ck cov er . Print Date Manual N um ber Revis ion Dec. , 19 99 SH (NA ) -080 05 8 -A First edi ti on Oct., 2000 SH (NA) -08 0058- B Ad dition of f uncti on vers ion B (Ove rall revision s based on t he Japa nese M anual V ersio n SH-0 80047- E) Jun., 20 01 SH (NA )-080 058 -C[...]

A - 5 REVI SION S The manual number is giv en on the bottom left of the ba ck cov er . Print Date Manual N um ber Revis ion Feb., 20 04 SH (NA) -08 0058-F Partia l cor rect ions and ad ditions CONTENT S, Sec tion 3.4. 1, Sect ion 3.4 .3, Sect ion 3. 4.4, Secti on 5.2. 1, Secti on 5.4, Sectio n 5.5, Sec tion 5.6.2, S ect ion 8.2. 6, Secti on 10.1 .2[...]

A - 6 INTRODUCT ION Thank you f or pur chas ing t he M itsub ishi g ener al-p urpos e pr ogram m able lo gic c ontro ller MELS EC-Q S eri es. Alwa ys rea d thro ugh th is m anual , and full y com prehe nd the f unc tions and per form ance of th e Q S eries PLC before star ting us e t o ensure corr ect usage of th is pr oduct . CONTENTS SAFET Y INST[...]

A - 7 3. Spec if icati ons an d Func tio ns 3- 1 t o 3- 2 4 3.1 Perf orm ance sp ecific at ions ................................................................................................. ..................... 3- 2 3.2 List of f unctio ns .........................................................................................................[...]

A - 8 5.2 List of p aram eters ......................................................................................................... .......................... 5- 2 0 5.2.1 B asic par am eters 1 .......................................................................................................................... 5- 20 5.2.2 B asic par am et[...]

A - 9 Secti on 2 Contro l Detai ls and Se ttin g 8. OP R Contro l 8- 1 t o 8- 2 2 8.1 Out line of OPR contro l ............................................................................................................................. 8- 2 8.1.1 T wo t ypes of OPR co ntrol ..........................................................................[...]

A - 10 9.2.20 NO P i nstruct ion ......................................................................................................... .................... 9- 110 9.2.21 J UMP instr uction ........................................................................................................ ................... 9-111 9.2.22 LO OP .............[...]

A - 11 11.4. 4 Crea ting a progr am to ena ble/dis able the m anua l pu lse ge nerat or oper atio n .......................... 11- 33 12. C ontro l Su b Func tions 12- 1 to 1 2- 98 12.1 O utline of su b func tions .................................................................................................. ..................... 12- 2 12.1.1 O [...]

A - 12 14.4 P STRT 1, PST RT2, PST RT 3, PSTRT 4 ............................................................................................ ... 14- 8 14.5 T EACH1, TEA CH2, TEACH 3, T EACH4 ............................................................................................ 14- 12 14.6 PFW RT ..............................................[...]

A - 13 About Ma nuals The f ollowi ng m anua ls are als o rel ated to this pro duct. In nec essar y, ord er them b y quoting the detai ls in the tab les b elow. Rel a ted Ma nu al s Manual Name Manual Number (Model Code) Type QD75P/QD75D Positioning M odule User' s Manual (Hardware) Describes the perform ance, spec ific ations, I/O i nterface,[...]

A - 14 Gener ic Ter m s and A bbrev iat ions Unless spec iall y note d, th e fo llow ing ge neric ter ms and ab brev iations ar e used in t his manual . Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which Q D75 can be mounted. QD75 Generic term for positioning m odule QD 75P1, Q D75P2, Q D75P4, Q[...]

A - 15 Compon ent L ist The ta ble be lo w shows the c om ponent i nclud ed in r espec tive posi tion ing m odules : Module name Description Q uantity QD75P1 QD75P1 Positioning M odule(1-ax is open collector output sy stem) 1 QD75P2 QD75P2 Positioning M odule(2-ax es open collector output sy stem) 1 QD75P4 QD75P4 Positioning M odule(4-ax es open co[...]

A - 16 MEM O[...]

Section 1 Section 1 Product Specifications and Handling Sectio n 1 is c onfigur ed for th e foll owing pu rposes ( 1) to ( 5). (1) To unders tand th e outline of posi tioni ng contr ol, and t he QD 75 speci ficatio ns and fu nction s (2) To ca rry ou t actua l work su ch as in stall ation and wir ing (3) To set par ameters an d data required for po[...]

MEM O[...]

1 - 1 1 Chapter 1 Product Outline The pu rpose and o utline of positio ning control using QD75 a re explai ned in this ch apter. Readin g this chapter will h elp you understan d what can be do ne us ing the p ositioni ng syst em and wh ich pr ocedur e to us e for a sp ecific purpos e. By und ersta nding "W hat can be don e", and " Wh[...]

1 - 2 MELSEC-Q 1 PRODUCT OUT LINE 1.1 Positioning contr ol 1.1.1 Features of QD75 The f eatures of the QD 75 are sho wn be low. (1) Av ailability of one, two, and four ax is modules (a) O ne, t wo an d four axis m odules are a vaila ble f or bo th the open co llect or system puls e out put ( QD75P 1, QD 75P2 , an d QD75 P4) a nd d iffer ential driv[...]

1 - 3 MELSEC-Q 1 PRODUCT OUT LINE (c) Con tinuous p ositi oning c ontr ol us ing m ult ipl e pos itio ning d ata c an be execu ted in acc orda nce with th e operat ion patt erns th e user ass igned to the pos ition ing data. (Ref er to Sect ion 5. 3 an d 9.1.2) Continu ous posit ionin g c ontro l can be exec ute d over mult iple block s, wher e eac[...]

1 - 4 MELSEC-Q 1 PRODUCT OUT LINE (6) Support of intelligent function module dedicated instructions Dedica ted ins truc tio ns suc h as th e abs olut e pos itio n restor ation instr ucti on, posit ioni ng star t ins truc tion, and t eac hing i nstr uction are pr ovi ded. The us e of s uch d edic ated instr uct ion s implif ies sequ ence pr ogr am s[...]

1 - 5 MELSEC-Q 1 PRODUCT OUT LINE 1.1.2 Purpose and ap pl ic ations of posi ti oning contr ol "Pos itio ning" r efe rs t o movi ng a m oving b od y, such as a wo rk piec e or t ool ( herei naft er, gener icall y called "work piece" ) at a des ignated spee d, and acc urate ly stop ping it at th e target posit ion. T he main app l[...]

1 - 6 MELSEC-Q 1 PRODUCT OUT LINE Li ft e r (St o rage o f Br au n t ube s on to agi ng ra ck) PLC MEL SEC -Q Servo amplifier Servomotor B co nv eyor Unloader Loader/u nloader Aging rack Lifter C conveyor Counter- weight A co nveyor Ser vo amp lifi er Reduction gears Ser vomot or (with br akes) Loader Positi oni n g mo du le G2 G1 QD75 • During t[...]

1 - 7 MELSEC-Q 1 PRODUCT OUT LINE 1.1.3 Mechanism of positi oni ng contr ol Posit ionin g contr ol us ing the QD 75 is car rie d out wit h "puls e signa ls ". (The QD7 5 is a module that gen erates pu lses). In t he pos itio ning s ystem usi ng t he QD7 5, var ious softwar e a nd dev ices are use d f or the f oll owi ng roles . The QD 75 [...]

1 - 8 MELSEC-Q 1 PRODUCT OUT LINE The pr inc iple of "p osit ion c ontro l" a nd "s peed con trol " oper atio n is s ho wn be low. Position control The to tal N o. of puls es re quir ed to m ove the des ignated dis tance is o btai ned in the foll owin g mann er. Tota l No . of p ulses requ ired to move designa ted dista nce = De[...]

1 - 9 MELSEC-Q 1 PRODUCT OUT LINE 1.1.4 Outline desig n of positi oni ng sy stem The ou tline of th e pos itio ning s y stem op erat ion a nd des ign, us ing the QD 75, is sho wn below. (1) Positioni ng system usi ng QD 75 M PLG Forw ard run puls e tr ai n Reverse run puls e tra in Drive unit Servomotor Devia- tion counter D/A converter Speed comma[...]

1 - 10 MELSEC-Q 1 PRODUCT OUT LINE (b) Pulse tr ai n output from the QD 75 1) As sh own in Fi g. 1.3, the pu lse fre quenc y incr eas es as the m otor acceler ates. The pulses ar e spar se wh en th e motor star ts a nd mor e freque nt wh en the m otor speed com es clos e to the t arget s peed . 2) The pul se fre qu en cy stab iliz e s when t he mot[...]

1 - 11 MELSEC-Q 1 PRODUCT OUT LINE (a) In t he s ystem sho wn in Fig. 1.4, the m ovem ent am ount p er p ulse, comm and pu lse f req uenc y, and the de viat ion c oun ter dro op pu lser am ount are determ ine d as foll ows: 1) Movem ent amoun t per puls e The m ovem ent am ount per p ulse is d eterm ine d by th e worm gear lea d, decel erati on rat[...]

1 - 12 MELSEC-Q 1 PRODUCT OUT LINE 1.1.5 Communicating si g nals betw een QD75 and each mo dule The ou tline of th e sig nal c omm unicat ion be twee n the QD75 and PL C C PU, perip heral device an d driv e unit, etc ., is sho wn belo w. (A perip her al devic e comm unica tes with the QD75 vi a the PL C CPU to whic h it is connec ted) PLC READY si [...]

1 - 13 MELSEC-Q 1 PRODUCT OUT LINE QD75 PLC CPU The QD7 5 and PL C CPU comm unic ate the fo llo wing da ta via the bas e unit. Directio n Communication Q D 75 PL C CPU PLC CPU QD75 Control signal Signal indicating QD75 state, su ch as QD75 READY signal, BU SY signal. Signal related to commands suc h as PLC READY signal, various start signals, stop [...]

1 - 14 MELSEC-Q 1 PRODUCT OUT LINE QD75 Ex te rn al sign a l The QD 75 an d ex terna l sig nal c omm unicat e the follo wing d ata via th e ex terna l device c on nectio n con nector . Directio n Communication Q D 75 External signal External signal QD75 Control signal – • Signals fr om detector su ch as near-p oint dog signal, upper/low er limi[...]

1 - 15 MELSEC-Q 1 PRODUCT OUT LINE 1.2 Flow of sy stem oper ation 1.2.1 Flow of all pr ocesses The pos itio nin g contr ol pr oces ses, usin g the QD75, ar e sho wn be low. GX C onf ig urat or -QP Servo, etc. QD75 PLC CPU GX De ve loper Desig n Understand the funct io ns and pe rformance, and de termine the po sitioni ng o peration meth od (s ystem[...]

1 - 16 MELSEC-Q 1 PRODUCT OUT LINE The f ollowi ng work is c arri ed out with the pr ocess es sh own o n the pr e vious pa ge. Details Refere nce 1) Understand the product function s and u sage meth ods, the configurati on devices and specification s required for position ing control, and design the sy stem. • Chapter 1 • Chapter 2 • Chapter [...]

1 - 17 MELSEC-Q 1 PRODUCT OUT LINE MEM O[...]

1 - 18 MELSEC-Q 1 PRODUCT OUT LINE 1.2.2 Outline of starti ng The ou tline f or s tarti ng e ach c ontro l is s hown with t he f ollow ing f lowchar t. It is as sum ed th at eac h m odule is i nstal led, and th e re quir ed s ystem conf igurat ion, etc., h as b een pr epar ed. Flow of start ing Preparation Installation and connection of module Sett[...]

1 - 19 MELSEC-Q 1 PRODUCT OUT LINE Setti ng m ethod : Indi cates th e sequence program tha t must be created. QD75 <GX C onfig urator -QP> Set w it h GX C onfigu rato r-QP Set the par ameter an d data f or executi ng main fu nction, a nd th e su b func tions t hat need t o be set beforehan d. Writ e <GX Devel oper> Crea te sequenc e pr [...]

1 - 20 MELSEC-Q 1 PRODUCT OUT LINE 1.2.3 Outline of stoppi ng Each con t rol i s stop pe d in th e foll owing ca se s. (1) W hen each c ontro l is com plete d norm al ly. (2) W hen the drive unit READ Y signa l is turne d OFF. (3) When a PLC CPU err or occurs (4) W hen the PLC READ Y signa l is tur ned OFF . (5) W hen an error occur s in the QD 75.[...]

1 - 21 MELSEC-Q 1 PRODUCT OUT LINE 1.2.4 Outline for r estarti ng W hen a sto p caus e has occur red duri ng o perat ion with pos it ion co ntrol caus ing th e axis to sto p, pos itio ning to the end poin t of th e pos itio ning data can be res tarte d from the st op pe d po siti on by us ing th e " Cd.6 Res tart comm and". If iss ued dur[...]

1 - 22 MELSEC-Q 1 PRODUCT OUT LINE 1.3 Restrictions with a system using a stepping motor Note t he fol lowing restr ict ions a pplica ble to a s ystem that uses a ste pping m otor: (1) The S- pattern acc elerati on/decel eration is dis abled bec ause it r equir es a servom otor f or the contro lled ax is. (2) The c ircular in terpo lation c ontrol [...]

2 - 1 2 Chapter 2 System Configuration In this chapter , the general image of the system config urati on of the po sitioni ng c ontrol using QD7 5, the con figur ation de vices, appli cable CPU an d the p recauti ons of co nfigu ring the syst em are exp la ine d. Prep are the r equired c onfi guration de vices to match the posit ionin g contro l sy[...]

2 - 2 MELSEC-Q 2 SYSTEM CONFIGURATION 2.1 General imag e o f system The ge nera l im age of the s ystem , incl udin g the Q D75 , PL C CPU a nd p eriph eral device s is show n bel ow. (The Nos . i n the illus trat ion ref er t o the "No ." in Secti on 2. 2 "C om ponent l ist". CPU module 1 Positi oning module I/O module Extens i[...]

2 - 3 MELSEC-Q 2 SYSTEM CONFIGURATION Drive uni t Motor Manual pu lse ge nerator Machin e syst em inpu ts (switches) Cable Near point dog Limit swit ch Externa l comm and signal Stop sign al Peripher al dev ice Personal computer 6 8 7 (For details, refer to GX Configurato r -QP Operatin g Manual. ) SWnD5C -QD75P-E 3 2 GX Configurator -QP[...]

2 - 4 MELSEC-Q 2 SYSTEM CONFIGURATION 2.2 Component l is t The pos itio nin g s ystem using the Q D75 is co nfig ured of th e fol lowin g de vices . No. Part name Type Remarks 1 Positioning module QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4 QD75 No. of c ontrol axes P: Open collector output syst em D: Differentia l driver output syst em 2 GX Configur[...]

2 - 5 MELSEC-Q 2 SYSTEM CONFIGURATION 2.3 Applicable sy stem The QD 75 ca n be us ed in the fol lowing system . (1) Appli cabl e modul es and the num ber o f instal labl e modul es The f ollowi ng tab le ind icates the CPU modul es an d net work modul es (f or rem ote I/O st atio n) usab le with t he QD 75 an d th e num ber of insta llab le m odule[...]

2 - 6 MELSEC-Q 2 SYSTEM CONFIGURATION 2.4 How to check the function v er si on and SER IAL No. The f unctio n vers io n and SERI AL N o. of th e QD 75 ca n be c heck ed in the f ollo wing methods . [1] Me thod using the r ated plate on t he mod ule s ide fac e [2] Method usi ng the sof tware [1] Method using the r ated pl ate o n the modul e side f[...]

3 - 1 3 Chapter 3 Specifications and Functions The vario us spec ificati ons of the QD75 are explain ed in t his cha pter. The "Gener al spe cificat ions", " Performanc e speci fication s", "Li st of func tions", "Speci ficati ons of inpu t/output signals with PLC CPU", and th e "Speci ficati ons of inpu[...]

3 - 2 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.1 Performance sp ecificati ons Model Item QD75P1 1 QD75D1 QD75P2 1 QD75D2 QD75P4 1 QD75D4 No. of c ontrol axes 1 axis 2 axes 4 axes Interpolat ion funct ion None 2-axis linear i nterpolat ion 2-axis ci rcular interpol ati on 2-, 3-, or 4-a xis linear interpolati on 2-axis ci rcular interpol ati on Con[...]

3 - 3 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Model Item QD75P1 1 QD75D1 QD75P2 1 QD75D2 QD75P4 1 QD75D4 1-axis linea r control 6 1-axis speed c ontrol 6 2-axis linea r interpol ation c ontrol (Com posite s peed) 7 2-axis linea r interpol ation c ontrol (Refe rence axis s peed) 7 2-axis ci rcular interpol ation c ontrol 7 2-axis speed c ontrol 6 3-[...]

3 - 4 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.2 List of functions 3.2.1 QD75 control functions The QD 75 has sev eral f uncti ons. I n th is m anual , the Q D75 f uncti ons ar e ca tegor ized and ex pla ined as foll ows. Main functions (1) OPR control "OPR co ntrol" is a functi on that establis hed t he start point for carr ying out pos[...]

3 - 5 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Position control Main fu nctio ns S ub functions OPR co ntro l Contro l registered in QD75 [Positioning start No.] [9002] [9001] Machine OPR Fast OPR (Functions characteristic t o machine OP R ) OPR retr y function OP shift f unctio n <Functions that comp ensate control> B acklash co mpensation f [...]

3 - 6 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.2.2 QD75 main functions The ou tline of th e mai n funct ions for posit ion ing co ntrol with t he QD 75 is desc ribe d below. ( Ref er to Secti on 2 f or d etails on eac h func tion .) Main functions Details Reference section Machine OPR control Mechanically establi shes th e posit ioning st art poin[...]

3 - 7 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Main functions Details Reference section Block start (Normal star t) With one start, ex ecutes the posit ioning dat a in a random block with the set order. 10.3.2 Condition start Carries out condition judgm ent set in t he "con dition data " for the designated positioning data, and then execut[...]

3 - 8 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.2.3 QD75 sub functions and co mmon functions Sub functions The f unctions that assist position ing co ntrol usi ng the Q D75 are describ ed bel ow. (Refer to Section 2 for details on each f unction. Sub function Details Reference section OPR retry function This function retries the machine OP R w ith [...]

3 - 9 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Sub function Details Reference section Step function This function temporarily stop s the operati on to confirm the positioning operation during debug ging, etc. The operation can be stopp ed at each "autom atic de celeration" or "positioning data". 12.7.1 Skip function This function[...]

3 - 10 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Common funct ions The outl ine of the f unctions execut ed as nec essar y are des cribed be low. (Refer to Section 2 for det ails on each f unction.) Common functions Details Reference section Parameter initialization function This function returns the "parameters " stored in t he Q D 75 buff[...]

3 - 11 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS MEM O[...]

3 - 12 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.2.4 Combination o f QD75 mai n functions an d sub functions W ith positi oning c ontr ol us ing the QD 75, t he m ain f unctio ns a nd s ub func tions can be com bined and us ed as nec essar y. A l ist of the m ain funct ion and su b fu nction com binati ons is gi ven be low. Functions characteristic[...]

3 - 13 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Functions that compensate control Functions that limit control Functions that change control details Other functions Backlash compensation function Electronic gear function Near pass function Speed limit function Torque limit function Software stroke limit function Hardware stroke limit function Speed [...]

3 - 14 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.3 Specifications o f input/out put si g nals w i th PLC C PU 3.3.1 List of input/output si g nal s wi th PLC C PU The QD7 5 uses 32 inp ut poin ts and 32 ou tput po ints for exc hang ing data with the P LC CPU. The i nput/ou tput s igna ls whe n the Q D75 is m ounted in slo t No . 0 of t he m ain bas[...]

3 - 15 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input si g nal s (QD75 P LC CPU) The ON /OFF tim ing an d cond itions of the in put si gna ls are s ho wn belo w. Device No. Signal nam e Details X0 QD75 R EAD Y ON: R EAD Y OFF: N ot R EAD Y/ Watc h dog timer error • When the PLC READY signal [Y0] turns from OFF to ON, the param ete[...]

3 - 16 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Important 1 : The BU SY s ignal turns O N e ven wh en p osition c on trol of m ovem ent amou nt 0 is execu ted. Ho wever , sinc e th e ON t ime is shor t, the ON stat us m ay no t be detect ed in t he sequenc e pro gram . 2 : "Pos itioni ng com ple te" of th e QD7 5 ref ers t o the poin t whe[...]

3 - 17 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.4 Specifications of i nput/out put i nter faces with exter nal devi ces 3.4.1 Electrical speci fications of input /output si g nal s Input specificat ions Signal name Rated input voltage/current Wo r k in g voltage range ON voltage/current OFF voltage/current Input resistance Response time Drive unit[...]

3 - 18 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Output specif ications Signal nam e Rated load voltage W orking load voltage ra nge Max. l oa d current/ rush current Max. voltage drop at ON Leak age current at OFF Response t ime • Different ial driver equi vale nt to Am 26C31 (For QD75D ) • Select the CW/CCW type, P ULSE/SIGN t ype and A phase/B[...]

3 - 19 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.4.2 Signal l ay out for external dev ice connecti on connector The s pecif icat ions of the c on nector sect ion, whic h is t he inp ut/ outp ut inter fac e for the QD75 an d e xte rna l dev ice, are sh ow n be low . The s ignal la yout for the QD7 5 ex tern al de vice c onn ection conn ect or is s h[...]

3 - 20 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.4.3 List of input/output si g nal detail s The de tails of eac h QD 75 ext erna l devic e co nnecti on con nector ar e sho wn be low: Pin No. Signal nam e AX1 AX2 AX 3 AX4 Signal detai ls (Negati ve logic is selected by e xternal I /O signal logic selec tion) Manual pulse gene rator A phase Manual pu[...]

3 - 21 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS Pin No. Signal nam e AX1 AX2 AX 3 AX4 Signal detai ls (Negati ve logic is selected by e xternal I /O signal logic selec tion) Stop si gnal 1A4 1B 4 2A4 2B4 • I nput this signal to s top positioning. • W hen this signal turns ON, the QD75 will stop the pos itioning being executed. After that , even [...]

3 - 22 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS 3.4.4 Input/output i nter face i nternal ci r cui t The ou tline diagram s of the i ntern al circ uits for t he QD7 5P1/Q D75D 1 exter nal device conne c ti on int e rfa ce a r e sho wn bel ow . (1) Input (C ommon to QD 7 5P1 an d QD 75D 1) External wiring Pin No. Internal circuit Signal name Need for [...]

3 - 23 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS (a) Input sig nal ON /OFF status The in pu t sign al ON/ O FF sta tus is de fie d by th e e xte r nal wi ri ng and lo gi c setting. This is ex plai ned be low with th e exam pl e of ne ar-p oint do g s ignal ( DOG ). (The ot her input s igna ls als o per form the s am e operat ions as the near- poin t [...]

3 - 24 MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS (2) Output (F or QD 75P1) External wiring Pin No. Internal circuit Signal name Need for w iring 1 1A13 Deviation counter clear CLEAR 1A14 Common CLEAR COM 1A15 PULSE F 1A16 CW A phase PULSE PULSE COM 1A17 PULSE R 1A18 CCW B phase SIGN PULSE COM (3) Output (F or QD 75D 1) External wiring Pin No. Interna[...]

4 - 1 4 Chapter 4 Installation, Wiring and Maintenance of the Product The installation, wiring and mainte nance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before start[...]

4 - 2 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1 Outline of install ati on, w iring and maintenance 4.1.1 Installation, w iring and mai ntenance procedur es The ou tline and proced ures f or Q D75 insta llatio n, wir ing an d m aintena nce are sh own below. STEP 1 STEP 2 STEP 3 STEP 4 STEP 5 STEP 6 STEP 7 Refer to Secti on [...]

4 - 3 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1.2 Names of each par t (1) T he par t nam es of the Q D75 are s hown belo w: QD75P4 RUN ERR AX1 AX1 AX2 AX3 AX4 AX2 AX3 AX4 For QD 75P4 (1) (2) (3) QD75D4 RUN ERR AX1 AX1 AX2 AX3 AX4 AX2 AX3 AX4 For QD 75D4 (1) (2) (3) (4) No. Name Details (1) RUN indic ator LED, ERR indic ato[...]

4 - 4 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT (2) T he L ED dis pla y ind icates the f ollo wing operat ion s tatus es of the Q D7 5 and ax es. QD75P4 RUN ERR AX1 AX2 AX3 AX4 Display A ttention point Description Display Attention point Description RUN ERR AX1 AX2 AX3 AX4 RUN is OFF. Hardware failure, watch dog timer error RU[...]

4 - 5 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1.3 Handling pr ecauti ons Handle th e QD75 and cable wh ile obser vin g the foll owing pr ecaut ions. [1] Handling pr ecautions ! CAUTION Use the PLC within t he general specifications env ironment given in t his manual. Using the PLC out side the general specificat ion range [...]

4 - 6 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT [2] Other precautions (1) Mai n body • The m ain bo dy cas e is m ade of plast ic. Tak e car e not to dro p or appl y stron g im pacts o nto t he cas e. • Do not r em ove the QD75 PCB from the c ase. F ail ure to obser ve th is coul d lead to fa ul t s. (2) Cable • Do not p[...]

4 - 7 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.2 Installation 4.2.1 Precautions for i nstall ation The prec au tions f or i nstal ling t he Q D75 are g iven b elow. R efer to t his s ectio n as well as "4. 1.3 H andli ng prec auti ons" when c arr ying o ut the work . Precautions for installati on ! DANGER Complete[...]

4 - 8 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.3 W iring The prec au tions f or wiring the QD 75 ar e gi ven b elow. Refer to t his s ectio n as well as "4.1 .3 Han dli ng p rec auti ons" when ca r ryi ng out t he wo rk. 4.3.1 Precautions for w iri ng (1) A lwa ys confir m th e ter mina l la yout b efore c on nect[...]

4 - 9 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT [ Wiring ex ample of shiel ded cable] The f ollowi ng sho ws a wiri ng ex am ple for nois e re duction in t he c ase where the connec tor A6CO N1 is use d. To external devices Connector Shielded cable Drive unit Connector (A6CON1) To drive unit Use the shortest possible length to[...]

4 - 10 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT Assembling of connector ( A6CON 1) Wrap the c oated pa rts with a heat contr act ile tube.[...]

4 - 11 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT (10) T o m ake this pro duct c onfor m to the E MC an d Low Voltag e Dir ecti ve, be sure t o use of a AD75C K t ype cab le cl amp ( m anufactur ed b y Mits ubish i Electr ic) f or gr ound ing to the c ontr ol box . QD75 20cm(7.88inch) to 30cm(11.82inch) Inside co ntrol b ox AD7[...]

4 - 12 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT [ Wiring exampl es usi ng duct (incorr ect ex ample and corrected ex ample)] Relay Drive unit Drive unit Noise source Relay Relay PLC QD 75 Relay Relay Relay PLC QD 75 Drive unit Drive unit Change d Wiring du ct Wiring du ct Cont r o l pan el Cont r o l pan el The QD 75 and dri [...]

4 - 13 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.3.2 Wiring o f the di fferential dr i v er common ter minal W hen the d iffer entia l dri ver out put s y stem ( QD75D1 , QD7 5D2 , QD75 D4) is use d, a poten tial d iffer ence b etwe en c omm ons m a y occur bet ween t he dif fer entia l dr iver comm on term ina l and t he d [...]

4 - 14 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.4 Confirmi ng the i nstal lati on and w iri ng 4.4.1 Items to confir m w hen installati on and w iring are completed Check the fo llo wing points whe n com pleted with the Q D75 instal latio n an d wir ing. • Is the module corr ectl y wired? ... "Con nection c onf irm a[...]

4 - 15 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.5 Maintenance 4.5.1 Precautions for maint enance The prec au tions f or s ervic ing t he QD 75 ar e gi ven below. Refer to th is s ecti on as well as "4. 1.3 H andli ng prec auti ons" when c arr ying o ut the work . ! DANGER Always turn all phases of the pow er suppl[...]

4 - 16 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT MEM O[...]

5 - 1 5 Chapter 5 Data Used for Positioning Control The paramete rs and data used to c arry out positi oning control with the QD75 ar e explained in this ch apter. With the posit ioning sys tem using the QD7 5, the various parameters and dat a explai ned in this ch apter are use d for control . The parameters an d data include parameters set accord[...]

5 - 2 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1 Types of data 5.1.1 Parameters and dat a r eq ui red for contr ol The par am eters a nd dat a req uired to c arr y out con tro l with the QD 75 i nclud e th e "setti ng dat a", "m onitor data" an d "co ntrol da ta" sho wn bel ow. Setting data (Data set beforeh and[...]

5 - 3 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL The o nly va lid data as sign ed to these param eters are the da ta r ead at the m om ent when a pos itio ning or JOG oper atio n is starte d. Once the operat ion h as star ted, an y modi fi c a ti on to the da ta is ig no re d . Exce pt ional ly, how ever , modi ficati ons t o the follow ing a re[...]

5 - 4 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.2 Setting it ems for positi oni ng par ameter s The tabl e belo w lists item s set to th e positio ning param eters. S etting of posit ionin g param eters is s imilar l y done f or i ndivi dua l axes for all c ontro ls ac hie ved b y the Q D75. For d etails of c ontro ls, r efer to Sec tio n 2[...]

5 - 5 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Contr ol Major positi oni ng cont rol Ma nual c ontrol Positio n contro l Other co ntrol Pos ition in g pa ra meter OPR cont rol 1-ax is lin ear con tr o l 2/3/ 4-axi s line ar i nterp olati on co ntr ol 1-ax is fix ed- fe ed con tro l 2/3/ 4-axis fixe d-fee d cont rol 2-axi s circ ular inte rpol [...]

5 - 6 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.3 Setting it ems for OPR par ameter s W hen carr ying o ut "O PR con tro l", th e "OP R par am eters" m ust b e set. The s ett ing item s f or the "O PR par am eters" are s ho wn belo w. The "O PR p aram eters " ar e set c om monl y for e ach axis. Refe [...]

5 - 7 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.4 Setting items f or positioning data Posit ionin g dat a m ust be s et f or carr yin g out an y "m ajor pos itio ning c ontro l". T he t able below lists the item s to b e se t for produc in g the p osit ionin g da ta. One to 600 posit ion ing dat a it ems can be s et f or eac h axi[...]

5 - 8 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Checking the posit ioning data The item s Da.1 to Da.10 are chec ked at t he fol lowing tim ings: (1) Star tup of a p ositi oning opera tion (2) Err or c heck perf orm ed by GX Co nfig urator -QP[...]

5 - 9 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 10 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.5 Setting items for block start data The "blo ck sta rt da ta" must be set when carry ing out "high- l evel posi tioni ng con t rol" . The s etting item s f or the " block star t data " are sh own bel ow. Up to 50 poi nts of " bloc k s tart d ata" c an [...]

