Type QD75P/QD75D Positioning Module User's Manual Mitsubishi Electronics QD75D2 Video Game Controller User Facb2dc9 3479 4c72 8ab4 50e29ca5ce2f
User Manual: Mitsubishi Electronics QD75D2 Video Game Controller User Manual Mitsubishi Electronics Video Game Controller QD75D2 User Guide |
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Type QD75P/QD75D Positioning Module User's Manual -QD75P1N -QD75P2N -QD75P4N -QD75D1N -QD75D2N -QD75D4N -QD75P1 -QD75P2 -QD75P4 -QD75D1 -QD75D2 -QD75D4 SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user’s manual for the CPU module used. In this manual, the safety precautions are classified into two levels: " ! WARNING" and " ! CAUTION". Under some circumstances, failure to observe the precautions given under " ! CAUTION" may lead to serious consequences. Observe the precautions of both levels because they are important for personal and system safety. Make sure that the end users read this manual and then keep the manual in a safe place for future reference. [Design Precautions] ! WARNING Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply error or programmable controller fault occurs. Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. (1) Configure an emergency stop circuit and interlock circuit such as a positioning upper limit/lower limit to prevent mechanical damage outside the programmable controller. (2) The machine OPR operation is controlled by the OPR direction and OPR speed data. Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is incorrectly set, deceleration will not start and the machine will continue to travel. Configure an interlock circuit to prevent mechanical damage outside the programmable controller. (3) When the module detects an error, normally deceleration stop or sudden stop will take place according to the parameter stop group settings. Set the parameters to the positioning system specifications. Make sure that the OPR parameter and positioning data are within the parameter setting values. A-1 [Design Precautions] CAUTION ! Do not bundle or adjacently lay the connection cable connected to the module external I/O signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction. [Mounting Precautions] CAUTION ! Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Incorrect loading of the module can cause a malfunction, failure or drop. When using the programmable controller in the environment of much vibration, tighten the module with a screw. Tighten the screw in the specified torque range. Undertightening can cause a drop, short circuit or malfunction. Overtightening can cause a drop, short circuit or malfunction due to damage to the screw or module. Completely turn off the externally supplied power used in the system before mounting or removing the module. Not doing so may damage the product. [Wiring Precautions] ! WARNING Always confirm the terminal layout before connecting the wires to the module. A-2 [Wiring Precautions] ! CAUTION Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure. Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction. Connectors for external devices must be crimped with the tool specified by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction. When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the module may result in malfunction or damage to the module or cable. Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation. [Startup/Maintenance Precautions] ! WARNING Completely turn off the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks. A-3 [Startup/Maintenance Precautions] ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not install/remove the module to/from the base unit, or the terminal block to/from the module more than 50 times after the first use of the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction. Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs. Always make sure to touch the grounded metal to discharge the electricity charged in the body, etc., before touching the module. Failure to do so may cause a failure or malfunctions of the module. [Precautions for use] ! CAUTION Note that when the reference axis speed is designated for interpolation operation, the speed of the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value). [Disposal Precautions] ! CAUTION When disposing of the product, handle it as industrial waste. A-4 CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT. (2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in; Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT. Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User. Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property. Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region. A-5 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Dec., 1999 Oct., 2000 Jun., 2001 Apr., 2003 Oct., 2003 Feb., 2004 Manual Number Revision SH (NA)-080058-A First edition SH (NA)-080058-B Addition of function version B (Overall revisions based on the Japanese Manual Version SH-080047-E) SH (NA)-080058-C The software package names (GPP function software package, QD75 software package) have been replaced by the product names (GX Developer, GX Configurator-QP) for standardization. Partial corrections and additions CONTENTS, About Manuals, Generic Terms and Abbreviations, Section 1.4, Section 2.2, Section 2.3, Section 3.2.2 to Section 3.2.4, Section 3.3.2, Section 3.3.3, Section 3.4.1, Section 3.4.3, Section 3.4.4, Section 4.1.2, Section 4.3, Section 5.1.2, Section 5.1.3, Section 5.2.3, Section 5.2.5, Section 5.6.2, Section 5.7.1, Section 6.2 to Section 6.4, Section 6.5.3, Section 7.2, Section 8.2.2, Section 8.2.5, Section 8.2.6, Section 9.1.2, Section 9.2.1, Section 9.2.16, Section 9.2.17, Section 10.3.2, Section 10.6.2, Section 11.2.3, Section 11.3.3, Section 11.3.4, Section 11.4.3, Section 12.1.1, Section 12.5 to Section 12.7, Section 13.1, Section 13.3, Section 13.4, Section 14.2 to Section 14.7, Section 15.1, Section 15.2, Section 15.4, Appendix 1, Appendix 9.2, Appendix 11, INDEX SH (NA)-080058-D Partial corrections and additions SAFETY INSTRUCTIONS, CONTENTS, Component List, Section 1.2.3, Section 1.4, Section 2.3, Section 2.4, Section 3.1, Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.4.1, Section 3.4.4, Section 4.1.2, Section 4.3.1, Section 4.3.2, Section 5.1.1, Section 5.1.7, Section 5.1.8, Section 5.2.1, Section 5.2.4, Section 5.6.2, Section 5.7.1, Section 6.4, Section 6.5.4, Section 6.5.6, Section 8.2.3 to Section 8.2.8, Section 9.2.17, Section 9.2.19, Section 11.2.1, Section 11.3.1, Section 11.4.1, Section 12.1.1, Section 12.5.1, Section 12.5.2, Section 12.7.3, Section 12.7.5, Section 12.7.9, Section 14.4, Section 15.2, Appendix 1.1, Appendix 4.1 to Appendix 4.3, Appendix 7.1, Appendix 9.2, Appendix 10 to Appendix 13, INDEX SH (NA)-080058-E Partial corrections and additions CONTENTS, Section 1.1.1, Section 1.4, Section 2.2, Section 2.4, Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.3.2, Section 3.4.3, Section 3.4.4, Section 5.1.1, Section 5.1.8, Section 5.7.1, Section 6.5.3, Section 6.5.6, Section 7.1.2, Section 9.1.2, Section 9.2.3 to Section 9.2.9, Section 11.2.1, Section 11.3.1, Section 11.4.1, Section 12.2.1, Section 12.7.10, Appendix 9.2, Appendix 12, INDEX Partial corrections and additions SH (NA)-080058-F CONTENTS, Section 3.4.1, Section 3.4.3, Section 3.4.4, Section 5.2.1, Section 5.4, Section 5.5, Section 5.6.2, Section 8.2.6, Section 10.1.2, Section 10.3.3, Section 10.3.5, Section 10.3.7, Appendix 9.2, Appendix 12 A-6 The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Nov., 2004 SH (NA)-080058-G Partial corrections and additions SAFETY INSTRUCTIONS, Section 1.4, Section 2.3, Section 2.4, Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.7, Section 5.2.1, Section 5.2.6, Section 5.6.2, Section 6.1, Section 9.2.19, Section 12.2.1, Section 12.4.4, Section 12.7.4, Appendix 1.1, Appendix 9.1 Jun., 2005 SH (NA)-080058-H Partial corrections and additions Section 5.1.2, Section 9.1.2, Section 9.2.10, Section 9.2.21, Section 10.3.8, Section 11.4.1, Section 12.5.2, Section 12.7.1, Section 12.7.6, Section 15.1, Section 15.2 Aug., 2006 SH (NA)-080058-I Partial corrections and additions Section 3.4.4, Section 5.2.1, Section 14.5 to 14.7, Appendix 6.1, INDEX Jul., 2008 SH (NA)-080058-J Partial corrections and additions SAFETY INSTRUCTIONS, ABOUT MANUALS, Compliance with the EMC and Low Voltage Directives, Section 1.3, Section 2.3, 2.4, Section 3.1, 3.4.1, Section 4.1.2, 4.2.1, 4.3.1, Section 5.1.2, 5.2.1, 5.2.4, 5.2.5, Section 6.2, Section 6.4, Section 9.2.16, 9.2.17, Section 12.6, Section 12.7.2, Section 14.3 to 14.7, Appendix 12,13 Oct., 2010 SH (NA)-080058-K Full revision Apr., 2011 SH (NA)-080058-L Sep., 2011 SH (NA)-080058-M Partial corrections and additions Generic Terms and Abbreviations, Component List, Section 1.1.1, 1.2.1, Section 2.2, 2.3, 2.4, Section 3.1, 3.4.1 to 3.4.4, Section 4.1.2, 4.3.2, Section 5.1.1, 5.1.7, 5.2.1 to 5.2.4, 5.3, 5.4, 5.6.1, 5.6.2, 5.7.1, 5.7.2, Section 6.1, 6.4, 6.5.3, Section 7.1.1, 7.1.2, Section 8.2.2, 8.2.5, 8.3.1, Section 9.1.2, 9.1.4, 9.2.9, 9.2.16 to 9.2.18, Section 11.1.1, 11.2.1, 11.3.1, 11.3.4, 11.4.1, 11.4.4, Section 12.3.2, 12.7.5, 12.7.7, Section 13.5, Section 14.3, 14.6, Section 15.3, 15.4, Appendix 1.1, Appendix 2.2, Appendix 10.1 to 10.13, Appendix 12 to 14 Additions Appendix 1.2 Addition model QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N, QD75D4N Partial corrections and additions Section 3.4.1, Section 4.3.1, 4.3.2, Section 5.6.1, 5.7.2, Section 6.2, 6.4, Section 7.2, Section 8.2.7, 8.2.8, Section 9.2.3, 9.2.16, 9.2.18, Section 10.5, Section 11.2.1, Section 12.4.2, 12.6, 12.7.4, Section 13.2, 13.3, 13.5, Section 14.3, Appendix 3, Appendix 9.2, Appendix 10, 10.2, 10.3 Additions Appendix 10.4 Changed item numbers Appendix 10.4 to 10.12 Appendix 10.5 to 10.13 A-7 The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Dec., 2011 SH (NA)-080058-N Partial corrections and additions COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES, Section 2.4, Section 3.4.2, Section 9.1.2, Appendix 2.2 Mar., 2012 SH (NA)-080058-O Partial corrections and additions Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 5.7.1, Section 9.1.2, Chapter 12, Section 12.1.1, Section 12.3, Appendix 1.1, Appendix 13 Additions Section 12.3.4 Jan., 2013 SH (NA)-080058-P Jun., 2013 SH (NA)-080058-Q Partial corrections and additions Section 2.3, Section 12.3.2 Jul., 2014 SH (NA)-080058-R Partial corrections and additions Section 1.1.1, Section 1.2.3, Section 2.3, Section 3.4.1, Section 3.4.4, Section 5.2.1, Section 15.3, Appendix 3, Appendix 9.2, Appendix 10.14, Appendix 13 Partial corrections and additions Section 1.3, Section 5.6.2, Section 9.2.19, Section 9.2.21, Section 12.3.1 Japanese Manual Version SH-080047-X This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. 1999 MITSUBISHI ELECTRIC CORPORATION A-8 INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series programmable controller before starting use to ensure correct usage of this product. CONTENTS SAFETY PRECAUTIONS ............................................................................................................................ A- 1 CONDITIONS OF USE FOR THE PRODUCT ........................................................................................... A- 5 REVISIONS .................................................................................................................................................. A- 6 INTRODUCTION ........................................................................................................................................ A- 9 CONTENTS .................................................................................................................................................. A- 9 ABOUT MANUALS .......................................................................................................................................A- 17 USING THIS MANUAL .................................................................................................................................A- 17 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES ..............................................................A- 18 GENERIC TERMS AND ABBREVIATIONS ................................................................................................A- 18 COMPONENT LIST ......................................................................................................................................A- 19 PART 1 PRODUCT SPECIFICATIONS AND HANDLING 1. PRODUCT OUTLINE 1- 1 to 1- 24 1.1 Positioning control .................................................................................................................................. 1- 2 1.1.1 Features of QD75 ............................................................................................................................ 1- 2 1.1.2 Purpose and applications of positioning control ............................................................................. 1- 5 1.1.3 Mechanism of positioning control ................................................................................................... 1- 7 1.1.4 Outline design of positioning system .............................................................................................. 1- 9 1.1.5 Communicating signals between QD75 and each module............................................................. 1- 12 1.2 Flow of system operation ........................................................................................................................ 1- 15 1.2.1 Flow of all processes ........................................................................................................................ 1- 15 1.2.2 Outline of starting ............................................................................................................................. 1- 18 1.2.3 Outline of stopping ........................................................................................................................... 1- 20 1.2.4 Outline of restarting .......................................................................................................................... 1- 22 1.3 Restrictions on using a stepping motor .................................................................................................. 1- 23 1.4 Function additions/modifications according to function version B ......................................................... 1- 23 2. SYSTEM CONFIGURATION 2- 1 to 2- 10 2.1 General image of system ....................................................................................................................... 22.2 Configuration list..................................................................................................................................... 22.3 Applicable system .................................................................................................................................. 22.4 How to check the function version and SERIAL No. ........................................................................... 2- A-9 2 4 6 8 3. SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 30 3.1 Performance specifications.................................................................................................................... 3- 2 3.2 List of functions ..................................................................................................................................... 3- 6 3.2.1 QD75 control functions.................................................................................................................... 3- 6 3.2.2 QD75 main functions....................................................................................................................... 3- 8 3.2.3 QD75 sub functions and common functions ................................................................................... 3- 10 3.2.4 Combination of QD75 main functions and sub functions................................................................ 3- 14 3.3 Specifications of input/output signals with CPU module........................................................................ 3- 16 3.3.1 List of input/output signals with CPU module .................................................................................. 3- 16 3.3.2 Details of input signals (QD75 CPU module) ............................................................................ 3- 17 3.3.3 Details of output signals (CPU module QD75).......................................................................... 3- 18 3.4 Specifications of input/output interfaces with external devices ............................................................. 3- 19 3.4.1 Electrical specifications of input/output signals ............................................................................... 3- 19 3.4.2 Signal layout for external device connection connector.................................................................. 3- 25 3.4.3 List of input/output signal details ...................................................................................................... 3- 26 3.4.4 Input/output interface internal circuit ................................................................................................ 3- 28 4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4- 1 to 4- 16 4.1 Outline of installation, wiring and maintenance..................................................................................... 4- 2 4.1.1 Installation, wiring and maintenance procedures ........................................................................... 4- 2 4.1.2 Names of each part ......................................................................................................................... 4- 3 4.1.3 Handling precautions ...................................................................................................................... 4- 5 4.2 Installation .............................................................................................................................................. 4- 7 4.2.1 Installation precautions ................................................................................................................... 4- 7 4.3 Wiring...................................................................................................................................................... 4- 8 4.3.1 Wiring precautions........................................................................................................................... 4- 8 4.3.2 Wiring of the differential driver common terminal ............................................................................ 4- 14 4.4 Checking installation and wiring ............................................................................................................. 4- 15 4.4.1 Items to check when installation and wiring are completed............................................................ 4- 15 4.5 Maintenance ............................................................................................................................................ 4- 16 4.5.1 Maintenance precautions ................................................................................................................. 4- 16 4.5.2 Disposal precautions ........................................................................................................................ 4- 16 5. DATA USED FOR POSITIONING CONTROL 5- 1 to 5-128 5.1 Types of data.......................................................................................................................................... 5- 2 5.1.1 Parameters and data required for control....................................................................................... 5- 2 5.1.2 Setting items for positioning parameters ........................................................................................ 5- 5 5.1.3 Setting items for OPR parameters .................................................................................................. 5- 7 5.1.4 Setting items for positioning data.................................................................................................... 5- 8 5.1.5 Setting items for block start data ..................................................................................................... 5- 10 5.1.6 Setting items for condition data ....................................................................................................... 5- 11 5.1.7 Types and roles of monitor data ...................................................................................................... 5- 12 5.1.8 Types and roles of control data ....................................................................................................... 5- 15 A - 10 5.2 List of parameters ................................................................................................................................... 5- 18 5.2.1 Basic parameters 1 .......................................................................................................................... 5- 18 5.2.2 Basic parameters 2 .......................................................................................................................... 5- 24 5.2.3 Detailed parameters 1 ...................................................................................................................... 5- 26 5.2.4 Detailed parameters 2 ...................................................................................................................... 5- 34 5.2.5 OPR basic parameters ..................................................................................................................... 5- 43 5.2.6 OPR detailed parameters ................................................................................................................ 5- 50 5.3 List of positioning data ............................................................................................................................ 5- 54 5.4 List of block start data ............................................................................................................................. 5- 68 5.5 List of condition data ............................................................................................................................... 5- 74 5.6 List of monitor data.................................................................................................................................. 5- 80 5.6.1 System monitor data ........................................................................................................................ 5- 80 5.6.2 Axis monitor data.............................................................................................................................. 5- 90 5.7 List of control data .................................................................................................................................. 5-104 5.7.1 System control data ........................................................................................................................ 5-104 5.7.2 Axis control data .............................................................................................................................. 5-108 6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6- 1 to 6- 46 6.1 Precautions for creating program .......................................................................................................... 6- 2 6.2 List of devices used................................................................................................................................ 6- 5 6.3 Creating a program ................................................................................................................................. 6- 11 6.3.1 General configuration of program .................................................................................................... 6- 11 6.3.2 Positioning control operation program ............................................................................................. 6- 12 6.4 Positioning program examples ............................................................................................................... 6- 15 6.5 Program details ....................................................................................................................................... 6- 24 6.5.1 Initialization program ........................................................................................................................ 6- 24 6.5.2 Start details setting program ............................................................................................................ 6- 25 6.5.3 Start program.................................................................................................................................... 6- 27 6.5.4 Continuous operation interrupt program.......................................................................................... 6- 37 6.5.5 Restart program ............................................................................................................................... 6- 39 6.5.6 Stop program .................................................................................................................................... 6- 43 7. MEMORY CONFIGURATION AND DATA PROCESS 7- 1 to 7- 12 7.1 Configuration and roles of QD75 memory ............................................................................................ 77.1.1 Configuration and roles of QD75 memory...................................................................................... 77.1.2 Buffer memory area configuration .................................................................................................. 77.2 Data transmission process .................................................................................................................... 7- A - 11 2 2 5 6 PART 2 CONTROL DETAILS AND SETTING 8. OPR CONTROL 8- 1 to 8- 24 8.1 Outline of OPR control ........................................................................................................................... 8- 2 8.1.1 Two types of OPR control ............................................................................................................... 8- 2 8.2 Machine OPR ......................................................................................................................................... 8- 4 8.2.1 Outline of the machine OPR operation........................................................................................... 8- 4 8.2.2 Machine OPR method ..................................................................................................................... 8- 5 8.2.3 OPR method (1): Near-point dog method ...................................................................................... 8- 7 8.2.4 OPR method (2): Stopper method 1) ............................................................................................. 8- 9 8.2.5 OPR method (3): Stopper method 2) .............................................................................................. 8- 12 8.2.6 OPR method (4): Stopper method 3) .............................................................................................. 8- 15 8.2.7 OPR method (5): Count method 1) ................................................................................................. 8- 17 8.2.8 OPR method (6): Count method 2) ................................................................................................. 8- 20 8.3 Fast OPR ................................................................................................................................................. 8- 23 8.3.1 Outline of the fast OPR operation .................................................................................................... 8- 23 9. MAJOR POSITIONING CONTROL 9- 1 to 9-120 9.1 Outline of major positioning controls ..................................................................................................... 9- 2 9.1.1 Data required for major positioning control .................................................................................... 9- 4 9.1.2 Operation patterns of major positioning controls ........................................................................... 9- 5 9.1.3 Designating the positioning address................................................................................................ 9- 16 9.1.4 Confirming the current value ............................................................................................................ 9- 17 9.1.5 Control unit "degree" handling ......................................................................................................... 9- 19 9.1.6 Interpolation control .......................................................................................................................... 9- 22 9.2 Setting the positioning data ................................................................................................................... 9- 26 9.2.1 Relation between each control and positioning data ...................................................................... 9- 26 9.2.2 1-axis linear control .......................................................................................................................... 9- 28 9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 30 9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 34 9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -40 9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 44 9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 46 9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 49 9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 54 9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 57 9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 63 9.2.12 1-axis speed control ....................................................................................................................... 9- 71 9.2.13 2-axis speed control ....................................................................................................................... 9- 74 9.2.14 3-axis speed control ....................................................................................................................... 9- 77 9.2.15 4-axis speed control ....................................................................................................................... 9- 81 9.2.16 Speed-position switching control (INC mode) ............................................................................... 9- 86 9.2.17 Speed-position switching control (ABS mode) .............................................................................. 9- 95 9.2.18 Position-speed switching control .................................................................................................. 9-103 9.2.19 Current value changing ................................................................................................................. 9-110 A - 12 9.2.20 NOP instruction ............................................................................................................................. 9-115 9.2.21 JUMP instruction ........................................................................................................................... 9-116 9.2.22 LOOP ............................................................................................................................................. 9-118 9.2.23 LEND ............................................................................................................................................. 9-119 10. HIGH-LEVEL POSITIONING CONTROL 10- 1 to 10- 28 10.1 Outline of high-level positioning control ............................................................................................ 10- 2 10.1.1 Data required for high-level positioning control .......................................................................... 10- 3 10.1.2 "Block start data" and "condition data" configuration ................................................................. 10- 4 10.2 High-level positioning control execution procedure ........................................................................ 10- 6 10.3 Setting the block start data ................................................................................................................ 10- 7 10.3.1 Relation between various controls and block start data ............................................................ 10- 7 10.3.2 Block start (normal start) ........................................................................................................... 10- 8 10.3.3 Condition start .............................................................................................................................. 10- 10 10.3.4 Wait start....................................................................................................................................... 10- 11 10.3.5 Simultaneous start ...................................................................................................................... 10- 12 10.3.6 Repeated start (FOR loop) ......................................................................................................... 10- 14 10.3.7 Repeated start (FOR condition) ................................................................................................. 10- 15 10.3.8 Restrictions when using the NEXT start ...................................................................................... 10- 16 10.4 Setting the condition data ................................................................................................................... 10- 17 10.4.1 Relation between various controls and the condition data ......................................................... 10- 17 10.4.2 Condition data setting examples ................................................................................................. 10- 20 10.5 Multiple axes simultaneous start control ............................................................................................ 10- 21 10.6 Start program for high-level positioning control ................................................................................. 10- 24 10.6.1 Starting high-level positioning control .......................................................................................... 10- 24 10.6.2 Example of a start program for high-level positioning control .................................................... 10- 25 11. MANUAL CONTROL 11- 1 to 11- 34 11.1 Outline of manual control ................................................................................................................. 11- 2 11.1.1 Three manual control methods ................................................................................................... 11- 2 11.2 JOG operation .................................................................................................................................... 11- 4 11.2.1 Outline of JOG operation ............................................................................................................ 11- 4 11.2.2 JOG operation execution procedure .......................................................................................... 11- 7 11.2.3 Setting the required parameters for JOG operation................................................................... 11- 8 11.2.4 Creating start programs for JOG operation ................................................................................. 11- 10 11.2.5 JOG operation example ............................................................................................................... 11- 13 11.3 Inching operation................................................................................................................................. 11- 16 11.3.1 Outline of inching operation ......................................................................................................... 11- 16 11.3.2 Inching operation execution procedure ....................................................................................... 11- 19 11.3.3 Setting the required parameters for inching operation ............................................................... 11- 20 11.3.4 Creating a program to enable/disable the inching operation ...................................................... 11- 21 11.3.5 Inching operation example ........................................................................................................... 11- 24 11.4 Manual pulse generator operation...................................................................................................... 11- 26 11.4.1 Outline of manual pulse generator operation .............................................................................. 11- 26 11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 30 11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 31 A - 13 11.4.4 Creating a program to enable/disable the manual pulse generator operation ......................... 11- 32 12. CONTROL SUB FUNCTIONS 12- 1 to 12-110 12.1 Outline of sub functions ..................................................................................................................... 12- 2 12.1.1 Outline of sub functions .............................................................................................................. 12- 2 12.2 Sub functions specifically for machine OPR ..................................................................................... 12- 4 12.2.1 OPR retry function ....................................................................................................................... 12- 4 12.2.2 OP shift function ........................................................................................................................ 12- 8 12.3 Functions for compensating the control ............................................................................................. 12- 12 12.3.1 Backlash compensation function ................................................................................................. 12- 12 12.3.2 Electronic gear function ............................................................................................................... 12- 14 12.3.3 Near pass function ....................................................................................................................... 12- 21 12.3.4 Output timing selection of near pass control ............................................................................... 12- 23 12.4 Functions to limit the control ............................................................................................................... 12- 27 12.4.1 Speed limit function ...................................................................................................................... 12- 27 12.4.2 Torque limit function ..................................................................................................................... 12- 29 12.4.3 Software stroke limit function ....................................................................................................... 12- 33 12.4.4 Hardware stroke limit function ..................................................................................................... 12- 39 12.5 Functions to change the control details .............................................................................................. 12- 41 12.5.1 Speed change function ................................................................................................................ 12- 41 12.5.2 Override function .......................................................................................................................... 12- 48 12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 51 12.5.4 Torque change function ............................................................................................................... 12- 56 12.5.5 Target position change function .................................................................................................. 12- 58 12.6 Absolute position restoration function ................................................................................................ 12- 62 12.7 Other functions .................................................................................................................................... 12- 73 12.7.1 Step function................................................................................................................................. 12- 73 12.7.2 Skip function ................................................................................................................................. 12- 78 12.7.3 M code output function ................................................................................................................. 12- 81 12.7.4 Teaching function ......................................................................................................................... 12- 85 12.7.5 Command in-position function ..................................................................................................... 12- 92 12.7.6 Acceleration/deceleration processing function ............................................................................ 12- 95 12.7.7 Pre-reading start function............................................................................................................. 12- 98 12.7.8 Deceleration start flag function ................................................................................................... 12-103 12.7.9 Stop command processing for deceleration stop function ......................................................... 12-107 13. COMMON FUNCTIONS 13- 1 to 13- 8 13.1 Outline of common functions ............................................................................................................. 1313.2 Parameter initialization function......................................................................................................... 