5 - 11 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.6 Setting items f or condition data W hen carr ying o ut "hi gh-leve l p ositi oning c ontr ol" or us ing the JUM P ins truct ion i n the "maj or pos itio ning c ontr ol", the "c ond ition data " m ust be s et as requ ir ed. T he sett ing item s for the "con[...]

5 - 12 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.7 Types and r oles of monitor data The m onit or dat a area in th e buf fer m em ory stor es dat a rel ating t o th e oper atin g state of th e posi tioni ng s ystem , whic h are monit ore d as r equir ed wh ile t he pos ition ing system is operat ing. The fo ll ow in g da ta a re avai l abl [...]

5 - 13 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [2] Monitori ng the axi s oper ati on state Monitoring t he position Monitor details Corresponding item Monitor the current machine feed v alue Md.21 Machine feed value Monitor the current "current feed value" Md.20 Current feed value Monitor the current target value Md.32 Target value [...]

5 - 14 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Monitoring the stat e Monitor details Corresponding item Monitor the axis operation state Md.26 Ax is operation status Monitor the latest error code that occurred w ith the axis Md.23 Axis error No. Monitor the latest w arning code that occurred w ith the a xis Md.24 Axis w arning No. Monitor the[...]

5 - 15 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 16 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.1.8 Types and r oles of control dat a Opera tion of the posi tion ing s ystem is ac hie ved thr ough the exec utio n of nec ess ary contr ols. ( Dat a req uired f or c ontro ls ar e giv en thr ough the def au lt val ues wh en th e power is s witch ed ON , which ca n be m odif ied as requ ir ed [...]

5 - 17 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [2] Controlling the operation Controlli ng the operat ion Control details Corresponding item Set which positioning to ex ecute (start No.) Cd.3 Positioning start No. Clear (reset) the axis error ( Md.23 ) and warning ( Md.24 ) Cd.5 Ax is error reset Issue instruction to restart ( W hen axis opera[...]

5 - 18 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Making setting s related to operation Control details Corresponding item Turn M code ON signal O FF Cd.7 M code OFF request Set new value when changing current v alue Cd.9 New current value Validate speed-position sw itching signal from external source Cd.24 Speed-position sw itching enable flag [...]

5 - 19 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 20 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.2 List of parameter s 5.2.1 Basic paramet ers 1 Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 0 : mm 0 1 : inch 1 2 : degree 2 Pr.1 Unit settin g 3 : [...]

5 - 21 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.2 to Pr.4 Movement amount per pulse Thes e param eters def ine the am ount of m ovem ent achie ved by eac h sing le puls e within a pulse tra in out put by the QD75. The f ollowing paragra phs exp lain ho w to set t he indi vidua l param eters Pr.2 , Pr.3 , and Pr.4 assum ing that the unit &qu[...]

5 - 22 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL However, t he m axim um value th at can be s et f or this "movem ent am ount per rotation (A l)" par am eter is 6553. 5 µ m (approx . 6.5mm ). Set the "m ovement am ount per rotat ion (Al) " as sh own be low so that the "m ovem ent am ount per rot ation ( AL)" does [...]

5 - 23 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.5 Pulse output mode Set the pulse out put m ode to m atch the ser vo am plifier being us ed. IMPORTANT The onl y valid va lue of the " Pr.5 Puls e ou tput m ode" is th e val ue at the m om ent when th e PL C READ Y s ignal [Y0 ] tur ns fr om O FF to ON f or the firs t tim e after the[...]

5 - 24 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL (3) A phase/B phase mode Forward r un and r everse r un are contr olled with th e phase d iffer ence of the A phase ( A ) and B phase (B ). • W hen the B phas e is 90 ° behind the A p hase, t he mo tor will f orward ru n. • W hen the B phas e is 90 ° ahead of the A phase, t he m otor will r[...]

5 - 25 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL POINT W hen Pr.6 has been c han ged f rom "0" to "1", ch eck if th e upper an d lower lim it switc hes oper ate pro per ly by JOG operat ion. If an y malf uncti on is ide ntif ied, c heck and corr ect t he wiring .[...]

5 - 26 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 Pr.7 Bias s peed at start The setti ng range differs depending on the " Pr.1 Un it se ttin g ". [...]

5 - 27 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0 to 20000000.00 (mm/min) 0 to 2000000000 (×10 -2 mm/min) 1 : inch 0 to 2000000.000 (inch/min) 0 to 2000000000 (×1 0 -3 inch/min) 2 : degree 0 to 2000000.000 (d egree/min) 0 to 200[...]

5 - 28 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.2.3 Detailed par ameter s 1 Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce Value set w ith sequence prog ram Default val ue Axi s 1 A xis 2 A xis 3 Axi s 4 Pr.11 Back lash compens ation amount The setti ng value range dif fers ac cor[...]

5 - 29 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 1) The back lash com pensation is va lid after mac hine OPR. T hus, if the back lash compens ation am ount is s et or chang ed, al ways carr y out mac hine OPR once. 2) The back lash com pensation am ount sett ing r ange is 0 to 65 535, but it s hou ld be set to 2 55 or les s b y using t he follo[...]

5 - 30 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 1) Generall y, the OP is s et at th e lower lim it or upper lim it of the st roke limit. 2) By setting the u pper limit v alue or lower l imit val ue of the soft ware strok e lim it, overru n can be pr evente d in the s oftwar e. Ho wever, an em ergenc y stop lim it switch m ust be ins talled nea[...]

5 - 31 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.17 Torq ue limit set ting value Set the m axim um value of the torq ue gener ated b y the serv om otor as a percenta ge bet ween 1 and 500%. The torque lim it function lim its the torqu e genera ted b y the servom otor within the set range . If the torqu e requir ed f or control exceeds t he t[...]

5 - 32 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL An M c ode is a n um ber betwe en 0 and 6553 5 tha t can be ass igned to e ach p osit ioning data ( Da.10 ). The seq uenc e pro gram can b e code d to r ead an M c ode f rom the buf fer m emor y addres s sp ecifi ed b y " Md.25 Vali d M co de" wh en ever th e M co de ON sig nal [ X4, X5[...]

5 - 33 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.19 Speed switching mode Set whet her to sw itch the s peed s witching m ode with the st andar d switch ing or front- loading s witching m ode. 0 : Standard s witchi ng............... Switch the spee d when executin g the nex t position ing dat a. 1 : Front-loa ding s witching ........ The spee[...]

5 - 34 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.21 Current f eed value during speed cont rol Specif y whether you wish to ena ble or d isable t he updat e of " Md.20 Current fee d value" while oper atio ns are p erform ed under t he speed c ontro l (inc luding th e speed-p os ition and pos it io n- s pee d switch ing contro l). 0:[...]

5 - 35 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 36 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.2.4 Detailed par ameter s 2 Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 Pr.25 Accelera tio n ti m e 1 36 37 186 187 336 337 486 487 Pr.26 Accelera t[...]

5 - 37 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.1 setting value Value set w i th peripheral device (unit) Value set with sequence progra m (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( × 10 -2 mm/min) 1 : inch 0.001 to 2000000.000 (inch/ min) 1 to 2000000000 ( × 10 -3 inch/min) 2 : degree 0.001 to 2000000.000 (deg[...]

5 - 38 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce Value s et with sequenc e program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 0 : Autom atic trapezoi d accelerat ion/decel eration proc ess 0 Pr.34 Acc eleration/dec eleration process[...]

5 - 39 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.35 S-patte rn ra ti o Set the S- pattern r atio (1 to 100%) f or car rying out the S -pattern accelerat ion/dec elerat ion proc ess. The S-patter n rati o indic ates where t o dra w the acc eleration/ deceler ation cur ve using the Sin cur ve as shown bel ow. A B B/2 B/ 2 V t V t b/a = 0.7 b a[...]

5 - 40 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.36 Sudden stop decelerati on time Set the t ime to reac h speed 0 from " Pr.8 Speed lim it val ue" dur ing the sudden stop. The ill ustration b elo w shows the r elatio nships with ot her par ameter s. When positioning is started, the acceleration starts following the "accelerat[...]

5 - 41 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.37 Stop gr oup 1 sudden stop selection to Pr.39 Stop group 3 sudden stop selection Set the m ethod to s top when the sto p causes in the f ollo wing stop groups oc cur. • Stop group 1 .............. Stop with h ardware strok e lim it • Stop group 2 .............. PLC CPU error oc currence,[...]

5 - 42 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 Pr.40 Posit ioning compl ete signal output tim e 0 t o 65535 (ms ) 0 to 65535 (m s) 0 to 32767 : Set as a [...]

5 - 43 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence progra m (unit) 0 : mm 0 to 10000.0 ( µ m) 0 to 100000 ( × 10 -1 µ m) 1 : inch 0 to 1.00000 (inch) 0 to 100000 ( × 10 -5 inch) 2 : degree 0 to 1.00000 (degree) 0 to 100000 ( × 10 -5 degree) 3 : pulse[...]

5 - 44 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.42 External comm and function selection Select a c omm and with which the ex ternal comm and s ignal should be as sociated. 0: Exter nal pos itioning st art The ex ternal comm and s ignal in put is used to st art a p osition ing operatio n. 1: Exter nal spee d change re ques t The ex ternal co[...]

5 - 45 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 46 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.2.5 OPR basic par amet er s Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 0 : Near-point dog met hod 0 1 : Stopper m ethod 1) 1 2 : Stopper m ethod 2)[...]

5 - 47 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 1 : Stopper method 1) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog O N, and start de celeration. (3) Decelerate to " Pr.47 Creep speed", and move w ith the creep speed. (At this time &q[...]

5 - 48 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 4 : Count method 1) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog O N, and start de celeration. (3) Decelerate to " Pr.47 Creep speed", and move w ith the creep speed. (4) After the near[...]

5 - 49 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.44 OPR direction Set the direction to start m ovem ent when start ing mac hine OPR. 0: Positi ve dir ection ( addres s incr ement dir ect ion) Moves in the dir ection th at the a ddress inc rem ents. (Arr ow 2)) 1: Negat ive direc tion (ad dress decrem ent direc tion) Moves in the dir ection t[...]

5 - 50 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.45 OP address Set the address us ed as the refer ence poi nt for pos itioni ng contr ol (AB S system ). (W hen the ma chine OPR is com pleted, th e stop position addr ess is c hange d to the address s et in " Pr.45 O P address". At the sam e tim e, the " Pr.45 O P addres s"[...]

5 - 51 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.47 Creep speed Set the cr eep spe ed after ne ar-po int dog O N (the lo w speed j ust bef ore stopp ing after dec elerating f rom the OPR spee d). The c reep speed is set withi n the follo wing ran ge. ( Pr.46 OPR speed ) ( Pr.47 Creep speed) ( Pr.7 Bias speed at start) Note) The cr eep speed [...]

5 - 52 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Pr.48 OPR re try Set whether to carr y out OPR retry. W hen the OPR retr y funct ion is validated and the m ac hine OPR is s tarted, f irst the axis will move in the O PR dir ection (1) ). If the upper /lower limit s ignal tur ns OFF before the near- point dog s ignal ON is det ected (2)) , the a[...]

5 - 53 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 54 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.2.6 OPR detailed par a meters Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce Value set with sequence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 Pr.49 OPR dwell tim e 0 to 65535 (m s) 0 to 65535 (m s) 0 to 32767 : Set as [...]

5 - 55 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence progra m (unit) 0 : mm 0 to 214748364.7 ( µ m) 0 to 2147483647 ( × 10 -1 µ m) 1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 ( × 10 -5 inch) 2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 ( ×[...]

5 - 56 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral device Val ue set with sequenc e program Default value A xis 1 A xi s 2 A xi s 3 A xis 4 Pr.53 OP shift amount The setti ng value range dif fers dependin g on the " Pr.1 U n it se ttin g &quo[...]

5 - 57 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence progra m (unit) 0 : mm -214748364.8 to 214748364.7 ( µ m) -2147483648 to 21 47483647 ( × 10 -1 µ m) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 ( × 10 -5 inch) 2 : degree -21[...]

5 - 58 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.3 List of positioni ng data Befor e expl ainin g th e posi tioni ng data set ting i tems Da.1 to Da.10 , the co nfig urati on of the p ositi oning data will be sh own bel ow. The pos itio nin g dat a stor ed in the Q D7 5 buf fer m em ory has the f ollo wing t ype of config ura tion. ˆ Ê’ u[...]

5 - 59 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL ˆ Ê’ u Œ ˆ‚ ß  ¯• Ê q Da.1 @ ` @D a . 4  ²‚ P ˆ Ê’ u Œ ˆ‚ ß ƒ Aƒ hƒ Œƒ X Da.5 ‰ ~Œ ʃ Aƒ hƒ Œƒ X Da.6  w— ß‘ ¬ “ x Da.7 ƒ hƒ Eƒ Fƒ ‹ƒ ^ƒ Cƒ € Da.8 Mƒ R [ƒ h Da.9 ˆ Ê’ u Œ ˆ‚ ß  ¯• Ê q Da.1 @?[...]

5 - 60 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Set ting va lu e Set ting va lu e bu ff er memory addres s Item Val u e set with periphe ral de vice Val ue set with sequenc e progr am Default value Axis 1 Axis 2 Axis 3 Axis 4 00: Posi tioni ng c ompl ete 00 01: Conti nuou s positi onin g contro l 01 Da.1 Operati on patter n 11: Co ntinu ous pa[...]

5 - 61 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.1 Operation pat tern The operat ion patt ern des ignates whether p osition ing of a c ertain d ata No. is to be ended with j ust that data, or whether the pos itioning f or the nex t data No. is to be carrie d out in su ccessio n. [Operation patt er n] Positioning complete In depend ent posi t[...]

5 - 62 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.4 Decelerati on time No. Set which of "dec elera tion tim e 0 to 3 " to use f or the decelerat ion tim e durin g position ing. 0 : Use the value set in " Pr.10 Deceleration tim e 0". 1 : Use the value set in " Pr.28 Deceleration tim e 1". 2 : Use the value set in [...]

5 - 63 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL (2) Incremental ( IN C) sy stem, fix ed- feed 1, fix ed- feed 2, fix ed- feed 3, fixed-feed 4 • The s etting valu e (m ovem ent am ount) f or t he INC system is set as a movem ent am oun t with s ign. W hen movem ent amount is posit ive : Mov es in the p ositiv e dir ect ion ( addr ess increm e[...]

5 - 64 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL (3) Speed-posi tion sw i tchi ng control • INC mode : Set t he am ount of m ovement after the s wi tchin g from s peed co ntrol to p ositi on contr ol. • ABS m ode: Set t he abs olut e ad dress which wil l be th e tar get valu e aft er sp eed c ontrol is switc hed t o pos itio n co ntrol . (T[...]

5 - 65 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL W hen " Pr.1 U nit Sett ing" is "pu lse" The table belo w lists the c ontrol system s that r equire t he sett ing of the posit ioning address or movem ent am ount and the ass ociated sett ing r anges. (W ith any contr ol s y s tem ex cluded fr om the table bel ow, neit her the[...]

5 - 66 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL W hen " Pr.1 Uni t Sett ing" is " inch" The table belo w lists the c ontrol system s that r equire t he sett ing of the posit ioning address or movem ent am ount and the ass ociated sett ing r anges. (W ith any control s y stem ex cluded from the tabl e belo w, neither the pos[...]

5 - 67 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 68 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 Da.7 Arc address The setti ng value range dif fers ac cording to t he " Da.2 Cont rol syste m". [...]

5 - 69 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL [Table 1] W hen " Pr.1 U nit Se ttin g" is "mm " The table belo w lists the c ontrol system s that requ ire the s ettin g of the arc addres s and sho ws the setti ng range . (W ith any control s y s tem exc luded from the table b elow, t he arc a ddress do es not need to be s [...]

5 - 70 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setti ng value, set ting range Setti ng value buffer m emory address Item Value set with periph eral devi ce V alue set with s equence program Default value A xis 1 A xis 2 A xi s 3 A xi s 4 The setti ng value range dif fers dependin g on the " Pr.1 Unit setting". Here, the valu e withi[...]

5 - 71 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.10 M code (or condition dat a No./No. of LOOP to LEND repet itions) Set an "M c ode ", a "con dition da ta No. ", or the "num ber of LO OP to LE ND repetitio ns" dep endin g on ho w the " Da.2 Contro l s ystem " is set. • If a m ethod other tha n "[...]

5 - 72 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.9 Dwell time/ JUMP designat ion positioning dat a No. Set the "dwell t ime" or "positi oning dat a No." c orresp onding to the " Da.2 Control sy ste m". • W hen a m ethod ot her than "JUMP i nstruc tion " is set f or " Da.2 Contro l system " [...]

5 - 73 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

5 - 74 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.4 List of block start data The i llustr ations belo w sho w the or gan izat ion of the block start data st ore d in th e QD 75 buff er m emor y. The bloc k s tart da ta set ting i tem s Da.11 to Da.14 are ex plain ed in the pa ge s th at fo llow . Setting item B uffer memory addre ss 26049 2609[...]

5 - 75 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item B uffer memory addre ss 28049 28099  œˆ Ê’ u Œ ˆ‚ ß  n“ ®ƒ f [ƒ ^ 28001 28051 b15 b0 b7 b8 Da.11 S hape Da.12 Start data N o. 28000 b15 b0 b7 b8 Da.13 Specia l start ins truc tion Da.14 P ara meter 28050 Buffer memory addre ss Buffer memory addre ss Setting it[...]

5 - 76 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL REMARK To perf orm an hi gh-le vel posit ionin g contr ol us in g bloc k s tart dat a, s et a num ber betw ee n 70 00 an d 70 04 to the " Cd.3 Positio ning s tart N o." and us e the " Cd.4 Po siti on in g st a rtin g po in t No." to spe ci f y a poin t nu mber betw een 1 an d [...]

5 - 77 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting v a lue Setting value buff er mem ory address Item Value set with periph eral device Val ue set with sequenc e program Default value A xis 1 A xis 2 A xi s 3 Axi s 4 0 : End 0 Da.11 Shape 1 : Continue 1 Da.12 Start dat a No. Posit ioning data No.: 1 to 600 (01 H to 2 5 8 H ) 01 H to 258 H[...]

5 - 78 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.11 Shape Set whether to car ry out only the l ocal "b lock start data " and then end contr ol, or to execute t he "bloc k s tart data" s et in the n ext point. Setting value Setting details 0 : End Execute the designated point' s "blo ck start d ata", and the[...]

5 - 79 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.14 Parame ter Se t the valu e as re quir ed for " Da.13 Speci al start ins tr uc t ion ". Da.13 Special start instruction Setting value Setting details Block start (Normal start) – Not used. (There is no need to set.) Condition start Wa i t s t a r t Simultaneous start 1 to 10 Set [...]

5 - 80 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.5 List of condition data The i llustr ations belo w sho w the or gan izatio n of the co nditi on d ata stored i n the Q D75 buff er m emor y. The c ond ition data s etti ng it em s Da.15 to Da.19 are expl ained in the pages th at foll ow. No.10 Settin g it em 261 90 261 91 261 92 261 93 261 94 [...]

5 - 81 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL No.10 Se t t ing it e m No.2 28190 28191 28192 28193 28194 28195 28196 28197 28198 28199 28110 28111 28112 28113 28114 28115 28116 28117 28118 28119 Se t t ing it e m No.1 Se t t ing it e m 28100 Da.17 Address Open Da.18 Parameter 1 Da.19 Parameter 2 b15 b0 b7 b8 b11 b12 Da.16 C ondition operator[...]

5 - 82 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL REMARK To perf orm an hi gh-le vel posit ionin g contr ol us in g bloc k s tart dat a, s et a num ber betw ee n 70 00 an d 70 04 to the " Cd.3 Positio ning s tart N o." and us e the " Cd.4 Po siti on in g st a rtin g po in t No." to spe ci f y a poin t nu mber betw een 1 an d [...]

5 - 83 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting v a lue Setti ng value buffer m emory address Item Value set with periph eral devic e Value s et with sequenc e program Default value A xis 1 A xi s 2 A xi s 3 A xi s 4 01 : Device X 01 H 02 : Device Y 02 H 03 : Buffer mem ory (1-word ) 03 H 04 : Buffer mem ory (2-word ) 04 H Da.15 Condit[...]

5 - 84 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.15 Condition t arget Set the co ndition t arget as requir ed for eac h contr ol. Setting value Setting details 01 H : Device X 02 H : Device Y Set the input/output signal ON/O FF as the condit ions. 03 H : Buffer memory (1-w ord) 04 H : Buffer memory (2-w ord) Set the value stored in the buffe[...]

5 - 85 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Da.18 Parame te r 1 Set the param eters as r equired f or the " Da.16 Cond iti on oper a tor". Da.16 Condition operator Setting value Setting details 01 H : ∗ ∗ =P1 02 H : ∗ ∗ ≠ P1 03 H : ∗ ∗ ≤ P1 04 H : ∗ ∗ ≥ P1 05 H :P 1 ≤ ∗ ∗ ≤ P2 06 H : ∗ ∗ ≤ P1, [...]

5 - 86 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.6 List of moni tor data 5.6.1 System monitor dat a Storage item Storage details Md.1 In test mode flag W hether the mode is the test mode from t he peripheral device or not is stored. • When not in test mode : OF F • When in test mode : O N[...]

5 - 87 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Reading the monitor v alue Default value Storage buff er memory addres s ( comm on for axis 1 to ax i s 4 ) Monitoring is carried out w ith a deci mal. Storage value 0: Not in tes t mod e 1: In t est mo de Mon itor v alu e 0 1200 (Unless noted in particular, the m onitor value i s sav ed as binar[...]

5 - 88 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor v alue Md.3 Start information [Storage details] This area stores the start information (rest art flag, start origi n, and start ax is) : • Restart flag: Indicate s w hether the operation has or ha s not bee n halted and restarted. • Start origi[...]

5 - 89 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address ( comm on to ax es 1 to 4) 0000 H 0000 H 0000 0000 1287 15 1288 1289 1290 1291 14 1282 1283 1284 1285 1286 13 1277 1278 1279 1280 1281 12 1272 1273 1274 1275 1276 11 1267 1268 1269 1270 1271 10 1262 1263 1264 1265 1266 9 1257 1258 1259 1260 1261 8 1252 [...]

5 - 90 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor v alue Md.7 Error judgment [Storage details] This area stores the following results of the error judgm ent performed upon starting: • BUSY start warning flag • Error flag • Error No. [Reading the monitor v alue] Monitoring is carried out w it[...]

5 - 91 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address ( comm on to ax es 1 to 4) 0000 H 1287 15 1288 1289 1290 1291 14 1282 1283 1284 1285 1286 13 1277 1278 1279 1280 1281 12 1272 1273 1274 1275 1276 11 1267 1268 1269 1270 1271 10 1262 1263 1264 1265 1266 9 1257 1258 1259 1260 1261 8 1252 1253 1254 1255 12[...]

5 - 92 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor v alue Md.9 Axis in w hich the error occurred Stores a number (Axis No.) that indicates the ax is that encountered an error. Monitoring is carried out w ith a decimal display. Monitor v alue Stora ge v alu e 1: Axi s 1 2: Axi s 2 3: Axi s 3 4: Axi [...]

5 - 93 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address ( comm on to ax es 1 to 4) 0 0 0000 0000 15 1353 1354 1355 1356 14 1349 1350 1351 1352 13 1345 1346 1347 1348 12 1341 1342 1343 1344 11 1337 1338 1339 1340 10 1333 1334 1335 1336 9 1329 1330 1331 1332 8 1325 1326 1327 1328 7 1321 1322 1323 1324 6 1317 1[...]

5 - 94 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor v alue Md.14 Axis in w hich the warning occurred Stores a number (Axis No.) that indicates the ax is that encountered a warning. Monitoring is carried out w ith a decimal display. Monitor v alue Storage va lue 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis [...]

5 - 95 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address ( comm on to ax es 1 to 4) 0 0 0000 0000 15 1418 1419 1420 1421 14 1414 1415 1416 1417 13 1410 1411 1412 1413 12 1406 1407 1408 1409 11 1402 1403 1404 1405 10 1398 1399 1400 1401 9 1394 1395 1396 1397 8 1390 1391 1392 1393 7 1386 1387 1388 1389 6 1382 1[...]

5 - 96 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.6.2 Axis monitor data Storage item Storage details Md.20 Current feed value The currently commanded addre ss is stored. (Different from the actual motor posit ion during o peration) The current position address is s tored. If "degree" is select ed as the un it, the addre sses w ill ha[...]

5 - 97 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 0000 H 800 801 900 901 1000 1001 1100 1101 0000 H 802 803 902 903 1002 1003 1102 1103 Monitoring is carried out w ith a hex adecimal. A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G [...]

5 - 98 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.24 Axis w arning No. Whenever an ax is w arning is reported, a related w arning code is stored. • This area stores the latest w arning code always. (Whenever an axis w arning is reported, a new warning code replaces th e stored w arning code.) • When the "[...]

5 - 99 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Monitoring is carried out w ith a deci mal display . Monitor value Warn in g No . For details of wa rning Nos. (warning codes) , refer to Section 15.3 "List of wa rnings". 0 807 90[...]

5 - 10 0 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.28 Axis feedrate • The speed w hich is actually output as a comm and at that ti me in ea ch ax is is stored. (May be different from the actual motor spee d) "0" is stored w hen the ax is is at a stop. Update timing: 56.8ms Md.29 Speed-position switchi[...]

5 - 10 1 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 0000 H 812 813 912 913 1012 1013 1112 1113 Monitoring is carried out w ith a hex adecimal. A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G H b31 b28 b20 b1 6 b24 AB C D Moni tor va[...]

5 - 10 2 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.31 Status This area st ores the st ates (ON/OFF) of various fl ags. Inform ation on t he following flags is stored. In s peed control f lag: This si gnal that comes ON under the speed c ontrol can be us ed to judge whether the operation i s perform ed under the s[...]

5 - 10 3 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Monitoring is carried out w ith a hex adecimal display. 0000000 000000 000 b15 b0 b4 b8 b12 0 0 0 0 0 0 0 0 0: OFF 1: ON b0 b1 b2 b3 b4 b5 b9 b10 Monitor valu e Buffer memory Not used Defa[...]

5 - 10 4 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.33 Target speed • During operation with positioning d ata : The actual target speed, consideri ng the override and speed limit v alue, etc., is stored. "0" is stored w hen positioning is co mpleted. • During interpolation : The composite speed or re[...]

5 - 10 5 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 0000 H 820 821 920 921 1020 1021 1120 1121 Monitoring is carried out w ith a hex adecimal display. A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G H b31 b28 b20 b16 b24 ABC D Moni [...]

5 - 10 6 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.36 Special start data instruct ion code setting value • The " instruction code" used with specia l start and i ndicated by the start data pointer currently being ex ecuted is stored. Md.37 Special start data instruct ion parameter setting value The &q[...]

5 - 10 7 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Monitoring is carried out w ith a deci mal display . 00: Block start (Normal start) 01: C onditio n star t 02: Wait start 03: Simultaneous start 04: FOR loop 05: FOR condition 06: NEXT Sto[...]

5 - 10 8 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Md.41 Special start repetition counter • This area stores the remaining nu mber of repetitions during "repetition s " specific to special starting. • The count is decremented by one (-1) at the loop en d. • The control comes out of the loop w hen the[...]

5 - 10 9 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Reading the monitor v alue Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Monitoring is carried out w ith a deci mal display . Monitor value Storage value 0 to 255 0 832 932 1032 1132 Monitoring is carried out w ith a hex adecimal display. Monitor value Storage [...]

5 - 11 0 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.7 List of control data 5.7.1 System control data Setting item Setting details Cd.1 Flash ROM w rite request • Requests w r iting of data (parameters, po sition ing data, and bloc k start data) from the buffer memory to the flash ROM . • Requests initializ ation of setti ng data. Initializ[...]

5 - 11 1 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting value Default value Storage buffer memory address (common to axes 1 to 4) Set with a decimal. Setting value K 1 Flash ROM write request 1: Requests write access to flash ROM. The QD75 resets the v alue to "0" au tomatically when the write access completes. ( This indi cates th[...]

5 - 11 2 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL 5.7.2 Axis control data Setting item Setting details Cd.3 Positioning start No. • Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. For det ails, refer to Se ction 12.7.8 "Pre-reading start function".) Cd.4 Positioning starting point No. • Set a &quo[...]

5 - 11 3 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Setting v alue Positioning data No. 1 to 600 7000 to7004 9001 9002 9003 9004 K : Positioning data No. : Block start designation : Machine OPR : Fast-OPR : Current value changing : S[...]

5 - 11 4 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.8 External command valid • Validates or in validates ex ternal command s ignals. • When changing the "current f eed value" usi ng the start No. "9003", use t his data item to specify a new feed value. • Set a value w ithin the follow ing[...]

5 - 11 5 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Setting value External comma nd valid 0: Invalidate s an exte rnal comm and. 1: Vali dates an external comm and. K 0 1505 1605 1705 1805 Set with a decimal. Actual value Conversion [...]

5 - 11 6 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details • When changing the acceleration t ime during a speed change, u se this data item to specify a new acceleration tim e. Cd.10 setting range (unit) 0 to 8388608 (ms) Cd.10 New acceleration time value • When changing the deceleration ti me during a speed change, us[...]

5 - 11 7 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 0 1508 1509 1608 1609 1708 1709 1808 1809 Set with a decimal. Cd.10 New accelerat ion time value Cd.11 Ne w deceleration time value Settin g value Examp le: When the " Cd. 10 New accelerati on tim[...]

5 - 11 8 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.13 Positioning operation speed override • To use the positioning operation speed override function, use this data item to specify an "override" v alue. For details of the override function, refer to Secti on 12.5.2" Ov erride function ". If [...]

5 - 11 9 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Setting val ue Overr ide valu e (%) 1 to 300 K 100 1513 1613 1713 1813 Set with a decimal. Actual value Conver sion i nto an integ er va lue Cd.14 New speed val ue 10 n Unit convers[...]

5 - 12 0 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details • Use this data item to set the amount of movement by inchin g. • The machine performs a JOG operation if "0" i s set. • Set a value w ithin the follow ing range: Pr.1 mm ( × 10 -1 µm) inch ( × 10 -5 inch) degree ( × 10 -5 degree) pulse (pulse) S[...]

5 - 12 1 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Actua l value Conversion into a n integer value Cd.16 Inching movement amount 10 n Unit conv ersion table ( Cd.16 ) n -1 m -5 inc h -5 degre e 0 puls e Unit R Settin g va lu e (Deci[...]

5 - 12 2 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.19 OPR request flag OFF request • The sequence program can use th is data it em to forcibly turn the OPR request flag from ON to OFF. Cd.20 Manual pulse generator 1 pulse input magnification • This data item determin es the fa ctor by w hich the number of pul[...]

5 - 12 3 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Setting value K OPR request flag OFF request 1: Turns the " OPR request flag " fr om ON to OFF . The QD75 resets the val ue to "0" automatically when the OPR req[...]

5 - 12 4 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details • During the speed control stage o f the spee d-positi on sw itching control (INC mode), it is possible to chan ge the specification of the mov ement amo unt during the position control st age. For that, use this data item to specify a new movement amount. • The[...]

5 - 12 5 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. 10 n A ctual value n -1 m -5 inch -5 degree 0 pulse Unit R Settin g va l ue (Decimal) Conver sion i nto an integ er value Unit conver sion table ( C d.23 ) Speed-position switchin g[...]

5 - 12 6 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.26 Position-speed switching control enable flag • Set whether the external control signal (ex t ernal command si gnal [CH G]: "speed- position, position-speed sw itching request" is selected) is enab led or not. • When changing the target position d[...]

5 - 12 7 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. S ettin g value K Positio n-sp eed switching enable flag 0: P osition cont rol will not b e tak en ov er by speed control even whe n the ex ternal command signal comes ON. 1: Positi[...]

5 - 12 8 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.30 Simultaneous starting ax is start data No. (ax is 1 start data No.) Cd.31 Simultaneous starting ax is start data No. (ax is 2 start data No.) Cd.32 Simultaneous starting ax is start data No. (ax is 3 start data No.) Cd.33 Simultaneous starting ax is start data[...]

5 - 12 9 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 0 1540 1640 1740 1840 0 1541 1641 1741 1841 0 1542 1642 1742 1842 Set with a decimal. Setting value K Cd.30 to Cd .33 1 to 600 Simultan eo us starti ng axis start data No.: 0 1543 1643 1743 1843 Set wi[...]

5 - 13 0 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.36 Step start information • During a step operation, this data item deter mines w hether the operation is continued or restarted. Cd.37 Skip command • To skip the current positioning operation, set "1" in th is data item . Cd.38 Teaching data sele c[...]

5 - 13 1 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL Storage buffer memory address Setting value Default valu e A xis 1 A xi s 2 A xi s 3 A xi s 4 Set with a decimal. Setting value Step st art inform ation 1: Conti nues step opration 2: Re starts ope ration K The QD75 resets the value to "0" automatical ly when pro cessing o f the ste p[...]

5 - 13 2 MELSEC-Q 5 DATA USED FOR POSITIONING CONT ROL MEM O[...]

6 - 1 6 Chapter 6 Sequence Program Used for Positioning Control The progra ms required t o carry out posit ioning contro l with the QD7 5 are explained in this chapter. The sequence program require d for control is cre a ted allo wing for the "start conditi ons", "start tim e chart", "device se ttings" and general cont[...]

6 - 2 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.1 Precautions for creating program The c omm on prec autions to be tak en when wr iting data from the PLC CPU to t he QD75 bu ffe r me mory are described bel ow. W hen divert ing any of the program ex ampl es intr oduc ed in this m anual t o the actua l system , ful ly ver if y that [...]

6 - 3 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (4) System configur ati on Unless part icul arl y desig nate d, the s eq uence pro gram for th e fo llow ing s ystem is shown in th is c hapter and subs eque nt. Refer t o Sec tion 6.2 for the a ppl ication of t he dev ices to be us ed. Extern al devi ces Q35B Power s upply mo du le Q [...]

6 - 4 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (b) When the c ircu it uses the "inte llige nt fu nction devic e" o n the so urce(s ) side and the des tinati on (D) sid e of a MOV c omm and, c hange the com mand to a FROM c omm and a nd a T O comm and. MOVP G8 26 G1 X15 FROMP D 100 X15 K826 H0 K1 U6 TOP D100 K1 H6 K1 X0C [...]

6 - 5 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.2 List of devi ces used In th e sequ ence pr ogr ams shown in th is ch apter and sub se quent, the applic ation of th e devices used ar e as follo ws. The I/O num bers f or Q D75 indic ate t hose when QD 75 is mou nted in the 0-sl ot of the mai n b a se. If it is m ounted in th e slo[...]

6 - 6 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Devic e Devic e name A xis 1 A xi s 2 A xi s 3 A xis 4 Application Details when O N X2C M code OFF command Commanding M code OFF X2D JOG operation speed setting command Commanding JO G operation speed setting X2E Forward run JOG/inching command Commanding forward run JOG/inching operat[...]

6 - 7 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Devic e Devic e name A xis 1 A xi s 2 A xi s 3 A xis 4 Application Details when O N M0 OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command puls e OPR request OFF commanded M2 OPR request OFF command storage OPR request OFF command held M3 Fast OPR command Comm[...]

6 - 8 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Devic e Devic e name A xis 1 A xi s 2 A xi s 3 A xis 4 Application Details when ON M34 TEACH 1 instruction compl ete dev ice TEACH1 instruction completed M35 TEACH1 instruction error complete device TEACH1 instruction error completed M36 PINIT instruction co mplete device PINIT instr u[...]

6 - 9 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Devic e Devic e name A xis 1 A xi s 2 A xi s 3 A xis 4 Application Details of storage D15 Acceleration time setting (low-order 16 bits) D16 Acceleration time setting (high-order 16 bits) ( Cd.10 New acceleration time value) D17 Deceleration time setting (low-order 16 bits) D18 Decelera[...]

6 - 10 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Devic e Devic e name A xis 1 A xi s 2 A xi s 3 A xis 4 Application Details of storage D52 Movement amount per rotation ( Pr.3 Movement amount per rotation) D53 Unit magnification ( Pr.4 Unit magnification) D54 Pulse output mode ( Pr.5 Pulse output mode) D55 Rotation direction setting [...]

6 - 11 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.3 Creating a pr ogr am The " posit ioni ng co ntrol oper ation progr am " actu all y used is expla ined i n th is ch apter. The f unct ions a nd pr ogram s explai ned in Sec tio n 2 ar e ass em bled into th e "p osit ionin g contr ol oper atio n progr am " exp la[...]

6 - 12 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.3.2 Positioning contr ol oper ati on pr og r am The v arious progr am s that c onfi gure t he " posit ion ing co ntrol opera tion pr ogr am " are shown belo w. W hen c reating the progr am , refer to the expla nati on of e ach pr ogram and Sec tio n 6. 4 "Pos it ionin[...]

6 - 13 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Cont i nued f rom pr e viou s page No.7 Positioni ng start No. setti ng pr ogra m No.10 JOG operation pro gr am No.13 M anual puls e ge nera tor opera t ion pr o gram No.8 Positioni ng start pro gr am No.9 M co de OFF pr ogra m Refer to Section 6 .5.2 Refer to Section 6 .5.3 Refer to [...]

6 - 14 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL No.14 No.28 Stop program Speed change program No.15 No.16 No.17 No.18 No.19 No.20 No.21 No.24 No.25 No.26 No.27 Override program Acceleration/deceleration time change program Torque change program Step operation program Skip program Teaching program Flash ROM write program Error reset[...]

6 - 15 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.4 Positioning pr ogr am ex amples An exam pl e of the "Ax is 1" p ositi oning pro gram is gi ven in t his s ectio n. [No. 1] to [No. 3 ] parameter an d data sett ing program When setting the paramet e rs o r data with t he sequence program , set them in the QD75 using t he[...]

6 - 16 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (For positi oning data No . 1 <axis 1> ) No. 2 Positi oning data set ting program <Positioning identifier> Operation pa ttern: Positio ning complete Control system: 1-axis linear contr ol (ABS) Acceleration time No.: 1, dec eleration time No.: 2 <Setting of positioning [...]

6 - 17 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [Setting o f special start instr uction to normal sta rt] <Setti ng of normal start > <Setting of normal start > <Setting of normal start> <Setti n g of nor mal start> <Setti ng of normal start> <Setting of block start data to QD75> <OPR reque st[...]

6 - 18 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (5) Po sition-speed sw itching operat ion positioni ng data No. 3 (4) Sp eed-position swi tching oper ation (positi oning data No. 2 ) (In the A BS mode, n ew moveme nt amount writ e is not nee ded.) (6) Hi gh-level posit ioning control (7) Fas t OPR comman d and fast OPR command stor[...]

6 - 19 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL <Pos iti on ing s tar t co mman d pul se> (2) Whe n positio ning start signa l ( Y10) is us ed (When fast OPR is not ma de, contacts of M3 and M4 are not needed.) (When M code is not used , contact of X04 is not neede d.) (When JOG o peration/inching operation i s not perform ed[...]

6 - 20 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 526 533 551 555 565 572 576 596 603 613 620 639 No. 13 M anual pulse gen erator operation program No. 15 Ov erride progr am No. 14 Spee d change pro gram No. 16 Accel eration/dec eleration time change pr ogram <Manual pulse generato r opera tion command pulse> <Manual pulse g[...]

6 - 21 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL <Tor que ch an ge com man d p ul se> <Write of t orque limit value in Q62DA> <Step ope ration comman d pulse> <St e p op era tio n run se lect io n> <Data No. unit step mode s election> <Ste p op era t io n comm and writ e> <Skip pul se> <S[...]

6 - 22 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL <Status reset> <Error cod e transmission t o D49> <ABS da ta bit 0 ON/OFF> <ABS da ta bit 1 ON/OFF> <Transmis sion data prep aration comp lete flag ON/OFF> <ABRST1 instr uction executi on> <Restart co mmand pul se> <Restart co mmand ON dur [...]

6 - 23 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL <Flash ROM write command pulse> <Flash ROM write command hold> <PLC READY output t o QD75 standby> <Flash ROM write execution> <Flash ROM w rite comma nd stora ge OFF> <Error c ode read> <Error re set comm and pulse> <Er ror r es et ex ecu [...]

6 - 24 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5 Progr am detai ls 6.5.1 Initiali z ation program [1] OPR request OFF program This progr am forc ibl y turns O FF the "OPR re quest f lag " ( Md.31 Status : b 3) whic h is ON. W hen using a s ystem that do es n ot req uire O PR, assem ble th e pro gram to cance l the &quo[...]

6 - 25 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.2 Start detai ls setting program This progr am s ets wh ich c ontr ol, ou t of "OPR ", "m aj or pos ition ing c ontr ol" or "hi gh-lev el posit ioni ng con tro l" to execut e. F or " high- leve l pos itio ning contr ol", "fast O PR"[...]

6 - 26 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (4) For "pos ition-s peed s witching c ontrol ", set the c ontrol data sho wn belo w. (As requir ed, set the " Cd.25 Posit ion-s peed switch ing contr ol spe ed cha nge resiste r".) Buffer memory address Setting item Setting valu e Setting details Axi s 1 A xi s 2 [...]

6 - 27 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.3 Start prog ram This program is used to st art t he co ntrol with s tart c omm ands. The c ontro l can be star te d with t he f ollowi ng tw o meth ods. [1] Start ing b y inputting p osition ing star t signa l [Y10, Y1 1, Y12, Y13] [2] Start ing b y inputting ex ternal comm and s[...]

6 - 28 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Starting conditions To s tart the contro l, the f ollowing conditi ons m ust be s atisfied. The nec essar y start condit ions mus t be incorpor ated in t he s equence pr ogram so that the co ntrol is not star ted when the co nditio ns are not s atisf ied. Devic e Signal name Signal st[...]

6 - 29 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [1] Starting by inputting posit ioni ng start sig nal Operation when start ing (1) W hen the position ing star t signal tur ns ON, the start c om plete signal a nd BUSY si gnal tur n ON, and th e pos itio ning oper ation starts. It can be s een that th e axis is op erating when the BU[...]

6 - 30 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Starting time chart The tim e char t for s tarting each contro l is sh own belo w. (1) T ime c hart for starting "m achine O PR" QD75 READY signal Start complete signa l BUSY signa l Error d etection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON ON OFF OFF Near-point dog V [...]

6 - 31 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) Tim e chart f or starting "f ast OPR " OFF OFF ON ON ON ON OFF OFF OFF 9002 V t ON OFF Positioning start signal PLC READY signal QD75 R EADY signa l Start complete s ignal BUSY signal Error detection signal Cd. 3 Posi ti onin g st ar t No. [Y10] [Y0] [X0] [X10] [XC] [X8][...]

6 - 32 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (3) Tim e chart f or starting "m aj or position ing co ntrol" 1 V t Posi tioning data No . Dwell time 2(00) Operati on patte rn 1(11) Positioni ng start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Erro r detec tion signal Cd . 3 Po siti onin g[...]

6 - 33 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (5) Tim e chart f or star ting "posit ion-sp eed switc hing co ntro l" Pos i tion ing st art s ignal PLC READY signal QD75 REA DY signal Start comple te sign al BUSY signal Positioning com plete sig nal V t Error d etectio n sig nal Operati on pa tte rn (0 0) Positioning da [...]

6 - 34 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Machine OPR operation timi ng and process t ime BUSY s ignal Waiting In OPR Waitin g Outp ut pulse to externa l sour ce (PULSE) Posi tioni ng op erati on t1 t4 t2 t3 Md. 26 A xis op eratio n status OPR requ est flag [ Md . 31 S tatus: b3] Posi tioni ng s tart signa l [Y10, Y11, Y12, Y[...]

6 - 35 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Position control operat ion timing and pr ocess time t1 t2 t3 t4 t5 t2 t6 Cd. 7 M code OFF reque st Wait ing Con trolling posit ion Waiting BU SY signal Output pulse to ex ter n al source (PULSE) Pos itio nin g oper at io n Md. 26 Ax is opera tion st atus Cd. 7 M code OF F requ est Po[...]

6 - 36 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [2] Starting by inputting exter nal command sig nal W hen starti ng pos ition ing c ontr ol b y inputt ing the ex terna l com m and sign al, the start c omm and c an be direc tl y input into t he Q D75. This all ows t he var iati on t ime equiv alent t o on e sca n tim e of th e PL C [...]

6 - 37 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.4 Continuous oper ati on i nterr upt pr og r am During posi tioni ng con trol, the c ontr ol ca n be in terr upted duri ng co ntin uous p ositi oning contr ol and c onti nuous path contro l (c onti nuous opera tion i nterr upt fu nction) . W hen "cont inuo us oper atio n inte[...]

6 - 38 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (3) If the operati on cannot be dec elerated t o a sto p becaus e the rem aining distance is ins uff icient when "cont inuous o peratio n interr upt requ est" is executed with cont inuous pa th co ntrol, th e interrup tion of the cont inuous operatio n will be postp oned unt[...]

6 - 39 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.5 Restart prog r am W hen a sto p fact or occ urs duri ng pos ition c ont rol and t he oper atio n st ops, th e posit ioni ng can be r estart ed f rom the st oppe d pos itio n to the pos itio n co ntrol end point by us ing t he "r est art com m and" ( Cd.6 Restart c omm [...]

6 - 40 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL REMARK Restar ting af ter stopp ing is pos sib le e ven for th e fo llowing c ontro l. • Incr ement al s ystem pos itio n contr ol • Continu ous p ositi oning c ontr ol • Co ntinuo us pat h co ntrol • Block s tart [3] Control data requiring setting Set th e fo ll ow in g da ta[...]

6 - 41 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (5) Tim e chart for rest arting 0 V t 1 Dwell t im e 8 1 8 0 0 0 Posit ioning s tart sign al Axis stop signal QD75 READY signal Start complete signal BUSY sig nal Error detecti on signa l Cd. 6 Restart command Positioning comple te signal PLC READY sign al Md. 26 Axis operati on statu[...]

6 - 42 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.6 Stop prog r am The ax is s top s igna l [Y4, Y5, Y6 , Y7] or a sto p sig nal f rom an ext erna l sourc e is used to stop the c ontr ol. Create a pro gram to tur n ON the ax is s top si gnal [ Y4, Y5, Y6 , Y7] a s th e stop progr am . The p ro cess fo r st op pin g cont r ol is e[...]

6 - 43 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [2] Types of stop processes The op erati on ca n be st oppe d with dec eler ation s top, sudd en sto p or im m ediat e stop. (1) Deceler ation sto p 1 The op erati on sto ps with " decel erati on tim e 0 t o 3" ( Pr.10 , Pr.28 , Pr.29 , Pr.30 ). W hich tim e f rom "d ec[...]

6 - 44 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [3] Order of pri ori ty for stop pr ocess The ord er of pri orit y for the QD 75 sto p proc ess is as follows . Deceler at ion st op < Sudd en s top < Im mediat e st op (1) If the dece leratio n stop com m and ON (s top signal O N) or d ecelerati on stop cause occ urs durin g de[...]

7 - 1 7 Chapter 7 Memory Configuration and Data Process The Q D75 me mor y con figura tion and da ta tr ansm ission are explain ed in this c hap ter. The Q D75 is co nfigur ed o f two me mori es. By unde rstand ing t he co nfig uratio n a nd roles of two memo ries, th e QD 75 inte rnal data tra nsmis sion pr ocess , such as "w hen the po wer i[...]

7 - 2 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS 7.1 Configur ati on and r oles of QD75 mem or y 7.1.1 Config ur ation and r ol es of QD75 me mor y The Q D75 is conf igur ed of the f oll owing t wo m em ories. Area configuration Memo ry configuration Role Parameter area Monitor data area Control data area Positioning data area (No. 1 to 600)[...]

7 - 3 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS Details of areas • Param eter ar ea Area where param eters , suc h as p ositi onin g par ameter s and OPR param eters , requir ed for p osition ing c ontr ol ar e set and s tored . (Set t he item s ind icate d wi th Pr.1 to Pr.57 , Pr.150 for eac h ax is.) • Monitor data ar ea Area where p[...]

7 - 4 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS Pa ra m e t e r ar ea Positioning data area (No.1 to 600) Block start data area (No. 7000 to 7004) PLC CPU memo are a Monitor data area Control data area QD75 Flash ROM Data is ba cked up here. Buffer m emory User acce sses here. Pa ra m e t e r ar ea Positioning data area (No.1 to 600) Block [...]

7 - 5 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS 7.1.2 Buffer mem or y ar ea config ur ati on The Q D75 buffer m emor y is co nfig ured of the follo wing type s of areas . Buffe r memory address Buffer m emory area confi gurati on Axi s 1 Axis 2 Axi s 3 A xis 4 W riting possibility Basic parameter area 0 to 15 150 to 165 300 to 315 450 to 46[...]

7 - 6 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS 7.2 Data transmission pr ocess The da ta is trans mitted bet ween the QD 75 m emor ies with s te ps (1) to (8) s how n below. The da ta tra nsm ission patter ns num ber ed (1) to ( 8) on the rig ht page corr espo nd to the nu mbe r s (1 ) to (8 ) on th e le ft pag e . Parameter area (a) Para m[...]

7 - 7 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS (1) Transmitti ng data w hen po wer i s turned ON or PLC CPU i s reset ( ) W hen the po wer is tur ned ON or th e PL C CPU is r eset, the "param eters ", "posi tioni ng da ta" an d "b lock star t dat a" stor ed ( back ed up) in th e fl ash RO M is transm itted to [...]

7 - 8 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS Parameter area (a) Parame ter a rea ( a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) PLC CPU memo a rea Monitor data area Control data area Buffer memo ry PLC CPU Periphe ral devices (6) Flash ROM request (Write) (6) Flash ROM request (Write) [...]

7 - 9 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS (5) Flash ROM write ( ) The f ollow ing tr ansm iss ion pr ocess is c arr ied out b y settin g "1 " in " Cd.1 Flash ROM wri te req uest" (buf fer m emor y [1900]). 1) T he "par am eters", "p ositi oning data ( No. 1 to 6 00)" and "bloc k s tart dat [...]

7 - 10 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS Paramet er a rea ( a) Parameter area (a) Parameter area (b ) Positioning data area (No.1 to 600) Blo ck st art da ta ar ea (No.7000 to 7004) PLC CPU memo ar e a Monitor data area Co n trol da ta area Bu ffe r me mor y (8) QD75 write (7) QD75 read, monitor QD75 Pr.7 Pr.1 to Pr.11 Pr .24 to Pr.[...]

7 - 11 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS (7) Readi ng data from bu ffer mem ory to peripheral device ( ) The f ollowi ng tra nsm ission pr ocess es ar e carr ied o ut with the [Read f rom module ] fr om the per ipher al d evic e. 1) T he "par am eters", "p ositi oning data ( No. 1 to 6 00)" and "bloc k s tar[...]

7 - 12 MELSEC-Q 7 MEMORY CONFIGURATION AND DAT A PROCESS The da ta tra nsm ission is c arried out as sh own in the previ ous pages , but the m ain method of us ing t his data pr oces s is sho wn be low. (Ex.) Setti ng the posit ioni ng data The f ollowi ng m ethods can b e use d to se t the posi tioning da ta. From pe ripher al device Using seq uen[...]

Section 2 Section 2 Control Details and Setting Sectio n 2 is c onfigu red for the f ollowing purp oses s hown in (1) to ( 3). (1) Underst anding of the op eration and res trictio ns of ea ch con trol. (2) Carrying out th e require d sett ings in each co ntrol (3) Dealing with errors The re quired settin gs in each co ntrol i nclude parame ter sett[...]

MEM O[...]

8 - 1 8 Chapter 8 OPR Control The de tails a nd usage of "O PR con trol" a re explai ned in thi s chap ter. OPR c ontrol includ es "mac hine OP R" th at estab lish a machin e OP wi thout u sing ad dress data, and "f ast OPR " that store t he co ordinate s es tablish ed by th e mach ine OP R, and carry out positio ning [...]

8 - 2 MELSEC-Q 8 OPR CONTROL 8.1 Outline of OPR contr ol 8.1.1 Two ty pes of OPR control In "O PR con tro l" a p ositi on is esta blis hed as the s tart ing p oint ( or "OP") when carr ying out posit ioni ng con tro l, a nd pos itio ning is c arrie d out to ward t hat st art ing po int. It is us ed to retur n a m ac hine s ystem[...]

8 - 3 MELSEC-Q 8 OPR CONTROL OPR sub functions Refer to S ection 3. 2.4 "Com bina tion of Q D75 m ain functi ons and s ub f unctions " for details o n "sub f uncti ons" that c an be c om bined with O PR contr ol. Als o refer to Chapter 12 "Contr ol sub f unctio ns" for details on each s ub f unction. [Remark s] The f o[...]

8 - 4 MELSEC-Q 8 OPR CONTROL 8.2 Machine OPR 8.2.1 Outline of th e machine OPR oper ati on Important Use th e OPR ret ry fu n ctio n w hen the OP po siti on is not alw ay s i n the sa me direc tion fr om the work piec e operat ion are a (when th e OP is not set near th e upper or lo wer lim it of the m ac hine) . The m achin e OPR m a y not c omple[...]

8 - 5 MELSEC-Q 8 OPR CONTROL 8.2.2 Machine OPR met hod The meth o d by whi ch t he mach in e OP is e s ta bli she d (met ho d for ju dgi ng th e OP po si ti o n and ma chine OP R com plet ion) is d esign ated in the m achine O PR accor ding to t he conf igurat ion and ap plic ation of th e pos itio ning metho d. The f ollowi ng tab le sho ws t he s[...]

8 - 6 MELSEC-Q 8 OPR CONTROL 8.2.3 OPR method ( 1) : N ear- poi nt dog method The f ollowi ng sho ws a n oper ation out line of the "near -poi nt dog m eth od" O PR m ethod . Operation char t 1) The mac hine OPR is started. (The mac hine begins the ac celerati on designated i n " Pr.51 OPR acceleration tim e select ion", in the [...]

8 - 7 MELSEC-Q 8 OPR CONTROL Restrictions A pulse gene rator with a zero signa l is requ ired. W hen using a pu lse gen erator without a zero si gnal, g enerate a zero s ignal us ing an external s ignal. Precautions during operation (1) An er ror "S tart at OP (error code: 2 01)" will oc cur if another m achine O PR is attempted af ter a [...]

8 - 8 MELSEC-Q 8 OPR CONTROL 8.2.4 OPR method ( 2) : Stopp er metho d 1) The fo ll ow ing sh ow s an ope rat io n ou tl in e of th e "s topp e r meth od 1 )" OPR meth od . Operation char t 1) The m achin e OPR is st arte d. (The ma chin e begi ns the ac celerat ion des ign ated in " Pr.51 OPR accel era tion time selec tion", in [...]

8 - 9 MELSEC-Q 8 OPR CONTROL Restrictions (1) Alwa ys lim it the ser vomotor tor que af ter the " Pr.47 Creep s peed" is reach ed. If th e torque is not lim ited, the s ervom otor m ay fail when the m achine pres ses ag ainst the stopper. (R efer to Sectio n 12.4.2 "Tor que lim it func tion".) (2) In the "s topper m ethod 1[...]

8 - 10 MELSEC-Q 8 OPR CONTROL (3) If the " Pr.49 OPR dwell tim e" elaps es bef ore the s top at the s topp er, the wor kpiec e will stop at that positio n, and t hat posit ion will be r egarded as the O P. At this time, an error will not occur. Pr. 46 OPR s peed ON ON OFF OFF ON 0 V ON t Pr. 47 Creep s peed Torque limit Near-point dog O F[...]

8 - 11 MELSEC-Q 8 OPR CONTROL 8.2.5 OPR method ( 3) : Stopp er metho d 2) The fo ll ow ing sh ow s an ope rat io n ou tl in e of th e "s topp e r meth od 2 )" OPR meth od . Operation char t 1) The m achin e OPR is st arte d. (The ma chin e begi ns the accel erat ion des ign ated in " Pr.51 OPR accel era tion ti me se lecti on", [...]

8 - 12 MELSEC-Q 8 OPR CONTROL Restrictions (1) Alwa ys lim it the ser vomotor torque af ter the " Pr.47 Cr eep spee d" is r eached. If the torque is not lim ited, the s ervom otor m ay fail when the m achine pres ses ag ainst the stopper. (R efer to Sectio n 12.4.2 "Tor que lim it func tion".) (2) Use an externa l input sig nal [...]

8 - 13 MELSEC-Q 8 OPR CONTROL (3) If the zero signal is inp ut befor e the work piece s tops at th e stopper , the work piece will stop at that positio n, and t hat posit ion will be r egarded as the O P. t ON OFF ON OFF OFF ON V ON Zero signal 0 Torque limit Valid torque li mit range Pr. 47 C reep s pee d Pr. 46 OP R s p eed Near-point dog OFF Mac[...]

8 - 14 MELSEC-Q 8 OPR CONTROL 8.2.6 OPR method ( 4) : Stopp er metho d 3) The fo ll ow ing sh ow s an ope rat io n ou tl in e of th e "s topp e r meth od 3 )" OPR meth od . The " sto pp e r meth od 3 )" met ho d i s effe ctiv e when a nea r -p oint dog ha s no t be en in st alled. (Note t hat t he o perat ion is carr ie d out f [...]

8 - 15 MELSEC-Q 8 OPR CONTROL Restrictions (1) Al ways lim it the ser vom otor torqu e after th e " Pr.47 Creep s peed" is reach ed. If the torque is not lim ited, the s ervom otor m ay fail when the m achine pres ses ag ainst the stopper. (R efer to Sectio n 12.4.2 "Tor que lim it func tion".) (2) Us e an exter nal inpu t signa[...]

8 - 16 MELSEC-Q 8 OPR CONTROL 8.2.7 OPR method ( 5) : C ount method1) The f ollowi ng sho ws a n oper ation out line of the "cou nt m ethod 1)" O PR m ethod. In th e "cou nt m ethod 1) " m ach ine O PR, th e fo llowi ng can be p erfor m ed: • Ma chin e OPR on ne a r-poi n t do g ON • Seco nd mach ine OPR afte r comple tion o[...]

8 - 17 MELSEC-Q 8 OPR CONTROL Restrictions A pulse gene rator with a zero signa l is requ ired. W hen using a pu lse gen erator without a zero si gnal, gen erate a zero sig nal usi ng an extern al sign al. Precautions during operation (1) An error "Count m ethod m ovem ent amount f ault ( error c ode: 206) " will occ ur and the operatio n[...]

8 - 18 MELSEC-Q 8 OPR CONTROL 8.2.8 OPR method ( 6) : C ount method 2) The fo ll owin g sh ow s an oper at ion ou tl in e o f th e "metho d 2 )" OPR metho d. The "c ount m eth od 2) " m ethod is ef fec tive wh en a "zero s igna l" c annot be r ecei ved. (Note t hat c ompar ed to the "count m ethod 1)" m ethod[...]

8 - 19 MELSEC-Q 8 OPR CONTROL Restrictions W hen this m ethod is us ed, a dev iation will oc cur in t he stop p osition ( OP) compared to other OPR m ethods becaus e an error of about 1 m s occ urs in tak ing in the n ear-point dog ON. Precautions during operation (1) An error "Count m ethod m ovem ent amount f ault ( error c ode: 206) " [...]

8 - 20 MELSEC-Q 8 OPR CONTROL 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operat ion In a fast O PR, posi tioning is carr ied out b y a m achine OPR to the " Md.21 Machine f eed valu e" st ored in t he QD 75. The f ollowing sh ows the operati on during a fas t OPR start. 1) T he f ast OPR is s tarted. 2) Pos itionin g co[...]

8 - 21 MELSEC-Q 8 OPR CONTROL Operation t iming and processing t ime of fast OPR The f ollowing sh ows det ails ab out the oper ation t im ing and tim e during f ast OPR. t1 t3 t2 In position control Standing by Stan ding by Positioning start signal BUSY signal Start complete signal Output pulse to external source (PULSE) Positioning operation Md.2[...]

8 - 22 MELSEC-Q 8 OPR CONTROL MEM O[...]

9 - 1 9 Chapter 9 Major Positioning Control The de tails a nd usage of the major p ositioni ng con trols (co ntrol functions using the "posi tioning data") are explai ned in this ch apter. The m ajor positi oning co ntro ls incl ude suc h con trols as "posi tioni ng con trol" in whic h posit ioning is carr ied out to a des igna [...]

9 - 2 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1 Outline of maj or posi ti oning controls "Major pos itio ning contr ols " are c arr ied o ut us ing th e "pos it ioning dat a" st ored in the QD75. The bas ic co ntr ols s uch as pos ition c ontr ol and spee d con trol are ex ecut ed b y sett ing the re quire d it em s in t his &quo[...]

9 - 3 MELSEC-Q 9 MAJOR POSITIONING CONTROL Major positioning control Da .2 Control system Details Speed-position switching control Forward run speed/position Reverse run speed/position The control is continu ed as po sition control (pos itioning for the designated address or mov ement a mount) by turning ON the "speed-position sw itching signa[...]

9 - 4 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.1 Data requi r ed for major posi tioni ng contr ol The f ollowi ng ta ble s hows an out lin e of th e "p ositi oning data " conf igur atio n an d sett ing detai l s requi re d to ca rry out th e " majo r po sit ion in g co nt ro ls". Setting item Setting details Da.1 Operation patte[...]