1313.3 Execution data backup function ........................................................................................................ 1313.4 External I/O signal logic switching function ....................................................................................... 1313.5 External I/O signal monitor function .................................................................................................. 1314. DEDICATED INSTRUCTIONS 2 3 5 7 8 14- 1 to 14- 24 14.1 List of dedicated instructions ............................................................................................................. 14- 2 14.2 Interlock during dedicated instruction is executed ............................................................................ 14- 2 A - 14 14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 ............................................................................... 14- 3 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4...................................................................... 14- 8 14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 ..................................................................... 14- 12 14.6 ZP.PFWRT .......................................................................................................................................... 14- 16 14.7 ZP.PINIT .............................................................................................................................................. 14- 20 15. TROUBLESHOOTING 15- 1 to 15- 48 15.1 Troubleshooting ................................................................................................................................. 15- 2 15.2 Error and warning details ................................................................................................................... 15- 6 15.3 List of errors ........................................................................................................................................ 15- 10 15.4 List of warnings ................................................................................................................................... 15- 40 APPENDICES Appendix- 1 to Appendix-156 Appendix 1 Version up of the functions .......................................................................................... Appendix- 2 Appendix 1.1 Comparison of functions according to function versions ..................................... Appendix- 2 Appendix 1.2 Precautions for the replacement of QD75P /QD75D with QD75P N/QD75D N ..................................................................................................................................................... Appendix- 3 Appendix 2 Format sheets .............................................................................................................. Appendix- 6 Appendix 2.1 Positioning Module operation chart .................................................................... Appendix- 6 Appendix 2.2 Parameter setting value entry table ..................................................................... Appendix- 8 Appendix 2.3 Positioning data setting value entry table ............................................................Appendix- 14 Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses ...............................Appendix- 15 Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation .......................................................................................................................................Appendix- 39 Appendix 4.1 Connection example of QD75D N and MR-J3A (Differential driver)..........Appendix- 39 Appendix 4.2 Connection example of QD75D N and MR-H A (Differential driver) ............Appendix- 40 A (Differential driver) ..Appendix- 41 Appendix 4.3 Connection example of QD75D N and MR-J2/J2SAppendix 4.4 Connection example of QD75D N and MR-C A (Differential driver) ............Appendix- 42 Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. .......................................................................................................................................Appendix- 43 Appendix 5.1 Connection example of QD75P N and VEXTA UPD (Open collector) ..............Appendix- 43 Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation .......................................................................................................................................Appendix- 44 Appendix 6.1 Connection example of QD75D N and MINAS-A series (Differential driver) ....Appendix- 44 Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. .......................................................................................................................................Appendix- 45 Appendix 7.1 Connection example of QD75D N and PYO series (Differential driver) ............Appendix- 45 Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation .......................................................................................................................................Appendix- 46 Appendix 8.1 Connection example of QD75D N and - series (Differential driver) ..............Appendix- 46 Appendix 9 Comparisons with conventional positioning modules..................................................Appendix- 47 Appendix 9.1 Comparisons with A1SD71S2 model ....................................................................Appendix- 47 Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 48 Appendix 10 When using GX Works2 .............................................................................................Appendix- 71 Appendix 10.1 Adding a module ..................................................................................................Appendix- 72 Appendix 10.2 Setting parameters ..............................................................................................Appendix- 73 A - 15 Appendix 10.3 Setting auto refresh .............................................................................................Appendix- 78 Appendix 10.4 Positioning monitor ..............................................................................................Appendix- 79 Appendix 10.5 Positioning test.....................................................................................................Appendix- 89 Appendix 10.6 Wave trace .........................................................................................................Appendix- 97 Appendix 10.7 Location trace .....................................................................................................Appendix-100 Appendix 10.8 Parameter initialization function .........................................................................Appendix-103 Appendix 10.9 Execution data backup function .........................................................................Appendix-105 Appendix 10.10 External I/O signal logic switching function......................................................Appendix-107 Appendix 10.11 External I/O signal monitor function .................................................................Appendix-108 Appendix 10.12 History monitor function ....................................................................................Appendix-109 Appendix 10.13 Checking errors.................................................................................................Appendix-111 Appendix 11 MELSEC Explanation of positioning terms ...............................................................Appendix-115 Appendix 12 Positioning control troubleshooting ...........................................................................Appendix-135 Appendix 13 List of buffer memory addresses ...............................................................................Appendix-141 Appendix 14 External dimension drawing ......................................................................................Appendix-150 INDEX Index- 1 to Index- 12 A - 16 ABOUT MANUALS The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals Manual Number Manual Name (Model Code) GX Configurator-QP Version 2 Operating Manual Data creation (such as parameters and positioning data) and operations of transferring data to modules, positioning monitor, and tests using GX Configurator-QP .......................................... (sold separately)*1 GX Developer Version 8 Operating Manual Operating methods of GX Developer, such as programming, printing, monitoring, and debugging (sold separately) GX Works2 Version1 Operating Manual (Common) SH-080172 (13JU19) SH-080373E (13JU41) SH-080779ENG System configuration, parameter settings, and online operations (common to Simple project and (13JU63) Structured project) of GX Works2................................................................................. (sold separately) GX Works2 Version1 Operating Manual (Intelligent Function Module) SH-080921ENG Parameter settings, monitoring, and operations of the pre-defined protocol support function of intelligent (13JU69) function modules, using GX Works2 ............................................................................ (sold separately) 1: The manual is included in the CD-ROM of the software package in a PDF-format file. For users interested in buying the manual separately, a printed version is available. Please contact us with the manual number (model code) in the list above. USING THIS MANUAL The symbols used in this manual are shown below. Pr. ......... Symbol indicating positioning parameter and OPR parameter item. Da. ........ Symbol indicating positioning data, block start data and condition data item. Md. ........ Symbol indicating monitor data item. Cd. ........ Symbol indicating control data item. (A serial No. is inserted in the mark.) Representation of numerical values used in this manual. Buffer memory addresses, error codes and warning codes are represented in decimal. X/Y devices are represented in hexadecimal. Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" are represented in hexadecimal. (Example) 10......... Decimal 10H ...... Hexadecimal A - 17 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. • QCPU User's Manual (Hardware Design, Maintenance and Inspection) • Safety Guidelines (this manual is included with the CPU module or base unit) The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives. (2) Additional measures To ensure that this product maintains EMC and Low Voltage Directives, please refer to Section 4.3.1. GENERIC TERMS AND ABBREVIATIONS Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation CPU module Generic term for CPU module on which QD75 can be mounted. QD75 Generic term for positioning module QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N, QD75D4N, QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. The module type is described to indicate a specific module. QD75P N Generic term for positioning module QD75P1N, QD75P2N, QD75P4N. QD75D N Generic term for positioning module QD75D1N, QD75D2N, QD75D4N. QD75P Generic term for positioning module QD75P1, QD75P2, QD75P4. QD75D Generic term for positioning module QD75D1, QD75D2, QD75D4. Peripheral device Generic term for DOS/V personal computer that can run the following "GX Developer" and "GX Configurator-QP". GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later). GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later). GX Works2 Product name of the software package for the MELSEC programmable controllers. Drive unit (servo amplifier) Abbreviation for pulse input compatible drive unit (servo amplifier). Manual pulse generator DOS/V personal computer Abbreviation for manual pulse generator (prepared by user). ® IBM PC/AT and compatible DOS/V compliant personal computer. Personal computer Generic term for personal computer which supports Windows . Workpiece Generic term for moving body such as workpiece and tool, and for various control targets. ® Axis 1, axis 2, axis 3, axis 4 Indicates each axis connected to QD75. 1-axis, 2-axis, 3-axis, 4-axis Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2, axis 2 and axis 3, and axis 3 and axis 1.) A - 18 COMPONENT LIST The table below shows the component included in respective positioning modules: Module name Description Quantity QD75P1N QD75P1N Positioning Module(1-axis open collector output system) 1 QD75P2N QD75P2N Positioning Module(2-axes open collector output system) 1 QD75P4N QD75P4N Positioning Module(4-axes open collector output system) 1 QD75D1N Positioning Module(1-axis differential driver output system) 1 Differential driver common terminal 1 QD75D1N QD75D2N QD75D4N QD75D2N Positioning Module(2-axes differential driver output system) 1 Differential driver common terminal 1 QD75D4N Positioning Module(4-axes differential driver output system) 1 Differential driver common terminal 1 QD75P1 QD75P1 Positioning Module(1-axis open collector output system) 1 QD75P2 QD75P2 Positioning Module(2-axes open collector output system) 1 QD75P4 QD75D1 QD75D2 QD75D4 QD75P4 Positioning Module(4-axes open collector output system) 1 QD75D1 Positioning Module(1-axis differential driver output system) 1 Differential driver common terminal 1 QD75D2 Positioning Module(2-axes differential driver output system) 1 Differential driver common terminal 1 QD75D4 Positioning Module(4-axes differential driver output system) 1 Differential driver common terminal 1 A - 19 MEMO A - 20 PART 1 PART 1 PRODUCT SPECIFICATIONS AND HANDLING PART 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD75 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process Read PART 2 for details on each control. CHAPTER 1 CHAPTER 2 CHAPTER 3 CHAPTER 4 CHAPTER 5 CHAPTER 6 CHAPTER 7 PRODUCT OUTLINE ................................................................................. SYSTEM CONFIGURATION ..................................................................... SPECIFICATIONS AND FUNCTIONS ...................................................... INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT ... DATA USED FOR POSITIONING CONTROL.......................................... SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... MEMORY CONFIGURATION AND DATA PROCESS ............................ 1- 1 to 1- 24 2- 1 to 2- 10 3- 1 to 3- 30 4- 1 to 4- 16 5- 1 to 5-128 6- 1 to 6- 46 7- 1 to 7- 12 MEMO 1 CHAPTER 1 PRODUCT OUTLINE The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ...................................................................................................... 1- 2 1.1.1 Features of QD75 ......................................................................................... 1- 2 1.1.2 Purpose and applications of positioning control .......................................... 1- 5 1.1.3 Mechanism of positioning control ................................................................. 1- 7 1.1.4 Outline design of positioning system............................................................ 1- 9 1.1.5 Communicating signals between QD75 and each module .......................... 1- 12 1.2 Flow of system operation ............................................................................................ 1- 15 1.2.1 Flow of all processes ..................................................................................... 1- 15 1.2.2 Outline of starting ........................................................................................... 1- 18 1.2.3 Outline of stopping ......................................................................................... 1- 20 1.2.4 Outline of restarting........................................................................................ 1- 22 1.3 Restrictions on using a stepping motor ...................................................................... 1- 23 1.4 Function additions/modifications according to function version B ............................. 1- 23 1-1 1 PRODUCT OUTLINE MELSEC-Q 1.1 Positioning control 1.1.1 Features of QD75 The features of the QD75 are shown below. (1) Availability of one, two, and four axis modules (a) The pulse output types of the available modules are either the open collector output system or the differential driver output system. A module can be selected from the following depending on the drive unit type and the number of axes. (Refer to Section 2.2.) • Open collector output system: QD75P1N/QD75P2N/QD75P4N (QD75P1/QD75P2/QD75P4) • Differential driver output system: QD75D1N/QD75D2N/QD75D4N (QD75D1/QD75D2/QD75D4) (b) For connecting any of the QD75 modules to the base unit, a single slot and 32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the CPU module, up to 64 modules can be used. (Refer to Section 3.1.) (2) Wide variety of positioning control functions (a) A wide variety of positioning control functions essential to any positioning system are supported: positioning to an arbitrary position, fixed-feed control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.) 1) Up to 600 positioning data items, including such information as positioning addresses, control systems, and operation patterns, can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible.) 2) Independent control of each axis can be achieved in linear control mode (executable simultaneously over four axes). Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data. 3) Coordinated control over multiple axes can take the form of either the linear interpolation through the speed or position control of two to four axes or the circular interpolation involving two axes. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data. (b) For each positioning data, the user can specify any of the following control systems: position control, speed control, speed-position switching control, position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.) 1-2 1 PRODUCT OUTLINE (c) MELSEC-Q Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. (Refer to Section 10.3.2.) (d) OPR control is given additional features (Refer to Section 8.2.) 1) Six different machine OPR methods are provided: near point dog method (one method), stopper methods (three methods), and count methods (two methods). 2) OPR retry function facilitates the machine OPR control from an arbitrary position. (The machine OP a premier reference position for positioning control. The machine is set to the machine OP through one of the machine OPR methods mentioned in 1) above.) (e) Two acceleration/deceleration control methods are provided: trapezoidal acceleration/deceleration and S-curve acceleration/deceleration. (Refer to Section 12.7.6.) (Note that there is a restriction on executing the S-curve acceleration/deceleration for the system using stepping motors. Refer to Section 1.3.) (3) Quick startup (Refer to Section 3.1.) The processing time to start the positioning operation is shortened. QD75P N/QD75D N: 1.5ms (QD75P /QD75D : 6ms) When operation using simultaneous start function or interpolation operation is executed, the axes start without delay. (Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and simultaneous start function Axis 3 start Axis 2 and Axis 4 are started by the : No delay in Axis 2 and interpolation operation Axis 4 start (4) Faster pulse output and allowance of longer distance to drive unit (Refer to Section 3.1.) The modules with a differential driver (QD75D N (QD75D )) incorporate the improvements in pulse output speed and maximum distance to the drive unit. • QD75D N: 4Mpulse/s, 10m max. (QD75D : 1Mpulse/s, 10m max.) • QD75P N: 200kpulse/s, 2m max. (QD75P : 200kpulse/s, 2m max.) (5) Easy maintenance Each QD75 positioning module incorporates the following improvements in maintainability: (a) Data such as the positioning data and parameters can be stored on a flash ROM inside the QD75, eliminating the need of a battery for retaining data. (Refer to Section 7.1.1.) (b) Error messages are classified in more detail to facilitate the initial troubleshooting procedure. (Refer to Section 15.1.) (c) The module retains 16 error messages and 16 warning messages recently output, offering more complete error and warning histories. (Refer to Section 5.6.1.) 1-3 1 PRODUCT OUTLINE (6) MELSEC-Q Support of intelligent function module dedicated instructions Dedicated instructions such as the absolute position restoration instruction, positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies sequence programs. (Refer to CHAPTER 14.) (7) Setups, monitoring, and testing through GX Configurator-QP Using GX Configurator-QP, the user can control the QD75 parameters and positioning data without having to be conscious of the buffer memory addresses. Moreover, GX Configurator-QP has a test function which allows the user to check the wiring before creating a sequence program for positioning control, or test operation the QD75 using created parameters and positioning data for checking their integrity. The control monitor function of GX Configurator-QP allows the user to debug programs efficiently. 1-4 1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning) Y axis servomotor Gear and ball screw Y axis X axis 320mm 15m/min (2000r/min) 160mm Y axis 15m/min (1875r/min) Press punching 12s Press head To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos. After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is then punched with the press. X axis Gear and rack & pinion Servo amplifier When the material type or shape changes, the X axis servomotor QD75 press head die is changed, and the positioning pattern is changed. Servo amplifier X axis Y axis Palletizer Conveyor control Using the servo for one axis, the palletizer is Conveyor positioned at a high accuracy. The amount to lower the palletizer according to Servomotor (with brakes) the material thickness is saved. Position detector Servo amplifier Reduction gears Ball screw (From QD75) Palletizer Unloader control QD75 Compact machining center (ATC magazine positioning) The ATC tool magazine for a compact Servomotor Coupling machining center is positioned. The relation of the magazine's current value Reduction gears ATC tool magazine and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time. Servo amplifier Positioning pin QD75 Tool (12 pcs., 20 pcs.) Rotation direction for calling 11, 12, 1, 2 or 3 Current value retrieval position Rotation direction for calling 17 to 20, 1 to 5 Current value retrieval position Rotation direction Rotation direction for calling for calling 7 to 16 5, 6, 7, 8, 9 or 101-5 1 PRODUCT OUTLINE MELSEC-Q Lifter (Storage of Braun tubes onto aging rack) During the aging process of braun tubes, Unloader storage onto the rack is carried out by positioning with the AC servo. Loader/unloader The up/down positioning of the lifter is carried B conveyor Aging rack Lifter C conveyor Servo amplifier Counterweight out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo. A conveyor Reduction gears QD75 Loader Servomotor Servomotor (with brakes) Servo amplifier Index table (High-accuracy indexing of angle) The index table is positioned at a high accuracy QD75 using the 1-axis servo. Digital switch Servo amplifier Index table Detector Servomotor Worm gears Inner surface grinder Servomotor Motor The grinding of the workpiece's inner surface Inverter QD75 The rotation of the workpiece is controlled with Motor Servo amplifier 220VAC 60Hz is controlled with the servo and inverter. Workpiece Grinding stone the 1-axis inverter, and the rotation of the grinding stone is controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo. Inverter Fix the grinding stone, feed the workpiece, and grind. Operation panel a. Total feed d. Rough grindamount ( m) ing speed ( m/s) b. Finishing e. Fine grinding feed amount ( m) speed ( m/s) c. Compensation amount ( m) 1-6 1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Mechanism of positioning control Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a module that generates pulses). In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the CPU module. Stores the created program. Creates control order and conditions as a sequence program. GX Developer The QD75 outputs the start signal and stop signal following the stored program. QD75 errors, etc., are detected. CPU module Outputs signals such as the start signal, stop signal, limit signal and control changeover signal to the QD75. GX Configurator -QP External signal QD75 positioning module Issues commands by transmitting pulses. Manual pulse generator Sets the parameters and positioning data for control. Stores the parameter and data. Outputs the start command for JOG operation, etc., during test operation with the test mode. Outputs pulses to the servo according to the instructions from the CPU module, GX Configurator-QP, external signals and manual pulse generator. Monitors the positioning operation. Servo amplifier Receives pulse commands from QD75, and drives the motor. Outputs the drive unit READY signal and zero signal to the QD75. Motor Carries out the actual work according to commands from the servo. Workpiece 1-7 1 PRODUCT OUTLINE MELSEC-Q The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance Total No. of pulses = Movement amount of machine (load) required to move designated distance side when motor rotates once No. of pulses required for motor to rotate once The No. of pulses required for the motor to rotate once is the "encoder resolution" described in the motor catalog specification list. When this total No. of pulses is issued from the QD75 to the servo amplifier, control to move the designated distance can be executed. The machine side movement amount when one pulse is issued to the servo amplifier is called the "movement amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning precision. Speed control The "Total No. of pulses" mentioned above is invariably required for controlling the distance. For positioning or speed control, the speed must be controlled as well. The speed is determined by the frequency of pulses sent from the QD75 to the drive unit. A Pulse frequency This area is the total [pps] No. of commanded pulses. ta 0.4 td (s) 1.2 0.4 Movement amount t = 2 Fig. 1.1 Relationship between position control and speed control POINT The QD75 controls the position with the "total No. of pulses", and the speed with the "pulse frequency". 1-8 1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the QD75, is shown below. (1) Positioning system using QD75 CPU module Program Read, write, etc. Setting data Peripheral devices interface Drive unit Positioning module QD75 Forward run pulse train Reverse run pulse train Deviation counter Speed command D/A converter Servomotor Servo amplifier M Interface Read, write, etc. Feedback pulse PLG Read, write, etc. GX Configurator-QP Fig. 1.2 Outline of the operation of positioning system using QD75 (a) Positioning operation by the QD75 1) The QD75 output is a pulse train. The pulse train output by the QD75 is counted by and stored in the deviation counter in the drive unit. The D/A converter outputs an analog DC current proportionate to the count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal. 2) The motor rotation is controlled by the speed control signal from the drive unit. As the motor rotates, the pulse encoder (PLG) attached to the motor generates feedback pulses, the frequency of which is proportionate to the rotation speed. The feedback pulses are fed back to the drive unit and decrements the pulse droop, the pulse count maintained by the deviation counter. The motor keeps on rotating as the pulse droop is maintained at a certain level. 3) When the QD75 terminates the output of a pulse train, the motor decelerates as the pulse droop decreases and stops when the count drops to zero. Thus, the motor rotation speed is proportionate to the pulse frequency, while the overall motor rotation angle is proportionate to the total number of pulses output by the QD75. Therefore, when a movement amount per pulse is given, the overall movement amount can be determined by the number of pulses in the pulse train. The pulse frequency, on the other hand, determines the motor rotation speed (feed speed). 1-9 1 PRODUCT OUTLINE MELSEC-Q (b) Pulse train output from the QD75 1) As shown in Fig. 1.3, the pulse frequency increases as the motor accelerates. The pulses are sparse when the motor starts and more frequent when the motor speed comes close to the target speed. 2) The pulse frequency stabilizes when the motor speed equals the target speed. 3) The QD75 decreases the pulse frequency (sparser pulses) to decelerate the motor before it finally stops the output. There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the motor. This difference, called "the stop settling time", is required for gaining a stopping accuracy. Servomotor speed Speed V Pulse droop Pulse amount distribution Acceleration Deceleration Time t Stop settling time Pulse train Rough Dense Rough Fig. 1.3 QD75 output pulses (2) Movement amount and speed in a system using worm gears V Workpiece Worm gear Pulse encoder (PLG) R Table Servomotor P0 L P A Vs n L R V N K : : : : : : : : : P0 : P : Movement amount per pulse (mm/pulse) Command pulse frequency (pulse/s) Pulse encoder resolution (pulse/rev) Worm gear lead (mm/rev) Deceleration ratio Movable section speed (mm/s) Motor speed (r/min) Position loop gain (1/s) Deviation counter droop pulse amount OP (pulse) Address (pulse) Fig. 1.4 System using worm gears 1 - 10 1 PRODUCT OUTLINE MELSEC-Q (a) In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulse amount are determined as follows: 1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse). A= L R n [mm/pulse] 2) Command pulse frequency The command pulse frequency is determined by the speed of the moving part and movement amount per pulse: Vs = V A [pulse/s] 3) Deviation counter droop pulse amount. The deviation counter droop pulse amount is determined by the command pulse frequency and position loop gain. = Vs K [pulse] (b) The QD75 allows the user to select from the following four units as the unit used by positioning commands to any of the axes (1 to 4, if the module supports four axes): mm, inch, degree, and pulse. The unit selected for one axis may differ from the unit selected for another axis. When such data as the acceleration/deceleration time, positioning speed, and positioning address are correctly set in consideration of the chosen unit, the QD75 can calculate the number of pulses required for a movement amount to the target positioning address and execute the positioning by outputting a pulse train that includes the calculated number of pulses. 1 - 11 1 PRODUCT OUTLINE MELSEC-Q 1.1.5 Communicating signals between QD75 and each module The outline of the signal communication between the QD75 and CPU module, peripheral device and drive unit, etc., is shown below. (A peripheral device communicates with the QD75 via the CPU module to which it is connected) 1 - 12 1 PRODUCT OUTLINE QD75 MELSEC-Q CPU module The QD75 and CPU module communicate the following data via the base unit. Direction Communication QD75 CPU module CPU module QD75 Control signal Signal indicating QD75 state, such as QD75 READY signal, BUSY signal. Signal related to commands such as PLC READY signal, various start signals, stop signals Data (read/write) • Parameter • Positioning data • Block start data • Control data • Monitor data • Parameter • Positioning data • Block start data • Control data Refer to Section 3.3 "Specifications of input/output signals with CPU module " for details. QD75 Peripheral device The QD75 and peripheral device communicate the following data via the CPU module: Direction Communication QD75 Peripheral device • Parameter • Positioning data • Block start data Data (read/write) Test operation • Monitor data QD75 QD75 • Parameter • Positioning data • Block start data – Operation monitor Peripheral device • OPR control start command • Positioning control start command • JOG/Inching operation start command • Teaching start command • Manual pulse generator operation enable/disable command – Drive unit The QD75 and drive unit communicate the following data via the external device connection connector. Direction QD75 Communication Drive unit Control signal Signals related to commands such as deviation counter clear signal Pulse train • Pulse train output QD75 Drive unit QD75 Signals indicating drive unit state such as drive unit READY signal – Manual pulse generator The QD75 and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.) Direction Communication Pulse signal QD75 Manual pulse generator – 1 - 13 Manual pulse generator QD75 Manual pulse generator A-phase, manual pulse generator B-phase 1 PRODUCT OUTLINE QD75 MELSEC-Q External signal The QD75 and external signal communicate the following data via the external device connection connector. Direction Communication QD75 External signal External signal QD75 Signals from detector such as near-point Control signal – dog signal, upper/lower limit signal, zero signal Control signals from external device such as stop signal, external command signal 1 - 14 1 PRODUCT OUTLINE MELSEC-Q 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75, are shown below. QD75 GX Configurator-QP 1) Design Servo, etc. CPU module GX Developer Understand the functions and performance, and determine the positioning operation method (system design) 2) Installation, wiring 3) 4) Setting of the: • Parameters • Positioning data • Block start data • Condition data Creation of sequence program for operation Refer to (Note) Preparation 5) Writing of setting data 7) Connection confirmation Monitoring with test operation, and debugging of setting data Operation Monitor 6) Test operation 9) Writing of program 8) Monitoring and debugging of operation program Monitor Actual operation (Note) 10) Maintenance 11) Disposal Maintenance 1 - 15 When not using GX Configurator -QP, carry out setting, monitoring and debugging of the data in 3) with GX Developer. 1 PRODUCT OUTLINE MELSEC-Q The following work is carried out with the processes shown on the previous page. Details Reference Understand the product functions and usage methods, the configuration devices 1) and specifications required for positioning control, and design the system. 2) Install the QD75 onto the base unit, wire the QD75 and external connection devices (drive unit, etc.). Using GX Configurator-QP, set the parameters, positioning data, block start data 3) and condition data required for the positioning control to be executed. 1 CHAPTER 1 CHAPTER 2 CHAPTER 3 CHAPTER 8 to CHAPTER 13 CHAPTER 4 CHAPTER 5 CHAPTER 8 to CHAPTER 13 GX Configurator-QP Operating Manual Using GX Developer, create the sequence program required for positioning 4) operation. (When not using GX Configurator-QP, also create the sequence program for setting data.) 5) CHAPTER 6 GX Developer Operating Manual CHAPTER 7 Write the parameters and positioning data, etc., created with GX Configurator-QP GX Configurator-QP into the QD75. Operating Manual Using GX Developer, write the created sequence program into the CPU module. 6) (When not using GX Configurator-QP, also write in the sequence program for setting data.) CHAPTER 7 GX Developer Operating Manual GX Configurator-QP Carry out test operation and adjustments in the test mode to check the connection Operating Manual with the QD75 and external connection device, and to confirm that the designated CHAPTER 13 7) positioning operation is executed correctly. (Debug the set "parameters" and GX Developer Operating "positioning data", etc.) Manual Carry out test operation and adjustment to confirm that the designated positioning GX Developer Operating 8) operation is executed correctly. (Debug the created sequence program. When not Manual using GX Configurator-QP, also debug the set data.) CHAPTER 5 CHAPTER 15 9) Actually operate the positioning operation. At this time, monitor the operation state GX Configurator-QP as required. If an error or warning occurs, remedy. Operating Manual GX Developer Operating Manual 10) Service the QD75 as required. CHAPTER 4 11) Dispose of the QD75. CHAPTER 4 1: When setting the QD75P N/QD75D N using GX Configurator-QP, there are restrictions on the setting ranges of some items. (Refer to Appendix 1.2.) 1 - 16 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 17 1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation Setting of hardware Major positioning control High-level positioning control •Position control •Speed control •Speed-position switching control •Position-speed switching control •Other control •Block start (Normal start) •Condition start •Wait start •Simultaneous start •Repeated start Positioning parameters •Manual pulse generator operation Pr.1 to Pr.42 , Pr.150 ) Set the OPR parameters. Pr.43 to Pr.57 ) Set the positioning data. ) Da.1 to Da.10 ) Set the block start data. Da.11 to Da.19 ) Cd.3 ) Cd.17 ) ) Set the positioning starting point No. ) ) ) Input the start signal. Method (1) Turn ON the QD75 start signal from the CPU module Method (2) Issue the Z.PSTRT instruction from the CPU module Method (3) Turn the QD75 external start signal ON Control start Operation Control end Cd.21 ) Set the inching movement amount to other than 0. Cd.4 ) Set the inching movement amount to 0. Start signal Set the manual pulse generator enable flag to "1". Set the JOG speed. Stop 1 - 18 Cd.16 ) Set the manual pulse generator 1 pulse input magnification. Cd.16 ) Turn the QD75 JOG start signal ON from the CPU module ) ) Set the positioning start No. ) ) Control data •Inching operation •Fast OPR control ) Block start data •JOG operation •Machine OPR control Set the positioning parameters. OPR parameters Positioning data Manual control OPR control ) Control functions Cd.20 ) Operate the manual pulse generator 1 PRODUCT OUTLINE MELSEC-Q Setting method : Indicates the sequence program that must be created. Set with GX Configurator-QP Write Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. QD75 Create sequence program for setting data Write CPU module Write When set with "GX Configurator-QP", this does not need to be created. Create sequence program for executing main function Create sequence program for outputting control signals, such as start signal, to QD75. Operation sequence program • Speed change • Current value changing • Torque limit • Restart, etc. Create a sequence program for the sub functions. 1 - 19 Write CPU module 1 PRODUCT OUTLINE MELSEC-Q 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the drive unit READY signal is turned OFF. When a CPU module error occurs When the PLC READY signal is turned OFF. When an error occurs in the QD75. When control is intentionally stopped (Stop signal from CPU module turned ON, stop signal from an external device, etc.) The outline for the stopping process in these cases is shown below. (Excluding (1) for normal stopping.) Stop cause Forced stop Drive unit READY signal OFF Hardware stroke limit Fatal stop upper/lower (Stop group 1) limit error occurrence CPU module error occurrence Stop process Axis operation OPR control Manual control M code status Stop Major High-level Manual ON signal after Machine Fast positioning positioning JOG/ axis pulse after stop stopping OPR OPR control Inching control generator operation ( Md.26 ) control control operation Each No axis change Error Immediate stop Deceleration stop Each No axis change Error Deceleration stop/sudden stop (Select with " Pr.37 Stop group 1 sudden stop selection") Deceleration stop Error Deceleration stop/sudden stop (Select with " Pr.38 Stop group 2 sudden stop selection") Deceleration stop Deceleration stop/sudden stop (Select with " Pr.39 Stop group 3 sudden stop selection") Deceleration stop No change Emergency All PLC READY Turns stop axes OFF (Stop group 2) signal OFF Error in test mode No change Axis error detection Relatively safe (Error other Each No stop axis change than stop (Stop group 3) group 1 or 2) 1 Error "Stop signal" ON from external source "Axis stop Intentional stop signal" ON (Stop group 3) from CPU module Each No axis change Stopped (Standby) "Stop signal" input from peripheral device 2 1 - 20 1 PRODUCT OUTLINE MELSEC-Q 1: When multiple positioning data is executed by the continuous positioning control and there is invalid setting value in a positioning data, an error occurs and deceleration is performed at the previous positioning data. In this case, sudden stop is not performed even when it is set for the stop group 3. If any of the following error occurs, the operation is immediately stopped after executing up to previous positioning data of the positioning data where an error occurred. • No command speed (error code: 503) • Outside linear movement amount range (error code: 504) • Large arc error deviation (error code: 506) • Software stroke limit + (error code: 507) • Software stroke limit - (error code: 508) • Sub point setting error (error code: 525) • End point setting error (error code: 526) • Center point setting error (error code: 527) • Outside radius range (error code: 544) • Illegal setting of ABS direction in unit of degree (error code: 546) 2: This means the stop using a stop button on the test dialog box when using the positioning test function of GX Works2 or test function of GX Configurator-QP. 1 - 21 1 PRODUCT OUTLINE MELSEC-Q 1.2.4 Outline of restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.6 Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No. associated with the moment when the movement was interrupted) as the start point. When " Cd.6 Restart command" is ON (1) If the " Md.26 Axis operation status" is "Stopped", positioning to the end point of the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system. (2) When " Md.26 Axis operation status" is not "Stopped", the warning "Restart not possible" (warning code: 104) will be applied, and the restart command will be ignored. [Example for incremental system] (a) The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is shown below. Axis 1 400 Axis 1 Stop position due to stop cause Designated end Start point point position address Restart 400 Stop position due to stop cause Stop position after restart 200 200 Operation during restart 100 100 100 300 Axis 2 700 100 300 Axis 2 700 Reference If the positioning start signal [Y10 to Y13]/external command signal is turned ON while the " Md.26 Axis operation status" is "Standby" or "Stopped", positioning will be restarted from the start of the positioning start data regardless of the absolute system or incremental system. ( : When the external command signal is set to "External positioning start") (Same as normal positioning.) [Example for incremental system] (a) The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below. Axis 1 Axis 1 Stop position due to stop cause 500 Stop position due to stop cause Designated end 400 Start point point position address 200 Positioning start 200 Operation during positioning start 100 100 100 300 700 Axis 2 1 - 22 Stop position after restart 100 300 900 Axis 2 1 PRODUCT OUTLINE MELSEC-Q 1.3 Restrictions on using a stepping motor Note the following restrictions on using a stepping motor: (1) For an axis where a stepping motor is connected, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur. (2) The circular interpolation control cannot be used for an axis where a stepping motor is connected. Although setting the bias speed at start is required by the characteristics of the stepping motor, the setting of the bias speed at start is disabled for circular interpolation control. Therefore, when using the circular interpolation control, use servomotors for both two axes. (3) The backlash compensation function cannot be used for an axis where a stepping motor is connected. If the function is used, the motor may lose steps. 1.4 Function additions/modifications according to function version B POINT When it is desired to check the following items, refer to the corresponding explanation sections. How to check the function version and SERIAL No. (Refer to Section 2.4) The following function additions/modifications according to the function version B of the QD75: Function Outline Reference Multiple CPU compatible function Refer to QCPU User's Manual (Multiple CPU System). Speed-position switching control (ABS mode) Function which starts the axis under speed control, switches to position control at the external command signal input, then positions the axis to a stop at the designated address. Section 9.2.17 Pre-reading start function Function which shortens virtual start time. Section 12.7.7 External I/O signal monitor function Function which monitors the external I/O signal monitor information in the module's detailed information which Section 13.5 can be displayed on the system monitor of GX Developer 1. Deceleration start flag function Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". 2 Stop command processing for deceleration stop function 3 Section 12.7.8 Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to Section 12.7.9 speed 0. 1: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual. For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common). 2: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "03042" or later. 3: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "05072" or later. 1 - 23 1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 24 2 CHAPTER 2 SYSTEM CONFIGURATION In this chapter, the general image of the system configuration of the positioning control using QD75, the configuration devices, applicable CPU and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 2.2 2.3 2.4 General image of system ........................................................................................... 2Configuration list ......................................................................................................... 2Applicable system....................................................................................................... 2How to check the function version and SERIAL No. ................................................. 2- 2-1 2 4 6 8 2 SYSTEM CONFIGURATION MELSEC-Q 2.1 General image of system The general image of the system, including the QD75, CPU module and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list". Main base unit Extension cable 2 Positioning module 1 CPU module I/O module 1 5 Extension system USB cable 4 RS-232 cable REMARK 1 Refer to Section 2.3 "Applicable system" for the CPU modules that can be used. 2 Refer to the CPU module User's Manual for the base units that can be used. 2-2 2 SYSTEM CONFIGURATION MELSEC-Q 6 Drive unit Motor Manual pulse generator 7 8 Cable Machine system inputs (switches) Near point dog Limit switch External command signal Stop signal Peripheral device Personal computer 2 3 GX Configurator -QP SWnD5C -QD75P-E (For details, refer to GX Configurator -QP Operating Manual.) 2-3 2 SYSTEM CONFIGURATION MELSEC-Q 2.2 Configuration list The positioning system using the QD75 is configured of the following devices. No. 1 2 3 4 Part name Positioning module Type QD75P1N QD75P2N QD75P4N QD75D1N QD75D2N QD75D4N QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4 Remarks QD75 No. of control axes P: Open collector output system D: Differential driver output system Refer to Appendix 1.2 for differences between QD75P N/QD75D N and QD75P /QD75D . GX Configurator-QP SW D5CQD75P-E Refer to GX Configurator-QP Operating Manual for details. Personal computer Personal computer which supports ® Windows . (Prepared by user) Refer to GX Configurator-QP Operating Manual for details. QC30R2 (Prepared by user) An RS-232 cable is needed for connecting the CPU module with a personal computer. For details, refer to GX Configurator-QP Operating Manual. RS-232 cable 5 USB cable – (Prepared by user) A USB cable is needed for connecting the CPU module with a personal computer. For details, refer to GX Configurator-QP Operating Manual. 6 Drive unit – (Prepared by user) 7 Manual pulse generator – (Prepared by user) Recommended: MR-HDP01 (Mitsubishi Electric) 8 Connection cable (For connecting between the QD75 and the drive unit) – (Prepared by user) Cables are needed to connect the QD75 with the drive unit, manual pulse generator, and input devices in the machine system. (Prepare them referring to the manuals for the connected devices and information given in 3.4.2 of this manual.) 2-4 2 SYSTEM CONFIGURATION MELSEC-Q Specifications of recommended manual pulse generator Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4) Output method Voltage-output (power supply voltage -1V or more), Output current Max. 20mA *1 Power supply voltage 4.5 to 13.2VDC Current consumption 60mA *1 Output level "H" level: power supply voltage -1V or more (in no-load) "L" level: 0.5V or less (with maximum leading-in) Life time 100 revolutions (at 200r/min) Radial load: Max. 19.6N Permitted axial loads Thrust load: Max. 9.8N Operation temperature -10 to 60 Weight (14 to 140 ) 0.4 (0.88) [kg(lb)] Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min Pulse signal status 2 signals: A phase, B phase, 90 phase difference Start friction torque 0.06N·m (at 20 (68 )) 1: Use the stabilized power supply of 4.5 to 6.1 VDC for the power supply of the manual pulse generator. 2-5 2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD75 can be used in the following system. (1) Applicable modules and base units, and No. of modules (a) When mounted with a CPU module For the CPU modules, the number of modules, and base units applicable to the QD75, refer to the user's manual for the CPU modules used. Check the following when the QD75 is mounted with the CPU module. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the modules. Mount a module within the number of I/O points for the CPU module. If the number of slots is within the available range, the module can be mounted on any slot. REMARK To use a C Controller module with the QD75, refer to C Controller Module User's Manual. (b) Mounting to a MELSECNET/H remote I/O station For the MELSECNET/H remote I/O station, the number of modules, and base units applicable to the QD75, refer to the Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network). (2) Compatibility with multiple CPU system When using the QD75 in a multiple CPU system, refer to the QCPU User's Manual (Multiple CPU System). 2-6 2 SYSTEM CONFIGURATION MELSEC-Q (3) Supported software packages The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer or GX Works2 is required for use of the QD75. Software version GX Developer Q00J/Q00/Q01CPU Q02/Q02H/Q06H/ Q12H/Q25HCPU Q02PH/Q06PHCPU Q12PH/Q25PHCPU Q02U/Q03UD/ Q04UDH/ Q06UDHCPU Q13UDH/Q26UDH/ Q03UDE/Q04UDEH/ Q06UDEH/Q13UDEH/ Q26UDEHCPU Q00U/Q00UJ/Q01U/Q 10UDH/Q20UDH/ Q10UDEH/ Q20UDEHCPU Single CPU system Version 7 or later Multiple CPU system Version 8 or later Single CPU system Version 4 or later Multiple CPU system Version 6 or later Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system CPU modules other than above *1 GX Configurator-QP GX Works2 Version 2.10L or later Version 2.00A or later Version 8.68W or later Version 2.29F or later Version 7.10L or later Version 2.13P or later Version 8.48A or later Version 2.25B or later Version 8.68W or later Version 2.29F or later Version 8.76E or later Version 2.32J or later Not supported Not supported Refer to GX Works2 Version 1 Operating Manual (Common). For use on MELSECNET/H remote I/O Version 6 or later Version 2.00A or later station 1: To use the QD75P N/QD75D N with GX Configurator-QP, select the QD75P /QD75D as the model name. The QD75P N/QD75D N can be used in the same manner as the QD75P /QD75D ; the setting ranges are the same. Therefore, a speed exceeding 1000000pulse/s cannot be set in some items. (Refer to Appendix 1.2) POINT When using GX Works2, refer to the following: GX Works2 Version 1 Operating Manual (Common) GX Works2 Version 1 Operating Manual (Intelligent Function Module) 2-7 2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and SERIAL No. (1) Confirming the serial number on the rating plate The rating plate is situated on the side face of the QD75. Serial number (The first six digits) Function version 100113 Relevant regulation standards (2) Checking on the front of the module The serial No. on the rating plate is also indicated on the front of the module (lower part). 100113000000000-B Function version Serial No. 2-8 2 SYSTEM CONFIGURATION MELSEC-Q (3) Confirming the serial number with software Check the function version and SERIAL No. in "Product information" displayed on System monitor "Module's Detailed Information" of GX Developer or on "OS *1 information" of GX Configurator-QP (a) Checking on the System monitor (Product Information List) screen [System monitor] and click To open the screen, select [Diagnostics] the Product Information List button in GX Developer. Serial Function number version Product number [Production No. display] Since the QD75 does not support the production number display, "-" is displayed. POINT The serial No. on the rating plate may be different from the serial No. displayed on the product information screen of GX Developer. The serial No. on the rating plate indicates the management information of the product. The serial No. displayed on the product information screen of GX Developer indicates the function information of the product. The function information of the product is updated when a new function is added. (b) Checking with GX Configurator-QP 100113000000000 SERIAL No. Function version 1: For details, refer to GX Configurator-QP Operating Manual. 2-9 2 SYSTEM CONFIGURATION MELSEC-Q MEMO 2 - 10 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS The various specifications of the QD75 are explained in this chapter. The "Performance specifications", "List of functions", "Specifications of input/output signals with CPU module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system. 3.1 Performance specifications ........................................................................................ 3- 2 3.2 List of functions ......................................................................................................... 3- 6 3.2.1 QD75 control functions ................................................................................. 3- 6 3.2.2 QD75 main functions .................................................................................... 3- 8 3.2.3 QD75 sub functions and common functions ................................................. 3- 10 3.2.4 Combination of QD75 main functions and sub functions ............................. 3- 14 3.3 Specifications of input/output signals with CPU module ............................................ 3- 16 3.3.1 List of input/output signals with CPU module ............................................... 3- 16 3.3.2 Details of input signals (QD75 3.3.3 Details of output signals (CPU module CPU module) ......................................... 3- 17 QD75) ....................................... 3- 18 3.4 Specifications of input/output interfaces with external devices .................................. 3- 19 3.4.1 Electrical specifications of input/output signals............................................. 3- 19 3.4.2 Signal layout for external device connection connector ............................... 3- 25 3.4.3 List of input/output signal details ................................................................... 3- 26 3.4.4 Input/output interface internal circuit ............................................................. 3- 28 3-1 3 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.1 Performance specifications QD75P N/QD75D N Model Item No. of control axes Interpolation function Control system Control unit Positioning data Backup Positioning system Positioning range Positioning Speed command Acceleration/ deceleration process Acceleration/ deceleration time Sudden stop deceleration time QD75P1N QD75D1N 1 axis 1 QD75P2N QD75D2N 2 axes 1 QD75P4N 1 QD75D4N 4 axes 2-, 3-, or 4-axis linear 2-axis linear interpolation None interpolation 2-axis circular interpolation 2-axis circular interpolation PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speedposition switching control, position-speed switching control mm, inch, degree, pulse 600 data /axis (Can be set with peripheral device or sequence program.) Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system 2 Position-speed switching control: Incremental system Path control: Incremental system/absolute system In absolute system • –214748364.8 to 214748364.7 (µm) • –21474.83648 to 21474.83647 (inch) • 0 to 359.99999 (degree) • –2147483648 to 2147483647 (pulse) In incremental system • –214748364.8 to 214748364.7 (µm) • –21474.83648 to 21474.83647 (inch) • –21474.83648 to 21474.83647 (degree) • –2147483648 to 2147483647 (pulse) In speed-position switching control (INC mode) / position-speed switching control • 0 to 214748364.7 (µm) • 0 to 21474.83647 (inch) • 0 to 21474.83647 (degree) • 0 to 2147483647 (pulse) In speed-position switching control (ABS mode) 2 • 0 to 359.99999 (degree) 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min) 1 to 4000000 (pulse/s) Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration 1 to 8388608 (ms) Four patterns can be set for each of acceleration time and deceleration time 1 to 8388608 (ms) 1: QD75P N represents the open collector output system, and QD75D N represents the differential driver output system. 2: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to Section 9.2.17 "Speedposition switching control (ABS mode)". 3-2 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Model QD75P1N 1 QD75P2N QD75D1N QD75D2N 1-axis linear control 1-axis speed control 2-axis linear interpolation control (Composite speed) 2-axis linear interpolation control (Reference axis speed) 2-axis circular interpolation control Starting time 3 2-axis speed control 3-axis linear interpolation control (Composite speed) 3-axis linear interpolation control (Reference axis speed) 3-axis speed control 4-axis linear interpolation control 4-axis speed control External wiring connection system 40-pin connector 1 QD75P4N 1 QD75D4N Item Applicable wire size 0.3mm2 (22AWG) (for A6CON1 or A6CON4), 0.088 to 0.24mm2 (28 to 24AWG) (for A6CON2) Applicable connector for external device A6CON1, A6CON2, A6CON4 (sold separately) 1.5ms 1.5ms Factors in starting time extension 1.5ms The following times will be added to the starting time in the described 1.5ms conditions: • S-curve acceleration/ 2.0ms deceleration is selected: 0.1ms 1.5ms • Other axis is in 1.7ms operation: 0.5ms 1.7ms • During continuous positioning control: 0.3ms 1.7ms • During continuous path 1.8ms control: 0.3ms 1.8ms QD75P1N, QD75P2N, QD75P4N: 200kpps QD75D1N, QD75D2N, QD75D4N: 4Mpps Max. connection distance between QD75P1N, QD75P2N, QD75P4N: 2m servos QD75D1N, QD75D2N, QD75D4N: 10m QD75P1N: 0.29A QD75P2N: 0.30A Internal current consumption QD75D1N: 0.43A QD75D2N: 0.45A (5VDC) Max. output pulse Flash ROM write count No. of occupied I/O points Outline dimensions Weight Max. 100000 times 32 points (I/O assignment: intelligent 32 points) 98 (H) 27.4 (W) 90 (D) mm QD75P1N: 0.14kg QD75P2N: 0.14kg QD75D1N: 0.15kg QD75D2N: 0.15kg QD75P4N: 0.36A QD75D4N: 0.66A QD75P4N: 0.16kg QD75D4N: 0.16kg 1: QD75P N represents the open collector output system, and QD75D N represents the differential driver output system. 3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.7 "Pre-reading start function". 3-3 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q QD75P /QD75D Model Item No. of control axes Interpolation function Control system Control unit Positioning data Backup Positioning system Positioning range Positioning Speed command Acceleration/ deceleration process Acceleration/ deceleration time Sudden stop deceleration time QD75P1 QD75D1 1 axis 1 QD75P2 QD75D2 2 axes 1 QD75P4 1 QD75D4 4 axes 2-, 3-, or 4-axis linear 2-axis linear interpolation None interpolation 2-axis circular interpolation 2-axis circular interpolation PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speedposition switching control, position-speed switching control mm, inch, degree, pulse 600 data /axis (Can be set with peripheral device or sequence program.) Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system 2 Position-speed switching control: Incremental system Path control: Incremental system/absolute system In absolute system • –214748364.8 to 214748364.7 (µm) • –21474.83648 to 21474.83647 (inch) • 0 to 359.99999 (degree) • –2147483648 to 2147483647 (pulse) In incremental system • –214748364.8 to 214748364.7 (µm) • –21474.83648 to 21474.83647 (inch) • –21474.83648 to 21474.83647 (degree) • –2147483648 to 2147483647 (pulse) In speed-position switching control (INC mode) / position-speed switching control • 0 to 214748364.7 (µm) • 0 to 21474.83647 (inch) • 0 to 21474.83647 (degree) • 0 to 2147483647 (pulse) In speed-position switching control (ABS mode) 2 • 0 to 359.99999 (degree) 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min) 1 to 1000000 (pulse/s) Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration 1 to 8388608 (ms) Four patterns can be set for each of acceleration time and deceleration time 1 to 8388608 (ms) 1: QD75P represents the open collector output system, and QD75D represents the differential driver output system. 2: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to Section 9.2.17 "Speedposition switching control (ABS mode)". 3-4 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Model QD75P1 1 QD75P2 1 QD75D1 QD75D2 1-axis linear control 1-axis speed control 2-axis linear interpolation control (Composite speed) 2-axis linear interpolation control (Reference axis speed) 2-axis circular interpolation control 2-axis speed control Starting time 3 3-axis linear interpolation control (Composite speed) 3-axis linear interpolation control (Reference axis speed) 3-axis speed control 4-axis linear interpolation control 4-axis speed control External wiring connection system 40-pin connector Item Applicable wire size 0.3mm2 (22AWG) (for A6CON1 or A6CON4), 0.088 to 0.24mm2 (28 to 24AWG) (for A6CON2) Applicable connector for external device A6CON1, A6CON2, A6CON4 (sold separately) 6ms 6ms 7ms 7ms 7ms 6ms 7ms 7ms 6ms 7ms 7ms QD75P4 1 QD75D4 Factors in starting time extension The following times will be added to the starting time in the described conditions: • S-curve acceleration/ deceleration is selected: 0.5ms • Other axis is in operation: 1.5ms • During continuous positioning control: 0.2ms • During continuous path control: 1.0ms QD75P1, QD75P2, QD75P4 : 200kpps QD75D1, QD75D2, QD75D4 : 1Mpps Max. connection distance between QD75P1, QD75P2, QD75P4 : 2m servos QD75D1, QD75D2, QD75D4 : 10m Internal current consumption QD75P1 : 0.40A QD75P2 : 0.46A (5VDC) QD75D1 : 0.52A QD75D2 : 0.56A Flash ROM write count Max. 100000 times No. of occupied I/O points 32 points (I/O assignment: intelligent 32 points) Outline dimensions 98 (H) 27.4 (W) 90 (D) mm Weight 0.15 kg 0.15 kg Max. output pulse QD75P4 : 0.58A QD75D4 : 0.82A 0.16 kg 1: QD75P represents the open collector output system, and QD75D represents the differential driver output system. 3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.7 "Pre-reading start function". Differential driver common terminal specifications(QD75D N/QD75D only) 2 Applicable wire size 0.24 to 2.5mm (24 to 12AWG) 2 Applicable sizes of two wires inserted into same spot of terminal 2 pcs. Solid wire: 0.2 to 0.8mm 2 Stranded wire: 0.2 to 0.8mm Screw tightening torque 0.5 to 0.6N • m Fig. 3.1 Two wires inserted into same spot of terminal 3-5 2 pcs. 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions 3.2.1 QD75 control functions The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the OP when the power is turned ON or after positioning stop, to the OP. The "OPR control" is preregistered in the QD75 as the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to CHAPTER 8 "OPR CONTROL".) (2) Major positioning control This control is carried out using the "Positioning data" stored in the QD75. Positioning control, such as position control and speed control, is executed by setting the required items in this "positioning data" and starting that positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to CHAPTER 9 "MAJOR POSITIONING CONTROL".) (3) High-level positioning control This control executes the "positioning data" stored in the QD75 using the "block start data". The following types of applied positioning control can be carried out. Random blocks, handling several continuing positioning data items as "blocks", can be executed in the designated order. "Condition judgment" can be added to position control and speed control. The operation of the designated positioning data No. that is set for multiple axes can be started simultaneously. (Pulses are output simultaneously to multiple servos.) The designated positioning data can be executed repeatedly, etc., (Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL".) (4) Manual control By inputting a signal into the QD75 from an external source, the QD75 will output a random pulse train and carry out control. Use this manual control to move the workpiece to a random position (JOG operation), and to finely adjust the positioning (inching operation, manual pulse generator operation), etc. (Refer to CHAPTER 11 "MANUAL CONTROL".) Sub functions When executing the main functions, control compensation, limits and functions can be added. (Refer to CHAPTER 12 "CONTROL SUB FUNCTIONS".) Common functions Common control using the QD75 for "parameter initialization" or "backup of execution data" can be carried out. (Refer to CHAPTER 13 "COMMON FUNCTIONS".) 3-6 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Sub functions Main functions OPR control Control registered in QD75 (Functions characteristic to machine OPR) [Positioning start No.] [9001] Machine OPR [9002] Fast OPR Major positioning control Position control Speed control High-level positioning control OP shift function Backlash compensation function Electronic gear function Near pass function Output timing selection of near pass control Control using "Positioning data" •1-axis linear control •2-, 3-, or 4-axis linear interpolation control •1-axis fixed-feed control •2-, 3-, or 4-axis fixed-feed control •2-axis circular interpolation control •1-axis linear control •2-axis linear interpolation control •3-axis linear interpolation control •4-axis linear interpolation control Speed-position switching control Position-speed switching control Other control OPR retry function •Current value changing, NOP instruction •JUMP instruction, LOOP to LEND Speed limit function Independent positioning control Torque limit function (Positioning complete) Software stroke limit function Hardware stroke limit function Continuous positioning control Speed change function Override function Continuous path control Acceleration/deceleration time change function Torque change function Target position change function Control using "positioning data" + "Block start data" Block start (Normal start) Step function Condition start Major positioning control Wait start Simultaneous start Repeated start (FOR loop) Repeated start (FOR condition) Multiple axes simultaneous start control [Block start data [Positioning start No.] [9004] Skip function Continuous operation interrupt function M code output function Teaching function Command in-position function Acceleration/deceleration processing function Manual control ol with signals input from external source Pre-reading start function Deceleration start flag function [Positioning start signal] JOG start signal ON Pulse input from manual pulse generator JOG operation, Inching operation Manual pulse generator operation Stop command processing for deceleration stop function Common functions Parameter initialization function External I/O signal monitor function Execution data backup function 3-7 External I/O logic switching function 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.2 QD75 main functions The outline of the main functions for positioning control with the QD75 is described below. (Refer to PART 2 for details on each function.) Details Reference section Machine OPR control Mechanically establishes the positioning start point using a near-point dog or stopper. (Positioning start No. 9001) 8.2 Fast OPR control Positions a target to the OP address ( Md.21 Machine feed value) stored in the QD75 using machine OPR. (Positioning start No. 9002) 8.3 OPR control Main functions Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control) Fixed-feed control Position control (1-axis fixed-feed control) (2-axis fixed-feed control) (3-axis fixed-feed control) (4-axis fixed-feed control) Major positioning control 2-axis circular interpolation control Speed control Linear control (1-axis speed control) (2-axis speed control) (3-axis speed control) (4-axis speed control) Speed-position switching control Position-speed switching control Current value changing Other control NOP instruction JUMP instruction LOOP LEND Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount. Positions a target by the movement amount designated with the amount set in the positioning data. (With fixed-feed control, the " Md.20 Current feed value" is set to "0" when the control is started. With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by interpolation.) Positions a target using an arc path to the address set in the positioning data, or to the position designated with the movement amount, sub point or center point. Continuously outputs the pulses corresponding to the command speed set in the positioning data. First, carries out speed control, and then carries out position control (positioning with designated address or movement amount) by turning the "speed-position switching signal" ON. First, carries out position control, and then carries out speed control (continuous output of the pulses corresponding to the designated command speed) by turning the "position-speed switching signal" ON. Changes the Current feed value ( Md.20 ) to the address set in the positioning data. The following two methods can be used. (The machine feed value cannot be changed.) • Current value changing using positioning data • Current value changing using current value changing start No. (No. 9003) No execution control system. When NOP instruction is set, this instruction is not executed and the operation of the next data is started. Unconditionally or conditionally jumps to designated positioning data No. Carries out loop control with repeated LOOP to LEND. Returns to the beginning of the loop control with repeated LOOP to LEND. 3-8 9.2.2 9.2.3 9.2.4 9.2.5 9.2.6 9.2.7 9.2.8 9.2.9 9.2.10 9.2.11 9.2.12 9.2.13 9.2.14 9.2.15 9.2.16 9.2.17 9.2.18 9.2.19 9.2.20 9.2.21 9.2.22 9.2.23 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Block start (Normal start) With one start, executes the positioning data in a random block with the set order. 10.3.2 Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed. When not established, that "block start data" is ignored, and the next point's "block start data" is executed. 10.3.3 Wait start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed. When not established, stops the control until the condition is established. (Waits.) 10.3.4 Simultaneous start Simultaneously executes the positioning data having the No. for the axis designated with the "condition data". (Outputs pulses at the same timing.) 10.3.5 Repeated start (FOR loop) Repeats the program from the block start data set with the "FOR loop" to the block start data set in "NEXT" for the designated No. of times. 10.3.6 Repeated start (FOR condition) Repeats the program from the block start data set with the "FOR condition" to the block start data set in "NEXT" until the conditions set in the "condition data" are established. 10.3.7 Multiple axes simultaneous start control Starts the operation of multiple axes simultaneously according to the pulse output level. (Positioning start No. 9004, same as the "simultaneous start" above) 10.5 JOG operation Outputs a pulse to drive unit while the JOG start signal is ON. 11.2 Inching operation Outputs pulses corresponding to minute movement amount by manual operation to drive unit. (Performs fine adjustment with the JOG start signal.) 11.3 Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to drive unit. (Carry out fine adjustment, etc., at the pulse level.) 11.4 Manual control High-level positioning control Main functions With the "major positioning control" ("high-level positioning control"), whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below. Da.1 Operation pattern Details Independent positioning control (Positioning complete) When "independent positioning control" is set for the operation pattern of the started positioning data, only the designated positioning data will be executed, and then the positioning will end. Continuous positioning control When "continuous positioning control" is set for the operation pattern of the started positioning data, after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed. Continuous path control When "continuous path control" is set for the operation pattern of the started positioning data, the designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed. 3-9 Reference section 9.1.2 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.3 QD75 sub functions and common functions Sub functions The functions that assist positioning control using the QD75 are described below. (Refer to PART 2 for details on each function. Sub function Functions characteristic to machine OPR Details OPR retry function OP shift function Backlash compensation function Electronic gear function Functions that compensate control Near pass function 1 Output timing selection of near pass control If the command speed exceeds " Pr.8 Speed limit value" during control, this function limits the commanded speed to within the " Pr.8 Speed limit value" setting range. Speed limit function Functions that Torque limit function limit control 2 Software stroke limit function Hardware stroke limit function Speed change function Functions that Override function change control details Acceleration/deceleration time change function Torque change function Target position change function This function retries the machine OPR with the upper/lower limit switches during machine OPR. This allows machine OPR to be carried out even if the axis is not returned to before the near-point dog with JOG operation, etc. After returning to the machine OP, this function compensates the position by the designated distance from the machine OP position and sets that position as the OP address. This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes. By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. A flexible positioning system that matches the machine system can be structured with this function. This function suppresses the machine vibration when the positioning data is switched during continuous path control in the interpolation control. This function allows the user to select the timing to output the ) between the actual and the set positioning difference ( end addresses in continuous path control, in which the difference ( ) is output during the execution of the next positioning data. If the torque generated by the servomotor exceeds " Pr.17 Torque limit setting value" during control, this function limits the generated torque to within the " Pr.17 Torque limit setting value" setting range. If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command. This function carries out deceleration stop with the limit switch connected to the QD75 external device connector. This function changes the speed during positioning. Set the new speed in the speed change buffer memory ( Cd.14 New speed value), and change the speed with the Speed change request ( Cd.15 ). This function changes the speed within a percentage of 1 to 300% during positioning. This is executed using " Cd.13 Positioning operation speed override". This function changes the acceleration/deceleration time during speed change. (Functions added to the speed change function and override function) This function changes the "torque limit value" during control. This function changes the target position during positioning. Position and speed can be changed simultaneously. 3 - 10 Reference section 12.2.1 12.2.2 12.3.1 12.3.2 12.3.3 12.3.4 12.4.1 12.4.2 12.4.3 12.4.4 12.5.1 12.5.2 12.5.3 12.5.4 12.5.5 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters. 2: Using "Torque limit function" requires a "D/A conversion module" and a "drive unit capable of torque limit command with analog voltage". Details Reference section This function restores the absolute position of designated axis. By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started. 12.6 Sub function Absolute position restoration function 3 3: An I/O module (or general-purpose I/O function of QCPU) with arbitrary number of points and "the drive unit capable of configuring an absolute position detection system (, which is a Mitsubishi General-Purpose AC Servo and has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3- A)" are required to execute the "absolute position restoration function". 3 - 11 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data". 12.7.1 Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. 12.7.2 M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) corresponding to the M code No. (0 to 65535) that can be set for each positioning data. 12.7.3 Teaching function This function stores the address positioned with manual control into the positioning address having the designated positioning data No. ( Cd.39 ). 12.7.4 At each automatic deceleration, this function calculates the remaining distance for the QD75 to reach the positioning stop position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work. 12.7.5 Acceleration/deceleration process function This function adjusts the control acceleration/deceleration. (acceleration/deceleration time and curve). 12.7.6 Continuous operation interrupt function This function interrupts continuous operation. When this request is accepted, the operation stops when the execution of the current positioning data is completed. 6.5.4 Pre-reading start function This function shortens the virtual start time. 12.7.7 Deceleration start flag function Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control, whose operation pattern is "Positioning complete", to make the stop timing known. 12.7.8 Sub function Command in-position Other functions function Stop command processing Function that selects a deceleration curve when a stop cause for deceleration stop occurs during deceleration stop processing to speed 0. function 3 - 12 12.7.9 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Common functions The outline of the functions executed as necessary are described below. (Refer to PART 2 for details on each function.) Common functions Details Reference section Parameter initialization function This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values. The following two methods can be used. 1) Method using sequence program 2) Method using GX Configurator-QP 13.2 Execution data backup function This functions stores the "setting data", currently being executed, into the flash ROM. 1) Method using sequence program 2) Method using GX Configurator-QP 13.3 External I/O signal logic switching function This function switches I/O signal logic according to externally connected devices. This function enables the use of the system that does not use b (N.C.)-contact signals, such as Drive unit READY or Upper/lower limit signal, by setting parameters to positive logic. 13.4 External I/O signal monitor function This function monitors the external I/O signal monitor information in the module's detailed information which can be displayed on the system monitor of GX Developer*4. 13.5 4: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. 3 - 13 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.4 Combination of QD75 main functions and sub functions With positioning control using the QD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. OPR control OP shift function Combination with operation pattern. 1 Main functions Functions characteristic to machine OPR OPR retry function Sub functions Machine OPR control Fast OPR control 1-axis linear control 2-, 3-, or 4-axis linear interpolation control Position control 1-axis fixed-feed control (Continuous path control cannot be set) 2-, 3-, or 4-axis fixedfeed control (interpolation) (Continuous path control cannot be set) 2-axis circular interpolation control Major positioning Speed control (1- to 4-axis) control (Only independent positioning control can be set) Speed-position switching control (Continuous path control cannot be set) Position-speed switching control (Only independent positioning control can be set) Current value changing Other control (Continuous path control cannot be set) NOP instruction JUMP instruction LOOP to LEND Manual control JOG operation, inching operation Manual pulse generator operation : Always combine, : Combination possible, : Combination limited, : Combination not possible 1 The operation pattern is one of the "positioning data" setting items. 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control. 3 Invalid during creep speed. 4 Invalid during continuous path control. 5 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration processing.) 6 Valid for the reference axis only. 7 Valid for only the case where a deceleration start is made during position control. 8 Valid when using the positioning data but invalid when using the positioning start No. 9003. 3 - 14 3 5 3 5 5 3 - 15 8 5 Deceleration start flag function Stop command processing for deceleration stop function Pre-reading start function SPECIFICATIONS AND FUNCTIONS Acceleration/deceleration process function Functions that limit Functions that change control control details Command in-position function Teaching function M code output function Skip function Step function Target position change function Torque change function Acceleration/ deceleration time change function Override function Speed change function Hardware stroke limit function Software stroke limit function Torque limit function Functions that compensate control Speed limit function Output timing selection of near pass control Near pass function Electronic gear function Backlash compensation function 3 MELSEC-Q Other functions 3 4 6 6 2 7 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signals with CPU module 3.3.1 List of input/output signals with CPU module The QD75 uses 32 input points and 32 output points for exchanging data with the CPU module. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75 to the CPU module, and device Y refers to the signals output from the CPU module to the QD75. Signal direction: QD75 CPU module Device No. Signal name X0 QD75 READY X1 Synchronization flag X2 Use prohibited X3 X4 Axis 1 X5 Axis 2 M code ON X6 Axis 3 X7 Axis 4 X8 Axis 1 X9 Axis 2 Error detection XA Axis 3 XB Axis 4 XC Axis 1 XD Axis 2 BUSY XE Axis 3 XF Axis 4 X10 Axis 1 X11 Axis 2 Start complete X12 Axis 3 X13 Axis 4 X14 Axis 1 X15 Axis 2 Positioning complete X16 Axis 3 X17 Axis 4 X18 X19 X1A X1B Use prohibited X1C X1D X1E X1F Signal direction: CPU module QD75 Device No. Signal name Y0 PLC READY Y1 Use prohibited Y2 Y3 Y4 Axis 1 Y5 Axis 2 Axis stop Y6 Axis 3 Y7 Axis 4 Y8 Axis 1 Forward run JOG start Y9 Axis 1 Reverse run JOG start YA Axis 2 Forward run JOG start YB Axis 2 Reverse run JOG start YC Axis 3 Forward run JOG start YD Axis 3 Reverse run JOG start YE Axis 4 Forward run JOG start YF Axis 4 Reverse run JOG start Y10 Axis 1 Y11 Axis 2 Positioning start Y12 Axis 3 Y13 Axis 4 Y14 Axis 1 Y15 Axis 2 Execution prohibition flag Y16 Axis 3 Y17 Axis 4 Y18 Y19 Y1A Y1B Use prohibited Y1C Y1D Y1E Y1F Important [Y1 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be used by the user. If these devices are used, the operation of the QD75 will not be guaranteed. 3 - 16 3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signals (QD75 MELSEC-Q CPU module) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details No. X0 QD75 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting OFF: Not READY/ range is checked. If no error is found, this signal turns ON. Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF. timer error • When watch dog timer error occurs, this signal turns OFF. • This signal is used for interlock in a sequence program, etc. ON PLC READY signal [Y0] OFF ON QD75 READY signal [X0] OFF X1 Synchronization flag OFF: Module access disabled ON: Module access enabled M code ON OFF: M code is not set ON: M code is set X4 X5 X6 X7 Axis 1 Axis 2 Axis 3 Axis 4 X8 X9 XA XB XC XD XE XF Axis 1 Error Axis 2 detection Axis 3 Axis 4 Axis 1 BUSY 1 Axis 2 Axis 3 Axis 4 OFF: No error ON: Error occurrence X10 X11 X12 X13 Axis 1 Start Axis 2 complete Axis 3 Axis 4 OFF: Start incomplete ON: Start complete OFF: Not BUSY ON: BUSY • After the programmable controller is turned ON or the CPU module is reset, this signal turns ON if the access from the CPU module to the QD75 is possible. • When "Asynchronous" is selected in the module synchronization setting of the CPU module, this signal can be used as interlock for the access from a sequence program to the QD75. • In the WITH mode, this signal turns ON when the positioning data operation is started. In the AFTER mode, this signal turns ON when the positioning data operation is completed. • This signal turns OFF with the " Cd.7 M code OFF request". • When M code is not designated (when " Da.10 M code" is "0"), this signal will remain OFF. • With using continuous path control for the positioning operation, the positioning will continue even when this signal does not turn OFF. However, the warning "M CODE ON SIGNAL START" (warning code: 503) will occur. • When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF. • If the operation is started while the M code is ON, the error "M CODE ON SIGNAL START" (error code: 536) will occur. • This signal turns ON when an error listed in Section 15.2 occurs, and turns OFF when the error is reset on " Cd.5 Axis error rest". • This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF when the " Da.9 Dwell time" has passed after positioning stops. (This signal remains ON during positioning.) This signal turns OFF when the positioning is stopped with step operation. • During manual pulse generator operation, this signal turns ON while the " Cd.21 Manual pulse generator enable flag" is ON. • This signal turns OFF at error completion or positioning stop. • This signal turns ON when the positioning start signal turns ON and the QD75 starts the positioning process. (The start complete signal also turns ON during OPR control.) ON Positioning start signal [Y10] OFF Start complete signal [X10] OFF ON X14 X15 X16 X17 Axis 1 Positioning Axis 2 complete Axis 3 2 Axis 4 OFF: Positioning incomplete ON: Positioning complete • This signal turns ON for the time set in " Pr.40 Positioning complete signal output time" from the instant when the positioning control for each positioning data No. is completed. For the interpolation control, the positioning completed signal of interpolation axis turns ON during the time set to the reference axis. (It does not turn ON when " Pr.40 Positioning complete signal output time" is "0".) • If positioning (including OPR), JOG/Inching operation, or manual pulse generator operation is started while this signal is ON, the signal will turn OFF. • This signal will not turn ON when speed control or positioning is canceled midway. 3 - 17 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Important 1: The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. 2: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is completed. Thus, even if the QD75's positioning complete signal turns ON, the system may continue operation. 3.3.3 Detail of output signals (CPU module QD75) The ON/OFF timing and conditions of the output signals are shown below. Device No. Y0 PLC READY Y4 Y5 Y6 Y7 Axis 1 Axis stop Axis 2 Axis 3 Axis 4 Y8 Y9 YA YB YC YD YE YF Y10 Y11 Y12 Y13 Axis 1 Axis 1 Axis 2 Axis 2 Axis 3 Axis 3 Axis 4 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Y14 Y15 Y16 Y17 Axis 1 Axis 2 Axis 3 Axis 4 Signal name OFF: PLC READY OFF ON: PLC READY ON OFF: Axis stop not requested ON: Axis stop requested Forward run JOG start OFF: Reverse run JOG start JOG not started Forward run JOG start ON: Reverse run JOG start JOG started Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Positioning start OFF: Positioning start not requested ON: Positioning start requested Execution prohibition OFF: flag Not during execution prohibition ON: During execution prohibition Details (a) This signal notifies the QD75 that the CPU module is normal. • It is turned ON/OFF with the sequence program. • The PLC READY signal is turned ON during positioning control, OPR control, JOG operation, inching operation, and manual pulse generator operation, unless the system is in the peripheral device test mode. (b) When parameters are changed, the PLC READY signal is turned OFF depending on the parameter (Refer to CHAPTER 7.). (c) The following processes are carried out when the PLC READY signal turns from OFF to ON. • The parameter setting range is checked. • The QD75 READY signal [X0] turns ON. (d) The following processes are carried out when the PLC READY signal turns from ON to OFF. In these cases, the OFF time should be set to 100ms or more. • The QD75 READY signal [X0] turns OFF. • The operating axis stops. • The M code ON signal [X4 to X7] for each axis turns OFF, and "0" is stored in " Md.25 Valid M code". (e) When parameters or positioning data (No. 1 to 600) are written from the peripheral device or CPU module to the flash ROM, the PLC READY signal will turn OFF. • When the axis stop signal turns ON, the OPR control, positioning control, JOG operation, inching operation and manual pulse generator operation will stop. • By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". • Whether to decelerate or suddenly stop can be selected with " Pr.39 Stop group 3 sudden stop selection". • During interpolation control of the positioning operation, if the axis stop signal of any axis turns ON, all axes in the interpolation control will decelerate and stop. • When the JOG start signal is ON, JOG operation will be carried out at the " Cd.17 JOG speed". When the JOG start signal turns OFF, the operation will decelerate and stop. • When inching movement amount is set, the designated movement amount is output for one control cycle and then the operation stops. • OPR operation or positioning operation is started. • The positioning start signal is valid at the rising edge, and the operation is started. • When the positioning start signal turns ON during BUSY, the warning "Start during operation" (warning code: 100) will occur. • If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. (Pulse output not provided) Used with the "Pre-reading start function". (Refer to Section 12.7.7) 3 - 18 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of input/output interfaces with external devices 3.4.1 Electrical specifications of input/output signals QD75P N/QD75D N (1) Signal name Input specifications Rated input Working voltage/current voltage range Drive unit READY (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) ON voltage/current 24VDC/5mA 19.2 to 26.4VDC 5VDC/5mA 4.5 to 6.1VDC 2VDC or more/ 2mA or more 24VDC/5mA 12 to 26.4VDC 10VDC or more/ 3mA or more ON Zero signal (PG05/PG024) OFF voltage/current Input resistance Response time 17.5VDC or more/ 7VDC or less/ Approx. 4.7k 4ms or less 3.5mA or more 1.7mA or less 0.5VDC or less/ Approx. 620 0.5mA or less 1ms or less 3VDC or less/ Approx. 4.7k 1ms or less 0.2mA or less 3 s or less 3 s or less 1ms or more OFF Differential receiver equivalent to AM26LS32 (ON/OFF level ON: 1.8V or more, OFF: 0.6V or less) 5VDC/5mA 4.5 to 6.1VDC 2.5VDC or more/ 2mA or more 1VDC or less/ Approx. 1.1k 1ms or less 0.1mA or less Pulse width 1 4ms or more Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B) 2ms or more 2ms or more (Duty ratio: 50%) 2 Phase difference A phase When the A phase leads the B phase, the positioning address (current value) increases. B phase 1ms or more Near-point dog signal (DOG) 24VDC/5mA 19.2 to 26.4VDC External command signal (CHG) 24VDC/5mA 19.2 to 26.4VDC 17.5VDC or more/ 7VDC or less/ Approx. 4.3k 1ms or less 3.5mA or more 1.7mA or less 19VDC or more/ 2.7mA or more 3 - 19 7VDC or less/ Approx. 7.7k 1ms or less 0.8mA or less 3 SPECIFICATIONS AND FUNCTIONS (2) MELSEC-Q Output specifications Rated load voltage Operating load voltage range Max. load current/inrush current Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC 0.1A/1 point/0.4A 10ms or less QD75P N Pulse output F (PULSE F) Pulse output R (PULSE R) 5 to 24VDC 4.75 to 30VDC 50mA/1 point/ 200mA 10ms or less Signal name Leakage current at OFF Max. voltage drop at ON Response time 2ms or less 1VDC (TYP) 0.1mA or less (resistance 2.5VDC (MAX) load) 0.5VDC (TYP) 0.1mA or less — QD75D N Pulse output F (+/-) (PULSE F+/-) Differential driver equivalent to AM26C31 Pulse output R (+/-) (PULSE R+/-) Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to the drive unit specifications. The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection" is shown below: Pr.5 Pulse output mode*1 Terminal name Pr.23 Output signal logic selection (bit0) Positive logic Forward run Reverse run Negative logic Forward run Reverse run Open collector connection (QD75P N) The voltage of a terminal having the PULSE COM terminal as a reference is shown. (Refer to Section 3.4.4, (2).) (The transistor output becomes OFF to High and ON to Low.) PULSE PULSE F High Low High Low SIGN PULSE R High Low High Low CW PULSE F High Low High Low CCW PULSE R High Low High Low A phase PULSE F High Low High Low B phase PULSE R High Low High Low Differential driver connection ( QD75D N ) The voltage of a terminal having the differential driver common terminal as a reference is shown. (Refer to Section 3.4.4, (3).) For the differential driver common terminal, refer to "Section 4.3.2, Wiring of the differential driver common terminal". PULSE PULSE F+ PULSE F- High Low High Low High Low High Low SIGN PULSE R+ PULSE R- High Low High Low High Low High Low CW PULSE F+ PULSE F- High Low High Low High Low High Low CCW PULSE R+ PULSE R- High Low High Low High Low High Low A phase PULSE F+ PULSE F- High Low High Low High Low High Low B phase PULSE R+ PULSE R- High Low High Low High Low High Low 1: For details on " Pr.5 Pulse output mode", refer to "Section 5.2.1, Basic parameters 1". 3 - 20 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q POINT Set the parameters, " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all. Connection examples with a MELSERVO-J3 series servo amplifier are shown below. Open collector connection (QD75P N) Pr.5 Pulse output mode CW/CCW PULSE/SIGN A phase/ B phase QD75P N ( Pr.23 Output signal logic selection (bit0)) Logic of MR-J3- A servo amplifier output mode CW/CCW PULSE/SIGN A phase/ B phase 24VDC OPC Negative logic Negative logic Positive logic Positive logic Negative logic Negative logic PULSE F Positive logic Positive logic PULSE COM Negative logic Negative logic Negative logic Positive logic Positive logic Negative logic Positive logic Positive logic Differential driver connection (QD75D Pr.5 Pulse MR-J3- A servo amplifier QD75D N ( Pr.23 Output signal logic selection (bit0)) QD75P N PULSE R PULSE COM DOCOM PP NP SD N) Logic of MR-J3- A servo amplifier Negative logic Positive logic Positive logic Negative logic Negative logic Positive logic Positive logic QD75D N MR-J3- A servo amplifier PULSE F+ PP PULSE F- PG Negative logic PULSE R+ NP Negative logic Negative logic PULSE R- NG Negative logic Positive logic Positive logic Negative logic Positive logic Positive logic SD 3 - 21 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q QD75P /QD75D (1) Signal name Input specifications Rated input Working voltage/current voltage range Drive unit READY (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) ON voltage/current OFF voltage/current Input resistance Response time 24VDC/5mA 19.2 to 26.4VDC 5VDC/5mA 4.5 to 6.1VDC 2VDC or more/ 2mA or more 0.5VDC or less/ Approx. 0.3k 1ms or less 0.5mA or less 24VDC/5mA 12 to 26.4VDC 10VDC or more/ 3mA or more 3VDC or less/ Approx. 4.7k 1ms or less 0.2mA or less ON Zero signal (PG05/PG024) 17.5VDC or more/ 7VDC or less/ Approx. 4.7k 4ms or less 3.5mA or more 1.7mA or less 3 s or less 3 s or less 1ms or more OFF Differential receiver equivalent to AM26LS32 (ON/OFF level ON: 1.8V or more, OFF: 0.6V or less) 5VDC/5mA 4.5 to 6.1VDC 2.5VDC or more/ 2mA or more 1VDC or less/ Approx. 1.5k 1ms or less 0.1mA or less Pulse width 1 4ms or more Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B) 2ms or more 2ms or more (Duty ratio: 50%) 2 Phase difference A phase When the A phase leads the B phase, the positioning address (current value) increases. B phase 1ms or more Near-point dog signal (DOG) External command signal (CHG) 24VDC/5mA 19.2 to 26.4VDC 17.5VDC or more/ 7VDC or less/ Approx. 4.3k 1ms or less 3.5mA or more 1.7mA or less 3 - 22 3 SPECIFICATIONS AND FUNCTIONS (2) MELSEC-Q Output specifications Leakage current at OFF Rated load voltage Operating load voltage range Max. load current/inrush current Max. voltage drop at ON Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC 0.1A/1 point/0.4A 10ms or less 1VDC (TYP) 2.5VDC (MAX) 2ms or less 0.1mA or less (resistance load) QD75P Pulse output F (PULSE F) Pulse output R (PULSE R) 5 to 24VDC 4.75 to 30VDC 50mA/1 point/ 200mA 10ms or less 0.5VDC (TYP) 0.1mA or less Signal name Response time — QD75D Pulse output F (+/-) (PULSE F+/-) Differential driver equivalent to AM26C31 Pulse output R (+/-) (PULSE R+/-) Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to the drive unit specifications. The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection" is shown below: Pr.5 Pulse output mode*1 Terminal name Pr.23 Output signal logic selection (bit0) Positive logic Forward run Negative logic Reverse run Forward run Reverse run Open collector connection ( QD75P ) The voltage of a terminal having the PULSE COM terminal as a reference is shown. (Refer to Section 3.4.4, (2).) (The transistor output becomes OFF to High and ON to Low.) PULSE PULSE F High Low High Low SIGN PULSE R High Low High Low CW PULSE F High Low High Low CCW PULSE R High Low High Low A phase PULSE F High Low High Low B phase PULSE R High Low High Low Differential driver connection (QD75P ) The voltage of a terminal having the differential driver common terminal as a reference is shown. (Refer to Section 3.4.4, (3).) For the differential driver common terminal, refer to "Section 4.3.2, Wiring of the differential driver common terminal". PULSE PULSE F+ PULSE F- High Low High Low High Low High Low SIGN PULSE R+ PULSE R- High Low High Low High Low High Low CW PULSE F+ PULSE F- High Low High Low High Low High Low CCW PULSE R+ PULSE R- High Low High Low High Low High Low A phase PULSE F+ PULSE F- High Low High Low High Low High Low B phase PULSE R+ PULSE R- High Low High Low High Low High Low 1: For details on " Pr.5 Pulse output mode", refer to "Section 5.2.1, Basic parameters 1". 3 - 23 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q POINT Set the parameters, " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all. Connection examples with a MELSERVO-J3 series servo amplifier are shown below. Open collector connection (QD75P ) Pr.5 Pulse output mode CW/CCW PULSE/SIGN A phase/ B phase QD75P ( Pr.23 Output signal logic selection (bit0)) Logic of MR-J3- A servo amplifier Negative logic Negative logic Positive logic Positive logic Negative logic output mode CW/CCW PULSE/SIGN A phase/ B phase 24VDC OPC QD75P DOCOM Negative logic PULSE F PP Positive logic Positive logic PULSE COM Negative logic Negative logic Negative logic Positive logic Positive logic Negative logic Positive logic Positive logic Differential driver connection (QD75D Pr.5 Pulse MR-J3- A servo amplifier QD75D ( Pr.23 Output signal logic selection (bit0)) PULSE R PULSE COM NP SD ) Logic of MR-J3- A servo amplifier Negative logic Positive logic Positive logic Negative logic Negative logic QD75D MR-J3- A servo amplifier PULSE F+ PP Positive logic PULSE F- PG Positive logic Negative logic PULSE R+ NP Negative logic Negative logic PULSE R- NG Negative logic Positive logic Positive logic Negative logic Positive logic Positive logic SD 3 - 24 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown. Axis 4(AX4) Pin layout B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10 A9 A8 A7 A6 A5 A4 A3 A2 A1 Front view of the module Axis 3(AX3) Pin No. Signal name Pin No. Signal name 2B20 2B19 2B18 3 2B17 3 2B16 3 2B15 3 2B14 2B13 2B12 2B11 2B10 2B9 2B8 2B7 2B6 2B5 2B4 2B3 2B2 Vacant Vacant PULSE COM PULSE R– PULSE R PULSE R+ PULSE COM PULSE F– PULSE F PULSE F+ CLRCOM CLEAR RDYCOM READY PG0COM PG05 PG024 COM COM CHG STOP DOG RLS 2A20 2A19 2A18 3 2A17 3 2A16 3 2A15 3 2A14 2A13 2A12 2A11 2A10 2A9 2A8 2A7 2A6 2A5 2A4 2A3 2A2 Vacant Vacant PULSE COM PULSE R– PULSE R PULSE R+ PULSE COM PULSE F– PULSE F PULSE F+ CLRCOM CLEAR RDYCOM READY PG0COM PG05 PG024 COM COM CHG STOP DOG RLS 2B1 FLS 2A1 FLS Axis 2(AX2) Pin No. Signal name 2 1B20 PULSER B– 1B19 PULSER A– 1B18 PULSE COM 3 PULSE R– 1B17 PULSE R 3 PULSE R+ 1B16 PULSE COM 3 PULSE F– 1B15 PULSE F 3 PULSE F+ 1B14 CLRCOM 1B13 CLEAR 1B12 RDYCOM 1B11 READY 1B10 PG0COM 1B9 PG05 1B8 PG024 1B7 COM 1B6 COM 1B5 CHG 1B4 STOP 1B3 DOG 1B2 RLS 1B1 FLS Axis 1(AX1) Pin No. Signal name 1A20 1A19 1A18 3 1A17 3 1A16 3 1A15 3 1A14 1A13 1A12 1A11 1A10 1A9 1A8 1A7 1A6 1A5 1A4 1A3 1A2 PULSER B+ PULSER A+ PULSE COM PULSE R– PULSE R PULSE R+ PULSE COM PULSE F– PULSE F PULSE F+ CLRCOM CLEAR RDYCOM READY PG0COM PG05 PG024 COM COM CHG STOP DOG RLS 1A1 FLS 1: Pin No. "1 " indicates the pin No. for the right connector. Pin No. "2 " indicates the pin No. for the left connector. 2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant". 3: The upper line indicates the signal name for the QD75P N/QD75P , and the lower line indicates the signal name for the QD75D N/QD75D . 3 - 25 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input/output signal details The details of each QD75 external device connection connector are shown below: Signal name Manual pulse generator A phase (PULSER A+) Manual pulse generator B phase (PULSER B+) Pin No. AX1 AX2 AX3 AX4 1A19 1A20 Signal details (Negative logic is selected by external I/O signal logic selection) • Input the pulse signal from the manual pulse generator A phase and B phase. • If the A phase leads the B phase, the positioning address will increase at the rising and falling edges of each phase. • If the B phase leads the A phase, the positioning address will decrease at the rising and falling edges of each phase. — [When increased] Manual pulse generator A common (PULSER A-) Manual pulse generator B common (PULSER B-) 1B19 1B20 — [When decreased] A phase A phase B phase B phase Positioning address +1+1+1+1+1+1+1+1 Positioning -1 -1 -1 -1 -1 -1 -1 -1 address • Input the zero signal for machine OPR. Use the pulse encoder's zero signal and so on. • Also use this signal when the machine OPR method is the stopper method 2B9 and the OPR complete is input from an external source. • The zero signal is detected at turning from OFF to ON. Zero signal (+24V) (PG024) 1A8 1B8 2A8 Zero signal (+5V) (PG05) 1A9 1B9 2A9 Zero signal common (PG0COM) 1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V). Pulse output F (+) (PULSE F+) Pulse output F (–) (PULSE F-) 1A15 1B15 2A15 2B15 1A16 1B16 2A16 2B16 Pulse output R (+) (PULSE R+) Pulse output R (–) (PULSE R-) Pulse output F (PULSE F) Pulse output F common (PULSE COM) Pulse output R (PULSE R) Pulse output R common (PULSE COM) Upper limit signal (FLS) Lower limit signal (RLS) 2B8 • Output the positioning pulses and pulse sign for the differential driver output system compatible drive unit. 1A17 1B17 2A17 2B17 (QD75D N/QD75D only) 1A18 1B18 2A18 2B18 1A15 1B15 2A15 2B15 1A16 1B16 2A16 2B16 • Output the positioning pulses and pulse sign for the open collector output system compatible drive unit. 1A17 1B17 2A17 2B17 (QD75P N/QD75P only) 1A18 1B18 2A18 2B18 1A1 1A2 1B1 1B2 2A1 • This signal is input from the limit switch installed at the upper limit position of the stroke. 2B1 • Positioning will stop when this signal turns OFF. • When OPR retry function is valid, this will be the upper limit for finding the near-point dog signal. 2A2 • This signal is input from the limit switch installed at the lower limit position of the stroke. 2B2 • Positioning will stop when this signal turns OFF. • When OPR retry function is valid, this will be the lower limit for finding the near-point dog signal. 3 - 26 3 SPECIFICATIONS AND FUNCTIONS Signal name Near-point dog signal (DOG) Stop signal (STOP) MELSEC-Q Pin No. Signal details (Negative logic is selected by external I/O signal logic selection) AX1 AX2 AX3 AX4 1A3 1A4 1B3 1B4 • This signal is used for detecting the near-point dog during OPR. • The near-point dog signal is detected at turning from OFF to ON. 2A3 2B3 2A4 • Input this signal to stop positioning. • When this signal turns ON, the QD75 will stop the positioning being 2B4 executed. After that, even if this signal is turned from ON to OFF, the system will not start. • Input a control switching signal during speed-position or position-speed switching control. • Use this signal as the input signal of positioning start, speed change request, 2B5 and skip request from an external source. Set the function to use this signal in " Pr.42 External command function External command signal (CHG) 1A5 1B5 2A5 Common (COM) 1A6 1A7 1B6 1B7 2A6 2A7 Drive unit READY (READY) • This signal turns ON when the drive unit is normal and can accept the feed pulse. • The QD75 checks the drive unit READY signal, and outputs the OPR request if the system is not in the READY state. 1A11 1B11 2A11 2B11 • When the drive unit is inoperable, such as if an error occurs in the drive unit's control power supply, this signal will turn OFF. • If this signal is turned OFF during positioning, the system will stop. The system will not start even if this signal is turned ON again. • When this signal turns OFF, the OPR complete signal will also turn OFF. Drive unit READY common (RDYCOM) 1A12 1B12 2A12 2B12 • Common for drive unit READY signal. selection". 2B6 • Common for upper/lower limit, near-point dog, stop, and external command 2B7 signals. • This signal is output during machine OPR. (Note that it is not output during the count method 2 .) (Example) When machine OPR is carried out in the stopper 2 method. Speed Pr.46 OPR speed Stopper Pr.47 Creep speed Time Near-point dog Deviation counter clear (CLEAR) Zero signal 1A13 1B13 2A13 2B13 Pr.55 Deviation counter clear signal output time OFF ON OFF CLEAR ON After feed pulse output stops • The output time of the deviation counter clear signal is set in " Pr.55 Deviation counter clear signal output time". • Use the drive unit that can reset the droop pulse amount in the internal deviation counter when the QD75 turns this signal ON. (Note) The deviation counter clear is a signal output by the QD75 during machine OPR. It cannot be output randomly by the user. Deviation counter clear common 1A14 1B14 2A14 2B14 • Common for deviation counter clear signal (CLRCOM) 3 - 27 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Input/output interface internal circuit The outline diagrams of the internal circuits for the QD75P1N/QD75D1N/QD75P1/QD75D1 external device connection interface are shown below. (1) External wiring When upper limit switch is not used When lower limit switch is not used 24VDC *2 Input (Common to QD75P1N, QD75D1N, QD75P1, and QD75D1) Pin No. Internal circuit 1A3 Near-point dog signal DOG 1A1 Upper limit signal FLS 1A2 Lower limit signal RLS 1A4 Stop signal STOP 1A5 External command signal CHG Common COM 1A6 1A7 5V 5VDC A Need for wiring 1 Signal name (+) 1A19 PULSER A+ Manual pulse generator A phase (–) 1B19 PULSER A– B 0V Manual pulse generator (MR-HDP01) (+) 1A20 PULSER B+ Manual pulse generator B phase (–) 1B20 PULSER B– 1A11 Drive unit READY READY 1A12 Drive unit READY common RDY COM 1A8 Zero signal 1A9 1A10 Zero signal common 1: The symbols in Need for wiring column indicate the following meanings: • : Wiring is necessary for positioning. • : Wiring is necessary depending on the situation. 2: Either polarity can be connected to the common (COM). 3 - 28 PG024 PG05 PG0 COM 3 SPECIFICATIONS AND FUNCTIONS (a) MELSEC-Q Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).) Logic setting 3, 4 External wiring ON/OFF status of near-point dog signal (DOG) as seen from QD75 4 (Voltage not applied) DOG OFF 24VDC COM Negative logic (Initial value) (Voltage applied) DOG ON 24VDC COM (Voltage not applied) DOG ON 24VDC COM Positive logic (Voltage applied) DOG OFF 24VDC COM 3: Set the logic setting using " Pr.22 Input signal logic selection". For details of the settings, refer to "Section 5.2.3 Detailed parameters 1" and "Section 13.4 External I/O signal logic switching function". 4: When using the upper limit signal (FLS) or lower limit signal (RLS), always wire it as a "b" (normally closed) contact in the negative logic setting. The signal will turn OFF to stop positioning. (b) About logic setting and internal circuit In the QD75, the case where the internal circuit (photocoupler) is OFF in the negative logic setting is defined as "input signal OFF". Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logic setting is defined as "input signal ON". When voltage is not applied : Photocoupler OFF When voltage is applied : Photocoupler ON 3 - 29 3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (2) Output (For QD75P1N and QD75P1) External wiring Pin No. Internal circuit Load Signal name 1A13 Deviation counter clear CLEAR 1A14 Common CLEAR COM 1A15 CW A phase PULSE PULSE F Need for wiring*1 5 to 24VDC Load 1A16 PULSE COM Load CCW B phase SIGN 1A17 5 to 24VDC 1A18 (3) External wiring PULSE R PULSE COM Output (For QD75D1N and QD75D1) Pin No. Internal circuit Load Signal name 1A13 Deviation counter clear CLEAR 1A14 Common CLEAR COM 1A15 CW A phase PULSE PULSE F+ CCW B phase SIGN PULSE R+ 5 to 24VDC 1A16 1A17 1A18 Differential driver common terminal *2 *2 PULSE F- PULSE R- PULSE COM 1: The symbols in Need for wiring column indicate the following meanings: • : Wiring is necessary for positioning. • : Wiring is necessary depending on the situation. 2: A terminal block at the bottom of the module. (Refer to Section 4.1.2) 3 - 30 Need for wiring*1 CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4 The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions. 4.1 Outline of installation, wiring and maintenance ......................................................... 4- 2 4.1.1 Installation, wiring and maintenance procedures ........................................ 4- 2 4.1.2 Names of each part ...................................................................................... 4- 3 4.1.3 Handling precautions .................................................................................... 4- 5 4.2 Installation ................................................................................................................... 4- 7 4.2.1 Installation precautions ................................................................................. 4- 7 4.3 Wiring ....................................................................................................................... 4- 8 4.3.1 Wiring precautions ........................................................................................ 4- 8 4.3.2 Wiring of the differential driver common terminal ......................................... 4- 14 4.4 Checking the installation and wiring ........................................................................... 4- 15 4.4.1 Items to check when installation and wiring are completed ......................... 4- 15 4.5 Maintenance ................................................................................................................ 4- 16 4.5.1 Maintenance precautions .............................................................................. 4- 16 4.5.2 Disposal precautions ..................................................................................... 4- 16 4-1 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD75 installation, wiring and maintenance are shown below. STEP 1 Preparation Refer to Section 4.1 Installing the module Refer to Section 4.2 STEP 2 STEP 3 Refer to Section 4.3 Wiring the module STEP 4 Refer to Section 4.3 Understand the "Handling precautions" and "Names of each part" of the module (QD75) Install the module (QD75) on the base unit. Wire the external device connection connector pins, and assemble the connector. Connect the cable to the module (QD75) The cables used to connect the QD75 with the drive unit, with the mechanical system input (each input/output signal), and with the manual pulse generator are manufactured by soldering each signal wire onto the "external device connection connector" sold separately.(Refer to "Applicable connector for external wiring" in Section 3.1 "Performance specifications" for the optional connector.) Wire and connect the manufactured cable to QD75 after reading the precautions for wiring. Checking installation and wiring STEP 5 Check the connection Check the connection using GX Configurator-QP. Refer to Section 4.4 Operation of the positioning system. STEP 6 Servicing the module Refer to Section 4.5 STEP 7 Refer to Section 4.5 Carry out maintenance Dispose of the QD75 4-2 Carry out maintenance as necessary. When the QD75 is no longer necessary, dispose of it with the specified methods. 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.2 Names of each part (1) The part names of the QD75 are described with the QD75P N/QD75D N as an example. The QD75P N/QD75D N and QD75P /QD75D are different in the indication of their model names and serial numbers QD75P4N QD75D4N 1) 1) 2) 2) 3) 3) 5) 5) 4) No. Name 1) RUN indicator LED, ERR indicator LED 2) Axis display LED (AX1 to AX4) Details Refer to the next page. 3) External device connector Connector for connection with the drive unit, mechanical system input or manual pulse generator. (40-pin connector) AX1: Axis 1, AX2: Axis 2, AX3: Axis 3, AX4: Axis 4 For details, refer to Section 3.4.2 "Signal layout for external device connection connector". 4) Differential driver common terminal (Differential driver output system (the QD75D N/QD75D ) only) Terminal connected to the differential receiver common of the drive unit. For details, refer to Section 4.3.2 "Wiring of the differential driver common terminal". 5) Serial number plate Indicates the serial number of the QD75 4-3 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (2) Display RUN ERR RUN ERR RUN ERR RUN ERR MELSEC-Q The LED display indicates the following operation statuses of the QD75 and axes. Attention point AX1 AX2 RUN is OFF. AX3 AX4 AX1 AX2 RUN illuminates. AX3 ERR is OFF. AX4 AX1 AX2 AX3 ERR illuminates. AX4 AX1 AX2 AX1 to AX4 are AX3 OFF. AX4 Description Display Hardware failure, watch dog timer error The module operates normally. RUN ERR RUN ERR RUN System error ERR Attention point Description AX1 AX2 AX3 AX4 The AX1 (or other corresponding axis) illuminates. axis is in operation. AX1 AX2 AX3 AX4 ERR flashes. AX1 (or other axis) flashes. An error occurs on the corresponding axis. AX1 AX2 AX3 AX4 All LEDs illuminate. Hardware failure The axes are stopped or on standby. The symbols in the Display column indicate the following statuses: : Turns OFF. : Illuminates. : Flashes. (3) QD75P1N The interface of each QD75 is as shown below. QD75P2N QD75P4N QD75D1N 4-4 QD75D2N QD75D4N 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.3 Handling precautions Handle the QD75 and cable while observing the following precautions. [1] Handling precautions ! CAUTION Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. Do not directly touch the conductive section and electronic parts of the module. Failure to observe this could lead to module malfunctioning or trouble. Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module. Failure to observe this could lead to fires, trouble or malfunctioning. Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. 4-5 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT [2] MELSEC-Q Other precautions (1) Main body The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. Do not remove the QD75 PCB from the case. Failure to observe this could lead to faults. (2) Cable (3) Do not press on the cable with a sharp object. Do not twist the cable with force. Do not forcibly pull on the cable. Do not step on the cable. Do not place objects on the cable. Do not damage the cable sheath. Installation environment Do not install the module in the following type of environment. Where the ambient temperature exceeds the 0 to 55°C range. Where the ambient humidity exceeds the 5 to 95%RH range. Where there is sudden temperature changes, or where dew condenses. Where there is corrosive gas or flammable gas. Where there are high levels of dust, conductive powder, such as iron chips, oil mist, salt or organic solvents. Where the module will be subject to direct sunlight. Where there are strong electric fields or magnetic fields. Where vibration or impact could be directly applied onto the main body. 4-6 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.2 Installation 4.2.1 Installation precautions The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. Installation precautions ! WARNING Completely turn off the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks. ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not install/remove the module to/from the base unit, or the terminal block to/from the module more than 50 times after the first use of the product (IEC 61131-2 compliant). Failure to do so may cause the module to malfunction due to poor contact of connector. Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. Hold down the module mounting lever at the bottom of the module and securely insert the module fixing projection into the fixing holes of the base module. Improper mounting of the module may lead to malfunctioning, faults, or dropping. When using the module in the environment subject to much vibration, secure the module with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning. 4-7 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3 Wiring The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. 4.3.1 Wiring precautions (1) (2) (3) (4) (5) (6) (7) (8) (9) Always confirm the terminal layout before connecting the wires to the QD75. (For the terminal layout, refer to Section 3.4.2 "Signal layout for external device connection connector".) Correctly solder the external wiring connector. An incomplete soldering could lead to malfunctioning. Make sure that foreign matter such as cutting chips and wire scraps does not enter the QD75. Failure to observe this could lead to fires, faults or malfunctioning. A protective label is attached on the top of the QD75 to avoid foreign matter such as wire scraps from entering inside during wiring process. Do not remove the label until the wiring is completed. Before starting the system, however, be sure to remove the label to ensure heat radiation. Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction. When disconnecting the cable from the QD75 or the drive unit, do not pull the cable by the cable part. Hold the connector part of the cable. Pulling the cable connected to the QD75 or the drive unit may result in malfunction or damage to the module, drive unit, or cable. Do not bundle or adjacently lay the connection cable connected to the QD75 external I/O signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction. The shielded cable for connecting QD75 can be secured in place. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75 or drive unit or shielded cable or defective cable connections could cause mis-operation of the unit. If the cable connected to the QD75 and the power line must be adjacently laid (less than 100mm), use a shielded cable. Ground the shield of the cable securely to the control panel on the QD75 side. (A wiring example is given on the next page.) 4-8 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Applicable connectors] The table below shows applicable connectors for external devices. When wiring, use applicable wires and an appropriate tightening torque. Mitsubishi 40-pin connector Model Wire Tightening torque Diameter Type Material Temperature rating Stranded Copper 75C or more 2 A6CON1 0.3mm (22AWG) 2 A6CON2 0.20 to 0.29N • m 0.088 to 0.24mm (28 to 24AWG) 2 A6CON4 0.3mm (22AWG) [Wiring example of shielded cable] The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used. Connector Connector (A6CON1) To external devices (for two drive units) Shielded cable Drive unit To external device To QD75 The length between the connector and the shielded cables should be the shortest possible. 4-9 To drive unit Use the shortest possible length to ground the 2mm2 or more FG wire. (The shield must be grounded on the QD75 side.) 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Processing example of shielded cables] Connect a cable with the FG wire and bind all shielded cables as shown below. 4 - 10 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube. 4 - 11 MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (10) For compliance with the EMC and Low Voltage Directives, satisfy the following requirements. The cable connecting the drive unit and the QD75 must be the length below. QD75P N/QD75P : 2m or shorter QD75D N/QD75D : 10m or shorter The cables connected to the external device for the QD75 must be 30m or shorter. (except the one for pulse output) Use shielded twisted pair cables and an AD75CK type cable clamp (manufactured by Mitsubishi Electric) to ground the cables to the control box. Even when compliance with the EMC Directive is not required, attaching an AD75CK type cable clamp to the cable connected to the QD75 may reduce the influence of external noise. Inside control box QD75 20cm(7.88inch) to 30cm(11.82inch) AD75CK For details on AD75CK, refer to the following. AD75CK-type Cable Clamping Instruction Manual 4 - 12 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Drive unit Relay Drive unit Relay Control panel QD 75 Programmable controller Noise source The drive units are placed near the noise source. The connection cable between the QD75 and drive units is too long. (power system, etc.) Changed Wiring duct Relay Relay Relay Control panel Programmable controller QD 75 Noise source (power system, etc.) Drive unit Drive unit The QD75 and drive units are placed closely. The connection cable between the QD75 and drive units is separately laid from the power line (in this example, the cable is outside of the duct) and is as short as possible. (11) The influence of noise may be reduced by installing ferrite cores to the cable connected to the QD75 as a noise reduction technique. For the noise reduction techniques related to connection with the servo amplifier, also refer to the instruction manual of the servo amplifier. 4 - 13 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3.2 Wiring of the differential driver common terminal When the differential driver output system (QD75D N/QD75D ) is used, a potential difference between commons may occur between the differential driver common terminal and the differential receiver common terminal of the drive unit. To remove the potential difference between commons, connect the differential driver common terminal of the QD75D N/QD75D and the differential receiver common terminal of the drive unit. When the common terminal of the drive unit is photocoupler-connected, the wiring to the differential driver common terminal of the QD75D N/QD75D is not needed since a potential difference between commons does not exist. (For the drive unit specifications, refer to the manual of the used drive unit.) Applicable connectors To wire the differential driver common terminal, use the wire applied to the following table. Wire diameter Type Material Temperature rating Stranded wire/single wire Copper 75˚C or more 2 0.24 to 2.5mm (24 to 12AWG) Wiring example The following shows an example of wiring to the differential driver common terminal of the QD75D N/QD75D . Up to two cables can be connected to one differential driver common terminal. (For details, refer to Section 3.1 "Performance specifications". Module front Module bottom Differential driver common terminal To differential receiver common terminal of drive unit Module front Insert until hook catches. Module side Module bottom 4 - 14 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.4 Checking installation and wiring 4.4.1 Items to check when installation and wiring are completed Check the following points when completed with the QD75 installation and wiring. Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function. (GX Configurator-QP is required for this "connection confirmation".) Are the QD75 and servo amplifier correctly connected? Are the servo amplifier and servomotor correctly connected? Are the QD75 and external device (input/output signal) correctly connected? With this "connection confirmation", "whether the direction that the QD75 recognizes as forward run matches the address increment direction in the actual positioning work", and "whether the QD75 recognizes the external input/output signals such as the near-point dog signal and stop signal" can be checked. Refer to GX Configurator-QP Operating Manual for details on "Connection confirmation". Note that GX Developer (SW6D5C-GPPW-E or later) 1 may also be used to "confirm the connection between the QD75 and external device (I/O signals). For details, refer to Section 13.5 "External I/O signal monitor function" and GX Developer Operating Manual. 1: For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common). Important If the QD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur. The "connection confirmation" must be carried out not only when structuring the positioning system, but also when the system has been changed with module replacement or rewiring, etc. 4 - 15 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.5 Maintenance 4.5.1 Maintenance precautions The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. ! WARNING Always turn all phases of the power supply OFF externally before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks. ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. 4.5.2 Disposal precautions ! CAUTION When disposing of the product, handle it as industrial waste. 