9 - 5 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.2 Operation patter ns o f major posit ioni ng contr ols In "m ajor posit ion ing co ntr ol" ( hig h-le vel pos it ioni ng co ntrol) , " D a. 1 Operat ion patter n" ca n be s et to design ate whet her to co ntin ue exec utin g pos itio ning dat a aft er the st a rted po siti on ing d[...]

9 - 6 MELSEC-Q 9 MAJOR POSITIONING CONTROL [1] Independent posi ti oni ng contr ol ( Posi tioning compl ete) This contro l is set whe n execu ting onl y one des igna ted data it em of positio ning . If a dwe ll tim e is des ignate d, th e posi tio ning will c omplet e aft er the des ignat ed tim e elaps es. This data ( oper atio n patter n [ 00] da[...]

9 - 7 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] Continuous positi oning contr ol (1) The mach i ne alw ay s au to mat i cally decele ra tes ea ch ti me t h e po si tio ni ng is com pleted. Acc elera tion is then carri ed o ut after th e QD75 comm and s peed reach es 0 t o carr y ou t the next pos itioni ng d ata o perat ion. If a dwell tim e is desi[...]

9 - 8 MELSEC-Q 9 MAJOR POSITIONING CONTROL [3] Continuous pat h control (1) Conti nuous path control (a) The speed is c hanged wit hout decel erati on sto p bet ween t he comm and sp eed of the posit ion ing dat a c urrent ly b eing r un and the speed of th e pos itio ning d ata t hat will b e run next. The s peed is n ot cha nged if the c urr ent [...]

9 - 9 MELSEC-Q 9 MAJOR POSITIONING CONTROL OFF ON OFF ON OFF ON OFF ON Time Positioning continue (11) Dwell time Positioning continue (11) Star t comp lete s ignal BUSY si gna l Positioning comp lete signal Positi on ing star t sign al Positioning comp lete (00) Address ( +) di rectio n Address (-) direction [Y10, Y1 1, Y12, Y13] [X10, X1 1, X12, X[...]

9 - 10 MELSEC-Q 9 MAJOR POSITIONING CONTROL (b) When the opera tion p attern of t he pos iti oning data c urr entl y being execu ted is "c ontinu ous p ath c ontro l: 1 1", an d the m ovement am ount of the ne xt po siti oning data is " 0" . (c) Duri ng oper atio n b y step opera tion . (Refer to Secti on 12.7 .1 Step func tion [...]

9 - 11 MELSEC-Q 9 MAJOR POSITIONING CONTROL (3) Speed handli ng (a) Continuous path contr ol c omm and sp eeds ar e se t wit h eac h posit ioni ng da ta. The QD 75 the n c arries out the pos it ioning at t he spe ed de sign ated with eac h p osition ing data. (b) The comm and sp eed c an be set to "–1 " in c ontin uous path c on trol. T[...]

9 - 12 MELSEC-Q 9 MAJOR POSITIONING CONTROL (4) Speed sw i tching (Refer to " Pr.19 Speed switching mode".) (a) Standard s pee d switc hing m ode 1) If the res pect ive c omm and sp eeds diff er in t he " posit ion ing dat a curren tl y being exec uted" and t he "pos it ionin g dat a to c arr y out the nex t op erati on&quo[...]

9 - 13 MELSEC-Q 9 MAJOR POSITIONING CONTROL [W hen the s peed c ann ot cha nge over in P2] W hen the rel ati on of th e s peeds is P1 = P4, P 2 = P3 , P1 < P2. [W hen the m ovem ent amount is sm all dur ing autom atic dec elerat ion] The m ovem ent am ount r equir ed t o carr y ou t the autom atic decel erati on can not be sec ured, so th e ma c[...]

9 - 14 MELSEC-Q 9 MAJOR POSITIONING CONTROL 3) Sp eed s witc hing co nditio n If the movem ent am ount is s mal l in regar d to t he tar get s pee d, the curren t spee d m ay not r each the target spee d even if accel eration /dec eler ation is carr ied out. In th is cas e, the m achine is acc elerat ed/d ece lerat ed so that it n ears t he t arget[...]

9 - 15 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.3 Designati ng the posi tioni ng addr ess The f ollow ing s hows t he t wo m ethods for c omm andi ng the pos itio n in c ontro l us ing posit ioni ng da ta. Absolute system Position ing is c arried o ut to a designat ed pos ition ( absolute addres s) havin g the OP as a ref erence. This addres s is r[...]

9 - 16 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.4 Confirmi ng the cur r ent v alue Values showing the current value The f ollowing t wo t ypes of addr esses ar e used as valu es to s how the p osition in the QD75. Thes e addresses ("current f eed v alue" an d "m achine f eed value ") are st ored in the monitor data area, and us [...]

9 - 17 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions (1) A 1.8m s err or will occur i n the cur rent va lue up date tim ing when the stor ed "current f eed va lue" is use d in th e contro l. A 56.8m s err or will oc cur in t he curren t value u pdate t iming when the s tored "m achine feed value " is us ed in the c ontrol . [...]

9 - 18 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.5 Control uni t "deg r ee" han dl i ng W hen the c ontro l un it is s et to "de gree" , the follo wing i tem s diff er f rom when ot her contr ol units are s et. [1] Current feed v alue and machine feed value addr esses The ad dress of “ Md.20 Curre nt fe ed val ue” b ecom es a[...]

9 - 19 MELSEC-Q 9 MAJOR POSITIONING CONTROL [3] Positioning contr ol method w hen the control unit is set to "degr ee" 1) Absolute system (a) W hen the sof tware stroke limit is in valid Posit ionin g is carr ied o ut in th e n eares t dir ect ion t o the de sign ated addres s, us ing t he c urrent val ue as a ref erenc e. (This i s calle[...]

9 - 20 MELSEC-Q 9 MAJOR POSITIONING CONTROL (b) W hen th e sof tware stroke limit i s valid The pos it ionin g is carr ied out i n a c lock wise /cou nter cloc kwis e dir ect ion depend ing on th e soft ware strok e lim it r ange setti ng m etho d. Becaus e of t his , pos itioni ng with "shor tcut con trol " ma y not be possib le. Exampl [...]

9 - 21 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.1.6 Interpolation co ntr ol Meaning of interpolation cont rol In "2-axis linear i nterpola tion contr ol", "3-axis l inear inter polati on contr ol", "4-ax is linear interpol ation co ntrol", "2-axis f ixed-f eed contr ol", "3- axis f ixed-f eed contro l"[...]

9 - 22 MELSEC-Q 9 MAJOR POSITIONING CONTROL Setting the positioning data dur ing inter polation control W hen carr ying out interpo lation contro l, the sam e posit ionin g data N os. are set f or the "ref erence ax is" an d the "interpo latio n axis ". The f ollowing t able sho ws the "posit ionin g data" s etting ite[...]

9 - 23 MELSEC-Q 9 MAJOR POSITIONING CONTROL Starting the interpolation cont rol The pos itioning data Nos. of the ref erence axis ( axis in wh ich inter polati on contr ol was set in " Da.2 Control s ystem ") are st arted when starting th e inter polati on control. ( Starting of the interpo lation axis is not re quired.) The f ollowing er[...]

9 - 24 MELSEC-Q 9 MAJOR POSITIONING CONTROL POINT • W hen the "r efer ence axis s pe ed" is set durin g int erpo latio n con tro l, set s o t he maj or axis side becom es the ref erence ax is. If the m inor a xis side is s et as t he refer ence ax is, the m ajor axis side spee d m ay excee d the " Pr.8 Sp eed lim it val ue". L[...]

9 - 25 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2 Setting the posit ioni ng data 9.2.1 Relation betw een each control and positioning data The s etting r equ irem ents and det ails for the se ttin g it em s of the posit ioni ng d ata t o be set di ffe r a cc o rd in g to th e " Da.2 C ontrol sys tem ". The f ollow ing ta ble s hows the posi[...]

9 - 26 MELSEC-Q 9 MAJOR POSITIONING CONTROL REMARK • It is r ecom mended that the "pos itio ning d ata" b e se t whene ver p ossi ble wi th GX Conf igurator -QP. Execu tion b y seq uenc e pr ogram uses m an y seq uence progr ams and d evices . The exec utio n bec om es compli ca ted, and th e scan ti mes wil l in crea se. Other control [...]

9 - 27 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.2 1-axi s linear contr ol In "1- axis linear contr ol" ( " Da.2 Contr ol s ystem" = A BS linear 1, INC lin ear 1), on e mo tor is us ed t o carr y ou t posi tion c ontro l in a set ax is dir ecti on. [1] 1-axi s linear contr ol (ABS linear 1) Operation char t In absolut e system 1-[...]

9 - 28 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 1-axi s li near contr ol (INC linear 1) Operation char t In increm ental s ystem 1-axis linear co ntrol, addres ses estab lish ed by a m achine OPR are us ed. Pos itioning is carr ied out fr om the c urrent stop positio n (star t point address) to a posi tion at the end of the m ovem ent am ount set i[...]

9 - 29 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.3 2-axi s linear i nter pol ation contr ol In "2- axis linear int erpol atio n contr o l" (" Da.2 Co ntrol s ystem " = AB S linear 2, INC linear 2), two m otors are used t o carr y ou t posi tion c ontro l in a line ar pat h wh ile carr ying out interp olatio n for th e axis dir ec[...]

9 - 30 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions An error will occ ur and t he posit ioning will no t start in the foll owing c ases . The machine will im m ediatel y stop if the error is detecte d dur ing a pos ition ing contro l. • If the m ovement am ount of each axis exceeds "107374 1824 ( =2 30 )" when "0 : Compos ite [...]

9 - 31 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 2-axi s li near i nter pol ation contr ol (INC linear 2) Operation char t In increm ental s ystem 2-axis linear int erpolati on co ntrol, ad dresse s estab lished by a mac hine OPR on a 2-axis coordi nate plane are used. Lin ear inter polati on position ing is c arried o ut from the c urrent stop p os[...]

9 - 32 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions An error will occur and t he posit ioning will not s tart in t he fol lowing cas es. T he machine will im m ediatel y stop if the error is detecte d dur ing a pos ition ing operatio n. • If the m ovement am ount of each axis exceeds "107374 1824 ( =2 30 )" when "0 : Compos it[...]

9 - 33 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.4 3-axi s linear i nter pol ation contr ol In "3- axis linear int erpol atio n contr o l" (" Da.2 Co ntrol s ystem " = AB S linear 3, INC linear 3), three m otors ar e used to c arry out p ositi on contr ol in a linear path while carr ying out interp olatio n for th e axis dir ect [...]

9 - 34 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions An error will occur and t he posit ioning will not s tart in t he fol lowing cas es. T he machine will im m ediatel y stop if the error is detecte d dur ing a pos ition ing contro l. • If the m ovement am ount of each axis exceeds "107374 1824 ( =2 30 )" when "0: Compos ite s[...]

9 - 35 MELSEC-Q 9 MAJOR POSITIONING CONTROL POINTS • W hen the "r efer ence axis s pe ed" is set durin g 3-a xis linear intr pola tion c ontr ol, set so the m aj or ax is s ide bec omes the r efer ence axis. If th e m inor ax is s ide is set as the ref erenc e ax is, t he m ajor axis s ide s peed m ay exceed the " Pr.8 Speed li mit[...]

9 - 36 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 3-axi s li near i nter pol ation contr ol (INC linear 3) Operation char t In the inc rem ental system 3-ax is linear interpol ation con trol, us ing an a ddress establishe d b y a machine OPR in the 3-ax is coor dinate s pace, a linear interpol ation pos itionin g is car ried o ut from the cur rent st[...]

9 - 37 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions An error will occur and t he posit ioning will not s tart in t he fol lowing cas es. T he machine will im m ediatel y stop if the error is detecte d dur ing a pos ition ing operatio n. • If the m ovement am ount of each axis exceeds "107374 1824 ( =2 30 )" when "0 : Compos it[...]

9 - 38 MELSEC-Q 9 MAJOR POSITIONING CONTROL POINTS (1) W hen the "r efer ence axis s pe ed" is set durin g 3-a xis linear intr pola tion c ontr ol, set so the m ajor ax is s ide be com es th e ref erenc e ax is. If the m inor axis sid e is set as the r efere nce ax is, t he m ajor ax is s ide s peed m a y exce ed the " Pr.8 Spee d li[...]

9 - 39 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.5 4-axi s linear i nter pol ation contr ol In "4- axis linear int erpol atio n contr o l" (" Da.2 Co ntrol s ystem " = AB S linear 4, INC linear 4), four motors ar e used to car r y out posit ion contro l in a line ar pat h while carr ying out interp olatio n for th e axis dir ect [...]

9 - 40 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis is designa ted as axis 1. ] The f ollowing t able sho ws setti ng ex amples when "4-ax is li near int erpolat ion control ( ABS lin ear 4) " is set in posi tioning d ata No. 1 of ax is 1. (T he requir ed values ar e als o set in p osition ing da [...]

9 - 41 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 4-axi s li near i nter pol ation contr ol (INC linear 4) Operation char t In the inc rem ental system 4-ax is linear interpol ation con trol, us ing an a ddress establishe d b y a machine OPR in the 4-ax is coord inate plane, a l inear i nterpol ation position ing is c arried o ut from the c urrent st[...]

9 - 42 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis is designa ted as axis 1. ] The f ollowing t able sho ws setti ng ex amples when "4-ax is li near int erpolat ion control (IN C line ar 4)" is set in posit ionin g data N o. 1 of ax is 1. (T he req uired values ar e als o set in p osition ing da [...]

9 - 43 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.6 1-axi s fix ed-f eed control In "1 -a x i s fi xe d -feed cont r ol" (" Da.2 Contro l s ystem " = f ixed-f eed 1) , one m otor is used t o carr y ou t fixe d-f eed co ntrol in a set ax is direc tio n. In fix ed-fee d contr ol, an y rem ainder of th e mov em ent amoun t des igna t[...]

9 - 44 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example The f ollowing t able sho ws setti ng exam ples when "1-ax is fixed- feed control ( fixed- feed 1)" is set i n positi oning dat a No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set "Positioning compl[...]

9 - 45 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.7 2-axi s fix ed- feed control ( i nterpol ati on) In "2 -a x i s fi xe d -feed cont r ol" (" Da.2 Control s ystem " = fix ed-f eed 2) , two m otors are used to carr y out fixed-f eed contr ol in a li near pat h while c arr ying out int erpo lati on for the ax is d irecti ons s et [...]

9 - 46 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis and inter polation axis ar e desi gnated as axis 1 and axis 2, respectivel y.] The f ollowing t able sho ws setti ng exam ples when "2-axis fixed- dimens ion feed control (f ixed-f eed 2) " is s et in pos itioning data No. 1 of axis 1. (T he requ[...]

9 - 47 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.8 3-axi s fix ed- feed control ( i nterpol ati on) In "3 -a x i s fi xe d -feed cont r ol" (" Da.2 Control s ystem " = fix ed-f eed 3) , thr ee m otors are used to carr y out fixed-f eed contr ol in a li near pat h while c arr ying out int erpo lati on for the ax is d irecti ons s [...]

9 - 48 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation char t In increm ental s ystem 3-axis f ixed-f eed control, th e addr esses ( Md.20 Current feed va lue) of the curren t stop positio n (star t addres ses) of ever y axes are set to "0". Line ar inter polatio n pos itioning is then c arried o ut from that pos ition to a position at the[...]

9 - 49 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions (1) An axis error "C ontinu ous path c ontrol not pos sible ( error c ode: 516) " wil l occur and t he oper atio n cannot s tart if "cont inuous p ath contr ol" is set in " Da.1 Operatio n pattern ". ("Con tinuous path contr ol" c annot be s et in f ixe[...]

9 - 50 MELSEC-Q 9 MAJOR POSITIONING CONTROL Ax is Setting item Ax i s 1 (reference axis) setting example Ax i s 2 (interpolation axis) setting example Ax i s 3 (interpolation axis) setting example Setting details Da.1 Operation pattern Positioning complete –– Set "Positioning complete" as sumin g the next positioning data w ill not be[...]

9 - 51 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.9 4-axi s fix ed- feed control ( i nterpol ati on) In "4 -a x i s fi xe d -feed cont r ol" (" Da.2 Control s ystem " = fix ed-f eed 4) , four motor s ar e used to carr y out fixed-f eed contr ol in a li near pat h while c arr ying out int erpo lati on for the ax is d irecti ons s e[...]

9 - 52 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis is designa ted as axis 1. ] The f ollowing t able sho ws setti ng exam ples when "4-ax is fixed- feed control ( fixed- feed 4)" is set i n positi oning dat a No. 1 of ax is 1. (T he requir ed valu es are a lso set in posit ioning dat a No. 1 of a[...]

9 - 53 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.10 2-axi s cir c ular interpol ati on control w ith sub poi nt desi g nati on In "2- axis circu lar i nterp olat ion c ontr ol" ( " Da.2 Contro l s ystem " = A BS c ircu lar sub , INC circ ular sub) , two m otors are us ed to carr y out posi tion c ontro l in an arc pat h passing t[...]

9 - 54 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions (1) 2-axis c ircular inter polation c ontro l cann ot be set in the f ollowin g cases . • W hen "degre e" is se t in " Pr.1 Unit set ting" • W hen the un its s et in " Pr.1 Unit s ett ing" are d iffer ent for the ref erenc e ax is and int erp olati on axis . [...]

9 - 55 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis and int erpolat ion axis are desi gnated as axis 1 and ax is 2, respectivel y.] The f ollowing t able sho ws setti ng exam ples when "2-ax is cir cular int erpol ation control with sub point d esignat ion (AB S circu lar sub) " is set in pos itio[...]

9 - 56 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 2-axi s cir cular i nter polati on contr ol with sub point desi g nati on ( INC circular sub) Oper ation c hart In the inc rem ental system , 2-ax is circular inter polation c ontrol with sub point designat ion, pos itioni ng is c arried out f rom the curr ent stop pos ition ( start p oint address) to[...]

9 - 57 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions (1) 2-axis c ircular inter polation c ontro l cann ot be set in the f ollowin g cases . • W hen "degre e" is se t in " Pr.1 Unit set ting" • W hen the un its s et in " Pr.1 Unit s ett ing" are d iffer ent for the ref erenc e ax is and int erp olati on axis . [...]

9 - 58 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting example [Referenc e axis and int erpolat ion axis are desi gnated as axis 1 and ax is 2, respectivel y.] The f ollowing t able sho ws setti ng exam ples when "2-ax is cir cular int erpol ation control with sub point des ignat ion (INC c ircular s ub)" is set in position [...]

9 - 59 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.11 2-axi s cir c ular interpol ati on control w ith center poi nt desi g nation In "2- axis circu lar i nterp olat ion c ontr ol" ( " Da.2 Contro l s ystem " = A BS c ircu lar ri ght, INC circ ular right, ABS c ircul ar lef t, INC circ ular left), two m otors are used t o carr y ou[...]

9 - 60 MELSEC-Q 9 MAJOR POSITIONING CONTROL Circular inter polation err or compensat ion In circular inter polation contro l with ce nter poi nt des ignation, the arc path calcula ted from the st art point addres s and arc address ma y deviate fr om the position of the end point addr ess set in " Da.6 Posit ionin g addres s/m ovem ent amount&q[...]

9 - 61 MELSEC-Q 9 MAJOR POSITIONING CONTROL [1] 2-axi s cir cular i nter polati on contr ol with center point desi g nati on (ABS circul ar right, ABS ci rcular l eft) Operation char t In the abso lute s ystem, 2- axis c ircular interpo lation c ontrol with ce nter point designat ion, ad dress es estab lished b y a m achine O PR on a 2- axis coordi[...]

9 - 62 MELSEC-Q 9 MAJOR POSITIONING CONTROL In circular inter polation contro l with c enter p oint des ignation, an ang ular v elocit y is calcula ted on t he ass umption tha t oper ation is carr ied out at a comm and s peed on the arc usi ng the ra dius c alculate d from the star t point addr ess and c enter po int address, an d the r adius is co[...]

9 - 63 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples [Referenc e axis and int erpolat ion axis are desi gnated as axis 1 and ax is 2, respectivel y.] The f ollowing t able sho ws setti ng exam ples when "2-ax is cir cular int erpol ation control with cent er po int desi gnation ( ABS r ight arc , ABS l eft arc )" [...]

9 - 64 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] 2-axi s cir cular i nter polati on contr ol with center point desi g nati on (INC circu lar right, IN C circular left) Operation char t In the inc rem ental system , 2-ax is circular inter polation c ontrol with cent er point designat ion, ad dress es estab lished b y a m achine O PR on a 2- axis coor[...]

9 - 65 MELSEC-Q 9 MAJOR POSITIONING CONTROL In circular inter polation contro l with c enter p oint des ignation, an ang ular v elocit y is calcula ted on t he ass umption tha t oper ation is carr ied out at a comm and s peed on the arc usi ng the ra dius c alculate d from the star t point addr ess and c enter po int address, an d the r adius is co[...]

9 - 66 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples [Referenc e axis and int erpolat ion axis are desi gnated as axis 1 and ax is 2, respectivel y.] The f ollowing t able sho ws setti ng exam ples when "2-ax is cir cular int erpol ation control with cent er point designat ion (INC c ircu lar right, I NC circu lar lef [...]

9 - 67 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.12 1-axi s speed contr ol In "1 -axi s spee d cont rol" (" Da.2 Contr ol s y stem " = F orwar d run: spee d 1, Revers e run: s peed 1), co ntr ol is c arri ed out in t he ax is d irect ion in whic h th e pos ition ing da ta has be en set b y conti nuous ly o utpu tting p ulses for [...]

9 - 68 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during 1-axis speed cont rol The f ollowing t able sho ws the " Md.20 Current feed valu e" durin g 1- ax is spee d control cor resp onding to the " Pr.21 Current feed valu e during s pee d contro l" sett ings. " Pr.21 Current feed value during speed control&quo[...]

9 - 69 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws the se tting ex am ples when "1-ax is s peed contro l (for ward run: spee d 1)" is set in t he pos itio ning data N o. 1 of axis 1. Setting item Setting ex ample Setting details Da.1 Operation pattern Positioning complete Setting oth[...]

9 - 70 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.13 2-axi s speed contr ol In "2 -axi s spee d cont rol" (" Da.2 Contr ol s y stem " = For ward r un : spe ed 2, Re verse run: s peed 2), c ontr ol is c arri ed o ut in the 2- axis dir ect ion in whic h the pos ition ing d ata has be en set b y conti nuous ly o utpu tting p uls es f[...]

9 - 71 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during 2-axis speed cont rol The f ollowing t able sho ws the " Md.20 Current feed valu e" durin g 2- ax is spee d control cor resp onding to the " Pr.21 Current feed valu e during s pee d contro l" settings . (Note that the ref erence ax is set ting values are used[...]

9 - 72 MELSEC-Q 9 MAJOR POSITIONING CONTROL (5) An err or "No c omm and spee d" (error c ode: 503) occ urs if a current s peed (- 1) is set i n " Da.8 Comm and speed ". (6) T he sof tware strok e lim it check is not c arried out when th e contro l unit is set t o "d egree" . Positioning data setting examples [Setting e[...]

9 - 73 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.14 3-axi s speed contr ol In "3 -axi s spee d cont rol" (" Da.2 Contr ol s y stem " = F orwar d run: spee d 3, Revers e run: s peed 3), c ontr ol is c arri ed o ut in the 3- axis dir ect ion in whic h the pos ition ing d ata has be en set b y conti nuous ly o utpu tting p ulses for[...]

9 - 74 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during 3-axis speed cont rol The f ollowing t able sho ws the " Md.20 Current feed valu e" durin g 3- ax is spee d control cor resp onding to the " Pr.21 Current feed valu e during s pee d contro l" settings . (Note tha t the ref erence ax is s etting va lues are us[...]

9 - 75 MELSEC-Q 9 MAJOR POSITIONING CONTROL (4) W hen either of three axes ex ceeds t he speed lim it, that axis is c ontroll ed with the speed lim it value. T he spe eds of the other axes are lim ited at t he ratios of " Da.8 Comm and speed". (Example s) Ax is Setting item Ax is 1 setting Axis 2 setting A xis 3 setting Pr.8 Speed limit v[...]

9 - 76 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws the se tting ex am ples when "3-ax is s peed contro l (for ward run: spee d 3)" is set in t he pos itionin g data N o. 1 of axis 1 ( refer ence axis) . Ax is Setting item Ax i s 1 (reference axis) setting example Ax i s 2 (interpolat[...]

9 - 77 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.15 4-axi s speed contr ol In "4 -axi s spee d cont rol" (" Da.2 Contr ol s y stem " = F orwar d run: spee d 4, Revers e run: s peed 4), c ontr ol is c arri ed o ut in the 4- axis dir ect ion in whic h the pos ition ing d ata has be en set b y conti nuous ly o utpu tting p ulses for[...]

9 - 78 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation char t The f ollowing ch art sho ws the o peratio n tim ing for 4- axis s peed co ntrol with axis 1 as the ref erence axis. The "in s peed c ontrol" f lag ( Md.31 Status: b0) is tur ned ON d uring s peed contr ol. The "pos itio ning com plete s ignal " is not t urned ON. t V [...]

9 - 79 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during 4-axis speed cont rol The f ollowing t able sho ws the " Md.20 Current feed valu e" durin g 4- ax is spee d control cor resp onding to the " Pr.21 Current feed valu e during s pee d contro l" settings . (Note tha t the ref erence ax is s etting va lues are us[...]

9 - 80 MELSEC-Q 9 MAJOR POSITIONING CONTROL (4) W hen either of f our axes ex ceeds th e speed l imit, that a xis is c ontrol led with the speed lim it value. T he spe eds of the other ax es are lim ited at the r atios of " Da.8 Comm and speed". (Example s) Ax is Setting item Ax i s 1 setting Ax i s 2 setting Ax i s 3 setting Ax i s 4 set[...]

9 - 81 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws the se tting ex am ples when "4-ax is s peed control (for ward run: spee d 4)" is set in t he pos itionin g data N o. 1 of axis 1 ( refer ence axis) . Ax is Setting item Ax i s 1 (reference axis) setting example Ax i s 2 (interpolati[...]

9 - 82 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.16 Speed-posi tion sw itching control (INC mode) In "sp eed- posi tion switc hin g contr ol ( INC m ode) " ( " Da.2 Contro l s ystem " = F orwar d run : spee d/ po sit io n, Rev erse run: spee d/ po sit io n ), th e pul ses o f the sp ee d se t in " Da.8 Command s pee d" [...]

9 - 83 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation char t The f ollowing ch art (F ig.9.13) s hows th e operat ion tim ing f or speed-po sition switchin g contr ol (INC mode) . The "in speed c ontrol f lag" ( Md.31 Status : b0) is turned ON during s peed c ontrol of spee d-posit ion s witchin g contro l (INC m ode). t V Positioning sta[...]

9 - 84 MELSEC-Q 9 MAJOR POSITIONING CONTROL [Oper ation ex am ple] The f ollowi ng o perat ion as sum es that the s pe ed-pos itio n switc hing si gnal is inp ut at the posit ion of the curren t feed va lue of 90.00000 [degr ee] dur ing exec uti on of " Da.2 Contro l s ystem " "F or ward r un: speed/ pos itio n" at " Pr.1 U[...]

9 - 85 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation t iming and processing t ime during speed-posit ion switching control (I NC mode) Positio nin g st ar t sign al [Y 10,Y 11, Y1 2,Y13 ] BUSY sig nal M code ON si gna l [X4,X5,X6 ,X7] (WITH mode) Standing by In speed control Star t c ompl ete si gnal Output pulse to ext e rnal source (PULSE) Posit[...]

9 - 86 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during speed-posit ion s witching contr ol (INC m ode) The f ollowing t able sho ws the " Md.20 Current feed v alue" dur ing sp eed-pos ition switchin g contr ol (INC m ode) c orrespondi ng to th e " Pr.21 Curren t feed va lue during s peed con trol" s ettings. &quo[...]

9 - 87 MELSEC-Q 9 MAJOR POSITIONING CONTROL Speed-positio n switching signal sett ing The f ollowing t able sho ws the item s that m us t be set to us e the ext ernal c omm and signals (CHG) as speed- positio n s witching s ignals. Buffe r memory address Setting ite m Setting value Sett ing details A xi s 1 A xi s 2 A xi s 3 A xi s 4 Pr.42 External[...]

9 - 88 MELSEC-Q 9 MAJOR POSITIONING CONTROL POINT • The m achin e rec ognize s the pres ence of a m ovem ent am oun t chan ge re quest when t he data is wri tt en to " Cd.23 Sp eed-p ositi on sw itch ing c ontro l m ovem ent am ount c hange re gister " wit h th e sequenc e pro gram . • The ne w m ovem ent am ount is va lidat ed af ter[...]

9 - 89 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws setti ng exam ples when "spee d-pos ition s witching control (IN C m ode) b y forward ru n" is s et in pos ition ing data N o. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set [...]

9 - 90 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.17 Speed-posit ion sw itching control (ABS mode) In case of " spe ed- pos itio n sw itchin g cont rol (ABS mode )" ( " Da.2 C on trol sy ste m" = Forwar d run: spee d/pos itio n, Rever se ru n: s peed/p ositi on), t he p ulses of the spe ed se t in " Da.8 Comm and s peed"[...]

9 - 91 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation char t The f ollowing ch art (F ig.9.16) s hows th e operat ion tim ing f or speed-po sition switchin g contr ol ( ABS m ode). T he "in spee d contr ol flag " ( Md.31 Status: b0) is turned ON during s peed c ontrol of spee d-posit ion s witchin g contro l (AB S mode) . t V Positioning [...]

9 - 92 MELSEC-Q 9 MAJOR POSITIONING CONTROL [Oper ation ex am ple] The f ollow ing o perat ion as sum es t hat the s pe ed-pos itio n swit chi ng si gna l is i nput at the pos ition of th e curren t feed va lue of 90.00000 [degr ee] dur ing exec uti on of " Da.2 Contro l s ystem " "F or ward r un: speed/ pos itio n" at " Pr[...]

9 - 93 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation t iming and processing t ime during speed-posit ion switching control (ABS m ode) Positio nin g st ar t sign al [Y 10,Y 11, Y1 2,Y13 ] BUSY sig nal M code ON si gna l [X4,X5,X6 ,X7] (WITH mode) Standing by In speed control Star t c ompl ete si gnal Output pulse to ext e rnal source (PULSE) Posit[...]