4 - 16 CHAPTER 5 DATA USED FOR POSITIONING CONTROL 5 The parameters and data used to carry out positioning control with the QD75 are explained in this chapter. With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control. Read this chapter thoroughly and make settings according to each control or application. Read PART 2 for details on each control. 5.1 Types of data .............................................................................................................. 5- 2 5.1.1 Parameters and data required for control .................................................... 5- 2 5.1.2 Setting items for positioning parameters...................................................... 5- 5 5.1.3 Setting items for OPR parameters ............................................................... 5- 7 5.1.4 Setting items for positioning data ................................................................. 5- 8 5.1.5 Setting items for block start data ................................................................... 5- 10 5.1.6 Setting items for condition data ..................................................................... 5- 11 5.1.7 Types and roles of monitor data .................................................................... 5- 12 5.1.8 Types and roles of control data ..................................................................... 5- 15 5.2 List of parameters ........................................................................................................ 5- 18 5.2.1 Basic parameters 1 ........................................................................................ 5- 18 5.2.2 Basic parameters 2 ........................................................................................ 5- 24 5.2.3 Detailed parameters 1 ................................................................................... 5- 26 5.2.4 Detailed parameters 2 ................................................................................... 5- 34 5.2.5 OPR basic parameters .................................................................................. 5- 43 5.2.6 OPR detailed parameters .............................................................................. 5- 50 5.3 List of positioning data ................................................................................................. 5- 54 5.4 List of block start data ................................................................................................. 5- 68 5.5 List of condition data.................................................................................................... 5- 74 5.6 List of monitor data ...................................................................................................... 5- 80 5.6.1 System monitor data ...................................................................................... 5- 80 5.6.2 Axis monitor data ........................................................................................... 5- 90 5.7 List of control data ...................................................................................................... 5-104 5.7.1 System control data ...................................................................................... 5-104 5.7.2 Axis control data ........................................................................................... 5-108 5-1 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD75 include the "setting data", "monitor data" and "control data" shown below. The data is set with the sequence program or peripheral device. In this chapter, the method using the peripheral device will be explained. (Refer to "Point" on the next page.) The basic parameters 1, detailed parameters 1, and OPR parameters become valid when the PLC READY signal [Y0] turns from OFF to ON. Note, however, that the only valid value of the " Pr.5 Pulse output mode" is the value at the moment when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the CPU module is reset. Once the PLC READY signal [Y0] has been turned ON, the value will not be reset even if another value is set to the parameter and the PLC READY signal [Y0] is turned from OFF to ON. Even when the PLC READY signal [Y0] is ON, the values or contents of the following can be changed: basic parameters 2, detailed parameters 2, positioning data, and block start data. 5-2 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q The only valid data assigned to basic parameters 2, detailed parameters 2, positioning data, or block start data are the data read at the moment when a positioning or JOG operation is started. Once the operation has started, any modification to the data is ignored. Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command. • Acceleration time 0 to 3 and deceleration time 0 to 3: Positioning data are pre-read and pre-analyzed. Modifications to the data four or more steps after the current step are valid. • External command function selection: The value at the time of detection is valid. Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) : Md.1 to Md.48 , Md.50 to Md.52 System monitor data ( Md.1 to Md.19 , *1 Monitors the QD75 specifications and the operation history. Md.50 to Md.52 *1) Monitors the data related to the operating axis, such as the current position and speed. Axis monitor data ( Md.20 to Md.48 ) *1: Md.50 to Md.52 are only for the QD75P N/QD75D N. The data is monitored with the sequence program or peripheral device. In this chapter, the method using the peripheral device will be explained. Control using the control data is carried out with the sequence program. " Cd.41 Deceleration start flag valid" is valid for only the value at the time when the PLC READY signal [Y0] turns from OFF to ON. 5-3 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q POINT (1) The "setting data" is created for each axis. (2) The "setting data" parameters have determined default values, and are set to the default values before shipment from the factory. (Parameters related to axes that are not used are left at the default value.) (3) The "setting data" can be initialized with GX Configurator-QP or the sequence program. (4) It is recommended to set the "setting data" with GX Configurator-QP. When executed with the sequence program, many sequence programs and devices must be used. This will not only complicate the program, but will also increase the scan time. 5-4 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to PART 2. For details of setting items, refer to Section 5.2 "List of parameters". Detailed parameters 1 Basic parameters 2 Basic parameters 1 : : : : – : Manual control Related sub function JOG operation Inching operation Manual pulse generator operation JUMP instruction, NOP instruction, LOOP to LEND Other control Current value changing Speed-position or position-speed control 1 to 4 axis speed control 2-axis circular interpolation control 1-axis fixed-feed control 2/3/4-axis fixed-feed control 1-axis linear control 2/3/4-axis linear interpolation control Positioning parameter Major positioning control Position control OPR control Control Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) Pr.3 Movement amount per rotation (Al) Pr.4 Unit magnification (Am) Pr.5 Pulse output mode – Pr.6 Rotation direction setting – Pr.7 Bias speed at start – – – – Pr.8 Speed limit value – – – 12.4.1 Pr.9 Acceleration time 0 – – – Pr.10 Deceleration time 0 – – – Pr.11 Backlash compensation amount – – Pr.12 Software stroke limit upper limit value – – – Pr.13 Software stroke limit lower limit value – – – Pr.14 Software stroke limit selection – – – Pr.15 Software stroke limit valid/invalid setting – Pr.16 Command in-position width – – – Pr.17 Torque limit setting value – – Pr.18 M code ON signal output timing – Pr.19 Speed switching mode – Pr.20 Interpolation speed designation method – Pr.21 Current feed value during speed control – Pr.22 Input signal logic selection Pr.23 Output signal logic selection Pr.24 Manual pulse generator input selection – – – – – Pr.150 Speed-position function selection – – – – – – 12.3.2 12.7.6 – – – – – – 12.4.3 – – – 12.3.1 – – 12.7.5 12.4.2 – – – 12.7.3 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Always set Set as required Setting not possible Setting restricted Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.) 5-5 DATA USED FOR POSITIONING CONTROL Manual control Acceleration time 2 – – – Pr.27 Acceleration time 3 – – – Pr.28 Deceleration time 1 – – – Pr.29 Deceleration time 2 – – – Pr.30 Deceleration time 3 – – – Pr.31 JOG speed limit value – – – – – – – – – 12.4.1 Pr.32 JOG operation acceleration time selection – – – – – – – – – – Pr.33 JOG operation deceleration time selection – – – – – – – – – – Pr.34 Acceleration/deceleration process selection – – – Pr.35 S-curve ratio – – – Pr.36 Sudden stop deceleration time – – – Pr.37 Stop group 1 sudden stop selection – – – – Pr.38 Stop group 2 sudden stop selection – – – – Pr.39 Stop group 3 sudden stop selection – – – – Pr.40 Positioning complete signal output time – – – – Pr.41 Allowable circular interpolation error width – – – – Pr.42 – – – – – External command function selection – Related sub function Manual pulse generator operation Pr.26 JOG operation Inching operation JUMP instruction, NOP instruction, LOOP to LEND – Speed-position or position-speed control – 1 to 4 axis speed control – 2-axis circular interpolation control Acceleration time 1 OPR control Current value changing Other control Pr.25 Positioning parameter Detailed parameters 2 MELSEC-Q Major positioning control Position control 1-axis linear control 2/3/4-axis linear interpolation control Control 1-axis fixed-feed control 2/3/4-axis fixed-feed control 5 12.7.6 12.7.6 – – – 12.5.1 12.7.2 : Always set : Set as required – : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.) Checking the positioning parameters Pr.1 to Pr.42 are checked with the following timing. (1) When the "PLC READY signal [Y0]" output from the CPU module to the QD75 changes from OFF to ON (2) When the test operation button is turned ON in the test mode using GX Configurator-QP (3) When an error check is carried out with GX Configurator-QP REMARK "High-level positioning control" is carried out in combination with the "major positioning control". Refer to the "major positioning control" parameter settings for details on the parameters required for "high-level positioning control". 5-6 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to CHAPTER 8 "OPR CONTROL" for details on the "OPR control", and to Section 5.2 "List of parameters" for details on each setting item. OPR control Fast OPR control Machine OPR control Stopper method 1) Stopper method 2) Stopper method 3) Count method 1) Count method 2) R R – R R – – – – – – – S S S S S – – C C – S S S S R – R R Pr.43 OPR method Near-point dog method OPR detailed parameters OPR basic parameters OPR parameters Pr.44 OPR direction Pr.45 OP address Pr.46 OPR speed Pr.47 Creep speed Pr.48 OPR retry R Pr.49 OPR dwell time – Pr.50 Setting for the movement amount after nearpoint dog ON – Pr.51 OPR acceleration time selection Pr.52 OPR deceleration time selection Pr.53 OP shift amount S Pr.54 OPR torque limit value – Pr.55 Deviation counter clear signal output time C C C Pr.56 Speed designation during OP shift S S Pr.57 Dwell time during OPR retry R R : Always set : Preset parameters are used for machine OPR control. – : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.) R : Set when using the "12.2.1 OPR retry function". S : Set when using the "12.2.2 OP shift function". C : Set the deviation counter clear signal output time. Checking the OPR parameters. Pr.43 to Pr.57 are checked with the following timing. (1) When the "PLC READY signal [Y0]" output from the CPU module to the QD75 changes from OFF to ON (2) When the test operation button is turned ON in the test mode using GX Configurator-QP (3) When an error check is carried out with GX Configurator-QP 5-7 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.4 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to CHAPTER 9 "MAJOR POSITIONING CONTROL". For details of the individual setting items, refer to Section 5.3 "List of positioning data". Fixedfeed 1 Fixedfeed 2 Fixedfeed 3 Fixedfeed 4 Forward run speed/ position Reverse run speed/ position Current value changing LEND Linear 1 Linear 2 Linear 3 Linear 4 Forward run speed 1 Reverse run speed 1 Forward Circular run speed 2 sub Reverse run Circular speed 2 right Forward Circular run speed 3 left Reverse run speed 3 Forward run speed 4 Reverse run speed 4 LOOP Independent positioning control Operation Continuous positioning pattern control Continuous path control – – – – – – – – – – – – Current value changing JUMP instruction LOOP LEND NOP instruction Position-speed switching control Speed-position switching control 1 to 4 axis speed control 2-axis circular interpolation control Other control JUMP instruction Da.1 1-axis fixed-feed control 2/3/4-axis fixed-feed control Positioning data Position control 1-axis linear control 2/3/4-axis linear interpolation control Major positioning control Forward run position/ speed NOP Reverse instruction run position/ speed Da.2 Control system Da.3 Acceleration time No. – – – – – Da.4 Deceleration time No. – – – – – Da.5 Axis to be interpolated – – – – – – New address – – – – – – – – – – – – – – JUMP destination positioning data No. – – JUMP condition data No. No. of LOOP to LEND repetitions – Da.6 : 2 axes – : 1/3/4 axes Positioning address/ movement amount Da.7 Arc address Da.8 Command speed – – – – – – – – – – – – Da.9 Dwell time (JUMP destination positioning data No.) – Da.10 M code (JUMP condition data No.) – : Always set : Set as required : Setting not possible – : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.) : Two control systems are available: the absolute (ABS) system and incremental (INC) system. 5-8 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Checking the positioning data The items Da.1 to Da.10 are checked at the following timings: (1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP 5-9 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.5 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item. High-level positioning control Block start (Normal start) Condition start Wait start Simultaneous start Block start data Repeated start (FOR loop) Repeated start (FOR condition) Da.11 Shape (end/continue) Da.12 Start data No. Da.13 Special start instruction – Da.14 Parameter – : Set as required – : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.) Checking the block start data Da.11 to Da.14 are checked with the following timing. (1) When the "Block start data" starts (2) When an error check is carried out with GX Configurator-QP 5 - 10 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.6 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. For the "high-level positioning control", JUMP instruction, and setting items, refer to the following. "High-level positioning control" Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL" JUMP instruction ......................... Refer to Section 9.2.21 "JUMP instruction". Setting items ............................... Refer to Section 5.5 "List of condition data". Control Condition data Major positioning control High-level positioning control Other than Block start JUMP Condition JUMP (Normal Wait start instruction start instruction start ) Simultaneous start Repeated Repeated start start (FOR (FOR loop) condition) Da.15 Condition target – – – Da.16 Condition operator – – – Da.17 Address – – Da.18 Parameter 1 – – – Da.19 Parameter 2 – – – – – : Set as required : Setting limited – : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.) Checking the condition data Da.15 to Da.19 are checked with the following timing. (1) When the " Block start data" starts (2) When "JUMP instruction" starts (3) When an error check is carried out with GX Configurator-QP 5 - 11 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.7 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. System monitoring: Monitoring of the QD75 configuration and operation history (through the system monitor data Md.1 through, Md.19 Md.50 through Md.52 1) 1: Md.50 through Md.52 are for the QD75P N/QD75D N only. Axis operation monitoring: Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data Md.20 through Md.48 2) 2: The axis monitor data are refreshed every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ). Note that " Md.21 Machine feed value", " Md.22 Feedrate", " Md.28 Axis feedrate" and " Md.30 External input/output signal" of QD75P /QD75D are refreshed every 56.8ms. Also, " Md.23 Valid M code", is updated when the "M code ON signal [X4, X5, X6, X7]" turns ON. [1] Monitoring the system Monitoring the positioning system operation history Monitoring details Corresponding item Whether the system is in the test mode or not History of data that started an operation Md.1 In test mode flag Start information Md.3 Start information Start No. Md.4 Start No. Start Year:month (QD75P N/QD75D N Day:hour (QD75P N/QD75D N Hour (QD75P /QD75D ) (Year:month) Md.5 Start (Day:hour) Md.6 Start (Minute:second) Error upon starting Md.7 Error judgment Pointer No. next to the pointer No. where the latest history is stored Md.8 Start history pointer Axis in which the error occurred Md.9 Axis in which the error occurred Axis error No. Md.10 Axis error No. Minute:second History of all errors Md.50 Start Year:month (QD75P N/QD75D N Day:hour Axis error (QD75P N/QD75D N occurrence Hour (QD75P /QD75D ) Minute:second Pointer No. next to the pointer No. where the latest history is stored 5 - 12 Md.51 Axis error occurrence (Year:month) Md.11 Axis error occurrence (Day:hour) Md.12 Axis error occurrence (Minute:second) Md.13 Error history pointer 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring details Corresponding item Axis in which the warning occurred Axis warning No. Year:month (QD75P N/QD75D N History of all warnings Day:hour Axis warning (QD75P N/QD75D N occurrence Hour (QD75P /QD75D ) Md.52 Axis warning occurrence (Year:month) Md.16 Axis warning occurrence (Day:hour) Md.17 Minute:second Number of write accesses Pointer No. next to the pointer No. to the flash ROM after the where the latest history is stored power is switched ON Number of write accesses to flash ROM [2] Md.14 Axis in which the warning occurred Md.15 Axis warning No. Axis warning occurrence (Minute:second) Md.18 Warning history pointer Md.19 No. of write accesses to flash ROM Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value 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 Monitoring the speed Monitor details During independent axis control Monitor the current speed When "0: Composite speed" is set for " Pr.20 Interpolation speed During interpola- designation method" tion When "1: control Reference axis speed" is set for " Pr.20 Interpolation speed designation method" Corresponding item Indicates the speed of each axis Indicates the composite speed Md.22 Feedrate Indicates the reference axis speed Constantly indicates the speed of each axis Md.28 Axis feedrate Md.33 Target speed Monitor the current target speed 5 - 13 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring the state Monitor details Corresponding item Monitor the axis operation state Md.26 Axis operation status Monitor the latest error code that occurred with the axis Md.23 Axis error No. Monitor the latest warning code that occurred with the axis Md.24 Axis warning No. Monitor the external input/output signal and flag Md.30 External input/output signal Md.31 Status Monitor the valid M codes Md.25 Valid M code Monitor whether the speed is being limited Md.39 In speed limit flag Monitor whether the speed is being changed Md.40 In speed change processing flag Monitor the "start data" point currently being executed Md.43 Start data pointer being executed Monitor the "positioning data No." currently being executed Md.44 Positioning data No. being executed Monitor the remaining No. of repetitions (special start) Md.41 Special start repetition counter Monitor the remaining No. of repetitions (control system) Md.42 Control system repetition counter Monitor the block No. Md.45 Block No. being executed Monitor the current torque limit value Md.35 Torque limit stored value Monitor the "instruction code" of the special start data when using special start Md.36 Special start data instruction code setting value Monitor the "instruction parameter" of the special start data when using special start Md.37 Special start data instruction parameter setting value Monitor the "start data No." of the special start data when using special start Md.38 Start positioning data No. setting value Monitor the "positioning data No." executed last Md.46 Last executed positioning data No. Monitor the positioning data currently being executed Md.47 Positioning data being executed Monitor the movement amount after the current position control switching when using "speed-position switching control (INC mode)" Md.29 Monitor switching from the constant speed status or acceleration status to the deceleration status during position control whose operation pattern is "Positioning complete" Md.48 Deceleration start flag 5 - 14 Speed-position switching control positioning amount 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.8 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation. Controlling the system data : Performs write/initialization, etc. of the QD75 "setting data". (the system control data Cd.1 and Cd.2 ) Controlling the operation : Setting operation parameters, changing speed during operation, interrupting or restarting operation (the system control data Cd.41 and Cd.42 , and the axis control data Cd.3 to Cd.40 ) [1] Controlling the system data Setting and resetting the setting data Control details Controlled data item Write setting data from buffer memory to flash ROM Cd.1 Flash ROM write request Reset (initialize) parameters Cd.2 Parameter initialization request 5 - 15 5 DATA USED FOR POSITIONING CONTROL [2] MELSEC-Q Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.) Cd.3 Positioning start No. Clear (reset) the axis error ( Md.23 ) and warning ( Md.24 ) Cd.5 Axis error reset Issue instruction to restart (When axis operation is stopped) Cd.6 Restart command End current positioning (deceleration stop), and start next positioning Cd.37 Skip command Set start point No. for executing block start Cd.4 Stop continuous control Cd.18 Continuous operation interrupt request Positioning starting point No. Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.) Cd.33 Simultaneous starting axis start data No. (axis 4 start data No.) Set start data Nos. for axes that start up simultaneously Specify write destination for teaching results Cd.38 Teaching data selection Specify data to be taught Cd.39 Teaching positioning data No. Controlling operation per step Control details Corresponding item Stop positioning operation after each operation Cd.35 Step valid flag Set unit to carry out step Cd.34 Step mode Issue instruction to continue operation after a step is finished Cd.36 Step start information Controlling the speed Control details Corresponding item Set new speed when changing speed during operation Cd.14 New speed value Issue instruction to change speed in operation to Cd.14 value (Only during positioning operation and JOG operation) Cd.15 Speed change request Change positioning operation speed between 1 and 300% range Cd.13 Positioning operation speed override Set inching movement amount Cd.16 Inching movement amount Set JOG speed Cd.17 JOG speed When changing acceleration time during speed change, set new acceleration time Cd.10 New acceleration time value When changing deceleration time during speed change, set new deceleration time Cd.11 New deceleration time value Set acceleration/deceleration time validity during speed change Acceleration/deceleration time change Cd.12 during speed change, enable/disable selection 5 - 16 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Making settings related to operation Control details Corresponding item Turn M code ON signal OFF Cd.7 M code OFF request Set new value when changing current value Cd.9 New current value Validate speed-position switching signal from external source Cd.24 Speed-position switching enable flag Change movement amount for position control during speed-position Speed-position switching control Cd.23 switching control (INC mode) movement amount change register Validate external position-speed switching signal Cd.26 Position-speed switching enable flag Change speed for speed control during position-speed switching control Cd.25 Set up a flag when target position is changed during positioning Cd.29 Target position change request flag Set new positioning address when changing target position during positioning Cd.27 Set new speed when changing target position during positioning Cd.28 Target position change value(new speed) Set absolute (ABS) moving direction in degrees Cd.40 ABS direction in degrees Cd.21 Manual pulse generator enable flag Set manual pulse generator operation validity Position-speed switching control speed change register Target position change value(new address) Set scale per pulse of No. of input pulses from manual pulse generator Cd.20 Change OPR request flag from "ON to OFF" Cd.19 OPR request flag OFF request Validate external command signal Cd.8 Change " Md.35 Torque limit stored value" Cd.22 New torque value Set whether " Md.48 Deceleration start flag" is valid or invalid Cd.41 Deceleration start flag valid Set the stop command processing for deceleration stop function (deceleration curve re-processing/deceleration curve continuation) Cd.42 5 - 17 Manual pulse generator 1 pulse input magnification External command valid Stop command processing for deceleration stop selection 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value, setting range Item Value set with sequence program 0 : mm 0 1 : inch 1 2 : degree 2 3 : pulse 3 1 to 65535 1 to 32767 :Set as a decimal 1 to 65535 32768 to 65535 :Convert into hexadecimal and set The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Value set with peripheral device Movement amount per pulse Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) (Unit : pulse) Pr.3 Movement amount per rotation (Al) Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 3 0 150 300 450 20000 1 151 301 451 20000 2 152 302 452 1 3 153 303 453 [Table 1] on next page Pr.4 Unit magnification (Am) 1 : 1-fold 10 : 10-fold 100 : 100-fold 1000 : 1000-fold 1 10 100 1000 Pr.1 Unit setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or pulse. Different units can be defined for different axes (axis 1 to 4). (Example) Different units (mm, inch, degree, and pulse) are applicable to different systems: mm or inch..... X-Y table, conveyor (Select mm or inch depending on the machine specifications.) degree ........... Rotating body (360 degrees/rotation) pulse .............. X-Y table, conveyor When you change the unit, note that the values of other parameters and data will not be changed automatically. After changing the unit, check if the parameter and data values are within the allowable range. Set "degree" to exercise speed-position switching control (ABS mode). 5 - 18 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.2 to Pr.4 Movement amount per pulse These parameters define the amount of movement achieved by each single pulse within a pulse train output by the QD75. The following paragraphs explain how to set the individual parameters Pr.2 , Pr.3 , and Pr.4 assuming that the unit "mm" is selected with Pr.1 . The movement amount per pulse is given by the following expression: Movement amount per pulse = Movement amount per rotation (Al) No. of pulses per rotation (Ap) Due to the mechanical tolerance, the actual movement amount may differ slightly from the instructed movement amount. The error can be compensated by adjusting the movement amount per pulse defined here. (Refer to Section 12.3.2 "Electronic gear function".) POINT If the movement amount per pulse is less than 1, command frequency variations will occur. Smaller setting will increase variations and may cause machine vibration. If the movement amount per pulse becomes less than 1, also use the electronic gear function of the drive unit and make setting so that the movement amount per pulse is 1 or greater. [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0.1 to 6553.5 (m) 1 to 65535 ( 10-1m) 1 : inch 0.00001 to 0.65535 (inch) 1 to 65535 ( 10-5inch) 2 : degree 0.00001 to 0.65535 (degree) 1 to 65535 ( 10-5degree) 3 : pulse 1 to 65535 (pulse) 1 to 65535 (pulse) 1 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set Pr.2 No. of pulses per rotation (Ap) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications. No. of pulses per rotation (Ap) = Resolution per servomotor rotation When the "Resolution per servomotor revolution" of Mitsubishi servo amplifier exceeds 65535 pulses, make setting after referring to the Servo Amplifier Instruction Manual. Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB 1/n 5 - 19 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q However, the maximum value that can be set for this "movement amount per rotation (Al)" parameter is 6553.5 m (approx. 6.5mm). Set the "movement amount per rotation (Al)" as shown below so that the "movement amount per rotation (AL)" does not exceed this maximum value. Movement amount per rotation (AL) = PB 1/n = Movement amount per rotation (Al) Unit magnification (Am) Note) The unit magnification (Am) is a value of 1, 10, 100 or 1000. If the "PB 1/n" value exceeds 6553.5 m, adjust with the unit magnification so that the "movement amount per rotation (Al) " does not exceed 6553.5 m. Example 1) When movement amount per rotation (AL) = PB 1/n = 6000.0m (= 6mm) Movement amount per rotation (AL) = Movement amount per rotation (Al) = 6000.0m Unit magnification (Am) 1 time Example 2) When movement amount per rotation (AL) = PB 1/n = 60000.0m (= 60mm) Movement amount per rotation (AL) = Movement amount per rotation (Al) = 6000.0m Programmable controller CPU module Servo amplifier Unit magnification (Am) 10 times Workpiece Servomotor QD75 M G 1 Encoder Reduction gears n PB Pf Movement amount per pulse PB Pf 1 n PB: Worm gear lead (mm/rev) 1/n: Deceleration ratio Pf: Number of pulses from encoder (pulse/rev) [mm/pulse] Setting value, setting range Item Value set with peripheral device Pr.5 Pulse output mode Pr.6 Rotation direction setting 0 : PULSE/SIGN mode 1 : CW/CCW mode 2 : A phase/B phase (multiple of 4) 3 : A phase/B phase (multiple of 1) 0 : Current value increment with forward run pulse output 1 : Current value increment with reverse run pulse output Value set with sequence program 0 1 2 Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1 4 154 304 454 0 5 155 305 455 3 0 1 5 - 20 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.5 Pulse output mode Set the pulse output mode to match the servo amplifier being used. IMPORTANT The only valid value of the " Pr.5 Pulse output mode" is the value at the moment when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the CPU module is reset. Once the PLC READY signal [Y0] has been turned ON, the value will not be reset even if another value is set to the parameter and the PLC READY signal [Y0] is turned from OFF to ON. Use " Pr.23 Output signal logic selection" to choose between the positive logic (pulse rising edge detection) and negative logic (pulse falling edge detection). For the output specifications of each pulse output mode, refer to Section 3.4.1, (2) "Output specifications". An example of the pulse output mode for positive and negative logic is shown below. (1) PULSE/SIGN mode Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). The motor will forward run when the direction sign is HIGH. The motor will reverse run when the direction sign is LOW. Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). The motor will forward run when the direction sign is LOW. The motor will reverse run when the direction sign is HIGH. PULSE PULSE SIGN SIGN Forward run Reverse run Forward run Reverse run Move in + direction Move in direction Move in + direction move in direction (2) CW/CCW mode During forward run, the forward run feed pulse (PULSE F) will be output. During reverse run, the reverse run feed pulse (PULSE R) will be output. Positive logic Negative logic CW CW CCW CCW Forward run Reverse run Forward run 5 - 21 Reverse run 5 DATA USED FOR POSITIONING CONTROL (3) MELSEC-Q A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A ) and B phase (B ). When the B phase is 90° behind the A phase, the motor will forward run. When the B phase is 90° ahead of the A phase, the motor will reverse run. 1) For multiple of 1 setting Positive logic Forward run Command 1 pulse output Negative logic Forward run Reverse run Command 1 pulse output A phase (A ) A phase (A ) B phase (B ) B phase (B ) When B phase is 90° behind A phase Reverse run Command 1 pulse output When B phase is 90° ahead of A phase Command 1 pulse output When B phase is 90° behind A phase When B phase is 90° ahead of A phase Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by four times per second. 2) For multiple of 4 setting Positive logic Forward run Command 1 pulse output Negative logic Reverse run Forward run Command 1 pulse output Command 1 pulse output A phase (A ) Reverse run Command 1 pulse output A phase (A ) B phase (B ) B phase (B ) When B phase is 90° behind A phase When B phase is 90° ahead of A phase When B phase is 90° behind A phase When B phase is 90° ahead of A phase Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by one times per second. 5 - 22 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.6 Rotation direction setting Set the relation of the positioning direction ( Md.20 Current feed value increment direction/decrement direction) and the pulse output. For the relation of "Forward run pulse output, Reverse run pulse output" and "CW/A phase/PULSE signal, CCW/B phase/SIGN signal", refer to " Pr.5 Pulse output mode". [Example] The following figure shows the pulse outputs of when " Pr.5 Pulse output mode" is set to CW/CCW mode and the positioning with current feed value (increment direction)/(decrement direction) is executed. Positioning with the current feed value (increment direction) Md.20 Current feed value 0 0 1 2 3 4 Positioning with the current feed value (decrement direction) 4 4 3 2 1 0 0 When "0: Current value increment with forward run pulse output" is set cw ccw Forward run pulse output Reverse run pulse output When "1: Current value increment with reverse run pulse output" is set cw ccw Reverse run pulse output Forward run pulse output POINT When Pr.6 has been changed from "0" to "1", check that the upper and lower limit switches operate properly by JOG operation. If any malfunction is identified, check and correct the wiring. 5 - 23 5 DATA USED FOR POSITIONING CONTROL Setting value, setting range Item Value set with peripheral device Pr.7 Bias speed at start Value set with sequence program MELSEC-Q Default value The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. 0 [Table 1] on next page Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 6 7 156 157 306 307 456 457 Pr.7 Bias speed at start Set the bias speed (minimum speed) upon starting. The bias speed has to be defined to allow the motor to start smoothly especially when a stepping motor is used. (A stepping motor will not start smoothly if a low rotation speed is instructed at the beginning.) The specified "bias speed at start" will be valid during the following operations: • Positioning operation • OPR operation • JOG operation Note that the bias speed should not exceed " Pr.8 Speed limit value". Precautions for using a stepping motor (1) For the system that uses a stepping motor, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur. (2) In the system that uses a stepping motor, the circular interpolation control cannot be carried out. Although setting the bias speed at start is required by the characteristics of the stepping motor, the setting of the bias speed at start is disabled for circular interpolation control. Ensure to use a servomotor for both 2 axes when the circular interpolation control is carried out. 5.2.2 Basic parameters 2 Setting value, setting range Item Value set with peripheral device Pr.8 Speed limit value Value set with sequence program The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set. Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 200000 10 11 160 161 310 311 460 461 [Table 2] on next page Pr.9 Acceleration time 0 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 12 13 162 163 312 313 462 463 Pr.10 Deceleration time 0 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 14 15 164 165 314 315 464 465 5 - 24 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) 0 : mm 1 : inch 2 : degree 0 to 20000000.00 (mm/min) 0 to 2000000.000 (inch/min) 0 to 2000000.000 (degree/min) 3 : pulse 0 to 1000000 (pulse/s) Value set with sequence program (unit) 0 to 2000000000 (×10-2mm/min) 0 to 2000000000 (×10-3inch/min) 0 to 2000000000 (×10-3degree/min) [QD75P N/QD75D N] 0 to 4000000 (pulse/s) [QD75P /QD75D ] 0 to 1000000 (pulse/s) 1 [Table 2] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 1 to 2000000000 (×10-2mm/min) 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (×10-3inch/min) 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (×10-3degree/min) 0.001 to 2000000.000 (degree/min) [Select type 2 is QD75P ] [QD75P N/QD75D N] 1 to 200000 (pulse/s) 1 1 to 4000000 (pulse/s) 3 : pulse [QD75P /QD75D ] [Select type 2 is QD75D ] 1 to 1000000 (pulse/s) 1 1 to 1000000 (pulse/s) 1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2) 2: For Select type, refer to GX Configurator-QP Operating Manual. 0 : mm 1 : inch 2 : degree Pr.8 Speed limit value Set the maximum speed during positioning and OPR operations. If the specified speed exceeds speed limit value, positioning will be limited at the speed limit value. Set the speed limit value within the range of the following formula. If the speed limit value exceeds the range, the error "Out of speed limit value range" (error code: 910) will occur. The command pulse frequency converted from the speed limit value ≤ Max. output pulse 1 1: QD75P N/QD75P : 200kpulse/s QD75D N: 4Mpulse/s QD75D : 1Mpulse/s Pr.9 Acceleration time 0, Pr.10 Deceleration time 0 " Pr.9 Acceleration time 0" specifies the time for the speed to increase from zero to " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation). " Pr.10 Deceleration time 0" specifies the time for the speed to decrease from " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) to zero. Speed Pr.8 Speed limit value Positioning speed Time Actual Actual deceleration time acceleration time Pr.9 Pr.10 Deceleration time 0 Acceleration time 0 1) If the positioning speed is set lower than the parameter-defined speed limit value, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed equal to or only a little lower than the parameter-defined speed limit value. 2) These settings are valid for OPR, positioning and JOG operations. 3) When the positioning involves interpolation, the acceleration/deceleration time defined for the reference axis is valid. 5 - 25 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.3 Detailed parameters 1 Setting value, setting range Item Value set with peripheral device Pr.11 Backlash compensation amount Pr.12 Software stroke limit upper limit value Pr.13 Software stroke limit lower limit value Pr.14 Software stroke limit selection Pr.15 Software stroke limit valid/invalid setting Value set with sequence program The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 17 167 317 467 2147483647 18 19 168 169 318 319 468 469 –2147483648 20 21 170 171 320 321 470 471 0 22 172 322 472 0 23 173 323 473 [Table 1] on next page The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set. [Table 2] on next page 0 : Apply software stroke limit on current feed value 1 : Apply software stroke limit on machine feed value 0 : Software stroke limit valid during JOG operation, inching operation and manual pulse generator operation 1 : Software stroke limit invalid during JOG operation ,inching operation and manual pulse generator operation 0 1 0 1 Pr.11 Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. When the backlash compensation amount is set, pulses equivalent to the compensation amount will be output each time the direction changes during positioning. Pr.44 OPR direction Workpiece (moving body) Worm gear Backlash (compensation amount) 5 - 26 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) The backlash compensation is valid after machine OPR. Thus, if the backlash compensation amount is set or changed, always carry out machine OPR once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression. Backlash compensation amount Movement amount per pulse 0 255 [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0 to 6553.5 (m) 0 to 65535 ( 10-1m) 1 : inch 0 to 0.65535 (inch) 0 to 65535 ( 10-5inch) 2 : degree 0 to 0.65535 (degree) 0 to 65535 ( 10-5degree) 3 : pulse 0 to 65535 (pulse) 0 to 65535 (pulse) 1 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set [Table 2] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( 10-1m) 1 : inch -21474.83648 to 21474.83647(inch) 5 -2147483648 to 2147483647 ( 10- inch) 2 : degree 0 to 359.99999 (degree) 0 to 35999999 ( 10-5degree) 3 : pulse -2147483648 to 2147483647(pulse) -2147483648 to 2147483647 (pulse) Pr.12 Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. Pr.13 Software stroke limit lower limit value Set the lower limit for the machine's movement range during positioning control. Software stroke limit lower limit Emergency stop limit switch Software stroke limit upper limit (Machine movement range) OP 5 - 27 Emergency stop limit switch 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range. 3) To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (The setting value can be anything in the setting range.) 4) When the unit is "degree", the software stroke limit check is invalid during speed control (including speed-position switching control, position-speed switching control) or during manual control. Pr.14 Software stroke limit selection Set whether to apply the software stroke limit on the "current feed value" or the "machine feed value". The software stroke limit will be validated according to the set value. Pr.15 Software stroke limit valid/invalid setting Set whether to validate the software stroke limit during JOG/Inching operation and manual pulse generator operation. Setting value, setting range Item Value set with sequence program Value set with peripheral device Pr.16 Command in-position width The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 100 24 25 174 175 324 325 474 475 300 26 176 326 476 0 27 177 327 477 [Table 1] on next page Pr.17 Torque limit setting value Pr.18 M code ON signal output timing 1 to 500 (%) 1 to 500 (%) 0 : WITH mode 0 1 : AFTER mode 1 Pr.16 Command in-position width Set the remaining distance that turns the command in-position ON. The command in-position signal is used as a front-loading signal of the positioning complete signal. When positioning control is started, the "command in-position flag" (3rd flag from right) in " Md.31 Status" turns OFF, and the "command in-position flag" turns ON at the set position of the command in-position signal. Speed Position control start Pr.16 Command in-position width ON Command in-position flag OFF 5 - 28 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 500%. The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, it is controlled with the set torque limit value. Usage conditions Limits for pulse train output type (a) A drive unit that can issue a torque limit command with the analog voltage is required. (b) The D/A conversion module and the D/A conversion module and drive unit must be wired. (c) The set " Pr.17 Torque limit setting value" is set in the buffer memory " Md.35 Torque limit stored value", so transmit that " Md.35 Torque limit stored value" to the D/A conversion module with the sequence program. [Table 1] Value set with peripheral device (unit) Pr.1 setting value Value set with sequence program (unit) 0 : mm 0.1 to 214748364.7 (µm) 1 to 2147483647 (×10–1µm) 1 : inch 0.00001 to 21474.83647 (inch) 1 to 2147483647 (×10–5inch) 2 : degree 0.00001 to 21474.83647 (degree) 1 to 2147483647 (×10–5degree) 3 : pulse 1 to 2147483647 (pulse) 1 to 2147483647 (pulse) Pr.18 M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. WITH mode......... An M code is output and the M code ON signal is turned ON when a positioning operation starts. AFTER mode ...... An M code is output and the M code ON signal is turned ON when a positioning operation completes. Positioning complete signal [X14,X15,X16,X17] Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] BUSY signal [XC,XD,XE,XF] M code ON signal [X4,X5,X6,X7] M code ON signal [X4,X5,X6,X7] Cd.7 M code OFF request [1504,1604,1704,1804] Cd.7 M code OFF request [1504,1604,1704,1804] Md.25 Valid M code m1 Md.25 m2 Positioning Positioning Da.1 m2 m1 Valid M code Operation pattern 01 (continuous) Da.1 00 (end) Operation pattern 01 (continuous) 00 (end) : m1 and m2 indicate set M codes. : m1 and m2 indicate set M codes. Note: If AFTER mode is used with speed control, an M code will not be output and the M code ON signal will not be turned ON. 5 - 29 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q An M code ( Da.10 ) is a number between 0 and 65535 that can be assigned to each positioning data. The sequence program can be coded to read an M code from the buffer memory address specified by " Md.25 Valid M code" whenever the M code ON signal [X4, X5, X6, X7] turns ON so that a command for the sub work (e.g. clamping, drilling, tool change) associated with the M code can be issued. Setting value, setting range Item Value set with peripheral device Pr.19 Speed switching mode Pr.20 Interpolation speed designation method Pr.21 Current feed value during speed control 0 : Standard speed switching mode 1 : Front-loading speed switching mode 1 0 : Composite speed 0 1 : Reference axis speed 1 0 : Do not update current feed value 0 1 : Update current feed value 1 2 : Clear current feed value to zero 2 b0 b1 b2 b3 b4 Pr.22 Input signal logic selection Value set with sequence program 0 b5 b6 b7 b8 Lower limit Upper limit Drive unit READY Stop signal External 0: Negative command logic Zero signal Near-point dog 1: Positive logic signal Not used Manual pulse generator input b9 to Not used b15 Command b0 pulse signal b1 Not used b2 Not used 0: Negative Pr.23 logic b3 Not used 1: Positive Output signal logic selection Deviation b4 logic counter clear b5 to Not used b15 0: A-phase/B-phase multiplied by 4 Pr.24 1: A-phase/B-phase multiplied by 2 Manual pulse generator 2: A-phase/B-phase multiplied by 1 input selection 3: PULSE/SIGN 0: Speed-position switching control Pr.150 (INC mode) Speed-position function 2: Speed-position switching control selection (ABS mode) Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 28 178 328 478 0 29 179 329 479 0 30 180 330 480 0 31 181 331 481 0 32 182 332 482 0 33 – – – 0 34 184 334 484 151413121110 9 8 7 6 5 4 3 2 1 b0 Always "0" is set to the part not used. 151413121110 9 8 7 6 5 4 3 2 1 b0 5 - 30 Always "0" is set to the part not used. 0 1 2 3 0 2 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.19 Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching............... Switch the speed when executing the next positioning data. 1 : Front-loading switching ........ The speed switches at the end of the positioning data currently being executed. Speed Switch the speed when executing the next positioning data Speed The next positioning data starts positioning at the designated speed t t n: Positioning data No. n n+1 n n+1 Pr.20 Interpolation speed designation method When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed .................. The movement speed for the control target is designated, and the speed for each axis is calculated by the QD75. 1: Reference axis speed ........... The axis speed set for the reference axis is designated, and the speed for the other axis carrying out interpolation is calculated by the QD75. X axis Designate composite speed X axis Designate speed for reference axis Y axis Y axis Calculated by QD75 Calculated by QD75 Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis speed control has to be performed. If you specify the composite speed for a positioning operation that involves the 4-axis linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error" (error code 523) will be output when the positioning operation is attempted. For a positioning operation that involves the circular interpolation, specify the composite speed always. 5 - 31 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.21 Current feed value during speed control Specify whether you wish to enable or disable the update of " Md.20 Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: The update of the current feed value is disabled The current feed value will not change. (The value at the beginning of the speed control will be kept.) 1: The update of the current feed value is enabled The current feed value will be updated. (The current feed value will change from the initial.) 2: The current feed value is cleared to zero The current feed will be set initially to zero and change from zero while the speed control is in effect. Note1: When the speed control is performed over two to four axes, the choice between enabling and disabling the update of " Md.20 Current feed value" depends on how the reference axis is set. Note2: Set "1" to exercise speed-position switching control (ABS mode). Pr.22 Input signal logic selection, Pr.23 Output signal logic selection Set the I/O signal logic that matches the signaling specification of the connected external device. Note1: A mismatch in the signal logic will disable normal operation. Be careful of this when you change from the default value. Note2: Set the manual pulse generator input logic selection (b8) to axis 1. (Setting of any of axes 2 to 4 is invalid.) Pr.24 Manual pulse generator input selection Set the manual pulse generator input pulse mode. (Only the value specified against the axis 1 is valid.) 0: A-phase/B-phase; multiplied by 4 1: A-phase/B-phase; multiplied by 2 2: A-phase/B-phase; multiplied by 1 3: PULSE/SIGN Pr.150 Speed-position function selection Select the mode of speed-position switching control. 0: INC mode 2: ABS mode Note1: If the setting is other than 0 and 2, operation is performed in the INC mode with the setting regarded as 0. 5 - 32 5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 33 MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.4 Detailed parameters 2 Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1000 36 37 38 39 40 41 42 43 44 45 46 47 186 187 188 189 190 191 192 193 194 195 196 197 336 337 338 339 340 341 342 343 344 345 346 347 486 487 488 489 490 491 492 493 494 495 496 497 20000 48 49 198 199 348 349 498 499 0 50 200 350 500 0 51 201 351 501 Pr.25 Acceleration time 1 Pr.26 Acceleration time 2 Pr.27 Acceleration time 3 1 to 8388608 (ms) 1 to 8388608 (ms) Pr.28 Deceleration time 1 Pr.29 Deceleration time 2 Pr.30 Deceleration time 3 Pr.31 JOG speed limit value The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. [Table 1] on next page 0 0: Pr.9 Acceleration time 0 Pr.32 1: Pr.25 Acceleration time 1 JOG operation acceleration 2: Pr.26 Acceleration time 2 time selection 1 3: Pr.27 Acceleration time 3 3 2 0: Pr.10 Deceleration time 0 0 Pr.33 1: Pr.28 Deceleration time 1 JOG operation deceleration 2: Pr.29 Deceleration time 2 time selection 1 3: Pr.30 Deceleration time 3 3 2 Pr.25 Acceleration time 1 to Pr.27 Acceleration time 3 These parameters set the time for the speed to increase from zero to " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) during a positioning operation. Pr.28 Deceleration time 1 to Pr.30 Deceleration time 3 These parameters set the time for the speed to decrease from " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) to zero during a positioning operation. 5 - 34 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 ( 10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 ( 10-3degree/min) [QD75P N/QD75D N] [Select type 1 is QD75P ] 1 to 200000 (pulse/s) 2 1 to 4000000 (pulse/s) 3 : pulse [Select type 1 is QD75D ] [QD75P /QD75D ] 1 to 1000000 (pulse/s) 2 1 to 1000000 (pulse/s) 1: For Select type, refer to GX Configurator-QP Operating Manual. 2: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2) Pr.31 JOG speed limit value Set the maximum speed for JOG operation. Note) Set the "JOG speed limit value" to less than " Pr.8 Speed limit value". If the "speed limit value" is exceeded, the error "JOG speed limit value error" (error code: 956) will occur. Pr.32 JOG operation acceleration time selection Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation. 0 : Use value set in " 1 : Use value set in " 2 : Use value set in " 3 : Use value set in " Pr.9 Pr.25 Pr.26 Pr.27 Acceleration time 0". Acceleration time 1". Acceleration time 2". Acceleration time 3". Pr.33 JOG operation deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during JOG operation. 0 : Use value set in " 1 : Use value set in " 2 : Use value set in " 3 : Use value set in " Pr.10 Pr.28 Pr.29 Pr.30 Deceleration time 0". Deceleration time 1". Deceleration time 2". Deceleration time 3". 5 - 35 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Pr.34 Acceleration/deceleration process selection 0 : Trapezoid acceleration/deceleration process 1 : S-curve acceleration/deceleration process Pr.35 S-curve ratio Pr.36 Sudden stop deceleration time Pr.37 Stop group 1 sudden stop selection Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 0 52 202 352 502 1 1 to 100 (%) 1 to 100 (%) 100 53 203 353 503 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 54 55 204 205 354 355 504 505 56 206 356 506 57 207 357 507 58 208 358 508 0 : Normal deceleration stop 0 Pr.38 Stop group 2 sudden stop selection Pr.39 Stop group 3 sudden stop selection Setting value buffer memory address 0 1 : Sudden stop 1 Pr.34 Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/deceleration for the acceleration/deceleration process. Note) Refer to Section 12.7.6 "Acceleration/deceleration process function" for details. Speed The acceleration and deceleration are linear. Time Speed The acceleration and deceleration follow a sine curve. Time For the system that uses a stepping motor, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur. 5 - 36 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.35 S-curve ratio Set the S-curve ratio (1 to 100%) for carrying out the S-curve acceleration/deceleration process. The S-curve ratio indicates where to draw the acceleration/deceleration curve using the sine curve as shown below. (Example) A Positioning speed B B/2 V B/2 t When S-curve ratio is 100% V Positioning speed sine curve S-curve ratio = B/A 100% 5 - 37 b a b/a = 0.7 t When S-curve ratio is 70% 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.36 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start When positioning is started, the acceleration starts following the "acceleration time". 2) Sudden stop cause occurrence When a "sudden stop cause" occurs, the deceleration starts following the "sudden stop deceleration time". Pr.8 Speed limit value 3) Positioning stop When a "sudden stop cause" does not occur, the deceleration starts toward the stop position following the "deceleration time". Da.8 Command speed Actual acceleration time Actual sudden stop deceleration time Pr.36 Actual deceleration time Sudden stop deceleration time Deceleration time Acceleration time Pr.9 Acceleration time 0 Pr.10 Deceleration time 0 Pr.25 Acceleration time 1 Pr.28 Deceleration time 1 Pr.26 Acceleration time 2 Pr.29 Deceleration time 2 Pr.27 Acceleration time 3 Pr.30 Deceleration time 3 5 - 38 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.37 Stop group 1 sudden stop selection to Pr.39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. Stop group 1 ............. Stop with hardware stroke limit Stop group 2 ............. CPU module error occurrence, PLC READY signal [Y0] OFF, Fault in test mode Stop group 3 ............. External stop signal Stop signal from CPU module Stop signal from peripheral device Error occurrence (excludes errors in stop groups 1 and 2: includes only the software stroke limit errors during JOG operation, speed control, speed-position switching control, and position-speed switching control) The methods of stopping include "0: Normal deceleration stop" and "1: Sudden stop". If "1: Sudden stop" is selected, the axis will suddenly decelerate to a stop when the stop cause occurs. 5 - 39 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with sequence program 0 to 65535 (ms) 0 to 32767 : Pr.40 Set as a decimal 0 to 65535 (ms) Positioning complete signal 32768 to 65535: output time Convert into hexadecimal and set The setting value range differs depending on the " Pr.1 Unit setting". Pr.41 Here, the value within the [Table 1] range is set. Allowable circular interpolation error width Value set with peripheral device Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 300 59 209 359 509 100 60 61 210 211 360 361 510 511 0 62 212 362 512 [Table 1] on next page 0: External positioning start 1: External speed change Pr.42 request External command function 2: Speed-position, positionselection speed switching request 3: Skip request 0 1 2 3 Pr.40 Positioning complete signal output time Set the output time of the positioning complete signal [X14, X15, X16, X17] output from the QD75. A positioning completes when the specified dwell time has passed after the QD75 had terminated the output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis. Programmable controller CPU module Positioning start signal QD75 [Y10, Y11, Y12, Y13] M Positioning complete signal Positioning [X14,X15,X16,X17] Positioning start signal Start complete signal Positioning complete signal (after dwell time has passed) BUSY signal Positioning complete signal Output time Positioning complete signal output time 5 - 40 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0 to 10000.0 (m) 0 to 100000 ( 10-1m) 1 : inch 0 to 1.00000 (inch) 0 to 100000 ( 10-5inch) 2 : degree 0 to 1.00000 (degree) 0 to 100000 ( 10-5degree) 3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse) Pr.41 Allowable circular interpolation error width With the "allowable circular interpolation error width", the allowable error range of the calculated arc path and end point address is set. 1 If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation. The allowable circular interpolation error width is set in the following axis buffer memory addresses. If axis 1 is the reference axis, set in the axis 1 buffer memory address [60, 61]. If axis 2 is the reference axis, set in the axis 2 buffer memory address [210, 211]. If axis 3 is the reference axis, set in the axis 3 buffer memory address [360, 361]. If axis 4 is the reference axis, set in the axis 4 buffer memory address [510, 511]. Path with spiral interpolation Error End point address with calculation End point address Start point address Center point address 1: With circular interpolation control using the center point designation, the arc path calculated with the start point address and center point address and the end point address may deviate. 5 - 41 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.42 External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation. The new speed should be set in the " Cd.14 New speed value" 2: Speed-position, position-speed switching request The external command signal input is used to switch from the speed control to the position control while in the speed-position switching control mode, or from the position control to the speed control while in the position-speed switching control mode. To enable the speed-position switching control, set the " Cd.24 Speed-position switching enable flag" to "1". To enable the position-speed switching control, set the " Cd.26 Position-speed switching enable flag" to "1". 3: Skip request The external command signal input is used skip the current positioning operation. POINT To enable the external command signal, set the " Cd.8 External command enable" to "1". 5 - 42 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.5 OPR basic parameters Setting value, setting range Item Value set with peripheral device Pr.43 OPR method 0 : Near-point dog method 1 : Stopper method 1) 2 : Stopper method 2) 3 : Stopper method 3) 4 : Count method 1) 5 : Count method 2) Default value Value set with sequence program 0 1 2 3 4 5 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 70 220 370 520 Pr.43 OPR method Set the "OPR method" for carrying out machine OPR. 0 : Near-point dog method ........ After decelerating at the near-point dog ON, stop at the zero signal and complete the machine OPR. 1 : Stopper method 1) ............... After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR after the dwell time has passed. 2 : Stopper method 2) ............... After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR with the zero signal. 3 : Stopper method 3) ............... After starting with the creep speed, stop with the stopper, and complete the machine OPR with the zero signal. 4 : Count method 1) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR with the zero signal. 5 : Count method 2) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR. Note) Refer to Section 8.2.2 "Machine OPR method" for details on the OPR methods. OPR method 0 : Near-point dog method (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time, the near-point dog must be ON. If the nearpoint dog is OFF, the axis will decelerate to a stop.) (4) At the first zero signal (one pulse output at one motor revolution) after the near-point dog OFF, the pulse output from the QD75 stops, and the machine OPR is completed. 5 - 43 V Pr.46 OPR speed (2) Pr.47 Creep speed (1) Near-point dog OFF Zero signal (3) ON (4) t 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (4).) (4) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops. (5) When the near-point dog turns ON and the " Pr.49 OPR dwell time" is passed, the pulse output from the QD75 stops, and the machine OPR is completed. V Pr.46 OPR speed (2) Pr.47 Creep speed (3) (1) (5) (4) t Range to forcibly stop the servomotor rotation with the stopper. ON Near-point dog OFF Dwell time up Dwell time counting 2 : Stopper method 2) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (4).) (4) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops. (5) After stopping, the pulse output from the QD75 stops with the zero signal (signal that is output on detection of contact with the stopper. Input externally), and the machine OPR is completed. Pr.46 OPR speed V Pr.47 (2) Creep speed Stop with stopper (3) (4) t (5) (1) Zero signal ON Near-point dog OFF 3 : Stopper method 3) (1) Start machine OPR. (Start movement at the " Pr.47 Creep speed" in the " Pr.44 OPR direction". At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (2).) (2) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops. (3) After stopping, the pulse output from the QD75 stops with the zero signal (signal that is output on detection of contact with the stopper. Input externally), and the machine OPR is completed. 5 - 44 V Pr.47 Creep speed Stop with stopper (2) (1) Zero signal t (3) 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 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 ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD75 stops with the first zero signal (one pulse output at one motor revolution), and the machine OPR is completed. 5 : Count method 2) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD75 stops with the first zero signal, and the machine OPR is completed. Setting value, setting range Item Value set with peripheral device Pr.44 OPR direction Pr.45 OP address Value set with sequence program 0 : Positive direction (address increment direction) 1 : Negative direction (address decrement direction) Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 0 71 221 371 521 0 72 73 222 223 372 373 522 523 1 74 75 224 225 374 375 524 525 1 The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. [Table 1] on next page Pr.46 OPR speed The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set. [Table 2] on next page 5 - 45 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.44 OPR direction Set the direction to start movement when starting machine OPR. 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so " Pr.44 OPR direction" is set as shown below. When the zero point is set at the lower limit side, the OPR direction is in the direction of arrow 1). Set "1" for Pr.44 . Lower limit Upper limit 1) OP Address decrement direction Address increment direction Lower limit Upper limit Address decrement direction OP 2) Address increment direction When the OP is set at the upper limit side, the OPR direction is in the direction of arrow 2). Set "0" for Pr.44 . [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program(unit) 0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( 10-1m) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 ( 10-5inch) 2 : degree 3 : pulse 0 to 359.99999 (degree) -2147483648 to 2147483647 (pulse) 0 to 35999999 ( 10-5degree) -2147483648 to 2147483647 (pulse) [Table 2] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 ( 10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 3 : pulse 1 to 1000000 (pulse/s) 1 to 2000000000 ( 10-3degree/min) [QD75P N/QD75D N] 1 to 4000000 (pulse/s) [QD75P /QD75D ] 1 to 1000000 (pulse/s) 1 1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2) 5 - 46 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.45 OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in " Pr.45 OP address". At the same time, the " Pr.45 OP address" is stored in " Md.20 Current feed value" and " Md.21 Machine feed value".) Pr.46 OPR speed Set the speed for OPR. Note) Set the "OPR speed" to less than " Pr.8 Speed limit value". If the "speed limit value" is exceeded, the error "Out of speed limit value range" (error code: 910) occurs and OPR is not performed. The "OPR speed" should be equal to or faster than the " Pr.7 Bias speed at start" and " Pr.47 Creep speed". Setting value, setting range Item Value set with peripheral device Pr.47 Creep speed Value set with sequence program The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1 76 77 226 227 376 377 526 527 0 78 228 378 528 [Table 1] on next page Pr.48 OPR retry 0 : Do not retry OPR with limit switch 1 : Retry OPR with limit switch 0 1 5 - 47 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.47 Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. ( Pr.46 OPR speed ) ( Pr.47 Creep speed) ( Pr.7 Bias speed at start) Note) The creep speed is related to the detection error when using the OPR method with zero signal, and the size of the collision if a collision occurs during OPR method using the stopper method. V Pr.46 OPR speed Machine OPR start Pr.47 Creep speed ON Near-point dog signal OFF Zero signal [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 ( 10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 ( 10-3degree/min) [QD75P N/QD75D N] 1 to 4000000 (pulse/s) 3 : pulse 1 to 1000000 (pulse/s) 1 [QD75P /QD75D ] 1 to 1000000 (pulse/s) 1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2) 5 - 48 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.48 OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite to the specified OPR direction (3)). If the falling edge of the near-point dog signal is detected during movement in the opposite direction, the axis will decelerate to a stop (4)), and will carry out machine OPR again (5)), (6)). 1) 5) 2) 6) Start position 4) 3) Limit signal OFF state ON Near-point dog signal Zero signal [Operation for OPR retry function] 1) Movement in the OPR direction starts with the machine OPR start. 2) The axis decelerates when the limit signal OFF is detected. 3) After stopping at detection of the limit switch signal OFF, the axis moves at the OPR speed in the direction opposite to the specified OPR direction. 4) The axis decelerates when the near-point dog signal turns OFF. 5) After stopping with the near-point dog signal OFF, start machine OPR in the OPR direction. 6) The machine begins decelerating when the near-point dog ON is detected and completes machine ORR. 5 - 49 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.6 OPR detailed parameters Setting value, setting range Item Value set with peripheral device Pr.49 OPR dwell time 0 to 65535 (ms) Value set with sequence program 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set The setting value range differs depending on the " Pr.1 Unit Pr.50 setting". Here, the value within the [Table 1] range is set. Setting for the movement amount after near-point dog ON [Table 1] on next page Pr.51 OPR acceleration time selection Pr.52 OPR deceleration time selection 0 : Pr.9 Acceleration time 0 0 1 : Pr.25 Acceleration time 1 1 2 : Pr.26 Acceleration time 2 2 3 : Pr.27 Acceleration time 3 3 0 : Pr.10 Deceleration time 0 0 1 : Pr.28 Deceleration time 1 1 2 : Pr.29 Deceleration time 2 2 3 : Pr.30 Deceleration time 3 3 Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 79 229 379 529 0 80 81 230 231 380 381 530 531 0 82 232 382 532 0 83 233 383 533 Pr.49 OPR dwell time When stopper method 1) is set for " Pr.43 OPR method", set the time for the machine OPR to complete after the near-point dog signal turns ON. The setting value must be longer than the movement time from the near-point dog signal ON to stopping with the stopper. (If the OPR method is not "stopper method 1)", the " Pr.49 OPR dwell time" value is irrelevant.) Pr.50 Setting for the movement amount after near-point dog ON When using the count method 1) or 2), set the movement amount to the OP after the near-point dog signal turns ON. (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed" and "distance of movement in 10ms at the OPR speed".) 5 - 50 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0 to 214748364.7 (m) 0 to 2147483647 ( 10-1m) 1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 ( 10-5inch) 2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 ( 10-5degree) 3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse) Example of setting for " Pr. 50 Setting for the movement amount after near-point dog ON" Assuming that the " Pr. 8 Speed limit value" is set to 200 kpulse/s, " Pr. 46 OPR speed" to 10 kpulse/s, " Pr. 47 Creep speed" to 1 kpulse/s, and deceleration time to 300 ms, the minimum value of " Pr. 50 Setting for the movement amount after near-point dog ON" is calculated as follows: 1 [Deceleration distance] = 2 [Machine OPR operation] Pr.8 Speed limit value: Vp=200kpulse/s Vz 1000 t + 0.01 Vz Movement amount for 10ms at OPR speed Tb Vz + 0.01 Vz Vp Vz = 2000 3 10 10 = 2000 Pr.46 OPR speed: Vz=10kpulse/s 3 300 10 10 + 0.01 200 10 3 10 3 10 = 75 + 100 = 175 Pr.47 Creep speed: Vc=1kpulse/s Actual deceleration time:t = Tb Vz Vp Setting for the movement amount after near-point dog ON ( Pr. 50 ) should be equal to or larger than 175. t Deceleration time: Tb=300ms Pr.51 OPR acceleration time selection Set which of "acceleration time 0 to 3" to use for the acceleration time during OPR. 0 : Use the value set in " Pr.9 Acceleration time 0". 1 : Use the value set in " Pr.25 Acceleration time 1". 2 : Use the value set in " Pr.26 Acceleration time 2". 3 : Use the value set in " Pr.27 Acceleration time 3". Pr.52 OPR deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during OPR. 0 : Use the value set in " Pr.10 Deceleration time 0". 1 : Use the value set in " Pr.28 Deceleration time 1". 2 : Use the value set in " Pr.29 Deceleration time 2". 3 : Use the value set in " Pr.30 Deceleration time 3". 5 - 51 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Pr.53 OP shift amount Pr.54 OPR torque limit value Pr.55 Deviation counter clear signal output time Pr.56 Speed designation during OP shift Pr.57 Dwell time during OPR retry Value set with peripheral device Default value Value set with sequence program The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. 1 to 300 (%) 1 to 65535 (ms) 1 to 65535 (ms) 1 to 32767: Set the decimal value as it is. 32768 to 65535: Convert into hexadecimal and set. 0 : OPR speed 0 1 : Creep speed 1 0 to 65535 (ms) 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set Axis 1 Axis 2 Axis 3 Axis 4 0 84 85 234 235 384 385 534 535 300 86 236 386 536 11 87 237 387 537 0 88 238 388 538 0 89 239 389 539 [Table 1] on next page 1 to 300 (%) Setting value buffer memory address Pr.53 OP shift amount Set the amount to shift (move) from the position stopped at with machine OPR. The OP shift function is used to compensate the OP position stopped at with machine OPR. If there is a physical limit to the OP position, due to the relation of the near-point dog installation position, use this function to compensate the OP to an optimum position. Pr.44 OPR direction When " Pr.53 OP shift amount" is positive Shift point Start point Shift point When " Pr.53 OP shift amount" is negative Near-point dog signal Zero signal 5 - 52 Shift after deviation counter clear is canceled 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device (unit) Pr.1 setting value Value set with sequence program (unit) 0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( 10-1m) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 ( 10-5inch) 2 : degree -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 ( 10-5degree) 3 : pulse -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse) Pr.54 OPR torque limit value Set the value to limit the servomotor torque after reaching the creep speed during machine OPR. Refer to Section 12.4.2 "Torque limit function" for details on the torque limits. Pr.55 Deviation counter clear signal output time Set the duration of the deviation counter clear signal output during a machine OPR operation using any of the following methods: the near-point dog method, stopper methods 1) to 3), and count method 1). (For details, refer to your drive unit manual.) Pr.56 Speed designation during OP shift Set the operation speed for when a value other than "0" is set for " Pr.53 OP shift amount". Select the setting from " Pr.46 OPR speed" or " Pr.47 Creep speed". 0 : Designate " Pr.46 OPR speed" as the setting value. 1 : Designate " Pr.47 Creep speed" as the setting value. Pr.57 Dwell time during OPR retry When OPR retry is validated (when "1" is set for Pr.48 ), set the stop time after decelerating in 2) and 4) in the following drawing. Temporarily stop for the time set in Pr. 57 5) 1) 6) Start position 4) 3) 5 - 53 2) Temporarily stop for the time set in Pr. 57 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.10 , the configuration of the positioning data will be shown below. The positioning data stored in the QD75 buffer memory has the following type of configuration. ’[ Œ ˆ ^ƒ ß ‚‡ f@[ ^ƒ 599 ‡ ‚ @ 600 Ê̂ u ’ Œ ˆ ß ‚ Ê̂ƒ fu ‚ƒ Positioning data No. 1 2 ’ Œ ˆ•Ê q ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u Ž 7980 7990 3 1@ Da. ` @ Da.4 Da. ` 1@ @ Da.4 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ Ž̄u q Positioning 2020 2010Da.5 Da. 1@ ` @ Da.5 Da.4 2000 7981 7991 Da. 1@ ` @ Da.4 Da.1 to Da.5 ’ Œ ˆƒ ß ‚ ƒ Aƒ h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ ƒ Au h ƒ Œ Xƒ Da.5 Da.6 ² ‚P Ž ² ‚P Ž Axis 1 Da.6 2022 2012Da.7 Da.7 2002 ~ ‰ ʃ Aƒ h ƒ Œ ƒ X ‰ ~ Ê Œ A ƒ ƒ hŒ Œƒ Xƒ w“x — ß ¬ ‘ “x Dwell time w — Ž ß ¬ ‘Ž Da.9 One positioning data item is configured of the items shown in the bold box. ² ‚P Ž ² ‚P Ž 2021 2011Da.6 Da.10 Da.5 Da.6 2001 7982 7992 ’ Œ ˆƒ ß ‚ ƒ A h ƒ Œ ƒ X ’ Œ ˆ ß ‚Ê̂ A ƒu h ƒ Œ ƒ Xƒ ~ ʃ Aƒ h ƒ Œ ƒ X M codeÊ̂ u ~ Œ ‰ Ê ‰ A ƒ ƒ hŒ Œƒ Xƒ Up to 600 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left. This data is controlled as positioning data No. 1 to 600 for each axis. 7984 7994 7985 7995 2024 Da.7 2014Da.8 2004 Da.8 7986 7996 Ž “x — ß ¬ ‘ “x2005 2015 2025 w — Ž ßspeed ¬ ‘w ƒ‹ƒ ƒ E F ƒ ƒ ‹ƒ ƒ ^ ƒ C ƒ €7987 7997 Command h ƒ ƒ E ƒ Fh ^ ƒ ƒ C € Da.8 Da.7 2026 Da.8 2016Da.9 Da.6 Da.8 2006 Da.9 h‹ƒ ƒ E ƒ F ƒ ‹ƒ2007 ^ ƒ ƒ C ƒ € 2017 2027 Positioning h ƒ ƒ E address/ Fƒ ƒ ^ ƒ ƒ C € Mƒ R [ ƒ h Mƒ R [ ƒ h movement amount Da.9 2028 2008 2018 Da.7 Da.9 Mƒ R [ ƒ h 2009 2019 2029 Mƒ R [ ƒ h Arc address 7988 7998 7989 7999 ’[ Œ ˆ ^ƒ ß ‚‡ f@[ ^ƒ 599 ‡ ‚ @ 600 Ê̂ u ’ Œ ˆ ß ‚ Ê̂ƒ fu ‚ƒ Positioning data No. 1 2 ’ Œ ˆ•Ê q ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u Ž 13990 3 ` @ 13980 Da.4 Da.1@ Da. ` 1@ @ Da.4 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ Ž̄u q Positioning 8020 8010Da.5 Da. 1@ ` @ Da.5 Da.4 8000 13981 13991 Da.1 Da. to 1@ Da.5` @ Da.4 ’ Œ ˆƒ ß ‚ ƒ Aƒ h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ ƒ Au h ƒ Œ Xƒ Da.6 ² ‚P Ž ² ‚P Ž Axis 2 Da.6 8022 8012Da.7 Da.7 8002 ‰ ~ ʃ Œ Aƒ ƒ h ƒ ƒ Œ ƒ X ‰ ~ Ê Œ A ƒ ƒ h Œ X w Ž ß ¬ ‘ “x Dwell time w — Ž ß ¬ ‘ “x — Da.9 13984 13994 13985 13995 8024 Da.7 8014Da.8 8004Da.8 13986 13996 8025 w“x — Ž ß ¬ ‘ “x8005 8015 ƒ Ž w — ß ¬ ‘ E F ƒ ƒ ‹ƒ ƒ ^ ƒ C ƒ €13987 13997 Command speed h ƒ ƒ E ƒ F h‹ƒ ƒ ^ ƒ ƒ C € Da.8 Da.7 8026 8016Da.9 Da.6 8006Da.9 8027 h‹ƒ ƒ E ƒ F ƒ ‹ƒ 8007 ^ ƒ ƒ C ƒ € 8017 M Positioning h ƒ ƒ E address/ Fƒ ƒ ^ƒ ƒ C € R [ ƒ h Mƒ R [ ƒ hƒ Da.8 b15 b12 b8 b4 b0 Buffer memory ² ‚P Ž ² ‚P Ž Da.5 8021 8011Da.6 Da.10 Da.5 Da.6 13982 13992 ’ Œ ˆƒ ß ‚ ƒ A8001 h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ ƒ Au h ƒ Œ ƒ Xƒ ~ ʃ Aƒ h ƒ Œ ƒ X M code ~ Œ ‰ Ê ‰ A ƒ ƒ hŒ Œƒ Xƒ Configuration of positioning identifier Da.8 movement amount 8028 Da.9 8008 8018 Da.7 Da.9 8029 M R ƒ [ ƒ h 8019 Mƒ R [ ƒ h 8009 Arc address 13988 13998 13989 13999 5 - 54 Da.1 Operation pattern Da.2 Control system Da.5 Axis to be interpolated Da.3 Acceleration time No. Da.4 Deceleration time No. DATA USED FOR POSITIONING CONTROL 599 Positioning data No. 1 MELSEC-Q 600 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê q Ž Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u q 19990 3 Da. 1@ ` @ 19980 Da.4 2 Da.1@ ` @ Da.4 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ Ž̄u q Positioning 14020 Da.5 14010 Da. 1@ ` @ Da.5 Da.4 14000 19981 19991 Da. 1@ ` @ Da.4 Da.1 to Da.5 ’ Œ ˆƒ ß ‚ ƒ Aƒ h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ A ƒu h ƒ Œ Xƒ Da.6 14022 14012Da.7 Da.7 ~ ‰ ʃ ƒ 14002 h ƒ Œ ƒ X ‰ ~ Ê Œ ƒ A ƒ hŒ ŒA Xƒ ƒ w“x — ß ¬ ‘ “x Dwell time w — Ž ß ¬ ‘Ž Da.6 ² ‚P Ž Da.9 ² ‚P Ž Axis 3 ² ‚P Ž ² ‚P Ž Da.5 14021 Da.10 Da.5 Da.6 14011Da.6 19992 Ê̂ A u ’ Œ ˆƒ ß ‚ 14001 A ƒX ƒ h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚ ƒ h ƒ Œ ƒ ~ ʃ Aƒ h ƒ Œ 19982 ƒ X M code ~ Œ ‰ Ê ‰ A ƒ ƒ hŒ Œƒ Xƒ 19984 19994 19985 19995 14024 14014Da.8 14004Da.8 19986 19996 14025 14015 Ž w — ß ¬ ‘ “ x 14005 w — Ž ßspeed ¬ ‘ “x h‹ƒ ƒ E F ƒ ƒ ‹ƒ ƒ ^ ƒ C ƒ €19987 19997 Command h ƒ ƒ E ƒ Fƒ ^ ƒ ƒ C € Da.8 Da.7 Da.7 Da.8 14026 14016Da.9 Da.6 Da.8 14006Da.9 14027 14017 h ƒ ƒ E F ƒ ‹ ƒ ^ ƒ ƒ C ƒ € Positioning h ƒ ƒ E address/ F ‹ƒ ^ƒ ƒ ƒ C ƒ €14007 Mƒ R [ ƒ h R [ h ƒMƒ movement amount Da.9 14028 Da.7 Da.9 14008 14018 R [ ƒ h 14009 14019 14029 Mƒ R [ h ƒMƒ Arc address 19988 19998 19989 19999 Buffer memory address 599 Positioning data No. 1 2 600 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê q Ž Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u q 25990 3 ` @ 25980 Da.4 Da.1@ Da. ` 1@ @ Da.4 ’ Œ ˆ•Ê Ž ß ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ Ž̄u q Positioning 20020 Da.5 20010 Da. 1@ ` @ Da.5 Da.4 20000 25981 25991 Da.1@ Da.1 to Da.5` @ Da.4 ’ Œ ˆƒ ß ‚ ƒ Aƒ h ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ A ƒu h ƒ Œ Xƒ Da.6 ² ‚P Ž ² ‚P Ž Da.5 20021 Da.10 Da.5 Da.6 20011Da.6 25992 ’ Œ ˆƒ ß ‚ 20001 A ƒX h ƒ Œ ƒ X ’ Œ ˆ ß ‚Ê̂ A ƒu h ƒ Œ ƒƒ ~ ʃ Aƒ h ƒ Œ 25982 ƒ X M codeÊ̂ u ~ Œ ‰ Ê ‰ A ƒ ƒ hŒ Œƒ Xƒ Da.6 ² ‚P Ž 20022 20012Da.7 Da.7 ~ ʃ ƒ20002 h ƒ Œ X ƒ ~ Œ ‰ Ê ‰ ƒ A ƒ hŒ ŒA Xƒ ƒ w“x — ß ¬ ‘ “x Dwell time w — Ž ß ¬ ‘Ž Da.9 ² ‚P Ž Axis 4 5 25984 25994 25985 25995 20024 Da.7 20014Da.8 20004Da.8 25986 25996 20015 20025 w“x — Ž ß ¬ ‘ 20005 “x Ž w — ß ¬ ‘ h‹ƒ ƒ E F ƒ ƒ ‹ƒ ƒ ^ ƒ C ƒ €25987 25997 Command speed ƒ ƒ h E ƒ Fƒ ^ ƒ ƒ C € Da.8 Da.7 Da.8 20026 20016Da.9 Da.6 Da.8 20006Da.9 h‹ƒ ƒ E F ƒ ƒ ‹€ ƒ20007 ^ ƒ ƒ C ƒ €20017 20027 h ƒ ƒ E address/ Fƒ ƒ ^ƒ ƒ C Positioning R [ ƒ h Mƒ R [ h ƒMƒ movement amount Da.9 20028 Da.7 Da.9 20008 20018 Mƒ R [ ƒ h 20009 20019 20029 M R ƒ [ h ƒ Arc address 25988 25998 25989 25999 Buffer memory address The descriptions that follow relate to the positioning data set items Da.1 to Da.10 (The buffer memory addresses shown are those of the "positioning data No. 1" for the axes 1 to 4.) 5 - 55 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value Item Value set with peripheral device 00: Positioning complete 00 01: Continuous positioning control 01 11: Continuous path control 11 01H 02H 03H 04H 05H Da.2 Control system ABS1 : 1-axis linear control (ABS) INC1 : 1-axis linear control (INC) FEED1 : 1-axis fixed-feed control VF1 : 1-axis speed control (forward run) VR1 : 1-axis speed control (reverse run) VPF : Speed-position switching control (forward run) VPR : Speed-position switching control (reverse run) PVF : Position-speed switching control (forward run) PVR : Position-speed switching control (reverse run) ABS2 : 2-axis linear interpolation control (ABS) INC2 : 2-axis linear interpolation control (INC) FEED2 : Fixed-feed control by 2-axis linear interpolation ABS :Circular interpolation control with sub point specified (ABS) INC : Circular interpolation control with sub point specified (INC) ABS . : Circular interpolation control with center point specified (ABS, CW) ABS . : Circular interpolation control with center point specified (ABS, CCW) INC . : Circular interpolation control with center point specified (INC, CW) INC . : Circular interpolation control with center point specified (INC, CCW) VF2 : 2-axis speed control (forward run) VR2 : 2-axis speed control (reverse run) ABS3 : 3-axis linear interpolation control (ABS) INC3 : 3-axis linear interpolation control (INC) FEED3 : Fixed-feed control by 3-axis linear interpolation control VF3 : 3-axis speed control (forward run) VR3 : 3-axis speed control (reverse run) ABS4 : 4-axis linear interpolation control (ABS) INC4 : 4-axis linear interpolation control (INC) FEED4 : Fixed-feed control by 4-axis linear interpolation control VF4 : 4-axis speed control (forward run) VR4 : 4-axis speed control (reverse run) NOP : NOP instruction POS : Current value changing JUMP : JUMP instruction LOOP : Declares the beginning of LOOP to LEND section LEND : Declares the end of LOOP to LEND section ( Da.1 Operation pattern Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0000H 2000 Operation pattern 06H 07H 08H 09H 0AH 0BH 0CH 0DH Positioning identifier ( 0: Pr.9 Acceleration time 0 0EH 0FH Control system 10H 11H Setting value 12H 13H 14H 15H 16H H Convert into hexadecimal 17H 18H 19H 1AH 1BH b15 b12 b8 b4 b0 1CH 1DH 1EH 80H 81H 82H 83H 84H 00 Da.3 1: Pr.25 Acceleration time 1 Acceleration 2: Pr.26 Acceleration time 2 time No. 3: Pr.27 Acceleration time 3 01 0: Pr.10 Da.4 1: Pr.28 Deceleration 2: Pr.29 time No. 3: Pr.30 10 11 Deceleration time 0 00 Deceleration time 1 01 Deceleration time 2 10 Deceleration time 3 11 0: Axis1 00 Da.5 1: Axis 2 Axis to be interpolated 2: Axis 3 3: Axis 4 01 10 11 Acceleration time Deceleration time Axis to be interpolated (in 2-axis interpolation only) 5 - 56 8000 14000 20000 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. [Operation pattern] Positioning complete ............................................................................. Independent positioning control (Positioning complete) Continuous positioning with one start signal .......... Continuous positioning control Positioning continued Continuous path positioning with speed change ..... Continuous path control 1) Positioning complete..................... Set to execute positioning to the designated address, and then complete positioning. 2) Continuous positioning control ..... Positioning is carried out successively in order of data Nos. with one start signal. The operation halts at each position indicated by a positioning data. 3) Continuous path control ................ Positioning is carried out successively in order of data Nos. with one start signal. The operation does not stop at each positioning data. Da.2 Control system Set the "control system" for carrying out positioning control. When "JUMP instruction" is set for the control system, the " Da.9 Note) Dwell time" and " Da.10 M code" setting details will differ. In case you selected "LOOP" as the control system, the " Da.10 M code" should be set differently from other cases. Refer to CHAPTER 9 "MAJOR POSITIONING CONTROL" for details on the control systems. If "degree" is set for " Pr.1 Unit setting", circular interpolation control cannot be carried out. (The error "Circular interpolation not possible" (error code: 535) will occur when executed.) Da.3 Acceleration time No. Set which of "acceleration time 0 to 3" to use for the acceleration time during positioning. 0 : Use the value set in " Pr.9 Acceleration time 0". 1 : Use the value set in " Pr.25 Acceleration time 1". 2 : Use the value set in " Pr.26 Acceleration time 2". 3 : Use the value set in " Pr.27 Acceleration time 3". 5 - 57 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.4 Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0 : Use the value set in " Pr.10 Deceleration time 0". 1 : Use the value set in " Pr.28 Deceleration time 1". 2 : Use the value set in " Pr.29 Deceleration time 2". 3 : Use the value set in " Pr.30 Deceleration time 3". Da.5 Axis to be interpolated Set the target axis (partner axis) for operations under the 2-axis interpolation control. 0 : Selects the axis 1 as the target axis (partner axis). 1 : Selects the axis 2 as the target axis (partner axis). 2 : Selects the axis 3 as the target axis (partner axis). 3 : Selects the axis 4 as the target axis (partner axis). Do not specify the own axis number or any number except the above. Note) (If you do, the error "Illegal interpolation description command" (error code: 521) will occur during the program execution.) This item does not need to be set in case 3 or 4-axis interpolation is selected. Setting value, setting range Item Value set with peripheral device Da.6 Positioning address/ movement amount Default value Value set with sequence program The setting value range differs according to the " Da.2 Control system". Here, the value within the following range of [Table 1] range is set. 0 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 2006 2007 8006 14006 20006 8007 14007 20007 [Table 1] on next page Da.6 Positioning address/movement amount Set the address to be used as the target value for positioning control. The setting value range differs according to the " Da.2 Control system". ((1) to (4)) (1) Absolute (ABS) system, current value changing The setting value (positioning address) for the ABS system and current value changing is set with an absolute address (address from OP). Stop position (positioning start address) -1000 1000 Movement amount : 2000 5 - 58 3000 Movement amount : 2000 5 DATA USED FOR POSITIONING CONTROL (2) MELSEC-Q Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 The setting value (movement amount) for the INC system is set as a movement amount with sign. When movement amount is positive: Moves in the positive direction (address increment direction) When movement amount is negative: Moves in the negative direction (address decrement direction) Stop position (positioning start position) (Movement amount) -30000 Moves in negative direction (Movement amount) 30000 Moves in positive direction [Table 1] When " Pr.1 Unit Setting" is "mm" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (m) Da.2 setting value ABS Linear 1 : ABS Linear 2 : ABS Linear 3 : ABS Linear 4 : Current value changing : INC Linear 1 : INC Linear 2 : INC Linear 3 : INC Linear 4 : Fixed-feed 1 : Fixed-feed 2 : Fixed-feed 3 : Fixed-feed 4 : Forward run speed/position : Reverse run speed/position : Forward run position/speed : Reverse run position/speed : ABS circular sub : ABS circular right : ABS circular left : INC circular sub : INC circular right : INC circular left : 01H 0AH 15H 1AH 81H 02H 0BH 16H 1BH 03H 0CH 17H 1CH 06H 07H 08H 09H 0DH 0FH 10H 0EH 11H 12H Value set with sequence program ( 10-1m) Set the address -214748364.8 to 214748364.7 Set the address -2147483648 to 2147483647 Set the movement amount -214748364.8 to 214748364.7 Set the movement amount -2147483648 to 2147483647 Set the movement amount 0 to 214748364.7 Set the movement amount 0 to 2147483647 Set the address -214748364.8 to 214748364.7 Set the address -2147483648 to 2147483647 Set the movement amount -214748364.8 to 214748364.7 Set the movement amount -2147483648 to 2147483647 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 5 - 59 1 5 DATA USED FOR POSITIONING CONTROL (3) MELSEC-Q Speed-position switching control INC mode: Set the amount of movement after the switching from speed control to position control. ABS mode: Set the absolute address which will be the target value after speed control is switched to position control. (The unit is "degree" only) Speed Movement amount setting (INC mode) Speed control Position control Target address setting (ABS mode) Time Speed-position switching (4) Position-speed switching control Set the amount of movement before the switching from position control to speed control. When " Pr.1 Unit Setting" is "degree" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (degree) Da.2 setting value ABS Linear 1 ABS Linear 2 ABS Linear 3 ABS Linear 4 Current value changing INC Linear 1 INC Linear 2 INC Linear 3 INC Linear 4 Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4 : : : : : : : : : : : : : 01H 0AH Set the address 15H 0 to 359.99999 1AH 81H 02H 0BH 16H 1BH Set the movement amount 03H -21474.83648 to 21474.83647 0CH 17H 1CH In INC mode Set the movement amount 0 to 21474.83647 Forward run speed/position : 06H Reverse run speed/position : 07H In ABS mode Set the address 0 to 359.99999 Forward run position/speed : 08H Reverse run position/speed : 09H Set the movement amount 0 to 21474.83647 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 5 - 60 Value set with sequence program ( 10-5 degree) Set the address 0 to 35999999 Set the movement amount -2147483648 to 2147483647 In INC mode Set the movement amount 0 to 2147483647 In ABS mode Set the address 0 to 35999999 Set the movement amount 0 to 2147483647 1 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "pulse" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (pulse) Da.2 setting value ABS Linear 1 : ABS Linear 2 : ABS Linear 3 : ABS Linear 4 : Current value changing : INC Linear 1 : INC Linear 2 : INC Linear 3 : INC Linear 4 : Fixed-feed 1 : Fixed-feed 2 : Fixed-feed 3 : Fixed-feed 4 : Forward run speed/position : Reverse run speed/position : Forward run position/speed : Reverse run position/speed : ABS circular sub : ABS circular right : ABS circular left : INC circular sub : INC circular right : INC circular left : 01H 0AH 15H 1AH 81H 02H 0BH 16H 1BH 03H 0CH 17H 1CH 06H 07H 08H 09H 0DH 0FH 10H 0EH 11H 12H Value set with sequence program (pulse) Set the address -2147483648 to 2147483647 Set the address -2147483648 to 2147483647 Set the movement amount -2147483648 to 2147483647 Set the movement amount -2147483648 to 2147483647 Set the movement amount 0 to 2147483647 Set the movement amount 0 to 2147483647 Set the address -2147483648 to 2147483647 Set the address -2147483648 to 2147483647 Set the movement amount -2147483648 to 2147483647 Set the movement amount -2147483648 to 2147483647 5 - 61 1 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (inch) Da.2 setting value ABS Linear 1 : ABS Linear 2 : ABS Linear 3 : ABS Linear 4 : Current value changing : INC Linear 1 : INC Linear 2 : INC Linear 3 : INC Linear 4 : Fixed-feed 1 : Fixed-feed 2 : Fixed-feed 3 : Fixed-feed 4 : Forward run speed/position : Reverse run speed/position : Forward run position/speed : Reverse run position/speed : ABS circular sub : ABS circular right : ABS circular left : INC circular sub : INC circular right : INC circular left : 01H 0AH 15H 1AH 81H 02H 0BH 16H 1BH 03H 0CH 17H 1CH 06H 07H 08H 09H 0DH 0FH 10H 0EH 11H 12H Value set with sequence program ( 10-5 inch) Set the address -21474.83648 to 21474.83647 Set the address -2147483648 to 2147483647 Set the movement amount -21474.83648 to 21474.83647 Set the movement amount -2147483648 to 2147483647 Set the movement amount 0 to 21474.83647 Set the movement amount 0 to 2147483647 Set the address -21474.83648 to 21474.83647 Set the address -2147483648 to 2147483647 Set the movement amount -21474.83648 to 21474.83647 Set the movement amount -2147483648 to 2147483647 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 5 - 62 1 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Da.7 Arc address Value set with sequence program The setting value range differs according to the " Da.2 Control system". Here, the value within the [Table 1] range is set. Default value 0 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 2008 2009 8008 14008 20008 8009 14009 20009 [Table 1] on next page Da.7 Arc address The arc address is data required only when carrying out circular interpolation control. (1) When carrying out circular interpolation with sub point designation, set the sub point (passing point) address as the arc address. (2) When carrying out circular interpolation with center point designation, set the center point address of the arc as the arc address. End point address (Address set with Da.6 ) End point address (Address set with Da.6 ) Center point address (Address set with Da.7 ) Sub point (Address set with Da.7 ) Start point address (Address before starting positioning) <(1) Circular interpolation with sub point designation> Start point address (Address before starting positioning) <(2) Circular interpolation with center point designation> When not carrying out circular interpolation control, the value set in " Da.7 Arc address" will be invalid. 5 - 63 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] When " Pr.1 Unit Setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Da.2 setting value Value set with peripheral device (m) Value set with sequence program ( 10-1m) 1 ABS circular sub : 0DH Set the address Set the address ABS circular right : 0FH -214748364.8 to 214748364.7 -2147483648 to 2147483647 ABS circular left : 10H INC circular sub : 0EH Set the movement amount Set the movement amount INC circular right : 11H -214748364.8 to 214748364.7 -2147483648 to 2147483647 INC circular left : 12H 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 2: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address. When " Pr.1 Unit Setting" is "degree" No control system requires the setting of the arc address by "degree". When " Pr.1 Unit Setting" is "pulse" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Da.2 setting value Value set with peripheral device (pulse) Value set with sequence program (pulse) 1 ABS circular sub : 0DH Set the address Set the address ABS circular right : 0FH -2147483648 to 2147483647 -2147483648 to 2147483647 ABS circular left : 10H INC circular sub : 0EH Set the movement amount Set the movement amount INC circular right : 11H -2147483648 to 2147483647 -2147483648 to 2147483647 INC circular left : 12H 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 2: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address. When " Pr.1 Unit Setting" is "inch" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Da.2 setting value Value set with peripheral device (inch) Value set with sequence program (×10-5 inch) 1 ABS circular sub : 0DH Set the address Set the address ABS circular right : 0FH -21474.83648 to 21474.83647 -2147483648 to 2147483647 ABS circular left : 10H INC circular sub : 0EH Set the movement amount Set the movement amount INC circular right : 11H -21474.83648 to 21474.83647 -2147483648 to 2147483647 INC circular left : 12H 1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.) 2: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address. 5 - 64 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Da.8 Command speed [Table 1] on next page -1: Current speed (Speed set for previous positioning data No.) Da.9 Dwell time Da.10 M code Condition data No. No. of LOOP to LEND repetitions 2004 8004 14004 20004 2005 8005 14005 20005 0 2002 8002 14002 20002 0 2001 8001 14001 20001 -1 The setting value range differs according to the " Da.2 Control Dwell time system". Here, the value within the [Table 2] range is set. JUMP [Table 2] on next page destination positioning data No. M code 0 The setting value range differs according to the " Da.2 Control system". Here, the value within the [Table 3] range is set. [Table 3] on next page Da.8 Command speed Set the command speed for positioning. (1) If the set command speed exceeds " Pr.8 Speed limit value", positioning will be carried out at the speed limit value. (2) If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control. Use the current speed for uniform speed control, etc. If "-1" is set for continuing positioning data, and the speed is changed, the following speed will also change. (Note that when starting positioning, if the "-1" speed is set for the positioning data that carries out positioning control first, the error "No command speed" (error code: 503) will occur, and the positioning will not start. Refer to Section 15.3 "List of errors" for details on the errors.) 5 - 65 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.10 M code (or condition data No./No. of LOOP to LEND repetitions) Set an "M code", a "condition data No. ", or the "number of LOOP to LEND repetitions" depending on how the " Da.2 Control system" is set. If a method other than "JUMP instruction" and "LOOP" is selected as the " Da.2 Control system" ............... Set an "M code". If no "M code" needs to be output, set "0" (default value). If "JUMP instruction" is selected as the " Da.2 Control system" ............... Set the "condition data No." for JUMP. 0 : Unconditional JUMP to the positioning data specified by Da.9 . 1 to 10 : JUMP performed according to the condition data No. specified (a number between 1 and 10). If "LOOP" is selected as the " Da.2 Control system" ............... Set the number of LOOP to LEND repetitions by a number other than "0". The error "Control system LOOP setting error" (error code: 545) will occur if you specify "0". The condition data specifies the condition for the JUMP instruction to be executed. (A JUMP will take place when the condition is satisfied.) [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 ( 10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 ( 10-3degree/min) 1 to 1000000 (pulse/s) [QD75P N/QD75D N] 1 to 4000000 (pulse/s) [QD75P /QD75D ] 1 to 1000000 (pulse/s) 3 : pulse 1 1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2) [Table 2] Da.2 setting value Setting item JUMP instruction: 82H Positioning data No. Other than JUMP instruction Dwell time Value set with peripheral device Value set with sequence program 1 to 600 1 to 600 0 to 65535 (ms) 0 to 65535 (ms) Value set with peripheral device Value set with sequence program 0 to 10 0 to 10 [Table 3] Da.2 setting value Setting item JUMP instruction: 82H Condition data No. LOOP: 83H Repetition count 1 to 65535 1 to 65535 Other than the above M code 0 to 65535 0 to 65535 5 - 66 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.9 Dwell time (JUMP designation positioning data No.) Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control system". When a method other than "JUMP instruction " is set for " Da.2 Control system" ..... Set the "dwell time". When "JUMP instruction " is set for " Da.2 Control system" ..... Set the "positioning data No." for the JUMP destination. When the "dwell time" is set, the setting details of the "dwell time" will be as follows according to " Da.1 Operation pattern". 1) When " Da.1 Operation pattern" in "00: Positioning complete" V Positioning control Set the time from when the positioning ends to when the "positioning complete signal" turns ON as the "dwell time". t ON Positioning complete signal OFF Da.9 Dwell time 2) When " Da.1 Operation pattern" is "01: Continuous positioning control" V Positioning control Set the time from when positioning control ends to when the next positioning control starts as the "dwell time". Next positioning control t Da.9 Dwell time 3) When " Da.1 Operation pattern" is "11: Continuous path control" The setting value is irrelevant to the control. (The "dwell time" is 0ms.) V Positioning control Next positioning control t No dwell time (0ms) 5 - 67 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.4 List of block start data The illustrations below show the organization of the block start data stored in the QD75 buffer memory. The block start data setting items Da.11 to Da.14 are explained in the pages that follow. 50th point Buffer memory address Setting item Up to 50 block start data points can be set (stored) for each axis in the buffer memory addresses shown on the left. 2nd point 1st point Setting item Setting item Axis 1 (Start block 0) b15 b8 b7 Buffer memory address Buffer memory address 26049 Each axis has five start blocks (block Nos. 0 to 4). 26001 b0 26000 Da.12 Start data No. Da.11 Shape b15 b8 b7 26099 26051 b0 26050 Da.13 Special start instruction Da.14 Parameter 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory address Setting item Axis 2 (Start block 0) Items in a single unit of block start data are shown included in a bold frame. b15 b8 b7 Buffer memory address 27049 27001 b0 27000 Da.12 Start data No. Da.11 Shape b15 b8 b7 27099 27051 b0 27050 Da.13 Special start instruction Da.14 Parameter 5 - 68 For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 13 "List of buffer memory addresses". DATA USED FOR POSITIONING CONTROL MELSEC-Q 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory address Axis 3 (Start block 0) Setting item œ Ê̂ u ’ Œ ˆ ß ‚ Ž n “® fƒ [ ^ƒ b15 b8 b7 Buffer memory address 28049 28001 b0 28000 Da.12 Start data No. Da.11 Shape b15 b8 b7 28099 28051 b0 28050 Da.13 Special start instruction Da.14 Parameter 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory address Setting item œ Ê̂ u ’ Œ ˆ ß ‚ Ž n “® fƒ [ ^ƒ b15 Axis 4 (Start block 0) 5 b8 b7 Buffer memory address 29049 29001 b0 29000 Da.12 Start data No. Da.11 Shape b15 b8 b7 29099 29051 b0 29050 Da.13 Special start instruction Da.14 Parameter The pages that follow explain the block start data setting items ( Da.11 to Da.14 ). (The buffer memory addresses shown are those of the "1st point block start data (block No. 7000)" for the axes 1 to 4.) 5 - 69 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.". With the QD75, up to 50 "block start data" points and up to 10 "condition data" items can be assigned to each "block No.". Block No. Axis Block start data Axis 1 7000 Axis 2 Axis 3 Start block 0 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 1 Condition data (1 to 10) Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 2 Axis 4 7003 Condition data (1 to 10) Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 3 Axis 4 7004 Condition data (1 to 10) Axis 1 Axis 3 Condition data (1 to 10) Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Supports the settings Condition data (1 to 10) Axis 1 Axis 3 Supports the settings Condition data (1 to 10) Condition data (1 to 10) Axis 4 7002 GX ConfiguratorQP Condition data (1 to 10) Axis 1 Axis 3 Buffer memory Condition data (1 to 10) Axis 4 7001 Condition Start block 4 Axis 4 Condition data (1 to 10) Condition data (1 to 10) : Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos. 7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range" (error code: 543) will occur. (For details, refer to Section 12.7.7 "Pre-reading start function".) 5 - 70 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value Item Value set with peripheral device 0 : End Value set with sequence program Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 Da.11 Shape 1 : Continue Default value 1 b15 b11 0 0 0 b7 b3 b0 0000H 26000 27000 28000 29000 0000H 26050 27050 28050 29050 Shape Da.12 Start data No. Da.13 Special start instruction Da.14 Parameter Positioning data No.: 1 to 600 (01H to 258H) 01H to 258H 0 : Block start (normal start) 00H 1 : Condition start 01H 2 : Wait start 02H 3 : Simultaneous start 03H 4 : FOR loop 04H 5 : FOR condition 05H 6 : NEXT start 06H Condition data No.: 1 to 10 (01H to 0AH) No. of repetitions: 0 to 255 (00H to FFH) 00H to FFH Start data No. b15 b11 b7 Special start instruction Parameter 5 - 71 b3 b0 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.11 Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control. 1 : Continue Execute the designated point's "block start data", and after completing control, execute the next point's "block start data". Da.12 Start data No. Set the "positioning data No." designated with the "block start data". Da.13 Special start instruction Set the "special start instruction " for using "high-level positioning control". (Set how to start the positioning data set in " Da.12 Start data No.".) Setting value Setting details 00H : Block start (Normal start) Execute the random block positioning data in the set order with one start. 01H : Condition start Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are established, execute the "block start data". If not established, ignore that "block start data", and then execute the next point's "block start data". 02H : Wait start Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are established, execute the "block start data". If not established, stop the control (wait) until the conditions are established. 03H : Simultaneous start Simultaneous execute (output pulses at same timing) the positioning data with the No. designated for the axis designated in the "condition data". Up to four axes can start simultaneously. 04H : Repeated start (FOR loop) Repeat the program from the block start data with the "FOR loop" to the block start data with "NEXT" for the designated No. of times. 05H : Repeated start (FOR condition) Repeat the program from the block start data with the "FOR condition" to the block start data with "NEXT" until the conditions set in the "condition data" are established. 06H : NEXT start Set the end of the repetition when "05H: Repetition start (FOR loop)" or "06H: Repetition start (FOR condition)" is set. Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL" for details on the control. 5 - 72 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.14 Parameter Set the value as required for " Da.13 Special start instruction ". Da.13 Special start instruction Block start (Normal start) Setting value – 1 to 10 0 to 255 Set the No. of repetitions. 1 to 10 Set the condition data No. (No. of "condition data" set to perform condition judgment) (For details of the condition data, refer to Section 5.5.) Simultaneous start Repeated start (FOR loop) Repeated start (FOR condition) 5 - 73 Not used. (There is no need to set.) Set the condition data No. (No. of "condition data" set to perform condition judgment) (For details of the condition data, refer to Section 5.5.) Condition start Wait start Setting details 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.5 List of condition data The illustrations below show the organization of the condition data stored in the QD75 buffer memory. The condition data setting items Da.15 to Da.19 are explained in the pages that follow. No.10 Buffer memory address Setting item No.2 No.1 Setting item Buffer memory address Setting item b12 b11 b8 b7 b0 26190 26110 26191 26192 26193 26194 26195 26196 26197 26198 26199 26100 Da.16 Condition operator Da.15 Condition target Open 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da.17 Address Da.18 Parameter 1 Da.19 Parameter 2 Open 26111 26112 26113 26114 26115 26116 26117 26118 26119 No.10 Buffer memory address Setting item No.2 No.1 Setting item Setting item b15 Axis 2 (start block 0) Axis 1 (start block 0) b15 Buffer memory address b12 b11 b8 b7 Buffer memory Buffer memory address address b0 27110 27100 Da.16 Condition operator Da.15 Condition target Open Da.17 Address Da.18 Parameter 1 Da.19 Parameter 2 Open 27101 27102 27103 27104 27105 27106 27107 27108 27109 27111 27112 27113 27114 27115 27116 27117 27118 27119 5 - 74 27190 27191 27192 27193 27194 27195 27196 27197 27198 27199 Up to 10 block start data points can be set (stored) for each block No. in the buffer memory addresses shown on the left. Items in a single unit of condition data are shown included in a bold frame. Each axis has five start blocks (block Nos. 0 to 4). For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 13 "List of buffer memory addresses". DATA USED FOR POSITIONING CONTROL MELSEC-Q No.10 Buffer memory address Setting item No.2 No.1 Setting item Setting item b15 Axis 3 (start block 0) 5 b12 b11 b8 b7 Buffer memory Buffer memory address address b0 28110 28100 Da.16 Condition operator Da.15 Condition target Open Da.17 Address Da.18 Parameter 1 Da.19 Parameter 2 Open 28101 28102 28103 28104 28105 28106 28107 28108 28109 28111 28112 28113 28114 28115 28116 28117 28118 28119 28190 28191 28192 28193 28194 28195 28196 28197 28198 28199 The pages that follow explain the condition data setting items ( Da.15 to Da.19 ). (The buffer memory addresses shown are those of the "condition data No. 1 (block No. 7000)" for the axes 1 to 4.) 5 - 75 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.". With the QD75, up to 50 "block start data" points and up to 10 "condition data" items can be assigned to each "block No.". Block No. Axis Block start data Axis 1 7000 Axis 2 Axis 3 Start block 0 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 1 Condition data (1 to 10) Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 2 Axis 4 7003 Condition data (1 to 10) Condition data (1 to 10) Axis 2 Condition data (1 to 10) Start block 3 Axis 4 7004 Condition data (1 to 10) Axis 1 Axis 3 Condition data (1 to 10) Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Supports the settings Condition data (1 to 10) Axis 1 Axis 3 Supports the settings Condition data (1 to 10) Condition data (1 to 10) Axis 4 7002 GX ConfiguratorQP Condition data (1 to 10) Axis 1 Axis 3 Buffer memory Condition data (1 to 10) Axis 4 7001 Condition Start block 4 Axis 4 Condition data (1 to 10) Condition data (1 to 10) : Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos. 7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range" (error code: 543) will occur. (For details, refer to Section 12.7.7 "Pre-reading start function".) 5 - 76 5 DATA USED FOR POSITIONING CONTROL Setting value Item Value set with peripheral device Condition identifier Da.15 Condition target Da.16 Condition operator MELSEC-Q Value set with sequence program 01 : Device X 01H 02 : Device Y 02H 03 : Buffer memory (1-word) 03H 04 : Buffer memory (2-word) 04H 05 : Positioning data No. 05H 01 : 02 : 03 : 04 : 05 : 06 : 07 : 08 : 10: 20: 30: 40: 50: 60: 70: 80: 90: A0: B0: C0: D0: E0: =P1 P1 P1 P1 P1 P2 P1, P2 DEV=ON DEV=OFF Axis 1 selected Axis 2 selected Axes 1 and 2 selected Axis 3 selected Axes 1 and 3 selected Axes 2 and 3 selected Axes 1, 2, and 3 selected Axis 4 selected Axes 1 and 4 selected Axes 2 and 4 selected Axes 1, 2, and 4 selected Axes 3 and 4 selected Axes 1, 3, and 4 selected Axes 2, 3, and 4 selected 01H 02H 03H Condition operator 04H 05H 06H 07H b15 b8 b7 08H 10H 20H 30H 40H 50H 60H 70H 80H 90H A0H B0H C0H D0H E0H Example) Buffer memory address b31 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Condition target 26103 Da.17 Address Default value (High-order) 0000H 26100 27100 28100 29100 b0 26102 b16 b15 (Low-order) b0 0000H 26102 27102 28102 29102 26103 27103 28103 29103 b0 0000H 26104 27104 28104 29104 26105 27105 28105 29105 b0 0000H 26106 27106 28106 29106 26107 27107 28107 29107 Buffer memory address Example) 26105 Da.18 Parameter 1 Value b31 (High-order) 26104 b16 b15 (Low-order) Value Example) 26106 26107 Da.19 Parameter 2 Value b31 (High-order) b16 b15 (Low-order) Value 5 - 77 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.15 Condition target Set the condition target as required for each control. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF of the QD75 as the conditions. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)" 04H : Buffer memory (2-word) 04H: The target buffer memory is "2-word (32 bits)" 05H : Positioning data No. Select only for "simultaneous start". Da.16 Condition operator Set the condition operator as required for the " Da.15 Condition target". Da.15 Condition target Setting value Setting details 01H: Device X 02H: Device Y 07H : DEV=ON 08H : DEV=OFF 01H : =P1 02H : P1 The state (ON/OFF) of an I/O signal is defined as the condition. Select ON or OFF as the trigger. 03H: Buffer memory (1-word) 04H: Buffer memory (2-word) 03H : P1 04H : P1 Select how to use the value () in the buffer memory as a part of the condition. 05H : P1P2 06H : P1, P2 10H : Axis 1 selected 20H : Axis 2 selected 30H : Axes 1 and 2 selected 40H : Axis 3 selected 50H : Axes 1 and 3 selected 60H : Axes 2 and 3 selected 70H : Axes 1, 2, and 3 selected 80H : Axis 4 selected 90H : Axes 1 and 4 selected A0H : Axes 2 and 4 selected B0H : Axes 1, 2, and 4 selected C0H : Axes 3 and 4 selected D0H : Axes 1, 3, and 4 selected E0H : Axes 2, 3, and 4 selected 05H: Positioning data No. If "simultaneous start" is specified, select the axis (or axes) that should start simultaneously. Da.17 Address Set the address as required for the " Da.15 Condition target". Da.15 Condition target 01H : Device X 02H : Device Y 03H : Buffer memory (1-word) 04H : Buffer memory (2-word) 05H : Positioning data No. Setting value – Setting details Not used. (There is no need to set.) Set the target "buffer memory address". Value (For 2 word, set the low-order buffer memory (Buffer memory address) address.) – Not used. (There is no need to set.) 5 - 78 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.18 Parameter 1 Set the parameters as required for the " Da.16 Condition operator". Da.16 Condition operator Setting value 01H : =P1 02H : P1 03H : P1 04H : P1 Value 05H : P1P2 06H : P1, P2 07H : DEV=ON 08H : DEV=OFF Value (bit No.) Setting details The value of P1 should be equal to or smaller than the value of P2. (P1P2) If P1 is greater than P2 (P1>P2), the error "Condition data error" (error code 533) will occur. Set the device bit No. X: 0H to 1H, 4H to 17H Y: 0, 4H to 17H Set the positioning data No. for starting axis 1 and/or axis 2. Low-order 16-bit Value : Axis 1 positioning data No. 1 to 600 (01H to 258H) (positioning data No.) High-order 16-bit E0H : Axes 2, 3, and 4 selected : Axis 2 positioning data No. 1 to 600 (01H to 258H) 10H : Axis 1 selected Da.19 Parameter 2 Set the parameters as required for the " Da.16 Condition operator". Da.16 Condition operator 01H : =P1 02H : P1 03H : P1 04H : P1 Setting value — 05H : P1P2 06H : P1, P2 Value Setting details Not used. (No need to be set.) The value of P2 should be equal to or greater than the value of P1. (P1P2) If P1 is greater than P2 (P1>P2), the error "Condition data error" (error code 533) will occur. 07H : DEV=ON 08H : DEV=OFF 10H : Axis 1 selected — Not used. (No need to be set.) 20H : Axis 2 selected 30H : Axes 1 and 2 selected 40H : Axis 3 selected 50H : Axes 1 and 3 selected 60H : Axes 2 and 3 selected 70H : Axes 1, 2, and 3 selected Set the positioning data No. for starting axis 3 and/or axis 4. 80H : Axis 4 selected Low-order 16-bit Value 90H : Axes 1 and 4 selected : Axis 3 positioning data No. 1 to 600 (01H to 258H) (positioning data No.) High-order 16-bit A0H : Axes 2 and 4 selected : Axis 4 positioning data No. 1 to 600 (01H to 258H) B0H : Axes 1, 2, and 4 selected C0H : Axes 3 and 4 selected D0H : Axes 1, 3, and 4 selected E0H : Axes 2, 3, and 4 selected 5 - 79 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6 List of monitor data 5.6.1 System monitor data Storage item Md.1 In test mode flag Storage details Whether the mode is the test mode from the peripheral device or not is stored. When not in test mode : OFF When in test mode : ON 5 - 80 5 DATA USED FOR POSITIONING CONTROL Reading the monitor value MELSEC-Q Default value Storage buffer memory address (common for axis 1 to axis 4) 0 1200 Monitoring is carried out with a decimal. Monitor value Storage value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.) 5 - 81 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details [Storage details] Reading the monitor value This area stores the start information (restart flag, start origin, and start axis): Restart flag: Indicates whether the operation has or has not been halted and restarted. Start origin: Indicates the source of the start signal. Start axis : Indicates the started axis. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] b15 Md.3 Start information MELSEC-Q Buffer memory b12 b8 b4 b0 0 0 0 0 0 Monitor value Not used Start axis Stored contents Start origin Stored contents Storage value CPU module 00 External signal 01 Peripheral device 10 Storage value Axis 1 1 Axis 2 2 Axis 3 3 Axis 4 4 Starting history (Up to 16 records can be stored) Restart flag Stored contents Storage value Restart flag OFF 0 Restart flag ON 1 Monitoring is carried out with a hexadecimal display. A Buffer memory B b15 b12 C b8 A D b4 C B Monitor value b0 A B C D D Start No. Stored contents Md.4 Start No. Positioning operation The starting No. is stored. Storage value B C 0 0 0 1 1 1 1 1 2 2 2 2 2 2 2 B B B B B 3 3 3 3 3 3 Reference (Decimal) D 0 1 001 5 5 5 5 5 5 3 3 2 2 2 2 8 8 9 A B C 2 3 9 A B C 600 7000 7001 7002 7003 7004 9010 9011 9001 9002 9003 9004 to JOG operation Manual pulse generator Machine OPR Fast OPR Current value changing Simultaneous start The starting time Md.50 (year:month) is stored. Start (for the (Year:month) QD75P N/QD75D N only) A Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) 0 8 0 Monitor value 6 b15 b12 b8 b4 b0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 to 9 0 to 9 0 to 1 0 0 to 9 8 0 6 00 to 99 (year) 00 to 12 (month) Monitoring is carried out with a hexadecimal display. Md.5 Start (Day:hour) The following are stored. QD75P N/QD75D N: the starting time (day:hour) QD75P /QD75D : the starting time (hour) Buffer memory (stored with BCD code) 2 8 1 0 to 3 0 to 9 0 to 2 Monitor value 5 b15 b12 b8 b4 b0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 to 3 *1 2 8 01 to 31 (day) 1 5 00 to 23 (hour) *1 *1: 00(not used) is stored for QD75P /QD75D . Md.6 Start (Minute: second) Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) The starting time (minute: second) is stored. 4 9 0 0 to 5 0 to 9 Monitor value 7 b15 b12 b8 b4 b0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7 0 to 5 0 to 9 00 to 59 (minute) 00 to 59 (second) Note: If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output. 5 - 82 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address (common to axes 1 to 4) 0000H 0000H 0000H 0000H 0000H 5 - 83 MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Reading the monitor value Starting history (Up to 16 records can be stored) [Storage details] This area stores the following results of the error judgment performed upon starting: BUSY start warning flag Error flag Error No. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] A Md.7 Error judgment MELSEC-Q Buffer memory b15 B b12 a C b8 D b4 C B Monitor value b0 Error flag Stored contents Error flag OFF Storage value 0 1 Error flag ON A B C D D Error No. Convert the hexadecimal value "a, B, C, D" into a decimal value and match it with "15.3 List of errors". BUSY start warning flag Stored contents Md.8 Start history pointer Storage value BUSY start warning OFF 0 BUSY start warning ON 1 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Monitoring is carried out with a decimal display. Monitor value 5 - 84 Storage value (Pointer number) 0 to 15 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address (common to axes 1 to 4) 0000H 0 1292 5 - 85 MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Md.9 Stores a number (Axis No.) Axis in which that indicates the axis that the error encountered an error. occurred Error history (Up to 16 records can be stored) Md.10 Stores an axis error No. Axis error No. Md.51 Axis error occurrence (Year:month) Stores the time (year:month) at which an axis error was detected. (for the QD75P N/QD75D N only) The following are stored. Md.11 Axis error occurrence (Day:hour) MELSEC-Q QD75P N/QD75D N: the time (day:hour) at which an axis error was detected QD75P /QD75D : the time (hour) at which an axis error was detected Reading the monitor value Monitoring is carried out with a decimal display. Monitor value Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Monitoring is carried out with a decimal display. Monitor value Error No. For details on the error Nos. (error codes), refer to Section 15.3 "List of errors". Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) 0 8 0 Monitor value 6 b15 b12 b8 b4 b0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 to 9 0 to 9 0 to 1 0 0 to 9 8 0 6 00 to 99 (year) 00 to 12 (month) Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) 2 8 1 0 to 3 0 to 9 0 to 2 Monitor value 5 b15 b12 b8 b4 b0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 to 3 *1 2 8 01 to 31 (day) 1 5 00 to 23 (hour) *1 *1: 00(not used) is stored for QD75P /QD75D . Monitoring is carried out with a hexadecimal display. Md.12 Axis error occurrence (Minute: second) Stores the time (minute: second) at which an axis error was detected. Md.13 Error history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing records. Buffer memory (stored with BCD code) 4 9 0 0 to 5 0 to 9 Monitor value 7 b15 b12 b8 b4 b0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 to 5 0 to 9 4 9 0 7 00 to 59 (minute) 00 to 59 (second) Monitoring is carried out with a decimal display. Monitor value 5 - 86 Storage value (Pointer number) 0 to 15 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address (common to axes 1 to 4) 0 0 0000H 0000H 0000H 0 1357 5 - 87 MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Warning history (Up to 16 records can be stored) Md.14 Stores a number (Axis No.) Axis in which that indicates the axis that the warning encountered a warning. occurred Reading the monitor value Monitoring is carried out with a decimal display. Monitor value Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Monitoring is carried out with a decimal display. Md.15 Axis warning No. Stores an axis warning No. Md.52 Axis warning occurrence (Year:month) Stores the time (year:month) at which an axis warning was detected. (for the QD75P N/QD75D N only) The following are stored. Md.16 Axis warning occurrence (Day:hour) MELSEC-Q QD75P N/QD75D N: the time (day:hour) at which an axis warning was detected QD75P /QD75D : the time (hour) at which an axis warning was detected Monitor value Warning No. For details of warning Nos. (warning codes), refer to Section 15.4 "List of warnings". Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) 0 8 0 Monitor value 6 b15 b12 b8 b4 b0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 0 to 9 0 to 9 0 to 1 0 0 to 9 8 0 6 00 to 99 (year) 00 to 12 (month) Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) 2 8 1 0 to 3 0 to 9 0 to 2 Monitor value 5 b15 b12 b8 b4 b0 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 to 3 *1 2 8 01 to 31 (day) 1 5 00 to 23 (hour) *1 *1: 00(not used) is stored for QD75P /QD75D . Monitoring is carried out with a hexadecimal display. Md.17 Axis warning occurrence (Minute: second) Stores the time (minute: second) at which an axis warning was detected. Md.18 Warning history pointer Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing records. Buffer memory (stored with BCD code) 4 0 to 5 Stores the number of write accesses to the flash ROM after the power is switched Md.19 ON. No. of write The count is cleared to "0" accesses to flash when the number of write ROM accesses reach 26 and an error reset operation is performed. 9 0 0 to 9 Monitor value 7 b15 b12 b8 b4 b0 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 0 to 5 0 to 9 4 9 0 7 00 to 59 (minute) 00 to 59 (second) Monitoring is carried out with a decimal display. Monitor value Storage value (Pointer number) 0 to 15 Monitoring is carried out with a decimal display. Monitor value 5 - 88 Storage value 0 to 26 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address (common to axes 1 to 4) 0 0 0000H 0000H 0000H 0 1422 0 1424 1425 5 - 89 MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6.2 Axis monitor data Storage item Md.20 Current feed value Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees. Update timing : 0.9ms (QD75P N/QD75D N), 1.8ms (QD75P /QD75D ) The OP address is stored when the machine OPR is completed. When the current value is changed with the current value changing function, the changed value is stored. Md.21 Machine feed value The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting. The value will not be cleared to "0" at the beginning of fixed-feed control. Even if "degree" is selected as the unit, the addresses will not have a ring structure for values between 0 and 359.99999 degrees. Machine coordinates: Characteristic coordinates determined with machine Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D ) The command output speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) During interpolation operation, the speed is stored in the following manner. Md.22 Feedrate Md.23 Axis error No. Reference axis : Composite speed or reference axis speed (Set with Pr.20 ) Interpolation axis : 0 Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D ) When an axis error is detected, the error code corresponding to the error details is stored. The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.) When " Cd.5 Axis error reset" (axis control data) turns ON, the axis error No. is cleared (set to 0). 5 - 90 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor value E F G b15 H b12 E b8 F b4 b0 H G 0000H 800 801 900 901 1000 1100 1001 1101 0000H 802 803 902 903 1002 1102 1003 1103 0000H 804 805 904 905 1004 1104 1005 1105 0 806 906 1006 1106 High-order buffer memory Example) 801 A C B b31 b28 b24 b20 b16 D A C B D Sorting (High-order buffer memory) (Low-order buffer memory) A B C D E F G H Converted from hexadecimal to decimal Decimal integer value Unit conversion table Md.20 Md.21 ) ) n R Unit -1 m -5 inch -5 degree 0 pulse Unit conversion R 10n Unit conversion table Md.22 ) ) 5 Actual value Md.20 Current feed value Md.21 Machine feed value Md.22 Feedrate n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Monitoring is carried out with a decimal. Monitor value Error No. For details on the error Nos. (error codes), refer to Section 15.3 "List of errors". 