9 - 94 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during speed-posit ion s witching contr ol (ABS mode) The f ollowing t able sho ws the " Md.20 Current feed v alue" dur ing sp eed-pos ition switchin g contr ol (AB S mode) corres ponding to the " Pr.21 Current feed valu e during s peed con trol" s ettings. " P[...]

9 - 95 MELSEC-Q 9 MAJOR POSITIONING CONTROL Speed-positio n switching signal sett ing The f ollowing t able sho ws the item s that m us t be set to us e the ext ernal c omm and signals (CHG) as speed- positio n s witching s ignals. Buffe r memory address Setting ite m Setting value Sett ing details A xi s 1 A xi s 2 A xi s 3 A xi s 4 Pr.42 External[...]

9 - 96 MELSEC-Q 9 MAJOR POSITIONING CONTROL Restrictions (1) An ax is err or (err or code: 516) will occ ur and the operati on cannot start if "continu ous p ositioning c ontro l" or "conti nuous pat h contro l" is se t in " Da.1 Operation p attern". (2) "S peed-pos ition s witch ing contr ol" c annot b e set[...]

9 - 97 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws setti ng exam ples when "spee d-pos ition s witching control ( ABS m ode) b y forward r un" is s et in pos itio ning data No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set &[...]

9 - 98 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.18 Position-speed sw itchin g control In "pos ition- spe ed s witch ing c ontr ol" ( " Da.2 Contr ol s ystem " = For ward r un: posit ion/sp eed, Rever se r un: pos ition /spee d), before the p osit ion-sp eed s witc hing signa l is input , pos itio n contr ol is car ried out f or [...]

9 - 99 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation char t The f ollowing c hart sh ows the o perat ion tim ing for pos itio n-spee d switch ing control. The "in s peed c ontrol" f lag ( Md.31 Status: b0) is tur ned ON d uring spee d contr ol of positi on-spee d switch ing c ontrol. Posi tio n-spe ed swi tchi ng enabl e flag Cd.26 t V P[...]

9 - 10 0 MELSEC-Q 9 MAJOR POSITIONING CONTROL Operation t iming and processing t ime during position- speed switching control Pos iti oning s tart s i gn al [Y10, Y11,Y 12,Y13] BUSY signal [XC,XD , XE,XF] M code ON si gnal [X4,X5,X 6,X7](WITH m ode) Standin g by In position control Standin g by Axis o peration sta tus M code OFF re ques t Start co [...]

9 - 10 1 MELSEC-Q 9 MAJOR POSITIONING CONTROL Current f eed value during position- speed s witching contr ol The f ollowing t able sho ws the " Md.20 Current feed v alue" dur ing positio n-speed switchin g contr ol corres pond ing to the " Pr.21 Curr ent feed va lue dur ing s peed control" s ettings. " Pr.21 Current feed va[...]

9 - 10 2 MELSEC-Q 9 MAJOR POSITIONING CONTROL Position-speed s witching sig nal setting The f ollowing t able sho ws the item s that m us t be set to us e the ext ernal c omm and signals (CHG) as position- speed s witch ing sig nals. Buffe r memory address Setting ite m Setting value Sett ing details A xi s 1 A xi s 2 A xi s 3 A xi s 4 Pr.42 Extern[...]

9 - 10 3 MELSEC-Q 9 MAJOR POSITIONING CONTROL POINTS • The m achin e rec ognize s t he pr esenc e of a c om mand s peed chan ge req uest when t he d ata is wri tt en to " Cd.25 Pos itio n-spe ed swi tchi ng con tro l spee d cha nge re gist er" with th e sequ enc e program . • The ne w com m and speed is vali dated after exec ution of [...]

9 - 10 4 MELSEC-Q 9 MAJOR POSITIONING CONTROL Positioning data setting examples The f ollowing t able sho ws se tting ex amples when "p osition- speed s witch ing control (f orward r un: pos ition/sp eed)" is set in positio ning da ta No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete[...]

9 - 10 5 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.19 Current v alue changing W hen the c urrent value is ch ang ed t o a ne w val ue, co ntrol is c arried out in wh ich t he " Md.20 Curre nt feed va lue" of the stopp ed ax is is ch ange d to a r and om addr ess set by the user. (The " Md.21 Machin e fe ed v al ue" is no t chan g[...]

9 - 10 6 MELSEC-Q 9 MAJOR POSITIONING CONTROL (4) If the va lue s et in " Da.6 Position ing a ddress/m ovem ent am ount" is ou tside the soft ware strok e lim it ( Pr.12 , Pr.13 ) setti ng range, an err or "Softwar e strok e lim it +, – (err or code : 507 or 508)" will occ ur at the posit ioning start, and the operat ion will [...]

9 - 10 7 MELSEC-Q 9 MAJOR POSITIONING CONTROL [2] Changing to a new cu rrent value usi ng the start No. (N o. 9003) for a current v al ue changing Operation char t The c urrent va lue is c hange d by sett ing th e new cur rent va lue i n the cur rent va lue changing buf f er mem or y " Cd.9 Current valu e chang ing", se tting " 9003&[...]

9 - 10 8 MELSEC-Q 9 MAJOR POSITIONING CONTROL Setting met hod for the current value changing function The f ollowing sh ows an exam ple of a sequ ence program and data s etting t o change the current value to a ne w value with the pos itioni ng start s ignal. ( The " Md.20 Current f eed value is chan ged to "5000 .0 µ m " in the exa[...]

9 - 10 9 MELSEC-Q 9 MAJOR POSITIONING CONTROL (3) Add the fol lowin g sequenc e program to the contro l progr am, and write i t to the PLC CPU. — á Exampl e Cur r en t val u e c ha ngin g Store new current feed value in D106 an d D107 <Pulsate current value changing command> <Write current value changing to the QD75> <Write the cu[...]

9 - 11 0 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.20 NOP instruction The NO P ins truc tion is us ed for the n onex ecut able contr ol s ystem . Operation The pos itioning data No. to wh ich the NOP instructi on is s et transf ers, without an y process ing, to the o peration for the next pos ition ing data No. Positioning data setting examples The [...]

9 - 11 1 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.21 JUMP instruction The J UMP ins truc tio n is used to co ntrol the opera tion so it jum ps to a pos itio ning d ata No. set in the posi tionin g data d uring "c onti nuous pos it ionin g contr ol" or "c ont inuous path c ontrol ". JUMP i nstruct ion in clude t he follow ing two[...]

9 - 11 2 MELSEC-Q 9 MAJOR POSITIONING CONTROL (2) The oper ation patt ern, if set, is ignor ed in the J UMP instruct ion. (3) Position ing c ontrol s uch as loops c annot be exec uted by c ondit ional JU MP instruc tions a lone un til the c ondit ions ha ve been establ ished. As the tar get of the JUMP instruc tion, specif y a posi tioning data tha[...]

9 - 11 3 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.22 LOOP The LOO P is used for loop c ontr ol b y the r epetit ion of LOOP to L END. Operation The LOO P to LEND loop is repeate d b y set repeat c ycles. Positioning data setting examples The f ollowing t able sho ws the se tting exam ples when "LO OP" is set in pos itioning data No. 1 of [...]

9 - 11 4 MELSEC-Q 9 MAJOR POSITIONING CONTROL 9.2.23 LEND The L END is used to ret urn th e op erati on to th e to p of t he re peat ( LOO P to LE ND) loop . Operation W hen the repeat c ycle designat ed b y the LOOP becom es 0, the loop is term inated, and t he next p osition ing data No . proces sing is s tarted. ( The o peration pattern, if set [...]

10 - 1 10 Chapter 10 High-level Positioning Control The de tails a nd us age of hi gh-lev el posi tioning contro l (cont rol func tions us ing th e "bloc k start da ta") ar e expla ined in this chapter . High- level position ing co ntrol is u sed to carry ou t appl ied con trol us ing the "p osit ioning data ". Exam pl es of app[...]

10 - 2 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.1 Outline of hig h- lev e l positioning contr ol In "hi gh-le vel posit ionin g c ontro l" the execu tio n order and exec utio n co nditi ons of the "posi tioni ng da ta" ar e set to c arr y out m ore a pplie d pos ition ing. ( The execu tion order and ex ecuti on c ondit ion[...]

10 - 3 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.1.1 Data requi r ed for hig h- l evel positi oni ng contr ol "Hi gh- lev el po siti oni ng con t rol" is ex ec uted by se ttin g th e requi r e d ite ms in t he "blo ck start da ta" and "c ond ition dat a", then starti ng that "block start data ". Jud gmen[...]

10 - 4 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.1.2 "Block start data" and "condition data" con figuration The "b lock st ar t data" and "con di ti on da ta" co rre spo nd ing t o "bl o ck No . 70 00" can be store d in th e buf fer m em ory. (T he f ollowi ng dr awin g shows an exam ple f or a[...]

10 - 5 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL Set i n QD 75 th e " bloc k sta rt da ta " an d " cond it io n data " co rr esp on di ng to the fol l owi n g "block Nos. 700 1 to 7004" usin g GX C onfi gurat or-Q P or t he se quenc e pr ogram . (T he fol low i ng draw in g show s an exa mpl e fo r a xi s 1. ) 7001 7[...]

10 - 6 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.2 High- l evel positi oni ng control executi on pr ocedure High- level posit ion ing co ntrol is c arrie d out us ing the fol lowing pr ocedure . STEP 1 Preparation Starti ng the contr ol Monitoring the control Refer to Cha pter 9 Carry out the "major positioning control" setting. Cont[...]

10 - 7 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3 Setting the block star t data 10.3.1 Relation betw een v arious controls and block start data The " block start data " m ust be s et to c arr y out "high-l evel posi tioni ng con tro l". The settin g requ ir ements and detai ls of each " bl ock start d ata" i tem [...]

10 - 8 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.2 Block start (nor mal star t) In a "b lock start (n orm al start) ", t he p ositi onin g data gro ups of a b lock ar e con tinu ously exe cut ed in a set sequ en ce sta rti ng fro m th e po si tio ni ng dat a set in " Da.12 Start data No." by one st a rt. Secti on [2] sho [...]

10 - 9 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL [2] Control ex amples The fo ll owin g sh ow s th e cont r ol exe cut ed wh en the " bl o ck sta rt da ta " of th e 1st point of ax is 1 is se t as s hown in sec tion [1] an d st arted. <1> The posit ion ing dat a is exec ute d in the fo llow ing orde r befor e sto pping. Axi s 1 po[...]

10 - 1 0 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.3 Condition star t In a "cond itio n start ", the "con ditio n data " condi tion al judgm ent des igna ted in " Da.14 Param eter" is c arried out f or th e pos it ioning dat a set in " Da.12 S tart d ata No. ". If th e condit ions ha ve be en estab lis[...]

10 - 1 1 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.4 W ait start In a "wait st art", th e "cond itio n data" co ndit ional judgm ent des ignate d in " Da.14 Param eter" is c arried out f or th e pos it ioning dat a set in " Da.12 S tart d ata No. ". If th e condit ions hav e been est ablis hed, the &qu[...]

10 - 1 2 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.5 Simulta neous start In a "sim ultan eous start ", the pos itio ning dat a set in th e " Da.12 Start data No ." and posit ioni ng data of o ther axes set in th e "co ndit ion da ta" a re s imult aneo usl y exec uted (pulses are outp ut with the sam e timing) . [...]

10 - 1 3 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.6 Repeated start ( F OR l oop) In a "repe ated s tart (FO R loop) ", the d ata bet ween th e " block start dat a" in wh ich "4: FOR loo p" is se t in " Da.13 Specia l star t instruc ti on" and th e "bloc k star t data " in which "6: N EX[...]

10 - 1 4 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.7 Repeated start ( F OR condi ti on) In a "r epe ated s tart (FOR c ondi tion) ", t he da ta bet ween th e " bl ock start d ata" i n wh ich "5: FO R c ondit ion" is set i n " Da.13 Sp ec ial st art ins tru ctio n" and th e " b lock start data"[...]

10 - 1 5 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.3.8 Restrictions w hen usi ng the NEX T start The " NEXT start " is a ins truc tio n indic at ing t he e nd of t he r epet itions wh en exec ut ing Sectio n 10. 3.6 "Rep eated start (FOR l oop)" a nd Sect ion 10 .3 .7 "R epeate d sta rt (FOR condit ion) ". The f o[...]

10 - 1 6 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.4 Setting the conditi on da ta 10.4.1 Relation betw een various controls and the condi ti on data "Con dition dat a" is s et i n the f ollo wing cases . (1) W hen setting cond itio ns dur ing ex ecut ion of S ectio n 9.2 .21 "JUMP instr ucti on" (m ajor pos ition ing c ontr[...]

10 - 1 7 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL The sett ing req uirem ents and deta ils of the follo wing "c ond ition da ta" Da.16 to Da.19 s etti ng item s differ accord ing to the " Da.15 Cond itio n targ et" s ett ing. The fo ll owin g sh ow s the Da.16 to Da .19 setting items corre spon di ng to the " Da.15 Condi[...]

10 - 1 8 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL REMARK The " PLC CP U m emor y area" c an b e des igna ted as the b uffer mem or y address to be desig nate d in Da.17 . (Ref er t o Sec tion 7 .1.1 "Conf igur atio n and r oles of QD 75 me mory ". ) Address 30000 30001 30099 QD75 buffer memory[...]

10 - 1 9 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.4.2 Condition dat a setti ng ex amples The f ollow ing s hows s ett ing ex am ples for "co ndit ion d ata". (1) Setting the devic e ON/OFF as a condi ti on [Con di ti on ] D evi ce " X0" ( = QD75 REA DY) is OF F Da.15 Condition target Da.16 Condition operator Da.17 Address [...]

10 - 2 0 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.5 Multiple ax es s imultaneous start contr ol The "m ult iple axes s im ultane ous s tart c ontr ol" st arts and c ontr ols th e m ultip le ax es sim ultaneous l y by outp utti ng puls es t o the ax is to be star ted at the s am e tim ing as the start ax is. The m axim um of f our ax[...]

10 - 2 1 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL [4] Multiple ax es s imultaneous start control function setti ng method The f ollowi ng sho ws t he set ting of the data used to exec ut e the multi ple ax es sim ultane ous s tart c ontro l wi th pos itio ning s tart s igna ls (T he ax is c ontro l da ta on the star t ax is is se t). Buffer memo[...]

10 - 2 2 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL POINTS (1) T he "m ult iple ax es s imult aneo us st art c ontro l" car ries out a n op erati on e quiva lent t o th e "sim ultan eous start " using the "b lock start data ". (2) T he sett ing of th e "m ultipl e axes sim ultan eous star t contr ol" is eas [...]

10 - 2 3 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.6 Start prog r am for hi g h- l evel positi oni ng contr ol 10.6.1 Starting hig h-level positi oni ng control To exe cu te high -le vel po si ti on ing co nt rol , a sequ en ce prog ra m must b e cr ea te d to st a rt the co ntrol in t he sam e m ethod as for m ajor p osition ing co ntr ol. Th[...]

10 - 2 4 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL 10.6.2 Example o f a start pr og r am for hi g h- lev el posi tioning contro l The f ollowi ng s hows a n ex ample of a star t progr am for high-le vel posit ionin g co ntrol in which the 1s t po int " bloc k s tart dat a" of ax is 1 is star ted. (T he b lock No . is regar ded as "[...]

10 - 2 5 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL Start ti me ch a rt The f ollowing ch art sho ws a tim e char t in whic h the posi tion ing data No. 1, 2, 1 0, 11, and 12 of axis 1 are con tinuo usly exec uted as an exam ple. (1) Bloc k s tart data sett ing exam ple Axis 1 block start data Da.11 Shape Da.12 Start data No. Da.13 Special start i[...]

10 - 2 6 MELSEC-Q 10 HIGH-LEVEL POSITIONING C ONTROL Creating the program <Pulse t he positioni ng start command. > M10 4 PLS Y10 M10 4 <Turn ON the positi oning star t sig nal.> Y10 SET K1 K1 K1501 H0 TO < Write t he p ositi oning star t poi nt N o.> K1 K7000 K1500 H0 TO <Write th e positioni ng data No. 7000 for block p ositi[...]

11 - 1 11 Chapter 11 Manual Control The de tails a nd us age of ma nual c ontrol are ex plained in this chap ter. In ma nual co ntrol, pulse output co mman ds are i ssu ed duri ng a JOG o perat ion and a n inching oper ation ex ecuted b y the tur ning O N of the JOG ST ART s ignal, or from a manual pulse genera tor co nnect ed to the Q D75. Manual [...]

11 - 2 MELSEC-Q 11 MANUAL CONTROL 11.1 Outline of manual contr ol 11.1.1 Three manual control methods "Man ual c ontro l" ref ers to c ontro l in which pos ition ing data is no t used , an d a posit ioni ng oper at ion is carr ied out i n res ponse to s igna l input fr om an ex tern al so urce. The thr ee t ypes of th is "m anua l co[...]

11 - 3 MELSEC-Q 11 MANUAL CONTROL [3] Manual pulse g ener ator oper ation "Man ual puls e gen erator opera tion " is a contr ol m ethod in which posi tioni ng is carrie d out in r espons e to t he N o. of pulses inp ut from a m anu al puls e ge ner ator (the No. of input pu lses is output) . This op erati on is used for manu al fin e adju[...]

11 - 4 MELSEC-Q 11 MANUAL CONTROL 11.2 JOG operation 11.2.1 Outline of JOG oper ati on Important Use the hard ware s trok e lim it fu nctio n whe n carr ying out JO G oper atio n ne ar the upper or lo wer lim its. (R efer to Sec tio n 12.4.4) . * If the h ardwar e strok e limit f uncti on is not used, the wo rkpiec e m ay exc eed the mo ving ra nge[...]

11 - 5 MELSEC-Q 11 MANUAL CONTROL Precautions during operation The f ollowing details m ust be u ndersto od bef ore car rying out J OG op eration. (1) For s afety, first set " Cd.17 JO G speed" to a sm aller va lue a nd check the mo vement. T hen gradua ll y increase t he value. (2) An axis error will occ ur and the operati on will not st[...]

11 - 6 MELSEC-Q 11 MANUAL CONTROL JOG operation t iming and processing t ime The f ollowing drawing s hows det ails of the JOG operat ion tim ing and pr oces sing tim e. Reverse r un JOG sta rt signal [Y9 , YB, YD, Y F] BUSY signal [XC, XD, XE, XF] Forwar d run JO G start si gnal [Y8 , YA, YC, Y E] t2 Sta nding by In JOG oper ati o n t1 t3 t4 Pulse[...]

11 - 7 MELSEC-Q 11 MANUAL CONTROL 11.2.2 JOG operati on ex ecuti on pr ocedure The J OG o perat ion is carr ied o ut b y th e foll owin g proce dur e. STEP 1 Preparation Re fer t o Chap te r 5 and Section 11.2.3. End of control Set the parameters STEP 2 Refe r to Sec tio n 11.2.4. Set the " Cd. 17 JOG sp eed". STEP 3 Write the sequence pr[...]

11 - 8 MELSEC-Q 11 MANUAL CONTROL 11.2.3 Setting the req uired parameter s for JOG operati on The " Param eters" m ust be set to c arr y out JO G oper ation . The f ollowi ng ta ble s hows t he sett ing item s of the req uire d param eters for carr ying ou t JOG op erat ion. W hen o nl y JOG o perati on will b e carr ied out, no param ete[...]

11 - 9 MELSEC-Q 11 MANUAL CONTROL Setting item Setting requirement Factory-set initial v alue (setting details) Pr.25 Acceleration time 1 (Unit: pul se) 1000 Pr.26 Acceleration time 2 (Unit: pul se) 1000 Pr.27 Acceleration time 3 (Unit: pul se) 1000 Pr.28 Deceleration time 1 (Unit: pulse) 1000 Pr.29 Deceleration time 2 (Unit: pulse) 1000 Pr.30 Dece[...]

11 - 1 0 MELSEC-Q 11 MANUAL CONTROL 11.2.4 Creating star t pr ograms for JOG oper ation A sequ ence pro gram mus t be cre ated to exec ute a JOG oper atio n. Cons ider the "requ ired c ontr ol dat a se tting ", "s tart c ondit ions " an d "s tart t im e chart " when cre ating the pr ogram . The f ollowi ng s hows a n e[...]

11 - 1 1 MELSEC-Q 11 MANUAL CONTROL Start ti me ch a rt t Forwar d run JOG star t sign al Forwa rd JOG run BUSY sign al Erro r detec tion signal OFF OFF OFF OFF OFF ON ON ON ON [X8] [XC ] PLC READ Y signa l QD75 RE ADY si gnal Revers e run JOG sta rt signal Reverse JOG r un [Y8 ] [Y9 ] [X0] [Y 0] OFF ON Fig. 1 1.6 JOG op eration start tim e chart[...]

11 - 1 2 MELSEC-Q 11 MANUAL CONTROL Creating the program — á Examp le No. 10 JOG o peration sett ing program <Set JOG operation speed (100.00m m/m in) > <Set a "0" for inching movement amou nt> No.12 JOG o peration/inching operation execution program <Write JOG operation speed > <JOG/inching ope ration flag ON> [...]

11 - 1 3 MELSEC-Q 11 MANUAL CONTROL 11.2.5 JOG operati on ex ampl e When the "stop sig nal" is tur ned ON during JOG operation W hen the "stop si gnal" is turned O N dur ing JOG operati on, th e JOG oper atio n will stop b y the "dece leratio n stop" m ethod. JOG s tart signals will be ignor ed while t he stop s ignal [...]

11 - 1 4 MELSEC-Q 11 MANUAL CONTROL W hen both the "forward run JOG start sig nal" and "r everse run JOG start signal" ar e turned ON sim ultaneously for one axis W hen both the "f orward run J OG st art signa l" and "r evers e run JO G start s ignal" are turn ed ON sim ultaneo usly for one ax is, the "f[...]

11 - 1 5 MELSEC-Q 11 MANUAL CONTROL W hen the "JOG start signal" is turned ON again dur ing deceleration caused by the ON OFF of the " JOG start sig nal" W hen the "JOG s tart signa l" is tur ned ON agai n during decelerat ion c aused b y the ON OFF of the "JOG start si gnal", the JOG operatio n will be carri[...]

11 - 1 6 MELSEC-Q 11 MANUAL CONTROL W hen the "JOG start signal" is turned ON immediat ely after the stop signal OFF (within 100ms) W hen the "JOG s tart signa l" is tur ned ON imm ediate ly after t he stop s ignal O FF (within 1 00ms ), it will be i gnored a nd the JO G oper ation wil l not be c arried o ut. ON A xis st op si g[...]

11 - 1 7 MELSEC-Q 11 MANUAL CONTROL 11.3 Inching operati on 11.3.1 Outline of inchi ng operati on Important W hen the i nchin g oper atio n is c arrie d ou t ne ar the upp er or lower lim it, use the hardwar e str ok e lim it funct ion (R efer t o Sec tion 12.4.4) . If the h ardwar e str ok e lim it funct ion is not us ed, th e wor kpiec e m ay exc[...]

11 - 1 8 MELSEC-Q 11 MANUAL CONTROL Precautions during operation The f ollowing details m us t be unders tood b efore inc hing op erat ion is c arried out. (1) Acc eleratio n/deceler ation process ing is not car ried out during inching operatio n. (Pulses c orrespo nding to t he des ignated i nching m ovem ent am ount are outp ut at the f irst cont[...]

11 - 1 9 MELSEC-Q 11 MANUAL CONTROL Inching oper ation timing and pr ocessing times The f ollowing drawing s hows the detai ls of the inch ing oper ation tim ing and process ing tim e. Rever se run JOG st art si gnal [Y9,YB,YD, YF] BUSY signal [X C,XD ,XE ,XF ] Forwar d run JOG start sign al [Y8,YA,YC, YE] ON Standin g by I nching o peration Axis o[...]

11 - 2 0 MELSEC-Q 11 MANUAL CONTROL 11.3.2 Inching operati on ex ecution procedure The inch ing op erati on is car ried ou t by the fol lowing proced ure . STEP 1 Preparation Re fer t o Chap te r 5 and Section 11.3.3. End of control Set the parameters. STEP 2 Refe r to Sec tio n 11.3.4. STEP 3 Write the sequence program created i n STEP 1 and STEP [...]

11 - 2 1 MELSEC-Q 11 MANUAL CONTROL 11.3.3 Setting the r eq uir ed par ameter s for inchi ng oper ation The " Param eters" m ust be s et to c arr y out i nchin g op erati on. The f ollowi ng ta ble s hows t he sett ing item s of the req uire d param eters for carr ying ou t inchi ng o perat ion. W hen onl y inc hing oper atio n will be ca[...]

11 - 2 2 MELSEC-Q 11 MANUAL CONTROL 11.3.4 Creating a pr og r am to enabl e/di sable the i nchi ng oper ati on A sequ ence pro gram m ust be cre ated to exec ut e an inchi ng oper at ion. C ons ider t he "requ ired c ontr ol dat a se tting ", "s tart c ondit ions ", an d "s tart tim e char t" whe n cre atin g the pr og[...]

11 - 2 3 MELSEC-Q 11 MANUAL CONTROL Start tim e char t For ward run JO G st art si gnal [Y8 ] PLC READY signal [Y0] QD75 REA DY signa l [X0] t Reverse run JOG st art signal [Y 9] Reverse run inch ing oper ation Forwar d run in ching o peration BUSY signal [XC] Error detecti on si gna l [X8] OFF OFF OFF OFF OFF ON ON ON ON ON OFF OFF ON Positioning [...]

11 - 2 4 MELSEC-Q 11 MANUAL CONTROL Creat ing the progr am — á Example No.11 In ching operation setting pr ogram <Set inchi ng mov emen t amou nt> <JOG / inch ing oper atio n flag ON > <JOG/i nchin g o perat ion te rmin ation > <Exe cute for war d JO G/i nc hing op eratio n> <Exe cute re v ers e JO G oper at ion> &l[...]

11 - 2 5 MELSEC-Q 11 MANUAL CONTROL 11.3.5 Inching oper ation ex ample When "stop signal" is t urned ON during inching operation: If "stop signal " is turn ed ON durin g inc hi ng oper a tio n, the inc hi ng opera t ion wil l be stopped. W hile the stop s ignal is turne d ON, t he JOG s tart si gnal is ignored. The inc hing oper[...]

11 - 2 6 MELSEC-Q 11 MANUAL CONTROL When "JOG star t signal" is t urned ON when peripheral devices ar e in the test mode: If "JO G star s ignal" is turned O N when peripher al de vices are in the test m ode, the "JOG s tart sign al" wil l be ignor ed and i nching o perat ion wil l not be c arried out. In test mode ON t[...]

11 - 2 7 MELSEC-Q 11 MANUAL CONTROL 11.4 Manual pulse g ener ator oper ation 11.4.1 Outline of man ual pulse g enerator operati on Important Create the se quenc e pro gram so that " Cd.21 Manual pul se ge ne r ato r ena ble flag" is alwa ys set to "0 " (dis abled) when a man ual pu lse ge nerat or oper ation is not carried o ut.[...]

11 - 2 8 MELSEC-Q 11 MANUAL CONTROL Restricted it ems A manual pulse generat or is r equire d to carr y out m anual pulse ge nerator operatio n. Precautions during operation The f ollowing details m ust be underst ood bef ore car rying o ut manual pulse generator o perat ion. (1) The s peed durin g manual pulse ge nerat or operati on is not lim ite[...]

11 - 2 9 MELSEC-Q 11 MANUAL CONTROL Manual pulse gener ator operation t iming and processing t ime The f ollowing drawing s hows det ails of the m anual p ulse generator o perat ion timing an d proces sing t ime. Manual pulse generator input pulses BUSY signal [XC,XD, XE ,XF] Start complete si gnal [X10, X11, X 12, X1 3] Pulse output to an external[...]

11 - 3 0 MELSEC-Q 11 MANUAL CONTROL Position control b y manual pulse g enerator oper ation In manual p ulse generat or op eration, t he posit ion is moved by a "manual p ulse generator 1 puls e m ovement am ount" per puls e. The c urrent feed v alue in t he pos itionin g contro l b y manual pu lse gener ator operatio n can be c alc ulate[...]

11 - 3 1 MELSEC-Q 11 MANUAL CONTROL 11.4.2 Manual pulse g ener ator oper ation ex ecution procedure The m anual pu lse gen erator operat ion is c arried ou t by the fo llowi ng proc edure . Writ e the sequence progr am crea ted in ST EP 1 and STE P 2 to the P LC CPU us ing GX De veloper. Usi ng GX Dev eloper, set th e contro l data and c reate a se[...]

11 - 3 2 MELSEC-Q 11 MANUAL CONTROL 11.4.3 Setting the r eq uir ed par ameter s for manu al pulse g enerator operation The " Param eters" m ust be s et to carr y out m anua l pu lse g enera tor op erat ion. The f ollowi ng ta ble s hows t he sett ing item s of the req uire d param eters for carr ying ou t manual puls e ge nerator o perat [...]

11 - 3 3 MELSEC-Q 11 MANUAL CONTROL 11.4.4 Creating a pr og r am to enabl e/di sabl e the manual p ul se g ener ator oper ation A sequ ence pro gram m ust be cre ated to exec ut e a m anual puls e gen erator op erati on. Consid er t he "r equ ired co ntro l data set ting" , "star t co ndit ions " and "s tart t im e chart&qu[...]

11 - 3 4 MELSEC-Q 11 MANUAL CONTROL Start ti me ch a rt Pulse input A phase OFF ON OFF OFF 1 t OFF 00 1 Forward run Rev erse ru n ON Pulse input B phase BUSY signal QD75 READY signal PLC READY signal Start complete signal Error detection signal [Y0] [X0] [X10] [XC] [X8] Cd. 21 Manual pulse generator enable flag Cd. 20 Manual pulse generator 1 pulse[...]

11 - 3 5 MELSEC-Q 11 MANUAL CONTROL Creating the program — á Example No.13 M anual pulse generator o peration pr ogram <Pulsate manual pulse ge nerator operation co mmand> <Set manu al pulse gene rator input s cale per pulse> <Write manual pulse g enerator operatio n enable> <Wr ite data f or m a nual pul se ge ne ra to r>[...]

11 - 3 6 MELSEC-Q 11 MANUAL CONTROL MEM O[...]

12 - 1 12 Chapter 12 Control Sub Functions The d etails and u sage of th e "sub fu nction s" ad ded and u sed i n combi natio n with the main fu ncti on s are ex pla in ed in this chap ter . A var iety o f sub fu nctions a re avai lable, includi ng fun ctions specific ally f or ma chine OPR a nd gen erally r elated functi ons su ch as con[...]

12 - 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.1 Outline of sub functi ons "Sub f unct ions " are f uncti ons th at c ompens ate , lim it, a dd fu nctio ns, etc., to t he contr ol when th e m ain f unctio ns ar e exec uted. T hes e sub f unc tions are ex ecu ted b y param eter s ettings , com m ands from G X Confi gurator- QP, sub f unct ion[...]

12 - 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS Sub function Details Absolute position restoration function 3 This function restores the absolu te posit ion of the de signated ax is. Step function This function temporarily stop s the operati on to confirm the positioning operation during debugging, etc. The operation can be stopp ed at each "autom at[...]

12 - 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.2 Sub functions specifical l y for machine OPR The s ub f unctio ns sp ecif ical ly f or m achine O PR inc lude the "O PR r etr y func tio n" and "OP s hift f unct ion". Eac h func tio n is ex ecut ed b y par ameter sett ing. 12.2.1 OPR retry function W hen the work piec e go es pas t [...]

12 - 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) OPR retr y opera tion when th e work piec e is outsi de the r an ge bet ween t he upper an d lower l imits . 1) W hen the dir ectio n from the work piece to the O P is th e sam e as th e " Pr.44 OPR dir ectio n" , a norm al m achine OPR is c arrie d out . Pr. 44 OPR dire ction Upper limit Lower[...]

12 - 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Set ti ng th e dw el l ti me d u ri ng an OPR r etry The OP R retr y func tion c an per form suc h func tion as th e dwe ll tim e usi ng " Pr.57 Dwell t im e at OPR retr y" when the r evers e run oper ation is c arr ied out du e t o de te ct io n by the li mit si gnal for upper an d low er li m[...]

12 - 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precaution duri ng control (1) The follow ing ta ble s hows whether the O PR r etr y funct ion m ay be ex ecut ed by the " Pr.43 OP R metho d". Pr.43 OPR method E xecution status of O PR retry function Near-point dog method : E xecution possibl e Stopper method 1) : Execution not possible Stopp[...]

12 - 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.2.2 OP shift function W hen a machin e OPR is car ried o ut, the OP is norm ally est ablis hed usi ng the ne ar- poi nt do g, sto pp e r, an d ze r o signal . However, by using t he OP shi ft fun c ti on , the mac hine c an be m ove d a desig nate d movem ent am ount f rom the pos itio n wher e th e zero [...]

12 - 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Setting rang e for the OP shift amount Set the OP s hif t amoun t with in th e rang e fr om the detec ted zero s igna l to th e upper/ lower lim it switc hes. Setting ra nge o f the negative OP shift amount Setting range of the positive OP shift amount Address decrease direction Upper limit Lower limit N[...]

12 - 1 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) OP shift op erati on at the " Pr.47 Cr eep sp eed" (W hen " Pr.56 Spe ed des ignat ion d urin g O P shif t" is 1) When the " Pr. 53 OP shift amount" is negative When the " Pr. 53 OP shift amount" is positive Pr. 4 4 OPR direction Zero po int Machine OPR sta rt Ne[...]

12 - 1 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.3 Functions for compensati ng the contr ol The s ub func tions for c om pensat ing the co ntrol incl ude the "b ack lash com pens ation functi on", "elec tron ic ge ar func ti on", an d " near p ass f unctio n". E ach f unct ion is execu ted b y param eter sett ing or se qu[...]

12 - 1 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) The feed p uls es of t he b ack lash c ompens ation am ount ar e not add ed to t he " Md.20 Cur r ent feed va lue" o r " Md.21 Mac hi ne fe ed va lue". (2) Always car ry out a m achine OPR before star ting th e contr ol when using the back lash com pe[...]

12 - 1 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.3.2 Electronic g ear function The " electro nic g ear f unct ion" a djusts the puls es c alcul ated a nd ou tput ac cor ding to the param eters s et in t he Q D75 wi th th e actu al m achine m ovem ent amount. The " electro nic g ear f unct ion" h as the follo win g thre e funct ions[...]

12 - 1 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS [1] Error compensati on m ethod W hen position contro l is carr ied ou t by the "m ovem ent am ount per pulse " set in the QD 75 par am eters, an err or som etim es oc curs betwee n t he com m and movem ent am oun t (L) a nd th e actu al m ovem ent am ount ( L'). That er ror is co mpens ate [...]

12 - 1 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS Calculation ex ample (Conditions) Movement amount per pulse No. of pulses per rotation Unit magnification : 500 ( µ m/rev) : 12000 (pulse/rev) : 1 (Positioning results) Command movement a mount Actual movement amount : 100mm : 101mm (Compensation amount) AL' 5 × 10 3 101 × 10 3 5050 101 AP' = [...]

12 - 1 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Relation betw een the movement amount per puls e an d speed The f ollowi ng sho ws t he re lati on of t he "m ovem ent am oun t per pulse (A) " to th e comm and spe ed a nd act ual s peed. The c om mand s peed is th e spe ed comm anded b y each contr ol, and the actu al spee d is the act ual [...]

12 - 1 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Precautions duri ng control It is r ecom m ended that the "m ovem ent am ount per pu lse ( A)" be set to a valu e close to "1" fo r th e foll owin g reas ons . The "m ovem ent am ount per p uls e" of "1" means the m inim um value in eac h " Pr.1 Un it sett i[...]

12 - 1 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.3.3 Near pass function W hen cont inuous pass co ntrol is c arried out using int erpol ation c ontr ol, t he n ear pas s functi on is c arri ed o ut. The " near p ass f unct ion" is a f unct ion to su ppress the m echa nic al vi brati on occ urrin g at the t ime of switc hin g the posit ionin [...]

12 - 1 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) If the m ovem ent am ount d esign ated by the pos ition ing da ta is s m all whe n the co ntin uous p ath co ntr ol is ex ecute d, th e ou tput s peed ma y not reac h the desig nated spee d. (2) If contin uous path c ontr ol is carr ie d out , the output wil l sud denl y[...]

12 - 2 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) W hen continuous p ath c ontrol of a circul ar inter polatio n is being carr ied out in the near p ass, an address in whic h the ex tra m ovement am ount is subtr acted from the position ing addr ess of the positi oning dat a curr ently be ing exec uted is replace d by the s tarting point addr ess of t[...]

12 - 2 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.4 Functions to limit the contr ol Funct ions to l imit the c ontro l inclu de the "s peed lim it fu nct ion", "t orque l im it functio n", "soft ware s trok e lim it", a nd "hard ware strok e lim it ". E ach fu nction is exec uted b y param eter s etting or s eque[...]

12 - 2 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control If an y axis exce eds " Pr.8 Speed li mit val ue" du rin g 2 - to 4 -axi s spee d co ntr ol , the a xis in exce ss of the spe ed li mit value i s cont roll ed at th e spe ed li mit value. The speeds of the ot her axes i nterpo lated ar e suppr essed de pend ing on [...]

12 - 2 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.4.2 Torque l i mit function The "t orque lim it func tion " lim its th e ge nerate d tor que t o a value with in t he "tor que lim it value " sett ing r ange when the tor que g ener ated in th e ser vom otor ex ceeds the " torque lim it value ". The "torq ue lim it fun[...]

12 - 2 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Control detail s The f ollowi ng dra win g sho ws the o perat ion of th e torq ue lim it f uncti on. 50% 0% 100% 0% 100% 50% Torqu e lim ited at th e parameter torque limit setting value (100%) Various op eration s PLC READY sig na l [Y0] Pr.17 Torq ue limi t s et ting val ue Cd.22 New t orq ue value M[...]

12 - 2 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Setting the torq ue limit function (1) To use the "tor que lim it funct ion" , set t he " torqu e lim it v alue " in t he param eters s hown in t he fol lowing tab le, and wr ite t hem to the Q D75 . The s et deta ils ar e va lidat ed at the r ising edge ( OFF ON) of th e PLC READ Y[...]

12 - 2 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.4.3 Software str oke li mit function In th e "sof twar e str oke l imit f unct ion" t he a ddress est ablis hed b y a m achi ne OPR is used t o set t he u pper a nd lowe r lim its of th e m oveabl e rang e of the work piec e. Movem ent c omm ands issued to addres ses outs ide t hat se ttin g r[...]

12 - 2 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS The f ollowi ng dra win g sho ws the d iff erenc es in the oper atio n wh en " Md.20 Current f eed valu e" a nd " Md.21 Mach ine f eed v alue " are used i n t he m ove able range l imit check . [Con diti ons] Assum e th e curr ent st op pos it ion is 20 00, an d the upper str oke lim it[...]

12 - 2 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Software stroke limit check details Check details Processing when an error occurs 1) An error shall occur if the current value 1 is outside the software stroke limit range 2. (Check " Md.20 Current feed value" or " Md.21 Machine feed value".) 2) An error shall occur if the command a[...]

12 - 2 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Precautions duri ng softw are str oke limi t check (1) A m achine OPR m ust b e exec uted befor eha nd for the "s oft ware s trok e lim it functi on" to fu nctio n proper ly. (2) During int erpolat ion c ontr ol, a s trok e lim it ch eck is carr ied o ut for the ever y curren t valu e of both[...]

12 - 3 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS (5) Duri ng sim ult ane ous st art, a s trok e limit c heck is carr ied o ut f or the c urr ent values of ever y axis to b e star ted. Ever y axis will not s tart if a n error occ urs, even if it on l y occurs in one axis . [5] Setting the softw are stroke limit function To us e the "sof tware s trok [...]

12 - 3 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS [7] Setting w hen the control unit is "degree" Current value address The " Md.20 Current f eed value " address is a r ing addr ess between 0 and 359.999 99 ° . 0° 0° 0° 359. 99999° 359. 99999° Fig. 1 2.17 Curren t va lue address wh en th e contr ol u nit is "d egree ". S[...]

12 - 3 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.4.4 Hardw ar e str oke limi t function ! DANGER W hen the hardw are strok e lim it is requir ed to be wir ed, ens ure to wir e it in the ne gati ve logic us ing b-con tac t. If it is se t in p osit ive logic using a-c ontac t, a serio us acc ident m ay occ ur. In th e "har dware strok e limit f unc[...]

12 - 3 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Wiring the har dw are stroke limit W hen usin g the h ard ware s trok e lim it fu nct ion, wir e t he term in als of the Q D75 upper/ lower lim it strok e limit as sh own in th e fo llowi ng dra wing . (W hen " Pr.22 Inpu t sign al logic sel ect ion " is s et t o the in itia l va lue) QD75 FL[...]

12 - 3 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.5 Functions to chang e the control detail s Funct ions t o cha nge t he con trol deta ils inc lude the "speed ch ange f unct ion", "overr ide functi on", "acce ler ation/ dece lerat ion tim e ch ange funct ion" and " torqu e ch ange functi on". Each funct ion is e[...]

12 - 3 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) Cont rol is car ried out a s foll ow s at th e sp ee d cha ng e du rin g co nt inuo u s pat h contr ol. a) W hen no spee d des igna tion (curr ent s peed) is provid ed in th e next posit ioni ng da ta: The n ext posit ion in g da t a i s cont roll ed at th e " Cd.14[...]

12 - 3 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS (4) W hen the s peed is cha nged b y setting " Cd.14 New spee d value" to " 0", the o perat ion is carr ied out as fo llows . • A dece lerat ion s top is car ried out , and t he s peed c han ge 0 f lag ( Md.31 Status: b10) tur ns ON . (During int erpol atio n contr ol, the sp eed c ha[...]

12 - 3 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Setting the speed ch ang e functi on from the PLC C PU The f ollowi ng sho ws t he data set tings and s equenc e pr ogram exam ple f or chang ing t he con trol s pe ed of ax is 1 fr om the PLC C PU. ( In th is ex am ple, th e contr ol spe ed is chan ged t o "20. 00mm /m in".) (1) Set th e fo [...]

12 - 3 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Add t he f ollowi ng se quenc e pr ogram to t he con trol pro gram , and write it to the PL C CP U. — á Example No.14 Speed cha nge program <Pul sate spee d change c ommand > <Hold s peed ch ange co mmand> <Set sp eed cha nge value (20.00mm/ min) > <Set sp eed cha nge reques t&g[...]

12 - 3 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Setting the speed ch ang e functi on using an external command signal The s peed c an a lso b e chan ged using an "exter nal c omm and s ignal ". The f ollowi ng sho ws t he data set tings and s equenc e pr ogram exam ple f or chang ing t he co ntro l spe ed of ax is 1 us in g an " exter[...]

12 - 4 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Add t he f ollowi ng se quenc e pr ogram to t he con trol pro gram , and write it to the PL C CP U. External command valid signal (QD75 star t s speed ch ange processi ng.) [Speed change processin g] <Write the new speed. > K1 D108 K1 514 H0 DTOP K1 K1 K1505 H0 TOP <Set the extern al command s[...]

12 - 4 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.5.2 Overr i de function The o verrid e fu nction chan ges th e comm and s peed b y a des ignat ed per centa ge (1 to 300%) f or al l con tro l to be exec uted. The s peed c an b e cha nged b y se ttin g the p erce ntage (%) b y which t he sp eed is change d in " Cd.13 Pos it ioning oper atio n spee[...]

12 - 4 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precaution duri ng control (1) W hen chan ging th e spe ed dur ing c onti nuous path c ontrol , t he spe ed cha nge will b e ig nored if t here is not eno ugh dis tanc e rem aini ng to c arr y out t he change . (2) A warn ing " Decel erati on/stop sp eed ch ange (warn ing cod e: 500)" occurs [...]

12 - 4 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Add t he f ollowi ng se quenc e pr ogram to t he con trol pro gram , and write it to the PL C CP U. — á Exampl e No.15 Override pr ogram <Pulsate override command> <S et overr i de valu e (20 0%) > <Write override value>[...]

12 - 4 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.5.3 Acceleration/deceler ati on time ch ange function The " acce lerat ion/dec eler atio n tim e ch ange f unct ion" is use d to c hang e the accel eration /dec eler ation t im e duri ng a s peed chang e to a ran dom value when carr ying out the s peed cha nge i ndicat ed i n Sec tion 1 2.5.1 [...]

12 - 4 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) W hen "0" is set in " Cd.10 Ne w accel erati on tim e va lue" an d " Cd.11 New decel erati on tim e value ", the acc elera tion/d ece lerat ion tim e will not be change d e ven if the s peed is ch ange d. In this c ase, the o pera tion will [...]

12 - 4 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS (4) If the "ne w acc elera tion/d ece lerat ion t ime" is se t to "0" an d th e spe ed is change d after t he "ne w acce lerat ion/dec el eratio n tim e" is vali dated , the operat ion will be con troll ed wit h the prev ious "new acce lerat ion/ decel erati on tim e"[...]

12 - 4 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS Exam ple No.16 Accelerat ion/deceleration time ch ange program <Pulsate acceler ation/decelerat ion time chang e command> <Set 2000ms for accelerat ion time> <Set 0 (not change) for deceleration ti me> <Write a cceleratio n/deceleration time> <Write accel eration/decel eration ti[...]

12 - 4 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.5.4 Torque chang e fu nction The "t orque ch ange f unct ion" is us ed to chang e th e tor que l im it valu e dur ing t orque lim itin g. The torque limit value during torq ue limit ing i s nor mally the valu e set in the " Pr.17 Torque lim it set ting valu e" that was pr e viousl y [...]

12 - 4 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) If a value bes ides "0" is se t in the " Cd.22 Ne w torq ue v alue" , the tor que genera ted b y the servom otor wi ll be lim ited b y that value. T o lim it the torq ue with th e valu e set in " Pr.17 Torque lim it setti ng va lue", s et t [...]

12 - 5 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.6 Absolute position r estorati on functi on ! CAUTION W hen the abs olut e pos itio n res torat ion is car rie d out , the s er vo ON s igna l ma y be t urned OFF (ser vo OFF ) for ab out 2 0 m s, and t he m otor m a y operat e. If t his is not des ire d, ins tall a n el ectrom agnet ic brake separ atel[...]

12 - 5 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) Preparation Prepar e the abs olu te pos ition de tectio n s ystem tak ing car e of the f ollo wing. Component Details 1) Servo amplifier • Install the battery to the servo amplifi er. • Validate the absolute positi on detecti on functi on of the servo amplifier. Refer to the servo amplifier manual [...]

12 - 5 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Absolute position sig nal tr ansmi ssion pr ocedur e (1) Fi gure 12.34 s ho ws the o utl ine of the a bsolu te p ositi on sign al tra nsm ission proce dure between the s ervo am plifier and t he P LC s ystem (P LC C PU, QD75, I /O m odule) . Refer t o the oper atio n m anual of the ser vo am plif ier f[...]

12 - 5 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) C onnect ion exam ple The f ollowi ng d iagram sho ws the exam ple of co nnect ion bet ween the PLC system and t he M itsub ish i Elec tric s ervo am plifi er (M R-H-A) . <Servo amplifier> <PL C syst e m > 24(PF) 25(TLC) 23(ZSP) 12(SON) 44(DI3) 45(DI4) 0(X47) 1(X48) 2(X49) 0(Y50) 1(Y51) 2(Y[...]

12 - 5 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Contro lling instru ctions (1) W hen an abso lute posit ion detec tion s ystem is c ons tructed, abs olute pos ition restor atio n m ust be m ade at leas t onc e af ter po wer s uppl y on or rese tting. Also, th e serv o amplif ier does not s witch on un less the absol ute pos itio n restor atio n is c[...]

12 - 5 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [Calculation of positioni ng addr ess and concept o f absolute p ositi on detection system] Use th e fo ll ow in g e xpre ssio n to cal cula t e the po si ti oni ng addr e ss. (Pos itioni ng a ddres s) = ( m ovement am ount p er pu lse) (num ber of outpu t pu lses) + (OP addres s) .........................[...]

12 - 5 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS Example 2. (1) Us ing Expres sio n 1, c alcu late t he p ositi onin g addr ess which can b e sp ecifi ed in th e s ystem where the O P addr ess in Exam ple 1 is 214 7400 00. 0 ( µ m). • Lowe r li mit valu e o f posit ion i ng ad d ress (Pos itioni ng a ddres s) = 0.1 (-2684354 56) + 214 740000 .0 =18789[...]

12 - 5 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Sinc e the up per and lo wer lim it valu es of the positi oning addr ess c alcul ated are ou tside of th e ran ge of C ondi tion 2 , us e the p ositi onin g addr ess within the posit ioni ng ra nge of Con ditio n 2 (- 21474 8364 8 ( µ m) t o 21 474836 47 ( µ m) ). Unit: µ m OP 0 -214748364.8 2147483[...]

12 - 5 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7 Other functions Other funct ions inc lude th e "st ep fu nct ion", "sk ip func tion", "M c ode o utpu t func tion ", "teach ing f unct ion" , "t arget pos ition c ha nge f uncti on", "com m and in-po sit ion f unct ion", "acce lerat ion/[...]

12 - 5 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Step mode In step oper atio ns, t he tim ing f or s toppin g th e contr ol c an b e set. T his is c alled the "s tep m ode ". (The "s tep m ode" is se t in the c ontro l dat a " Cd.34 St ep mode".) The f ollow ing s hows the two t ypes of "st ep m ode " func tion[...]

12 - 6 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Using the step operati on The f ollowi ng sho ws t he pr oced ure f or ch eck ing pos itio ning d ata using the st ep operat ion. (1) Turn ON the step v al i d flag before star ting the positioning data. (W rite "1" ( carr y out step opera tion) in " Cd.35 Step v ali d flag ".) (2) [...]

12 - 6 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS [5] Control detai ls (1) The f ollo wing dr awi ng sh ows a step oper atio n dur ing a "dec elera tio n unit step". Positio ning Cd. 35 Step val id flag Positioning data No. Da. 1 Operation pa ttern No.10 11 No.11 01 No positioning data No. unit, so operation pattern becomes one step o f unit for[...]

12 - 6 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [6] Precautions duri ng control (1) W hen step opera tion is c arried out using int erpolat ion c ontr ol pos ition ing data, the st ep f unctio n sett ings are c arri ed out f or th e ref erenc e ax is. (2) W hen the s tep valid f lag is ON , the s tep oper atio n will star t from the beginn ing if th e p[...]

12 - 6 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.2 Skip function The "s kip f unct ion" is us ed to s to p (dec eler atio n stop) the contr ol of the pos ition ing data being execu ted at the t im e of th e skip s igna l inp ut, a nd exec ut e the n ext posit ioni ng da ta. A skip is execu ted b y a skip com m and ( Cd.37 Skip c om mand) o[...]

12 - 6 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Setting the skip functi on from the PLC CPU The fo ll owin g sh ow s th e se ttin g s and sequ en ce prog ra m exa mpl e fo r ski p pi ng the co ntrol bei ng exec uted in ax is 1 with a com mand f rom the P LC C PU. (1) Set th e fo ll ow in g data . (The sett ing is c arried ou t using th e seq uence p[...]

12 - 6 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Setting the skip functi on usi ng an ex ter nal command sig nal The s kip f unctio n can als o be ex ecut ed us ing a n "ex ter nal com m and sig nal". The fo ll owin g sh ow s th e se ttin g s and sequ en ce prog ra m exa mpl e fo r ski p pi ng the co ntrol bei ng exec ute d in ax is 1 us in[...]

12 - 6 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.3 M code output functi on The " M code out put func tion" is us ed to com m and sub work (clam ping, dri ll rotat ion, tool r eplac ement, etc.) rela ted t o the p ositi oning data bein g ex ecuted . W hen the M c ode O N si gnal ( X4, X 5, X 6, X7) is t urned O N dur ing p osit ioning execu[...]

12 - 6 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) AFT ER mo de The M c ode O N si gnal ( X4, X 5, X6, X 7) is tur ned O N at the pos ition ing com pletio n, and th e M code is st ored in " Md.25 Valid M c ode ". 01 00 m1 m2 V t OFF ON OFF OFF ON ON 0 0 1 Positioning start s ignal BUSY signal M code ON signal Positioning m1 and m2 indic ate s[...]

12 - 6 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS Da. 1 Operation pat tern Md. 2 5 Vali d M co de Cd. 7 M code OFF request 11 00 11 Warning occurs at this timing. t m1 m3 m2 V 1 OFF ON OFF OFF ON ON 0 1 0 0 Positioning s tart signal BUSY signal M code ON signal Positioning m1 and m3 indi cate set M codes. [XC, XD, XE, XF] [Y10, Y11, Y12, Y13] [X4, X5, X 6[...]

12 - 6 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Setting the M code outp ut function The f ollowi ng sho ws t he set tings to us e the "M co de o utpu t funct ion ". (1) Set the M c ode No. in th e pos itioni ng d ata " Da.10 M code". (2) Set the tim ing to output the M code ON s ignal (X 4, X5 , X6 , X7). Set th e r equi red valu[...]

12 - 7 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.4 Teaching function The "t eac hing f unct ion" is used t o se t addr esses ali gned u sin g the m anual c ontro l (JOG operat ion, inch ing opera tion m anua l pu lse g enerato r opera tion) in t he pos ition ing data ad dresses (" Da.6 Pos ition ing addr ess/m ovem ent am ount" ,[...]

12 - 7 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) Befor e teac hing , a "m ach ine O PR" m ust b e carr ied out to esta blis h the OP. (W hen a cur rent value chang ing, e tc., is c arried out, " Md.20 Cu r re nt fe ed valu e" may not show ab sol u te add re sses hav in g t he OP as a r e fere n ce. [...]

12 - 7 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [4] Teaching pr ocedur e The fo ll ow ing sh ow s th e p roc edu r e fo r a t ea chi ng ope rat i on. (1) W hen teac hing to the " Da.6 Pos ition ing addres s/m ovem ent am ount " (Teac hing exam pl e on axis 1) Start Perform machine OPR on axi s 1 Move the wo rkpiece to the target po sition usin[...]

12 - 7 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) W hen ent ering teach ing da ta i nto " Da.7 Arc addres s" an d then in to " Da.6 Posit ioning addr ess/ movem ent am ount" (Teac hing ex ample f or 2- axis c ircu lar i nterpo latio n con trol with s ub p oint d esign ation on axes 1 and 2) Start Carry out a m achine OPR. Move the [...]

12 - 7 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS End teac hi ng? Turn OFF th e PLC READY signal [Y0]. Carry out a w riting reques t to the flash ROM . End Confirm completion of writing. Te ac hing arc e nd poi nt address on axis 2. Entering t eaching data to buf fer mem ory ad dress [1648 ] and [16 49], in the same f ashion as for axis 1. Set 1 in b uffe[...]

12 - 7 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [5] Teaching pr ogr am ex ample The f ollowi ng sho ws a seque nce progr am exam ple for s ett ing ( writi ng) th e posit ioni ng data obt ained with the t eachi ng func ti on to the QD 75. (1) Setting condi tions • W hen setting the c urr ent fe ed v alue as the pos itio ning ad dres s, wr ite it when t[...]

12 - 7 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS 2) Carr y out the teac hing o perat ion with th e fo llow ing pr ogram . Exam ple No.20 Teaching progra m Position to t he target positi on with manual operati on. <Pulsate teaching c ommand> <Hold teaching command> <Set teaching data> <Set positioning data No.> <Execute teachin [...]

12 - 7 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.5 Target posi ti on chang e function The "t arget posit ion chang e fu nction " is a f unc tion t o ch ange a targe t pos ition to a newl y designa ted tar get posi tion at an y tim ing dur ing the pos itio n contro l (1-ax is line ar contr ol). A com m and spee d ca n als o be c hang ed s i[...]

12 - 7 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng oper ation (1) If the pos it ionin g m ovement dire cti on from the stop posit ion to a ne w targ et posit ion is revers ed, stop the oper ation onc e an d then pos itio n to the ne w target posit ion. (Ref er to Fig. 12.41 ( c).) (2) If a com m and spee d exc eedin g the speed lim [...]

12 - 7 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Method of setting tar g et posi ti on chang e function fro m PLC C PU The f ollowi ng ta ble an d char t sh ow th e exam ple of a da ta s etting and s eque nce program us ed to c han ge the t arget pos ition of th e axis 1 b y the c omm and fr om the PLC CPU, resp ect ivel y. (exam ple in wh ich the ta[...]

12 - 8 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS (3) Th e fol low i ng sequ en ce prog r a m is ad ded to th e con t ro l pr ogr a m, a nd wr it ten to the PL C CP U. Exam ple No.22 Target position c hange program <Pulsate t arget position ch ange command > <Hold targe t position ch ange comman d> <Set target position change v alue 300.0 m[...]

12 - 8 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.6 Command i n-posi ti on function The "c omm and i n-pos ition func tion " chec ks the rem ain ing distanc e t o the s top posit ion durin g the aut om atic dec eler atio n of posit ion ing co ntr ol, and ra ises a flag . T his fl ag is calle d the "com m and in- pos ition f lag ".[...]

12 - 8 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) A com m and in-p ositi on width c heck wi ll n ot be c arrie d out in the fol lowin g cases. • During spee d contr ol • During spee d contr ol i n spee d-pos itio n switc hing c ontr ol • During spee d co ntrol i n pos itio n-sp eed s witch ing c ontr ol Command in[...]

12 - 8 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Setting the command i n-posi ti on function To us e the "com m and in- posit ion f unct ion ", set the r equir ed valu e in the param eter s hown i n th e foll owing t able, and write it to the Q D75. The s et deta ils ar e va lidat ed at the r ising edge ( OFF ON) of th e PLC READY signal ( [...]

12 - 8 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.7 Acceleration/deceler ati on processi ng function The " acce lerat ion/dec eler atio n proc essin g fu nction " adj usts t he accel eration /dec eler ation wh en eac h contr ol is exec uted. Adjus ting th e ac celer atio n/dece lerat ion pr oces sing to m atch th e contr ol e nab les m ore [...]

12 - 8 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] "Acceleration/deceler ati on met hod setti ng " contr ol detail s and setting In th e "acc eler ation/ dec elerat ion m etho d sett ing", t he ac cel erati on/dec elera tion process ing m etho d is s elec ted and se t. The set ac cel erati on/dec elera tio n process in g is appl ied[...]

12 - 8 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS W hen a spe ed ch ange r eques t is gi ven dur in g S-p attern accel eration /dec eler ation pr ocess ing, S- patt ern acc elerat ion/d ece lerat ion process ing begins at a speed chan ge re ques t start . When speed cha nge re qu es t i s n ot g iv en Speed cha nge (a ccelera tion) Comma nd speed b efore [...]

12 - 8 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.8 Pre-readi ng star t function The " pre-re ading start func tion " does not output puls es wh ile t he exec ut ion pr ohibi tion flag is ON if a pos itioni ng s tart re ques t is given with the exec utio n proh ibiti on f lag ON , and st arts o utpu ttin g puls es wit hin 3m after OF F of t[...]

12 - 8 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS The pre- rea ding s tart f uncti on is eff ective for th e s ystem as sho wn belo w. Cutter Cutter sha ft Feed sha ft Stoc k Fig. 1 2.49 S ystem ex ample u sing pre- read ing st art fu nctio n Fig. 1 2.49 shows a s ystem exam ple which repe ats: 1) Feed ing a stoc k wit h a f eed sh aft; and 2) Cutt ing it[...]

12 - 8 9 MELSEC-Q 12 CONTROL SUB FUNCTIONS V t Ts Tw t Ts Ts 1 Feed s ha ft Cutter shaft Feed s ha ft start request Cutter shaft start request Start time Start time Start time Stop time 2 Fig. 1 2.50 Operat ion timin gs of s ystem ex ample The cutt er s haft s tarts f rom the m om ent the f eed s haft has com ple ted f eedin g the stock " 1 &q[...]

12 - 9 0 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Contro lling in structio ns (1) T he tim e req uire d to anal yze t he p ositi onin g dat a is up to 7ms . (2) Af ter p ositi oning data anal ysis, the s ystem is put in an ex ecu tion proh ibitio n flag OFF wai ting status . An y chan ge m ade to the pos itioni ng d ata in the execu tion proh ibit ion[...]

12 - 9 1 MELSEC-Q 12 CONTROL SUB FUNCTIONS Pre-reading start function (when dedicated instruction PSTRT1 is u sed) <Turn s ON exe cution p rohibiti on flag > <Set s 1 to posi tionin g sta rt No .> <Executes pos iti oning start > <Turns OFF exe cution p rohibit ion flag > <Norma l t ermination of positio ning> <Sets [...]

12 - 9 2 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.9 Deceleration star t flag function The " decel eration start fla g func tion " tur ns ON the fl ag when t he cons tant s pee d statu s or accel erati on stat us switc hes to th e decel erati on status durin g pos ition co ntrol whose operat ion patt ern is "Pos ition ing com plete &quo[...]

12 - 9 3 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) Block start At a bl ock start, this f unc tion is va lid f or on ly the posi tion c ontro l wh ose operat ion pa ttern is "Pos ition ing com ple te" at the po int whos e shap e has been s et to "End ". (Ref er to F ig. 12.52.) The f ollowi ng ta ble i ndicat es the oper atio n of th[...]

12 - 9 4 MELSEC-Q 12 CONTROL SUB FUNCTIONS [2] Precautions duri ng control (1) T he dece lerat ion s tart flag f unc tion is val id for the contro l s ystem of "1-ax is linear contr ol", "2- axis l inear i nterpo lat ion contr ol", "3-ax is line ar inter pola tion contr ol", " 4-ax is line ar inter polati on c ont[...]

12 - 9 5 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Deceleration star t flag function setting met hod To us e the "dec eler atio n st art fl ag fu nctio n", se t "1 " to the f ollo wing c on trol d ata using a seq uenc e program . The s et data is m ade valid on t he ris ing edg e (OF F t o ON) of the PLC READY sign al [Y 0] . Settin[...]

12 - 9 6 MELSEC-Q 12 CONTROL SUB FUNCTIONS 12.7.10 Stop comman d processi ng for deceler ati on stop function The "s top c omm and pr ocess ing f or dec eler ati on sto p func tion " is prov ided to set the decel erati on cur ve if a s top ca use oc curs dur ing dec el erati on sto p proc ess ing (inc luding aut om atic dec elera tio n). [...]

12 - 9 7 MELSEC-Q 12 CONTROL SUB FUNCTIONS (2) Decel erati on curv e continuation The c urrent dec elerat ion c urve is con tinu ed af ter a s top c ause has occurred. If a sto p c ause oc curs duri ng a utomat ic dec eler atio n of pos it ion c ontrol , the decel erati on sto p proc ess ing m ay be c om plete befor e the targe t has reach ed the p[...]

12 - 9 8 MELSEC-Q 12 CONTROL SUB FUNCTIONS [3] Setting method To us e the "sto p com m and proces sing f or d ece lerat ion st op fu nctio n", se t the fol lowi ng control da ta in a sequ ence pr og ra m. The set data are m ade valid as soo n as t he y are written to t he buf fer mem ory. The PL C re ady si gnal [Y0] is irrel eva nt . Set[...]

13 - 1 13 Chapter 13 Common Functions The de tails an d usage of the "commo n funct ions" e xecuted accor ding to the user's requi rements are expl aine d in this chapter . Common functio ns inc lude fu nctions requir ed when u sing the QD75 , such as param eter initi alization and exe cution data bac kup. Read th e settin g and exec[...]

13 - 2 MELSEC-Q 13 COMMON FUNCT IONS 13.1 Outline of common functions "Com mon f unctions " are exec ut ed acc ordi ng to t he us er's r equir ements , reg ardl ess of the co ntrol s ystem, etc . Th ese c omm on func tions are ex ecut ed b y per ipher al de vices or us ing se que nce pr ogram s . The f ollowi ng ta ble s hows the fu [...]

13 - 3 MELSEC-Q 13 COMMON FUNCT IONS 13.2 Parameter i niti al iz ation function "The param eter i nit iali zatio n fu nction " is used t o r eturn the s ettin g dat a s et in t he Q D75 buffe r me mory and flas h R OM to the i r fac to ry -se t in it ial v alu e s. The de tails sho wn be low exp lain abou t the " param eter init iali[...]

13 - 4 MELSEC-Q 13 COMMON FUNCT IONS [4] Param eter initializat ion meth od (1) P aram eter i niti aliza tio n is c arr ied out us ing t he d edica ted ins truc tio n " PINIT ". (Ref er to C hapt er 14 "D edica ted inst ruct ions" for det ails.) (2) Pa ram eter i nitia liza tion can also be c arried out b y the writ ing of the d[...]

13 - 5 MELSEC-Q 13 COMMON FUNCT IONS 13.3 Execution data backup functi on W hen the QD 75 buf fer mem ory dat a is r ewrit ten f rom the PLC CPU, "the d ata back ed up in t he QD 75 fl ash RO M" m ay dif fer f rom "the da ta (buf fer m em or y data) f or wh ich contr ol is being exec uted ". In cases lik e thes e, the dat a bein[...]

13 - 6 MELSEC-Q 13 COMMON FUNCT IONS [4] Execution data backup metho d (1) Ex ecut ion d ata bac kup ( writ ing t o the f lash RO M) is car ried out us ing th e dedic ated ins truct ion " PFW RT". (Ref er to Chap ter 14 "Ded icat ed instruc ti ons" for det ails .) (2) R efer to Sect ion 7.2 "Data trans mis sion pr oces s&qu[...]

13 - 7 MELSEC-Q 13 COMMON FUNCT IONS 13.4 External I/O signal logic switching function This fu n cti on swi t che s the si gnal l ogi c accordin g t o th e ex ter na l eq ui p ment co nn e cte d to the Q D75 . For the s ystem in which dr ive un it REA DY wit h b-con tact, up per lim it switc h, and l ower limit s witc h are not us ed, the par am et[...]

13 - 8 MELSEC-Q 13 COMMON FUNCT IONS 13.5 External I/O sig nal monitor function The " Extern al I/O sign al m onitor funct ion " m onitors t he m odule 's i nform ation and exter nal I/O sig nal m onitor inf orm ation in th e modu le's detai led inf orm ation whic h can be disp la yed on t he s ystem monit or of GX Devel oper . [...]

14 - 1 14 Chapter 14 Dedicated instructions The QD75 dedicated in struction s are expl ained in thi s chapter . These instr uctio ns are used to fac ilitate the programmi ng for the use of the functions of the inte lligent func tion modu le. Using the de dicated instructions , the program ming can be carried out wit hout bein g aware of the Q D75 b[...]

14 - 2 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.1 List of dedicated i nstructi ons The de dicat ed ins truc tions expl ained in th is Ch apter are listed in T able 14.1. Table 14.1 List of d edic ated ins truct ions Application Dedicated instruction Outline of functions Reference ABRST1 ABRST2 ABRST3 Absolute position restoration ABRST4 This functio[...]

14 - 3 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.3 ABRST1, ABRST2, ABRS T3, ABRST4 Thes e dedic ated instr uct ions r estor e t he abs olute pos ition of th e des ignat ed ax is. Usable device Internal device M ELSECNE T/10 direct J Constant Setting data Bit Word File register Bit Word Special module U G Index register Zn K, H, $ Others (S) – ?[...]

14 - 4 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Control data] Devic e Item Setting data Setting range Setting side ( 1) (S)+0 System area –– – (S)+1 Complete status The state at the time of co mpletio n is store d. • 0 : Normal completion • Other than 0 : Abnormal completion (error code)( 2) –S y s t e m (S)+2 Signal received from servo am[...]

14 - 5 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS (2) An I/O m odule is us ed f or com munic ati on (d ata rea d/ write) wit h the s ervo am plifier capab le of pr oces sing the abs olut e pos itio ns. W hen usin g the ABRST , prep are th e inpu t/out put with t he fol lowin g num ber of points , for each axis , for c omm unic ation with the s ervo ampli[...]

14 - 6 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS (4) Using the ABRST inst ruction , th e abs olut e posi tion r estor ation is c arried out in the f ollowing pr ocedur e. End Output th e ((S)+3) data. Is ((S)+ 4) "0"? Other than " 0" 0 Set the ABS dat a bit 0/bit 1 and t ransmission data READY flag using the sequence program. Ou tpu [...]

14 - 7 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS (6) If the ABRST instruc tion is exec uted i n either of the fo llowin g cas es, a n er ror "Ded icate d instr uction error " (error code: 804) wil l occur an d abso lute pos ition restor atio n ca nnot be carr ied out. • An y valu e oth er th an 0 is se t to " Status " (de vice: (S)[...]

14 - 8 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.4 P S TRT1, PS TR T2, PS TR T 3, PS TRT4 Thes e dedic ated instr uct ions ar e us ed to s tart the p ositi oning of th e des igna ted ax is. Usable device Internal device M ELSECNE T/10 direct J Constant Setting data Bit Word File register Bit Word Special module U G Index register Zn K, H, $ Others[...]

14 - 9 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Control data] Device Item Setting data Setting range Setting side ( 1) (S)+0 Sy stem area – – – (S)+1 Complete status The state at the time of completion is store d. • 0 : Normal complet ion • Other than 0: Abnormal completion (error code)( 2) –S y s t e m (S)+2 Start No. The following data N[...]

14 - 1 0 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnorma lly When compl et e d nor m a ll y 1 scan PSTRT instruct ion execution completio n Sequence program PSTRT instruct ion Complete device Complete state display de vice [Errors] ( 1) W hen an P STRT inst[...]

14 - 1 1 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS (6) If the PSTRT instr uct ion is exec uted in ei ther of the foll owing c ases , an error "Ded icate d instr ucti on err or" (erro r co de: 804) will occ ur and pos it ioning cannot be starte d. • An y valu e oth er th an 1 to 6 00, 700 0 to 70 04, a nd 9001 to 9004 is s et to "Star ti[...]

14 - 1 2 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.5 TEA CH1, TEA CH2, TEACH3, T EACH4 Thes e dedic ated instr uct ions ar e us ed t o teac h the desi gnat ed axis . Usable device Internal device M ELSECNE T/10 direct J Constant Setting data Bit Word File register Bit Word Special module U G Index register Zn K, H, $ Others (S) – –– – (D) [...]

14 - 1 3 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Control data] Device Item Setting data Setting range Setting side ( 1) (S)+0 Sy stem area – – – (S)+1 Complete status The state at the time of completion is store d. 0 : Normal completion Other than 0 : Abnormal completion (error cod e)( 2) –S y s t e m (S)+2 Teaching data selection The address[...]

14 - 1 4 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnorma ll y When compl et e d nor m a ll y 1 scan TEACH instructi on execution completio n Sequence program TEACH instructi on Complete device Complete state display de vice [Errors] ( 1) W hen a T EACH inst[...]

14 - 1 5 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Progr am ex ample] Program to execu te the teach ing of the p ositi oning data No. 3 of the axis 1 when X39 is turn ed O N. <Teaching comm and pulse> <Teaching comm and hold> <Teaching data settin g> <Positioning dat a No. setting> <Teachi ng execut ion> <Teaching comm [...]

14 - 1 6 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.6 PF WRT Thes e dedic ated instr uct ions ar e us ed t o writ e the QD 75 par am eters, posit ioni ng data and bl ock start d ata to t he f lash RO M. Usable device Internal device M ELSECNE T/10 direct J Constant Setting data Bit Word File register Bit Word Special module U G Index register Zn K,[...]

14 - 1 7 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Functions] (1) T he PFW RT instr uction com pleti on c an be c onf irm ed usin g th e com plet e de vices ((D)+0) and ((D)+1). (a) Complete de vice ((D)+0) This device is turne d ON b y th e EN D proc ess ing of t he s can f or whic h PFW RT instr uctio n is com plete d, and tur ned OFF b y the next EN[...]

14 - 1 8 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Precautions] (1 ) Do not tu r n ON th e pow e r a nd r ese t the PLC CP U whil e pa ra met e r s, po sitio ni ng data and bl ock start data are wr itten to the flash RO M usin g the PFW RT inst ruction. A paramete r e rror wil l o ccu r or normal po siti oni ng sta rt w ill beco me i mpossibl e becaus [...]

14 - 1 9 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Progr am ex ample] Pro gram used to write t he pa ram eters and posit ioni ng dat a stor ed i n th e buf fer mem ory to th e flas h ROM when X3D is tur ned O N. No. 26 F lash ROM wr ite program <Flash ROM write command pulse> <Flash ROM write command hold> <PLC REA DY output to Q D75 sta[...]

14 - 2 0 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS 14.7 PINIT This d edi ca te d in str u ctio n i s used to initia liz e th e set ti ng data o f th e QD75. Usable device Internal device M ELSECNE T/10 direct J Constant Setting data Bit Word File register Bit Word Special module U G Index register Zn K, H, $ Others (S) – –– – (D) ––– ?[...]

14 - 2 1 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Functions] (1) T his de dicat ed i nstruc tion is us ed to ret urn th e se tting data s et in the Q D7 5 buf fer mem or y and fl ash RO M to th eir f act ory-s et data ( init ial valu es). Initialized setting data Parameters ( Pr.1 to Pr.57 , Pr.150 ) Positioning data (No. 1 to No. 600) Block start dat[...]

14 - 2 2 MELSEC-Q 14 DEDICAT ED INSTRUCT IONS [Progr am ex ample] T he fol lowing program i nitiali zes the param eters in buf fer m em ory an d flas h ROM when X3C t urns ON. No. 25 Parameter initialization program <Parameter initialization command pulse> <Parameter initialization command hold> <PLC READY outp ut to QD75 stan dby>[...]

15 - 1 15 Chapter 15 Troubleshooting The "errors" and "warn ings" detected by the QD75 are explained in this chapter. Errors c an be confirmed with t he QD75 LED display and pe ripheral devices. When an error or warning is detected, confirm the detection details and carry out the required measures. 15.1 Error and war ning deta i[...]

15 - 2 MELSEC-Q 15 TROUBLESHOOTING 15.1 Error and w arning details [1] Errors Types of error s Errors detected b y the QD75 include param eter settin g range errors and err ors at the operat ion st art or dur ing o peratio n. (1) Param eter setting r ange er rors The param eters are chec ked when th e power is turne d ON and at the ris ing edge (OF[...]

15 - 3 MELSEC-Q 15 TROUBLESHOOTING Error s to ra ge W hen an error occ urs, the er ror detec tion inp ut turns ON, and th e error c ode corres ponding to th e error deta ils is stored in t he fol lowin g buff er mem ory address ( Md.23 Axis err or No.) f or axis er ror No. s torage. N ote that there is a de lay of up to 1.8 m s after the er ror d e[...]

15 - 4 MELSEC-Q 15 TROUBLESHOOTING W arning storag e (1) W hen an axis warni ng occurs , the warning c ode cor respondi ng to th e warnin g details is stor ed in t he followi ng buf fer m emor y ( Md.24 Ax is warn ing No.) for axis warn ing No. stora ge. Axis No. Buffer memory address 1 807 2 907 3 1007 4 1107 (2) W hen an axis warning oc curs in a[...]

15 - 5 MELSEC-Q 15 TROUBLESHOOTING MEM O[...]

15 - 6 MELSEC-Q 15 TROUBLESHOOTING 15.2 List of error s The fo ll ow in g tabl e shows the err or de t ail s an d re medi e s to be ta ken wh en an er ro r occurs. Classification of errors Error code Error name Error Operation status at error occurrence — 000 (Normal status) — — 001 Faults Fatal errors 002 Internal circuit f ault Hardware is [...]

15 - 7 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy ———— — — ———— — • Check that there is no influence from noise. • Check hardw are for possibility of fault. ———— — • Review the sequence program w hich turns ON/OFF [...]

15 - 8 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 203 Dog detection timing fault The near-point dog signal is turned OFF during the deceleration from an OPR speed to a creep speed by the near-point dog machine OPR . 204 OP detection timing fault The zero signal is turned O F[...]

15 - 9 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 74 75 224 225 374 375 524 525 • Lower the OPR speed. • Increase the dog signal in put time. (Refer to Section 8.2.3) 74 75 224 225 374 375 524 525 • Lower the OPR speed. • Input external zero si[...]

15 - 1 0 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence <When blocks are started simultaneously> • The partner ax is for simultaneous start is BUSY. 501 Error before simultaneous st art <When multiple ax es are started and controlled simultaneously > • The partne[...]

15 - 1 1 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy Refer to Section 5.5 "List of condition dat a" <Condition operators> Axis designation: 10 H , 20 H , 30 H , 40 H , 50 H , 60 H , 70 H , 80 H , 90 H , A0 H , B0 H , C0 H , D0 H , E0 H N[...]

15 - 1 2 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 504 Outside linear movement amount range • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite spe ed", the axis movement amount for ea c[...]

15 - 1 3 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy Review the positioning addre ss. Refer to Section 5.3 "List of positioning data" <Positioning address/ mov ement amount> • ABS unit [mm] [pulse] [inch] –2147483648 to 2147483647 Un[...]

15 - 1 4 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 507 Software stroke limit+ • Positioning is carried out at a position beyond the softw are stroke limit upper limit. • The positioning address a nd new current value ex ceed the softw are stroke limit upper limit. • I[...]

15 - 1 5 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy New current value 1506 1507 1606 1607 1706 1707 1806 1807 Software stroke limit upper limit 18 19 168 169 318 319 468 469 Software stroke limit lower limit 20 21 170 171 320 321 470 471 <New curren[...]

15 - 1 6 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 518 Outside operation pattern range • The operation pattern set value is 2. • A target pos ition chan ge is requested on t h ose control systems o ther than ABS1 an d INC1. • A target position change is c arried out i[...]

15 - 1 7 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy Correct the operation pattern. (Refer to Section 5.3 Da.1 ) Same as error codes 515 to 516 Correct the control system. (Refer to Section 5.3 Da.2 ) 0 150 300 450 <Unit setting> 0, 1, 2, 3 Correc[...]

15 - 1 8 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 524 Control system setting error • The control sy stem setting v alue is outside the specified lim it. • The number of control ax es differs from the previous data w hen continuous positioning c ontrol or continuous pat[...]

15 - 1 9 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy Same as error codes 515 to 516 • Correct the control system or param eter. (Refer to Section 9.1.6, 9.2.20) • Do not make setting at buffer mem ory address 1906 (use prohibited area). Correct the [...]

15 - 2 0 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 533 Condition data error • The condition setting v alues are not set or outside the setting range. • The condition operator setting values are not set or outside the setting range. • The condition operator is a bit op[...]

15 - 2 1 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy — Normaliz e the block start data. Refer to Section 5.4 "Block start data" <Special start instruction> 00 H to 06 H Correct the instruction code of th e spec ial start dat a. (Refer [...]

15 - 2 2 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence Positioning operation 546 Illegal setting of ABS direction in unit of degree The setting value of ABS direction in the unit of degree is as follow s. • Set outside the setting range. • A figure other than "0" [...]

15 - 2 3 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy ABS setting direction in the unit of degree 1550 1650 1750 1850 0: Shortcut 1: Clockwise 2: Counterclockwise • Set the ABS setting direction in the unit of degree within the setting range. • Set &[...]

15 - 2 4 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 900 Outside unit setting range The set range of the basic parameter 1 "Unit setting" is outside the sett ing range. 901 Outside pulse number per rotation range The set range of the basic parameter 1 "No. of p[...]

15 - 2 5 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 0 150 300 450 0, 1, 2, 3 1 151 301 451 1 to 65535 2 152 302 452 1 to 65535 3 153 303 453 1, 10, 100, 1000 4 154 304 454 0, 1, 2, 3 5 155 305 455 0, 1 With the setting brought into the setting ran ge, [...]

15 - 2 6 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 922 Software stroke limit lower limit • In the unit of degree, the set range of the detailed parameter 1 "Software stroke limit low er limit v alue" is out side the setting range. • In a unit other than degree[...]

15 - 2 7 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 20 21 170 171 320 321 470 471 • [mm] [inch] [pulse] –2147483648 to 2147483647 • [degree] 0 to 35999999 • Bring the setting into the setting rang e. • In a unit other than degree, set so that[...]

15 - 2 8 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 954 Deceleration time 2 setting error The set range of the detailed parameter 2 "Deceleration tim e 2" is outside the setting range. 955 Deceleration time 3 setting error The set range of the detailed parameter 2 [...]

15 - 2 9 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 44 45 194 195 344 345 494 495 1 to 8388608 46 47 196 197 346 347 496 497 1 to 8388608 With the setting brought into the setting ran ge, turn the PLC READY signal [Y0] from OFF to ON . 48 49 198 199 34[...]

15 - 3 0 MELSEC-Q 15 TROUBLESHOOTING Classification of errors Error code Error name Error Operation status at error occurrence 981 OPR direction error The set range of the OPR basic parameter "OPR direction" is outsid e the setting range. 982 OP address setting error The set range of the OPR basic parameter "OP address" is outs [...]

15 - 3 1 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 71 221 371 521 0, 1 72 73 222 223 372 373 522 523 • [mm] [inch] [pulse] –2147483648 to 2147483647 • [degree] 0 to 35999999 With the setting brought into the setting ran ge, turn the PLC READY si[...]

15 - 3 2 MELSEC-Q 15 TROUBLESHOOTING 15.3 List of war ni ngs The fo ll ow ing t abl e sh ow s the wa rnin g de ta il s and re medi e s to be ta ken wh en a warning occurs. Classification of warnings War ni n g code Warning name Warning O peration status at w arning occurrence — 000 (Normal status) — — 100 Start during operation The start requ[...]

15 - 3 3 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy ———— — — — — — — — Normalize the start request O N timing. ———— — Do not carry out the deviation counter clear w hile the axis is running. (Refer to Chapter 8) 1503 160[...]

15 - 3 4 MELSEC-Q 15 TROUBLESHOOTING Classification of warnings War ni n g code Warning name Warning O peration status at w arning occurrence Manual pulse generator 401 Outside manual pulse generator input magnification range The manual pulse generator 1 puls e input magnification is set at 0 or 101 or higher. • When input magnification is set at[...]

15 - 3 5 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy 1522 1523 1622 1623 1722 1723 1822 1823 <Manual pulse generator 1 pulse input magnification> 1 to 100 Set the manual pulse generat or 1 pulse input magnification to w ithin the setting ran ge. 1[...]

15 - 3 6 MELSEC-Q 15 TROUBLESHOOTING Classification of warnings War ni n g code Warning name Warning O peration status at w arning occurrence 514 Outside command speed range The command speed ex ceeds the speed limit. • The command speed i s control led at the "speed limit value". • The "speed limiting fla g" turns O N . 516[...]

15 - 3 7 MELSEC-Q 15 TROUBLESHOOTING Related buffer memory address A xis 1 A xi s 2 A xi s 3 A xis 4 Set range (Setting with sequence program) Remedy For command speed, refer to Section 5.3 "List of positioning data" 1 to 1000000 [pulse/s] 1 to 2000000000 [mm/min or another] Speed limit value 10 11 160 161 310 311 460 461 QD75P : 1 to 200[...]

15 - 3 8 MELSEC-Q 15 TROUBLESHOOTING 15.4 LED display functions The s tates of QD 75 and each ax is co ntrol c an b e conf irm ed b y the LEDs loc ate d on the fr o nt pa ne l o f th e QD75 mai n un it. QD75P4 RUN ERR AX1 AX2 AX3 AX4 Each ax is c an be m onitore d b y the s tates of th e LE Ds. The op erati on and indic ations of t he LE Ds ar e as[...]

Appe ndix - 1 Appen - di ces Appendices Append ix 1 Vers ion up of the functi ons ................................................................................. Append ix - 2 Append ix 1.1 C ompar ison of f unctions accor ding to f unctio n ver sions ........................ Append ix- 2 Append ix 2 F orm at she ets .............................[...]

Appe ndix - 2 MELSEC-Q APPENDICES Appendix 1 Ver si on up o f the functions Appendix 1.1 C ompar is on o f functions accordi ng to functi on v er si ons The f ollowi ng tab les l ist the QD75 P1/QD 75P2 /QD75 P4/QD7 5D1/Q D7 5D2/QD 75D4 functi ons c ompar ed acc ordin g t o funct ion v ersi ons an d th e buff er m emor y for their additi onal f unc[...]

Appe ndix - 3 MELSEC-Q APPENDICES MEM O[...]

Appe ndix - 4 MELSEC-Q APPENDICES Appendix 2 For mat sheets Appendix 2.1 Posi ti oning Module operati on char t Axis add ress mm , inch , de g ree , p ulse Axis ad dress mm , inch, degr ee, puls e[...]

Appe ndix - 5 MELSEC-Q APPENDICES Axi s address mm , inch , de g ree , p ulse Axis ad dress mm , inch, degr ee, puls e[...]

Appe ndix - 6 MELSEC-Q APPENDICES Appendix 2.2 Par ameter setti ng v alue entry tabl e Setting range Item mm inch degree pulse Pr.1 Unit setting 0 1 2 3 Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse Pr.3 Movement amount per rotation (Al) 1 to 65535 × 10 -1 µ m 1 to 65535 × 10 -5 inch 1 to 65535 × 10 -5 degree 1 to 65535 pulse Pr.4 Unit [...]

Appe ndix - 7 MELSEC-Q APPENDICES Initial value Axis 1 Axis 2 Ax is 3 Ax is 4 Remarks 3 20000 20000 1 1 0 0 20000 1000 1000 0 2147483647 –2147483648 0 0 100 300 0 0 0 0[...]

Appe ndix - 8 MELSEC-Q APPENDICES Setting range Item mm inch degree pulse b0 Lower limit b3 Stop signal b6 Near-point signal b1 Upper limit b4 External command b7, b9 to b 15 Unused Pr.22 Input signal logic selection b2 Drive unit READY b5 Zero signal b8 Manual pulse generator input b0 Command pulse signal b2 Unused b4 Devi atio n counter clear Pr.[...]

Appe ndix - 9 MELSEC-Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0[...]

Appe ndix - 10 MELSEC-Q APPENDICES Setting range Item mm inch degree pulse Pr.43 OPR method 0: Near-point dog method 1: Stopper method 1) (By dw ell time elapse) 2: Stopper method 2) (By OP signal w hen stopper is hit) 3: Stopper method 3) ( Without near-point dog method) 4: Count method 1) (Use zero signal) 5: Count method 2) (Do not use zero sig [...]

Appe ndix - 11 MELSEC-Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 1 1 0 0 0 0 0 0 300 11 0 0[...]

Appe ndix - 12 MELSEC-Q APPENDICES Appendix 2.3 Posi ti oning data setti ng v alue entry table [data No. to ] Ax is Data Da.1 Ope rati on pattern Da.2 Control system Da.3 Accelera- tion time No. Da.4 Decelera - tion time No. Da.5 Axis to be interpola- ted Da.6 Positioning address/ movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwe ll time[...]

Appe ndix - 13 MELSEC-Q APPENDICES Appendix 3 Positioni ng data ( No. 1 to 600) List of buffer me mor y addr esses (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order [...]

Appe ndix - 14 MELSEC-Q APPENDICES (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 15 MELSEC-Q APPENDICES (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 16 MELSEC-Q APPENDICES (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 17 MELSEC-Q APPENDICES (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 18 MELSEC-Q APPENDICES (1) For a xis 1 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 19 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 20 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 21 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 22 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 23 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 24 MELSEC-Q APPENDICES (2) For a xis 2 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 25 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 26 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 27 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 28 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 29 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 30 MELSEC-Q APPENDICES (3) For a xis 3 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 31 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 32 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 33 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 34 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 35 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 36 MELSEC-Q APPENDICES (4) For a xis 4 Comman d speed Positioning addres s Arc data Co mmand speed Positioning addres s Arc data Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order Lo w- order Hig h- order Lo w- order Hig h- order Data No. Posi- tioning identi- fier M code Dwe ll time Low- order Hig h- order L[...]

Appe ndix - 37 MELSEC-Q APPENDICES Appendix 4 C onnecti on ex amples with serv o amplifiers manufactured by MI TSUBISH I Electric C orporation Appendix 4.1 C onnecti on ex ampl e o f QD75D and MR-H A (Dif fe rentia l driver) 6 DOG 3 FLS 1 RLS 2 STOP 4 CHG 5 COM 6 COM 7 CLEAR 13 PULSE F+ 15 16 17 18 PGO5 9 10 A19 B19 PGO COM PULSER A+ PULSER A- PULS[...]

Appe ndix - 38 MELSEC-Q APPENDICES Appendix 4.2 Connection example o f QD75D and MR-J 2/J2S- A (Dif f erent ial driver) 5 PULSE F + 15 PULSE F - 16 PULSE R+ 17 PULSE R- 18 CLEAR 13 CLEAR COM 14 READY 11 RDY COM 12 PG05 9 PG0 COM 10 COM 6 COM 7 DOG 3 FLS 1 2 4 5 A19 RLS STOP CHG PULSER A+ PULSER A- PULSER B+ PULSER B- B19 A20 B20 QD75D EMG 15 SON RE[...]

Appe ndix - 39 MELSEC-Q APPENDICES Appendix 4.3 Connection example o f QD75D and MR- C A (Diffe rential d river) 5 PULSE F+ 15 PULSE F- 16 PULSE R+ 17 PULSE R- 18 CLEAR 13 CLEAR COM 14 PG024 8 PG0 COM 10 DOG 3 FLS 1 RLS 2 STOP 4 COM 7 A19 B19 A20 B20 PULSER A+ QD75D PP PG NP NG CR SG V+ OP SD LSP LSN 9 10 7 8 13 12 1 4 11 15 14 Near-poi nt dog Uppe[...]

Appe ndix - 40 MELSEC-Q APPENDICES Appendix 5 C onnecti on ex ampl es w i th stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 5.1 Connection example o f QD75P and VEXTA UPD (Open collector ) 4 PULSE F PULSE COM PULSE R PULSE COM PGO24 PGO COM READY RDY COM PULSER A+ PULSER A- PULSER B+ PULSER B- 12 A19 B19 A20 B20 DOG FLS RLS STOP C[...]

Appe ndix - 41 MELSEC-Q APPENDICES Appendix 6 C onnecti on ex ampl es w it h serv o ampl i fiers manu f actured by Matsushi ta El ectr ic Industrial Co., Ltd. Appendix 6.1 C onnecti on ex ampl e o f QD75D and MINAS-A series (Di fferential dri v er) 4 PULSE F+ PULSE R+ CLEAR CLEAR COM READY PULSER A+ PULSER A- PULSER B+ PULSER B- B19 A20 B20 DOG FLS[...]

Appe ndix - 42 MELSEC-Q APPENDICES Appendix 7 C onnecti on ex ampl es w i th serv o amplifiers manu factured by SANYO DENKI Co., Ltd. Appendix 7.1 C onnecti on ex ampl e o f QD75D and PYO series (Differential dr i v er) 4 PULSE F+ PULSE R+ CLEAR CLEAR COM READY PULSER A+ PULSER A- PULSER B+ PULSER B- B19 A20 B20 DOG FLS RLS STOP CHG COM COM 3 1 2 4[...]

Appe ndix - 43 MELSEC-Q APPENDICES Appendix 8 C onnecti on ex ampl es w i th serv o ampl i fiers manu factured by Y ASKAWA Electric Corporati on Appendix 8.1 C onnecti on ex ampl e o f QD75D and ∑ - series (Differential dr iv er) 4 PULSE F+ PULSE R+ CLEAR CLEAR COM READY PULSER A+ PULSER A- PULSER B+ PULSER B- B19 A20 B20 DOG FLS RLS STOP CHG COM[...]

Appe ndix - 44 MELSEC-Q APPENDICES Appendix 9 C ompar i sons w it h conv enti onal posi tioni ng modul es Appendix 9.1 C ompar i sons w ith A1SD71S2 model The f ollowi ng sho ws c ompar isons with the c onv ention al p ositi oning m odu le A1SD 71S2, c ent ered on th e QD7 5 sp ecif icat ions. Model Item QD75P1 QD75D1 QD 75P2 QD75D2 QD 75P4 QD75D4 [...]

Appe ndix - 45 MELSEC-Q APPENDICES Appendix 9.2 C ompar i sons w ith A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3- S3 model s The fo ll owin g sh ow s th e co mpar i son s betw ee n th e QD7 5 and th e co nve nt io nal posit ioni ng m odules A1SD 75P 1-S 3/A1S D75P 2-S3/ A1SD 75 P3-S3. (1) Compar is ons of per formance specificati ons Model Item QD75P1 QD75D[...]

Appe ndix - 46 MELSEC-Q APPENDICES Model Item QD75P1 QD75D1 QD75P2 QD75D2 QD75P4 QD75D4 A1SD75 P1 -S3 A1SD75P2 -S3 A1SD75P3 -S3 Speed comm and range 2 0.01 to 2000000 0.00 (mm /min) 0.001 to 200000 0.000 (inch/ min) 0.001 to 200000 0.000 (degr ee/m in) 1 to 1000000 (puls e/s) 0.01 to 6000000.0 0 (mm /min) /0.01 to 375000. 00 (mm /min) 0.001 to 6000[...]

Appe ndix - 47 MELSEC-Q APPENDICES Model Item QD75P1 QD75D1 QD75P2 QD75D2 QD75P4 QD75D4 A1SD75 P1 -S3 A1SD75P2 -S3 A1SD75P3 -S3 STRT signal (int egrated into " CHG") (External st art signal ) CHG signal E xternal comm and signal (External start or speed-posit ion switchi ng select able with paramet ers) Speed-posi tion s witching si gnal [...]

Appe ndix - 48 MELSEC-Q APPENDICES Funct ions dele ted f rom those of A1 SD75 P1-S 3/A1 SD75P 2-S3 /A1S D75P 3-S3 Deleted func tions Remark s Stepping m otor mode – OPR operation er ror (Error c ode: 208) – Fast ma chin e OPR – Special start (st op) – Indirect designati on I n the QD75, the s tart block area on the buff er memory i s expand[...]

Appe ndix - 49 MELSEC-Q APPENDICES Changed func tions Descriptions Stop proces s and rest art aft er stop Posit ioning operation s top 1. "Peri pheral side (em ergency) st op" is del eted from the stop causes of Stop group 2 sudden s top selec tion. " Test mode fault" in the st op causes of St op group 3 sudden stop s elect ion [...]

Appe ndix - 50 MELSEC-Q APPENDICES Changed func tions Desc riptions Posit ioning st art No. No. 9004 (Multiple a xes sim ultaneous start cont rol) is added. Nos. 7004 to 7010 (bl ock s tart desi gnation) and 8000 to 80 49 (indi rect designati on) are deleted. Block start data With the QD75, t he number of bl ocks is changed to 5 (7000 to 7004). (W [...]

Appe ndix - 51 MELSEC-Q APPENDICES W arning co de c om pariso ns Warning type Added Deleted Fatal warning – 51, 52 Common 110 101, 105 to 108, 115 OPR, Absolute position restorati on – – JOG operation/Inching operat ion – – Manual pulse generator operation – 402 Positioning operation 516, 517, 518 – I/F – – Parameter – 900 Warni[...]

Appe ndix - 52 MELSEC-Q APPENDICES (4) Buffer memor y address comparisons The f ollowi ng tab le sho ws t he buf fer m em or y address es of the Q D75 ( Axes 1 to 3) corr espo nding to th e it ems of the A1SD7 5. The sha ded are a shows th e diff erences betwe en the A1SD 75 and QD75. Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 [...]

Appe ndix - 53 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 A xis 2 A xis 3 A xis 1 A xis 2 A xi s 3 Pr.28 Accelera tio n ti m e 3 40 41 190 191 340 341 40 41 190 191 340 341 Pr.29 Decele r a tio n time 1 42 43 192 193 342 343 42 43 192 193 342 343 Pr.30 Decele r a tio n time 2 44 45 194 195 344 345 44 45 194 [...]

Appe ndix - 54 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 Com mon f or axis 1, 2, 3 Comm on for axis 1, 2, 3, 4 Md.1 In test m ode flag 450 1200 Md.2 Module nam e 451 – Md.3 OS typ e 452 453 454 455 – Md.4 OS version 456 457 – Md.5 Clock dat a (hour: m inute) 460 – Md.6 Clock dat a (second: 100 ms) 461 – ([...]

Appe ndix - 55 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 Com mon f or axis 1, 2, 3 Comm on for axis 1, 2, 3, 4 (Pointer num ber) (0) to (15) Md.24 Axis in w h ich th e w a r n ing occur r ed 689 to 749 1358 t o 1418 Md.25 Axis warning No. 690 to 750 1359 t o 1419 Md.26 Axis warning oc currence Ho ur: minut e (QD75:[...]

Appe ndix - 56 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 A xis 2 A xis 3 A xis 1 A xis 2 A xi s 3 Md.29 Current f eed value 800 801 900 901 1000 1001 800 801 900 901 1000 1001 Md.30 Machine feed val ue 802 803 902 903 1002 1003 802 803 902 903 1002 1003 Md.31 Feedrate 804 805 904 905 1004 1005 804 805 904 9[...]

Appe ndix - 57 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 A xis 2 A xis 3 A xis 1 A xis 2 A xi s 3 Cd.1 Clock dat a setting (hour) 1100 – Cd.2 Clock dat a setting (m inute, s econd) 1101 – Cd.3 Clock dat a writing 1102 – Cd.4 Target axis 1103 – Cd.5 Posit ioning data No. 1104 – Cd.6 Write pat tern [...]

Appe ndix - 58 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 A xis 2 A xis 3 A xis 1 A xis 2 A xi s 3 Cd.34 New deceler ation tim e value 1186 1187 1236 1237 1286 1287 1510 1511 1610 1611 1710 1711 Cd.35 Acc eleration/dec eleration t ime change durin g speed change, enable/disabl e selec tion 1188 1238 1288 151[...]

Appe ndix - 59 MELSEC-Q APPENDICES Buffe r memory address A1SD75 Q D75 Items o f A1 SD 7 5 A xis 1 A xis 2 A xis 3 A xis 1 A xis 2 A xi s 3 Da.10 Shape Da.11 Start dat a No. Da.12 Special start instru ction Da.13 Paramete r 1st point 4300 4350 4550 4600 4800 4850 26000 26050 27000 27050 28000 28050 2nd point 4301 4351 4551 4601 4801 4851 26001 2605[...]

Appe ndix - 60 MELSEC-Q APPENDICES (5) Data i ndicati on N o. compari sons The f ollowi ng ta ble s hows t he c ompar isons of number s for each symb ols ( Pr., Md., C d., a nd D a.) in dicat ing param eters or p ositi oning data item s. The s haded s ecti ons i ndica te the adde d or c hange d it em s with th e QD75 . Param eters Item A1SD75 QD75 [...]

Appe ndix - 61 MELSEC-Q APPENDICES Item A1SD75 QD75 Acceleration time 3 Pr.28 Pr.27 Deceleration time 1 Pr.29 Pr.28 Deceleration time 2 Pr.30 Pr.29 Deceleration time 3 Pr.31 Pr.30 JOG speed limit v alue Pr.32 Pr.31 JOG operation acceleratio n time selecti on Pr.33 Pr.32 JOG operation deceleration t ime se lectio n Pr.34 Pr.33 Acceleration/decelerat[...]

Appe ndix - 62 MELSEC-Q APPENDICES Monitor data Item A1SD75 QD75 In test mode flag Md.1 Module name Md.2 – OS type Md.3 – OS versio n Md.4 – Clock data (hour: minute) Md.5 – Clock data (second: 100 ms) Md.6 – Start axis (QD75: Md. 3 Start information) Md.7 Md.3 Operation typ e (QD75: Md. 4 Start No .) Md.8 Md.4 Start Hour: minut e (QD75: [...]

Appe ndix - 63 MELSEC-Q APPENDICES Item A1SD75 QD75 No. of write accesse s to flas h ROM – Md.19 Current feed value Md.29 Md.20 Machine feed value Md.30 Md.21 Feedrate Md.31 Md.22 Valid M code Md.32 Md.25 Axis error No. Md.33 Md.23 Axis w arning No. Md.34 Md.24 Axis operation status Md.35 Md.26 Current speed Md.36 Md.27 Axis feedrate Md.37 Md.28 [...]

Appe ndix - 64 MELSEC-Q APPENDICES Contro l data Item A1SD75 QD75 Clock data setting (hour) Cd.1 – Clock data setting (minut e, seco nd) Cd.2 – Clock data wr iting Cd.3 – Target axis Cd.4 – Positioning data No. Cd.5 – Write pattern Cd.6 – Read/wr ite request Cd.7 – Read/wr ite positioning data I/F Cd.8 – Flash ROM w rite request Cd.[...]

Appe ndix - 65 MELSEC-Q APPENDICES Item A1SD75 QD75 Step valid flag Cd.26 Cd.35 Step mode Cd.27 Cd.34 Step start information Cd.28 Cd.36 Skip command Cd.29 Cd.37 New torque value Cd.30 Cd.22 Positioning starting point No. Cd.31 Cd.4 Interrupt request during continuous operatio n Cd.32 Cd.18 Simultaneous starting ax is start data N o. (Ax is 1 start[...]

Appe ndix - 66 MELSEC-Q APPENDICES Posit ionin g dat a, b lock s tart da ta, c ond ition data Item A1SD75 QD75 Operation pattern Da.1 Control system Da.2 Acceleration time No. Da.3 Deceleration time No. Da.4 Axis to be interpolated – Da.5 Positioning address/ mov ement amou nt Da.5 Da.6 Arc address Da.6 Da.7 Command speed Da.7 Da.8 Dwell time/JUM[...]

Appe ndix - 67 MELSEC-Q APPENDICES (6) Input/output sig nal compar is ons Input sign al com paris ons A1SD75 Q D75 Name Logic (initial stat us) Logic switch with paramet ers Logic (init ial st atus) Logic switc h with paramet ers Drive unit READY Negative lo gic Not possible Negative lo gic Pos sible In-posit ion signal Negat ive logi c Not possibl[...]

Appe ndix - 68 MELSEC-Q APPENDICES Appendix 10 M ELSEC Ex planation of positioning terms 1-2 PHASE EXCITATION SYSTEM This is one s ystem for exc iting each st epping mo tor coil in a d eterm ined ord er. In th is system , one phas e and tw o phases are alternate ly excite d. Pulse input A phase A phase B phase B phase 2-PHASE EXCIT ATION SYSTEM Thi[...]

Appe ndix - 69 MELSEC-Q APPENDICES ABSOLUTE ENCODER This is a detec tor that e nables th e ang le data within 1 m otor r otation to be output to an external des tinatio n. Abs olute enc oders are general ly able t o output 360 ° in 8 to 12 b its. Increm ental enco ders ha ve a dis advantag e in that the axis posi tion is lost wh en a po wer failur[...]

Appe ndix - 70 MELSEC-Q APPENDICES AUTO T UNING ( Automatic Tuning) Propert ies such as respons ivenes s and stabilit y of m achines dr iven wi th a servom otor are aff ected by ch anges in th e inerti a mom ent and rigidit y due to changes in the m achine load, etc. This function aut om aticall y adjusts the speed loop gain and pos ition loop ga i[...]

Appe ndix - 71 MELSEC-Q APPENDICES BCD (Binary Coded Decimal) 1) T his is the a bbrevi ation for "binar y coded decim al", m ore acc uratel y called a BCD code. C om puters, P LCs, e tc., us e bin ar y number s made up of 1 (ON) an d 0 (OFF ). Because this is diff icult f or hum ans to understa nd, decim al d igits are ex pressed by a pat[...]

Appe ndix - 72 MELSEC-Q APPENDICES BIPOLAR DRI VE CONST ANT-CURRENT SYSTEM This is one s ystem for drivin g a s tepping motor . In this m ethod, the or ientat ion of the excitation c urrent f lowing t o the stat or coi l is reversed, and th e excita tion cur rent dir ectio n is in both the positi ve and nega ti ve dir ectio n. This enables th e m o[...]

Appe ndix - 73 MELSEC-Q APPENDICES CP CONTRO L (Continuous Pat h Control) Continu ous path is a con trol m ethod in which a path is f ollo wed witho ut interr uptin g such as in uniform speed c ontrol. CREEP SPEED A speed at whic h the m achine m oves ver y slow ly. It is dif ficult f or the mac hine to stop accuratel y when runn ing at high spe ed[...]

Appe ndix - 74 MELSEC-Q APPENDICES DECELERATIO N TIME The param eter decelerat ion tim e is the s am e value as the acc elerati on tim e. Deceler ation time r efers to the tim e from the speed lim it value to a stopp ed state, s o it becom es proport ionally sh orter as t he set ting spe ed decreases . Speed lim it valu e Setting speed Speed 0 Dece[...]

Appe ndix - 75 MELSEC-Q APPENDICES DROOP PULS E Because of inert ia (GD 2 ) in the m achine, it wil l lag behin d and n ot be a ble to trac k if the position ing m odule spe ed comm ands are issued in their norm al state. Thus , for a s ervomotor , a m ethod is used in which the s peed com m and pulses are del ayed by accum ulation in a deviat io n[...]

Appe ndix - 76 MELSEC-Q APPENDICES ERROR CORRECTI ON If a dim ension err or occur s in th e m achine, and that error is ac tuall y smaller or lar ger th an 1m ( 3.28feet) in s pite of a 1m (3.28feet) comm and being is sued fr om the QD75, that error am ount will b e com pensated. F or exam ple, when th e error is act uall y smaller than 1m (3.28f e[...]

Appe ndix - 77 MELSEC-Q APPENDICES FIXED-FEED This is the feed ing of a set dim ension f or cutting s heet and b ar workpieces into t he designate d dim ensions. Inc rem ental s ystem position ing is of ten us ed. T he current v alue is not incr emented, e ven wh en the feed operatio n is rep eated. FL AS H ME MO R Y This batter y-less m em ory can[...]

Appe ndix - 78 MELSEC-Q APPENDICES INCREMENTAL ENCO DER A device th at sim ply outputs ON/OFF pulses by the rot ation of the axis . 1-phas e t ypes output onl y A puls es, and do not ind icate the axis rotat ion direc tion . 2-phas e t ypes output both A and B puls e trai ns, and c an judge t he rotation d irection. T he dir ection is judg ed to be[...]

Appe ndix - 79 MELSEC-Q APPENDICES INPU T TER MIN AL This is a pin con nector wired b y the user for inputting data to t he QD75 f rom an external source. It is connec ted t o the m otor drive unit or m achine side. This terminal is used to outp ut the foll owing. • DRIV E UNIT RE ADY sig nal • ST ART signal • ST OP s ignal , etc. The input N[...]

Appe ndix - 80 MELSEC-Q APPENDICES LINE AR IN TERPOLA TION This automatic operatio n sim ultaneous ly operates two m otors f or the latit udina l (X) f eed and longit udina l (Y) f eed to m ove a tar get in a diagonal line f or posi tioning. T hree or four motor s can als o be opera ted sim ultaneo usl y. The Q D75 com bines the oper ation of axis [...]

Appe ndix - 81 MELSEC-Q APPENDICES MOVEMENT AMOUNT PER PULSE W hen using mm , inch, or de gree un its, th e mo vement am ount is calc ulat ed and out put from the machine s ide showin g ho w much the motor shaft m oves per puls e. Pos itioning accura cy in sm all er unit s is not po ssible. On the m otor side, th e m ovement am ount per axis rotat [...]

Appe ndix - 82 MELSEC-Q APPENDICES OP This is the refer ence pos ition for pos ition ing. Position ing can not start without a r eferenc e point. The O P is norm all y set to the up per or lo wer strok e lim it. OP This point is the reference. OP SHIFT FUNCTIO N The O P positio n can be s hif ted in the p ositive or negati ve direct ion b y execut [...]

Appe ndix - 83 MELSEC-Q APPENDICES OPR REQUEST This signal turns ON when there is an err or with the QD 75. It will turn ON in the f ollowing situations . 1) W hen the po wer is turne d ON. 2) W hen the PLC R EAD Y signal tur ns fr om OFF to ON. 3) W hen the m achine OPR s tarts. 4) W hen the driv e unit R EADY s ignal tur ns from O N to OFF. The u[...]

Appe ndix - 84 MELSEC-Q APPENDICES POSITION CONT ROL This is mainl y the contr ol of position and dimens ion, such as in f ixed-f eed, pos itioning, numer ical contr ol, etc. T his is alwa ys controlled with feed puls es . Ther e is also speed co ntrol. Drive un its m ay diff er, eve n when t he sam e motor is used. POSIT IO N DET ECT IO N MODULE T[...]

Appe ndix - 85 MELSEC-Q APPENDICES POSI TIONING CONTINU ED Refer to the sectio n of term "oper ation pattern". POSIT IO NI NG DATA This is data for th e user to carr y out position ing. T he No. of points to which position ing is c arried o ut (the No. of addresses ) is des ignate d by th e user. In th e QD75, thes e are 60 0 poin ts. As [...]

Appe ndix - 86 MELSEC-Q APPENDICES READY This means that pr eparat ion is c om plete. REAL-TIME AUTO T UNING ( Real- t ime Automa tic Tunin g) Refer to "AUTO T UNING". REFERENCE AXIS SPEED This is the spe ed of the r eferenc e axis during interpol ati on opera tio ns . Y axis speed (interpolation axis) X axis speed (reference axis) Refer [...]

Appe ndix - 87 MELSEC-Q APPENDICES SERVO LOCK In positi oning us ing a ser vom otor, stepp ing motor, etc ., working po wer is require d to hold the mac hine at th e stop pos ition. (T he position will be l ost if the mac hine is move d by exte rnal power .) This kind of s tate is c alled ser vo lock or s ervo lock torque. M Table Motor holds the p[...]

Appe ndix - 88 MELSEC-Q APPENDICES SPEED CONTROL Speed co ntrol is m ainly carr ied out with the servom otor. It is a n applic ation for grindsto ne rotation, welding spe ed, feedr ate, etc . Speed control diff ers from position c ontrol i n that t he current pos itio n (addre ss) is not contr olled. Drive un its m ay diff er, eve n when t he sam e[...]

Appe ndix - 89 MELSEC-Q APPENDICES STEP OUT Stepping m otor s rotate in propor t io n to the No. of pulses (fr equency), but the m otor's rotation will dev iate if the load is too l arge for the motor. T his is call ed ste p out. If s tep out occurs , the motor must be r eplaced by one with a lar ger torque . Step out caus es the position ing [...]

Appe ndix - 90 MELSEC-Q APPENDICES STROKE LIMIT This is the ran ge in whic h a p osition ing operatio n is pos sible, or the ra nge in which th e machine c an be m oved without d amage occurr ing. (Movem ent outsid e this r ange is possib le in the manual oper ation.) For opera tions us ing a worm gear, the stro ke lim it is de term ined b y the le[...]

Appe ndix - 91 MELSEC-Q APPENDICES TURNT ABLE A rotatin g table, which is turne d using power. The table is use d divid ed fr om one 360 ° rotation into the required locatio ns for work . The pos itioning c ontro l unit is "degr ee". Rotated by t he motor 30° UNIT SETTING This is the sett ing of the unit f or the ac tual address to whic[...]

Appe ndix - 92 MELSEC-Q APPENDICES Appendix 11 Posi ti oning contr ol troubleshooti ng Trouble ty pe Questions/T rouble Remedy N o. Display reads "FFFF H " when a parameter is read with GX Configurator-QP. The PLC CPU power was turned O FF or the PLC CPU was reset, etc., during flash RO M writing, which deleted the data in the flash ROM .[...]

Appe ndix - 93 MELSEC-Q APPENDICES Trouble ty pe Questions/T rouble Remedy N o. How can the deceleration stop time during stopping be shortened using the hardware stroke li mit? Set "1: Sudden stop" in the " Pr.37 Stop group 1 sudden stop selection", an d reduce the setting value of " Pr.36 Sudden stop deceleration time&quo[...]

Appe ndix - 94 MELSEC-Q APPENDICES Trouble ty pe Questions/T rouble Remedy N o. Error compensation The machine only mov es to "10081230", although position ing with a command v alue of "10081234" carried out. How can the error be compensated? The following v alues are currently set. • Pr.2 No. of pulses per rotation 8192 • P[...]

Appe ndix - 95 MELSEC-Q APPENDICES Trouble ty pe Questions/T rouble Remedy N o. The positioning start signal [Y 10] is kept ON until the BUSY signal is OFF, but is there any problem w ith turning it OFF before the BUSY signal turns OFF? After the BUSY signal turns ON, there is no problem w ith turning [Y10] OFF before the BU SY signal turns O FF. ([...]

Appe ndix - 96 MELSEC-Q APPENDICES Trouble ty pe Questions/T rouble Remedy N o. When a JOG operation is attempted, an error results and the machine does not mov e. The " Pr.31 JOG speed limit value" may be larger than the " Pr. 8 Speed limit value". Review the parameters and carry out the JOG operation again. 34 JOG operation Wh[...]

Appe ndix - 97 MELSEC-Q APPENDICES Trouble ty pe Questions/T rouble Remedy N o. Backlash compensation value 0 ≤ Movement amount per pulse 255 Error 920 (backlash compensation amount error) occurs even w hen the backlash compensat ion value is set to "1". Setting is not possible if the abov e equatio n is not satisfied. Adjust by setting[...]

Appe ndix - 98 MELSEC-Q APPENDICES Appendix 12 Li st of bu ffer me mor y addresses The f ollowi ng s hows t he r elati on b etwee n the b uff er m emor y address es a nd t he v arious item s. (Do not use ar y addr ess ot her th an list ed b elow. If us ed, the syst em m ay not oper ate cor rectl y.) Buffer memory address Ax i s 1 Axis 2 Axis 3 Ax i[...]

Appe ndix - 99 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Axis 2 Axis 3 Ax i s 4 Item Memory area 40 41 190 191 340 341 490 491 Pr.27 Acceleration time 3 42 43 192 193 342 343 492 493 Pr.28 Deceleration time 1 44 45 194 195 344 345 494 495 Pr.29 Deceleration time 2 46 47 196 197 346 347 496 497 Pr.30 Deceleration time 3 48 49 198 199 348 34[...]

Appe ndix - 100 MELSEC-Q APPENDICES Buffer memory address Common to ax es 1, 2, 3, and 4 Item Memo ry area 1200 Md.1 In test mode flag 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 Not used (0) (1) (2 ) (3) (4 ) (5) (6) (7 ) (8) (9 ) (1 0) (11) (12) (13) (14) (1 5) (Pointer No.) 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1[...]

Appe ndix - 101 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Ax is 2 Axi s 3 Ax is 4 Item Memory area 800 801 900 901 1000 1001 1100 1101 Md.20 Current feed value 802 803 902 903 1002 1003 1102 1103 Md.21 Machine feed value 804 805 904 905 1004 1005 1104 1105 Md.22 Feedrate 806 906 1006 1106 Md.23 A xis error No. 807 907 1007 1107 Md.24 A xis[...]

Appe ndix - 102 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Ax is 2 Axi s 3 Ax is 4 Item Memory area 1500 1600 1700 1800 Cd.3 Positioning start No. 1501 1601 1701 1801 Cd.4 Positioning starting point No. 1502 1602 1702 1802 Cd.5 Axis error reset 1503 1603 1703 1803 Cd.6 Restart comman d 1504 1604 1704 1804 Cd.7 M code OFF request 1505 1605 1[...]

Appe ndix - 103 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Ax is 2 Axi s 3 Ax is 4 Item Memory area 1541 1641 1741 1841 Cd.31 Simultaneou s starting ax is start data No. (axis 2 start data No.) 1542 1642 1742 1842 Cd.32 Simultaneou s starting ax is start data No. (axis 3 start data No.) 1543 1643 1743 1843 Cd.33 Simultaneou s starting ax is[...]

Appe ndix - 104 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Axi s 2 Axis 3 Axis 4 Item Memory area 2000 8000 14000 20000 Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated 2001 8001 14001 20001 Da.10 M code/condition data No. /No. of LOOP to LEND repetitions 2002 8002[...]

Appe ndix - 105 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Axis 2 Axis 3 Axis 4 Item Memory area 26000 26 050 2700 0 2705 0 28000 28 050 29 000 29 050 Da.11 Shape Da.12 Start data No. Da.13 Specilal start instructi o n Da.14 Parameter 1st point 26001 26 051 2700 1 2705 1 28001 28 051 29 001 29 051 2nd point 26002 26 052 2700 2 2705 2 28002 [...]

Appe ndix - 106 MELSEC-Q APPENDICES Buffer memory address Ax i s 1 Axis 2 Axis 3 Ax i s 4 Item Memory area 30000 to 30099 Condition judgement target data of t he cond ition data PLC CPU memory area Positioning data[...]

Appe ndix - 107 MELSEC-Q APPENDICES Appendix 13 Ex ternal dimension drawi ng [1] QD75P1/QD75P2/QD75P4 QD75P1 RUN ERR AX1 AX1 QD75P2 RUN ERR AX1 AX1 QD75P4 RUN ERR AX1 AX1 AX2 AX2 AX2 AX3 AX4 AX2 AX3 AX4 98 90 136 46 (Unit : mm) 27.4[...]

Appe ndix - 108 MELSEC-Q APPENDICES [2] QD75D1/QD75D 2/QD75D4 QD75D 1 RUN ERR AX1 AX1 QD75D 2 RUN ERR AX1 AX1 QD75D 4 RUN ERR AX1 AX1 AX2 AX2 AX2 AX3 AX4 AX2 AX3 AX4 98 90 136 46 (Unit: mm) 27.4 12[...]

Index - 1 INDEX [Number] 1-2 phas e excita tion s ystem (Explanat ion of posit ioning term s) ............................. Append ix-6 8 1-axis fixed-f eed contr ol ................................ 9-43 1-axis line ar co ntrol ( AB S line ar 1) ............... 9- 27 1-axis line ar co ntrol ( INC l inear 1) ................ 9- 28 1-axis spee d cont[...]

Index - 2 AFTER m ode ............................................... 12-63 AFTER m ode (Ex planat ion of pos ition ing t erm s) .......................................................... Ap pendix -69 Allo wable c ircu lar int erp olatio n err or wi dth ( Pr.41 )........................................................ 5-43 Applic able system .....[...]

Index - 3 Comm unicat ing s ignals betwe en Q D75 and e ach module ........................................................... 1-12 Compos ite s peed .......................................... 5-32 Compos ite s peed ( Exp lan ation of pos it ioning term s) ................................................ Append ix-7 2 Condit ion dat a .............[...]

Index - 4 DOS/V p erson al comput er ............................ A-13 Drive u nit ( Expla nation of p ositi oning term s) .......................................................... Ap pendix -74 Drive u nit ( Servo am pl ifier) ........................... A-2 1 Drive u nit RE ADY .......................................... 3-21 Driv e un it REA DY [...]

Index - 5 For star ting "s peed- posit ion s witc hing co ntrol " ....................................................................... 6-32 For star ting wit h exter nal com m and si gnal ... 6-36 For usin g st eppin g motor .............................. 1- 22 For wiring ......................................................... 4-8 Fo[...]

Index - 6 [K] kPPS ( Exp lan atio n of pos it ioni ng te rm s) .......................................................... Ap pendix -79 [L] Last exec uted pos it ionin g data No. ( Md.46 ) ..................................................................... 5-10 8 LED disp la y functi ons .................................. 15-3 6 LEND ............[...]

Index - 7 Multip le PLC .................................................... 2-5 Mult ipl ying ra te sett ing ( Exp lan ation of pos it ionin g term s) ................................................ Append ix-8 1 [N] Names of eac h part ......................................... 4-3 NC lang uage (Ex planat ion of pos itio ning t erm s) ...........[...]

Index - 8 OPR spee d ( Pr.46 ) ................................... 5-48 OPR tor que lim it v alue ( Pr.54 ) ....................................................................... 5-56 Order of pri orit y for st op pr ocess .................. 6-44 Outline des ign of posit ionin g s ystem .............. 1-9 Outli ne of i nst allati on, wir ing and m[...]

Index - 9 Posit ionin g star t (Exp lana tion of pos ition ing ter ms ) .......................................................... Ap pendix -85 Posit ionin g star t No. ( Cd.3 ) ..................... 5-112 Posit ionin g star t No. s etting progr am ........... 6-17 Posit ioning s tart progr am .............................. 6- 12 Posit ioning s ta[...]

Index - 10 [R] READ Y (Exp lan ation of pos it ioning term s) .......................................................... Ap pendix -86 Real - ti me AUTO t u ni ng (E xpl ana ti on o f po siti on in g term s) ................................................ Append ix-8 6 Refere nce axis............................................... 9-22 Refere nce [...]

Index - 11 S-patt ern ac cel eratio n/dec eler ation pr ocessi ng method ......................................................... 12- 81 S-patt ern pr opor tion ( Pr.35 )...................... 5- 38 Special st a rt inst ruction ( Da.13 ) ................ 5-77 Speci al star t data instr uctio n c ode se ttin g va lue ( Md.36 )......................[...]

Index - 12 Stop c omm and pr ocess ing f or d eceler atio n stop functi on ........................................................ 12-9 7 Stop c omm and pr ocess ing f or d eceler atio n stop select ion ( Cd.42 ) ....................................... 5-110 Stop grou p 1 su dd en sto p sel e ctio n ( Pr.37 ) ......................................[...]

Index - 13 Track ing f uncti on (Ex plan ation of p ositi onin g term s) ................................................ Append ix-9 0 Turntab le ( Exp lanati on of posi tionin g ter ms ) .......................................................... Ap pendix -91 T y pes and r oles of co ntrol data .................... 5-16 T y pes an d roles of m on[...]

Index - 14 MEM O[...]

WARRANT Y Please confirm the follow ing product w arranty details before using this product. 1. Gratis W arranty Term and Gr ati s W arranty Range If any faults or defects (hereinafter "Fail ure") found to be th e respon sibility of M itsubishi occurs during use of the product within the gratis w arranty term, the product shall be re pair[...]

Micr osoft W indo ws, W indo ws NT are reg ister ed tr adem ark s of Mic rosof t Cor porat ion in the Unit ed Sta tes and oth er co untri es. Other compan y and pro duct nam es here in ma y be either trad emar ks or register ed tradem ark s of their resp e ctiv e ow ner s.[...]

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Type QD75P/QD75D Positioning Module User's Manual U User's Manual User's Manual Mitsubishi Programmable Logic Controller MODEL MODEL CODE QD75-U-S-E 13JR09 SH(NA)-080058-H(0506)MEE Type QD75P/QD75D Positioning Module Type QD75P/QD75D Positioning Module QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4 Specifications subject to change without[...]