5 - 91 5 DATA USED FOR POSITIONING CONTROL Storage item Md.24 Axis warning No. MELSEC-Q Storage details Whenever an axis warning is reported, a related warning code is stored. This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) When the " Cd.5 Axis error reset" (axis control data) is set to ON, the axis warning No. is cleared to "0". This area stores an M code that is currently active (i.e. set to the positioning data relating to the current operation). Md.25 Valid M code Update timing : turning ON of the M code ON signal When the PLC READY signal (Y0) goes OFF, the value is set to "0". Md.26 Axis operation status This area stores the axis operation status. Md.27 Current speed " Da.8 Command speed" of the positioning data currently in execution is stored. If " Da.8 Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier. If " Da.8 Command speed" is set to a value other than "-1", this area stores the command speed set by the current positioning data. If the speed change function is executed, " Cd.14 New speed value" is stored. (For details of the speed change function, refer to Section 12.5.1.) 5 - 92 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Warning No. For details of warning Nos. (warning codes), refer to Section 15.4 "List of warnings". 0 807 907 1007 1107 0 808 908 1008 1108 0 809 909 1009 1109 0 810 811 910 911 1010 1110 1011 1111 Monitoring is carried out with a decimal display. Monitor value M code No. (0 to 65535) Monitoring is carried out with a decimal display. Monitor value Axis operation status -2: Step standby -1: Error 0: Standby 1: Stopped 2: Interpolation 3: JOG operation 4: Manual pulse generator operation 5: Analyzing 6: Special start standby 7: OPR 8: Position control 9: Speed control 10: Speed control in speed-position switching control 11: Position control in speed-position switching control 12: Position control in position-speed switching control 13: Speed control in position-speed switching control Monitoring is carried out with a decimal display. Monitor value R Decimal integer value Unit conversion R Actual value 10n Md.27 Current speed Unit conversion table Md.27 ) ) 5 n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s 5 - 93 5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details The speed which is actually output as a command at that time in each axis is Md.28 Axis feedrate Md.29 Speed-position switching control positioning amount Md.30 External input/output signal stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D ) The movement amount for the position control to end after changing to position control with the speed-position switching control (INC mode) is stored. When the control method is "Reverse run: position/speed", the negative value is stored. The ON/OFF state of the external input/output signal is stored. The following items are stored. Upper limit signal Lower limit signal Drive unit READY signal Stop signal External command signal Zero signal Near-point dog signal Deviation counter clear signal Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D ) 5 - 94 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value E G F b15 H b12 b8 E b4 b0 G F H High-order buffer memory Example) 813 A B C b31 D b28 b24 A b20 B b16 C 0000H 812 813 912 913 1012 1112 1013 1113 0000H 814 815 914 915 1014 1114 1015 1115 0000H 816 916 1016 1116 D Sorting (High-order buffer memory) (Low-order buffer memory) A C B D E F G H Unit conversion table Md.28 ) Converted from hexadecimal to decimal Decimal integer value ) R n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Unit conversion R Unit conversion table Md.29 ) 10n ) 5 n Actual value Md.28 Axis feedrate Md.29 Speed-position switching control positioning amount Unit -1 m -5 inch -5 degree 0 pulse Monitoring is carried out with a hexadecimal. 0 Buffer memory 0 0 Monitor value 0 b15 b12 b8 b4 b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Not used Stored items Default value b0 Lower limit signal 0 Upper limit signal 0 b2 Drive unit READY signal 0 b3 Stop signal 0 b4 External command signal 0 b5 Zero signal 0 b6 Near-point dog signal 0 b7 Not used 0 b8 Deviation counter clear signal 0 b1 5 - 95 Meaning 0: OFF 1: ON 5 DATA USED FOR POSITIONING CONTROL Storage item Md.31 Status MELSEC-Q Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag: This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control. The signal goes OFF when the power is switched ON, under the position control, and during JOG operation or manual pulse generator operation. During the speed-position or position-speed switching control, this signal comes ON only when the speed control is in effect. During the speedposition switching control, this signal goes OFF when the speed-position switching signal executes a switching over from speed control to position control. During the position-speed switching control, this signal comes ON when the position-speed switching signal executes a switching over from position control to speed control. Speed-position switching latch flag: This signal is used during the speed-position switching control for interlocking the movement amount change function. During the speed-position switching control, this signal comes ON when position control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation. Command in-position flag: This signal is ON when the remaining distance is equal to or less than the command inposition range (set by a detailed parameter). This signal remains OFF with data that specify the continuous path control (P11) as the operation pattern. The state of this signal is monitored every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ) except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed-position or position-speed switching control. While operations are performed with interpolation, this signal comes ON only in respect of the starting axis. (This signal goes OFF in respect of all axes upon starting.) OPR request flag: This signal comes ON when the power is switched ON, when the drive unit READY signal goes OFF, when the PLC READY signal goes ON, when a machine OPR operation starts. This signal goes OFF when a machine OPR operation completes. OPR complete flag: This signal comes ON when a machine OPR operation completes normally. This signal goes OFF when the operation starts and when the drive unit READY signal goes OFF or PLC READY signal goes ON. Position-speed switching latch flag: This signal is used during the position-speed switching control for interlocking the command speed change function. During the position-speed switching control, this signal comes ON when speed control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation. Axis warning detection flag: This signal comes ON when an axis warning is reported and goes OFF when the axis error reset signal comes ON. Speed change 0 flag: This signal comes ON when a speed change request that specifies 0 as the new speed value is issued. This signal comes OFF when a speed change request that specifies a new speed value other than 0 is issued. This area stores the target value ( Da.6 Positioning address/movement amount) for a positioning operation. At the beginning of positioning control and current value changing : Stores the value of " Da.6 Positioning address/movement amount". Md.32 Target value At the OP shift operation of OPR control : Stores the value of OP shift amount. : Stores "0". At other times 5 - 96 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. 0 Buffer memory 0 0 8 Monitor value b15 b12 b8 b4 b0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Not used Not used Default Meaning value Stored items b0 In speed control flag 0 b1 Speed-position switching latch flag 0 b2 Command in-position flag 0 b3 OPR request flag 1 b4 OPR complete flag 0 b5 Position-speed switching latch flag 0 b9 Axis warning detection 0 b10 Speed change 0 flag 0 0008H 817 917 1017 1117 0 818 819 918 919 1018 1118 1019 1119 0: OFF 1: ON Monitoring is carried out with a decimal display. R Decimal integer value Unit conversion R Actual value Md.32 Target value 10n Unit conversion table Md.32 ) ) Monitor value n Unit -1 m -5 inch -5 degree 0 pulse 5 - 97 5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details During operation with positioning data Md.33 Target speed : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. During interpolation of position control : The composite speed or reference axis speed is stored in the reference axis address, and "0" is stored in the interpolation axis address. During interpolation of speed control : The target speeds of each axis are stored in the monitor of the reference axis and interpolation axis. During JOG operation : The actual target speed, considering the JOG speed limit value for the JOG speed, is stored. During manual pulse generator operation : "0" is stored. "0" is stored when machine OPR starts. After machine OPR starts, the movement amount from the near-point dog ON to Md.34 Movement amount after near-point dog ON the machine OPR completion is stored. (Movement amount: Movement amount to machine OPR completion using nearpoint dog ON as "0".) "0" is always stored when using the stopper method 1), 2), or 3). The " Pr.17 Torque limit setting value" or " Cd.22 New torque value" is stored. During positioning start, JOG operation start, manual pulse generator operation Md.35 Torque limit stored value ...The " Pr.17 Torque limit setting value" is stored. When value other than 0 is set to " Cd.22 New torque value" ...The " Cd.22 New torque value" is stored. 5 - 98 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 Monitor value E F G b15 H b12 E b8 b4 F b0 H G High-order buffer memory Example) 821 A C B b31 b28 b24 b20 b16 D A B C D 0000H 820 821 920 921 1020 1120 1021 1121 0000H 824 825 924 925 1024 1124 1025 1125 0 826 926 1026 1126 Sorting (High-order buffer memory) (Low-order buffer memory) A B C D E F G H Converted from hexadecimal to decimal Decimal integer value Unit conversion table Md.33 ) ) R n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Unit conversion R 10 n Unit conversion table ) 5 Md.34 ) n Actual value Md.33 Target speed Md.34 Movement amount after near-point dog ON Unit -1 m -5 inch -5 degree 0 pulse Monitoring is carried out with a decimal display. Monitor value Storage value 1 to 500 (%) 5 - 99 5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details Md.36 Special start data instruction The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored. code setting value The " instruction parameter" used with special start and indicated by the start data Md.37 Special start data instruction pointer currently being executed is stored. parameter setting value The stored value differs according to the value set for Md.36 . Md.38 Start positioning data No. setting value The "positioning data No." indicated by the start data pointer currently being executed is stored. If the speed exceeds the " Pr.8 Speed limit value" due to a speed change or Md.39 In speed limit flag override, the speed limit functions, and the in speed limit flag turns ON. When the speed drops to less than " Pr.8 Speed limit value", or when the axis stops, the in speed limit flag turns OFF. The speed change process flag turns ON when the speed is changed during positioning control. Md.40 In speed change processing After the speed change process is completed or when deceleration starts with the flag stop signal during the speed change process, the in speed change process flag turns OFF. 5 - 100 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Storage value 00: Block start (Normal start) 01: Condition start 02: Wait start 03: Simultaneous start 04: FOR loop 05: FOR condition 06: NEXT 0 827 927 1027 1127 0 828 928 1028 1128 0 829 929 1029 1129 0 830 930 1030 1130 0 831 931 1031 1131 Monitoring is carried out with a decimal display. Monitor value Storage value Md.36 setting value Stored contents Storage value 00 06 None None 01 02 03 05 Condition data No. 1 to 10 04 No. of repetitions 0 to 255 Monitoring is carried out with a decimal display. Storage value 1 to 600, 9001 to 9003 Monitor value Monitoring is carried out with a decimal display. Monitor value Storage value 0: Not in speed limit (OFF) 1: In speed limit (ON) Monitoring is carried out with a decimal display. Monitor value Storage value 0: Not in speed change (OFF) 1: In speed change (ON) 5 - 101 5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details This area stores the remaining number of repetitions during "repetitions" specific Md.41 Special start repetition counter Md.42 Control system repetition counter Md.43 Start data pointer being executed to special starting. The count is decremented by one (-1) at the loop end. The control comes out of the loop when the count reaches "0". This area stores "0" within an infinite loop. This area stores the remaining number of repetitions during "repetitions" specific to control system. The count is decremented by one (-1) at the loop start. The loop is terminated with the positioning data of control method "LEND" after the counter becomes "0". This area stores a point No. (1 to 50) attached to the start data currently being executed. This area stores "0" after completion of a positioning operation. This area stores a positioning data No. attached to the positioning data currently Md.44 Positioning data No. being executed being executed. This area stores "0" after completion of a positioning operation. This area stores "0" when the JOG/inching operation is executed. When the operation is controlled by "block start data", this area stores a block Md.45 Block No. being executed number (7000 to 7004) attached to the block currently being executed. At other times, this area stores "0". This area stores "0" after completion of a positioning operation. This area stores the positioning data No. attached to the positioning data that was Md.46 Last executed positioning data No. Md.47 Positioning data being executed executed last time. The value is retained until a new positioning operation is executed. This area stores "0" when the JOG/inching operation is executed. The addresses shown to the right store details of the positioning data currently being executed (positioning data No. given by Md.44 ). "1" is stored when the constant speed status or acceleration status switches to the Md.48 Deceleration start flag deceleration status during position control whose operation pattern is "Positioning complete". "0" is stored at the next operation start or manual pulse generator operation enable. 5 - 102 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Storage value 0 to 255 Monitor value 0 832 932 1032 1132 0000H 833 933 1033 1133 0 834 934 1034 1134 0 835 935 1035 1135 0 836 936 1036 1136 0 837 937 1037 1137 0 838 to 847 938 to 947 1038 1138 to to 1047 1147 0 899 999 1099 1199 Monitoring is carried out with a hexadecimal display. Storage value 0 to FFFF Monitor value Monitoring is carried out with a decimal display. Storage value 1 to 50 Monitor value Monitoring is carried out with a decimal display. Storage value 1 to 600, 9001 to 9003 Monitor value Monitoring is carried out with a decimal display. Storage value 7000 to 7004 Monitor value Monitoring is carried out with a decimal display. Storage value 1 to 600, 9001 to 9003 Monitor value Information is stored in the following addresses: Stored address (Monitor value) Axis1 Axis2 Axis3 Axis4 Stored item Reference 838 938 1038 1138 Positioning identifier 839 939 1039 1139 M code Da.10 840 940 1040 1140 Dwell time Da.9 Open 841 941 1041 1141 842 942 1042 1142 843 943 1043 1143 844 944 1044 1144 845 945 1045 1145 846 946 1046 1146 847 947 1047 1147 Da.1 to Da.5 Command speed Da.8 Positioning address Da.6 Arc address Da.7 Monitoring is carried out with a decimal display. Storage value Monitor value 0: Status other than below 1: Status from deceleration start to next operation start or manual pulse generator operation enable 5 - 103 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7 List of control data 5.7.1 System control data Setting item Cd.1 Flash ROM write request Setting details Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM. Requests initialization of setting data. Initialization: Resetting of setting data to default values Note: After completing the initialization of setting data, reset the CPU module or reboot the programmable controller power. Cd.2 Parameter initialization request Initialized setting data Parameters ( Pr.1 to Pr.57 , Pr.150 ) Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004) Cd.41 Deceleration start flag valid Set whether " Md.48 Deceleration start flag" is made valid or invalid. Cd.42 Stop command processing Set the stop command processing for deceleration stop function (deceleration for deceleration stop selection curve re-processing/deceleration curve continuation). 5 - 104 5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 0 1900 0 1901 0 1905 0 1907 Set with a decimal. Setting value K 1 Flash ROM write request 1: Requests write access to flash ROM. The QD75 resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal. Setting value K 1 Parameter initialization request 1: Requests parameter initialization. The QD75 resets the value to "0" automatically when the initialization completes. (This indicates the completion of parameter initialization.) Set with a decimal. Setting value K Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid Set with a decimal. Setting value K Stop command processing for deceleration stop selection 0: Deceleration curve re-processing 1: Deceleration curve continuation 5 - 105 5 DATA USED FOR POSITIONING CONTROL Setting item Cd.43 Output timing selection of near pass control MELSEC-Q Setting details Select the timing to output the difference ( ) between the actual and the set positioning end addresses in continuous path control, in which the difference ( ) is output during the execution of the next positioning data. 5 - 106 5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 0 1934 Set with a decimal. Setting value K Output timing selection of near pass control 0: At constant speed 1: At deceleration 5 - 107 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7.2 Axis control data Setting item Cd.3 Positioning start No. Cd.4 Positioning starting point No. Setting details Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.7 "Pre-reading start function".) Set a " starting point No." (1 to 50) if block start data is used for positioning. (Handled as "1" if the value of other than 1 to 50 is set.) Clears the axis error detection, axis error No., axis warning detection and axis Cd.5 Axis error reset warning No. When the QD75 axis operation state is "Error", the error is cleared and the QD75 is returned to the "Standing" state. When positioning is stopped for any reason (when axis operation state is Cd.6 Restart command Cd.7 M code OFF request "Stopped"), set "1" in Cd.6 . Positioning will be carried out again from the stopped position to the end point of the stopped positioning data. The M code ON signal turns OFF. 5 - 108 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Positioning data No. : Positioning data No. 1 to 600 : Block start designation 7000 to7004 : Machine OPR 9001 : Fast-OPR 9002 : Current value changing 9003 : Simultaneous starting of multiple axes 9004 0 1500 1600 1700 1800 0 1501 1601 1701 1801 0 1502 1602 1702 1802 0 1503 1603 1703 1803 0 1504 1604 1704 1804 Set with a decimal. Setting value Positioning starting point No. K 1 to 50 Set with a decimal. Setting value K 1 Error reset request 1: Axis error is reset. After the axis error reset is completed, "0" is stored by the QD75 automatically. (Indicates that the axis error reset is completed.) Set with a decimal. Setting value K 1 Restart command 1: Restarts After restart acceptance is completed, "0" is stored by the QD75 automatically. (Indicates that the restart acceptance is completed.) Set with a decimal. Setting value K 1 M code OFF request 1: M code ON signal turns OFF After the M code ON signal turns OFF, "0" is stored by the QD75 automatically. (Indicates that the OFF request is completed.) 5 - 109 5 DATA USED FOR POSITIONING CONTROL Setting item Cd.8 External command valid MELSEC-Q Setting details Validates or in validates external command signals. When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. Set a value within the following range: Cd.9 New current value Pr.1 Unit setting Setting range mm ( 10-1 µm) inch ( 10-5 inch) degree ( 10-5 degree) pulse (pulse) -2147483648 -2147483648 -2147483648 to to to 0 to 35999999 +2147483647 +2147483647 +2147483647 5 - 110 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 0 1505 1605 1705 1805 0 1506 1606 1706 1806 1507 1607 1707 1807 External command valid 0: Invalidates an external command. 1: Validates an external command. Set with a decimal. Actual value Cd.9 New current value Conversion into an integer value Unit conversion table ( Cd.9 ) 10n Setting value (Decimal) R n Unit -1 m -5 inch -5 degree 0 pulse 5 - 111 5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Cd.10 New acceleration time value Cd.10 setting range (unit) 0 to 8388608 (ms) When changing the deceleration time during a speed change, use this data item to specify a new deceleration time. Cd.11 New deceleration time value Cd.11 setting range (unit) 0 to 8388608 (ms) Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection Enables or disables modifications to the acceleration/deceleration time during a speed change. 5 - 112 5 DATA USED FOR POSITIONING CONTROL Default value Setting value Set with a decimal. Setting value MELSEC-Q Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1508 1608 1708 1808 1509 1609 1709 1809 0 1510 1610 1710 1810 1511 1611 1711 1811 0 1512 1612 1712 1812 Cd.10 New acceleration time value Cd.11 New deceleration time value Example: When the " Cd. 10 New acceleration time value" is set as "60000 ms", the buffer memory stores "60000". Set with a decimal. Setting value K Acceleration/deceleration time change during speed change, enable/disable selection 1 : Enables modifications to acceleration/deceleration time Other than 1: Disables modifications to acceleration/deceleration time 5 - 113 5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details To use the positioning operation speed override function, use this data item to Cd.13 Positioning operation speed override specify an "override" value. For details of the override function, refer to Section 12.5.2" Override function". If the speed becomes lower than the minimum unit due to override 1% or others, it is raised to the minimum unit. At this time, the warning "Less than minimum speed" (warning code: 110) will occur. When changing the speed, use this data item to specify a new speed. The operation halts if you specify "0". mm inch degree Pr.1 -2 -3 -3 Unit setting ( 10 mm/min) ( 10 inch/min) ( 10 degree/min) Cd.14 New speed value [QD75P N/QD75D N] Setting range Cd.15 Speed change request pulse (pulse/s) 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 4000000 [QD75P /QD75D ] 0 to 1000000 After setting the " Cd.14 New speed value", set this data item to "1" to execute the speed change (through validating the new speed value). 5 - 114 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 100 1513 1613 1713 1813 0 1514 1614 1714 1814 1515 1615 1715 1815 0 1516 1616 1716 1816 Override value (%) 1 to 300 Set with a decimal. Actual value Cd.14 New speed value Conversion into an integer value Unit conversion table ( Cd.14 ) 10n Setting value (Decimal) R n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Example: When the " Cd. 14 New speed value" is set as "20000.00mm /min", the buffer memory stores "2000000". Set with a decimal. Setting value K 1 Speed change request 1: Executes speed change. The QD75 resets the value to "0" automatically when the speed change request has been processed. (This indicates the completion of speed change request.) 5 - 115 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details Use this data item to set the amount of movement by inching. The machine performs a JOG operation if "0" is set. Set a value within the following range: Cd.16 Inching movement amount Pr.1 Unit setting mm ( 10-1 µm) inch ( 10-5 inch) degree ( 10-5 degree) pulse (pulse) Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535 Use this data item to set the JOG speed. Set a value within the following range: Cd.17 JOG speed mm inch degree Pr.1 -2 -3 -3 Unit setting ( 10 mm/min) ( 10 inch/min) ( 10 degree/min) pulse (pulse/s) [QD75P N/QD75D N] Setting range Cd.18 Continuous operation interrupt request 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 4000000 [QD75P /QD75D ] 0 to 1000000 To interrupt a continuous operation, set "1" to this data item. After processing the interruption request ("1"), the QD75 automatically resets the value to "0". 5 - 116 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value 10n Setting value (Decimal) R Unit conversion table ( Cd.16 ) n Unit -1 m -5 inch -5 degree 0 pulse 0 1517 1617 1717 1817 0 1518 1618 1718 1818 1519 1619 1719 1819 0 1520 1620 1720 1820 Example: When the " Cd. 16 Inching movement amount" is set as "1.0 m", the buffer memory stores "10". Set with a decimal. Actual value Cd.17 JOG speed Conversion into an integer value Unit conversion table ( Cd.17 ) 10n Setting value (Decimal) R n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Example: When the " Cd. 17 JOG speed" is set as "20000.00mm /min", the buffer memory stores "2000000". Set with a decimal. Setting value K 1 Interruption request continuous operation 1: Interrupts continuous operation control or continuous path control. The QD75 resets the value to "0" automatically when the continuous operation interrupt request is processed. (This indicates the completion of continuous operation interruption request.) 5 - 117 5 DATA USED FOR POSITIONING CONTROL Setting item Cd.19 OPR request flag OFF request MELSEC-Q Setting details The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF. This data item determines the factor by which the number of pulses from the Cd.20 Manual pulse generator 1 pulse input magnification Cd.21 Manual pulse generator enable flag manual pulse generator is magnified. Value "1001" or higher: read as "1000". (QD75P N/QD75D N) Value "101" or higher: read as "100". (QD75P /QD75D ) This data item enables or disables operations using a manual pulse generator. When changing the " Md.35 Torque limit stored value", use this data item to Cd.22 New torque value specify a new torque limit stored value. Set a value within the allowable range of the " Pr.17 Torque limit setting value". 5 - 118 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 1 OPR request flag OFF request 1: Turns the "OPR request flag" from ON to OFF. 0 1521 1621 1721 1821 1 1522 1622 1722 1822 1523 1623 1723 1823 0 1524 1624 1724 1824 0 1525 1625 1725 1825 The QD75 resets the value to "0" automatically when the OPR request flag is turned OFF. (This indicates the completion of OPR request flag OFF request.) Set with a decimal. Setting value Manual pulse generator 1 pulse input magnification 1 to 1000 (QD75P N/QD75D N) 1 to 100 (QD75P /QD75D) K Set with a decimal. Setting value K Manual pulse generator enable flag 0: Disable manual pulse generator operation. 1: Enable manual pulse generator operation. Set with a decimal. Setting value K New torque value 1 to Pr.17 : Torque limit setting value 0 : Torque value is not changed 5 - 119 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Setting details During the speed control stage of the speed-position switching control (INC Cd.23 Speed-position switching control movement amount change register mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount. The new movement amount has to be set during the speed control stage of the speed-position switching control (INC mode). The value is reset to "0" when the next operation starts. Set a value within the following range: Pr.1 Unit setting Setting range Cd.24 Speed-position switching enable flag mm ( 10-1 µm) inch ( 10-5 inch) 0 to 2147483647 0 to 2147483647 degree ( 10-5 degree) 0 to 2147483647 pulse (pulse) 0 to 2147483647 Set whether the external control signal (external command signal [CHG]: "speed- position, position-speed switching request" is selected) is enabled or not. During the position control stage of the position-speed switching control, it is Cd.25 Position-speed switching control speed change register possible to change the specification of the speed during the speed control stage. For that, use this data item to specify a new speed. The new speed has to be set during the position control stage of the positionspeed switching control. The value is reset to "0" when the next operation starts. Set a value within the following range: mm inch degree Pr.1 -2 -3 -3 Unit setting ( 10 mm/min) ( 10 inch/min) ( 10 degree/min) pulse (pulse/s) [QD75P N/QD75D N] Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 4000000 [QD75P /QD75D ] 0 to 1000000 5 - 120 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.23 Speed-position switching control movement amount change register Conversion into an integer value Unit conversion table ( Cd.23 ) 10n Setting value (Decimal) R n Unit -1 -5 m inch -5 degree 0 pulse 0 1526 1626 1726 1826 1527 1627 1727 1827 0 1528 1628 1728 1828 0 1530 1630 1730 1830 1531 1631 1731 1831 Example: If " Cd. 23 Speed-position switching control movement amount change register" is set as "20000.0 m", the buffer memory stores "200000". Set with a decimal. Setting value K Speed-position switching enable flag 0: Speed control will not be taken over by position control even when the external command signal comes ON. 1: Speed control will be taken over by position control when the external command signal comes ON. Set with a decimal. Actual value Cd.25 Position-speed switching control speed change register Conversion into an integer value Unit conversion table ( Cd.25 ) 10n Setting value (Decimal) R n Unit -2 -3 mm/min inch/min -3 degree/min 0 pulse/s Example: If " Cd. 25 Position-speed switching control speed change register" is set as "2000.00 mm/min", the buffer memory stores "200000". 5 - 121 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting item Cd.26 Position-speed switching enable flag Setting details Set whether the external control signal (external command signal [CHG]: "speed- position, position-speed switching request" is selected) is enabled or not. When changing the target position during a positioning operation, use this data item to specify a new positioning address. Set a value within the following range: Pr.1 Cd.27 Target position change value (New address) mm ( 10-1 µm) inch ( 10-5 inch) degree ( 10-5 degree) pulse (pulse) ABS -2147483648 -2147483648 to to 0 to 35999999 +2147483647 +2147483647 -2147483648 to +2147483647 INC -2147483648 -2147483648 -2147483648 -2147483648 to to to to +2147483647 +2147483647 +2147483647 +2147483647 When changing the target position during a positioning operation, use this data item to specify a new speed. The speed will not change if "0" is set. Set a value within the following range: mm inch degree Cd.28 Target position change value Pr.1 -2 -3 -3 Unit setting ( 10 mm/min) ( 10 inch/min) ( 10 degree/min) (New speed) pulse (pulse/s) [QD75P N/QD75D N] Setting range Cd.29 Target position change request flag 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 4000000 [QD75P /QD75D ] 0 to 1000000 Requests the target position change during a positioning operation. 5 - 122 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Position-speed switching enable flag 0: Position control will not be taken over by speed control even when the external command signal [CHG] comes ON. 1: Position control will be taken over by speed control when the external command signal [CHG] comes ON. 0 1532 1632 1732 1832 0 1534 1634 1734 1834 1535 1635 1735 1835 0 1536 1636 1736 1836 1537 1637 1737 1837 0 1538 1638 1738 1838 Set with a decimal. Actual value Cd. 27 Target position change value (address) Cd. 28 Target position change value (speed) Conversion into an integer value Unit conversion table ( Cd.27 ) 10n Setting value (Decimal) n R Unit -1 m -5 inch -5 degree 0 pulse Unit conversion table ( Cd.28 ) Example: If " Cd. 28 Target position change value (speed) is set as "10000.00 mm/min", the buffer memory stores "1000000". n Unit -2 mm/min -3 inch/min -3 degree/min 0 pulse/s Set with a decimal. Setting value K 1 Target position change request flag 1: Requests a target position change The QD75 resets the value to "0" automatically when the new target position value has been written. (This indicates the completion of target position change request.) 5 - 123 5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) Use these data items to specify a start data No. for each axis that has to start simultaneously. Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.) Set "0" to any axis that should not start simultaneously. Cd.33 Simultaneous starting axis start data No. (axis 4 start data No.) Cd.34 Step mode Cd.35 Step valid flag To perform a step operation, use this data item to specify the units by which the stepping should be performed. This data item validates or invalidates step operations. 5 - 124 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1540 1640 1740 1840 0 1541 1641 1741 1841 0 1542 1642 1742 1842 0 1543 1643 1743 1843 0 1544 1644 1744 1844 0 1545 1645 1745 1845 Set with a decimal. Setting value K Cd.30 to Cd.33 Simultaneous starting axis start data No.: 1 to 600 Set with a decimal. Setting value K Step mode 0: Stepping by deceleration units 1: Stepping by data No. units Set with a decimal. Setting value K Step valid flag 0: Invalidates step operations 1: Validates step operations 5 - 125 5 DATA USED FOR POSITIONING CONTROL Setting item Cd.36 Step start information Cd.37 Skip command Cd.38 Teaching data selection Cd.39 Teaching positioning data No. MELSEC-Q Setting details To continue the step operation when the step function is used, set "1" in this data item. To skip the current positioning operation, set "1" in this data item. This data item specifies the teaching result write destination. Data are cleared to "0" when the teaching ends. This data item specifies data to be produced by teaching. If a value between 1 and 600 is set, a teaching operation is done. The value is cleared to "0" when the QD75 is initialized, when a teaching operation completes, and when an illegal value (601 or higher) is entered. Cd.40 ABS direction in degrees This data item specifies the ABS moving direction carrying out the position control when "degree" is selected as the unit. 5 - 126 5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. 0 1546 1646 1746 1846 0 1547 1647 1747 1847 0 1548 1648 1748 1848 0 1549 1649 1749 1849 0 1550 1650 1750 1850 Set with a decimal. Setting value K 1 Skip request 1: Issues a skip request to have the machine decelerate, stop, and then start the next positioning operation. The QD75 resets the value to "0" automatically when processing of the skip request completes. Set with a decimal. Setting value K Teaching data selection 0: Takes the current feed value as a positioning address. 1: Takes the current feed value as an arc data. Set with a decimal. Setting value K Teaching positioning data No. 1 to 600 Set with a decimal. Setting value K ABS direction in degrees 0: Shortcut (direction setting ignored) 1: ABS clockwise 2: ABS counterclockwise 5 - 127 5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 128 MELSEC-Q CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6 The programs required to carry out positioning control with the QD75 are explained in this chapter. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the QD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.) The first half of this chapter explains the program configuration of general control, and the latter half explains the program details. Create the required program while referring to the various control details explained in PART 2, and to CHAPTER 5 "DATA USED FOR POSITIONING CONTROL". 6.1 Precautions for creating program .............................................................................. 6- 2 6.2 List of devices used .................................................................................................... 6- 5 6.3 Creating a program ..................................................................................................... 6- 11 6.3.1 General configuration of program ................................................................. 6- 11 6.3.2 Positioning control operation program .......................................................... 6- 12 6.4 Positioning program examples................................................................................... 6- 15 6.5 Program details .......................................................................................................... 6- 24 6.5.1 Initialization program ..................................................................................... 6- 24 6.5.2 Start details setting program......................................................................... 6- 25 6.5.3 Start program ................................................................................................ 6- 27 6.5.4 Continuous operation interrupt program ...................................................... 6- 37 6.5.5 Restart program ............................................................................................ 6- 39 6.5.6 Stop program ................................................................................................ 6- 43 6-1 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.1 Precautions for creating program The common precautions to be taken when writing data from the CPU module to the QD75 buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system. (1) Reading/writing the data Setting the data explained in this chapter (various parameters, positioning data, block start data) should be set using GX Configurator-QP. When set with the sequence program, many sequence programs and devices must be used. This will not only complicate the program, but will also increase the scan time. When rewriting the positioning data during continuous path control or continuous positioning control, rewrite the data four positioning data items before the actual execution. If the positioning data is not rewritten before the positioning data four items earlier is executed, the process will be carried out as if the data was not rewritten. (2) Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed or performing override function with the QD75. (3) Process during overrun Overrun is prevented by the setting of the upper and lower stroke limits with the detail parameter 1. However, this applies only when the QD75 is operating correctly. It is recommended to create an external circuit including a boundary limit switch to ensure the whole system safety as follows: the external circuit powers OFF the motor when the boundary limit switch operates. 6-2 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (4) MELSEC-Q System configuration QD75P4N QX41 QX40 QY40 Q25HCPU Unless particularly designated, the sequence program for the following system is shown in this chapter and subsequent. In the program, the unit of "0 (mm)" is set for the basic parameter 1. Refer to Section 6.2 for the application of the devices to be used. Power supply module 6 00 to 1F X20 to X3F X40 to X4F Y50 to Y5F X40 to X45 Y47 to Y49 (for absolute position restoration) Servo amplifier Servomotor (5) X20 to X3F External devices Y50 to Y52 (for absolute position restoration) M Communication with QD75 There are two methods for communication with QD75 using the sequence program: a method using an "intelligent function device" and a method using a FROM/TO instruction. In the sequence program in this chapter and subsequent, the program example using the "intelligent function device" is shown without using a FROM/TO instruction for communication with QD75. When using the FROM/TO instruction for communication with QD75, change the circuit incorporating the "intelligent function device" as follows. (a) When the circuit uses the "intelligent function device" on the destination (D) side of a MOV instruction, change the instruction to a TO instruction. Intelligent function device 0 0 X21 MOVP X21 TOP 6-3 H0 K1505 Designated value at U0 Designated value at G1505 K1 U0\ G1505 K1 K1 Number of write data (1) 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV instruction, change the instruction to a FROM instruction and a TO instruction. 0 X15 X0C MOVP U0\ G826 U6\ G1 Set the same device. 0 X15 X0C FROMP H0 K826 D100 K1 TOP K1 D100 K1 H6 (c) When the circuit uses the "intelligent function device" for a COMPARISON instruction, change the instruction to a FROM instruction and a COMPARISON instruction. M0 0 = U0\ G1521 K0 RST M0 D102 K1 RST M0 M0 0 FROMP H0 = D102 K0 K1521 Data read out (d) When the circuit uses the "intelligent function device" for a WAND instruction, change the instruction to a FROM instruction and a WAND instruction. U0\ WANDP G817 M2 0 H8 D0 D101 K1 M2 FROMP H0 0 K817 WANDP D101 Data read out H8 D0 REMARK Refer to QCPU (Q mode) User's Manual (Functions and Programs Basic Part) for the intelligent function devices. Refer to QCPU (Q mode) Programming Manual (Common Commands Part) for detail commands used in those programs shown in this chapter and subsequent. 6-4 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.2 List of devices used In the sequence programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75 indicate those when QD75 is mounted in the 0-slot of the main base. If it is mounted in the slot other than the 0-slot of the main base, change the I/O number to that for the position where QD75 was installed. In addition, change the external inputs, external outputs, internal relays, data resisters, and timers according to the system used. (1) Inputs/outputs, external inputs/external outputs, and internal relays of QD75 Device name Device X0 QD75 READY signal X1 X4 Input Inputs/ outputs of QD75 External input (command) Details when ON Preparation completed Synchronization flag QD75 buffer memory accessible X5 X6 X7 M code ON signal M code outputting X8 X9 XA XB Error detection signal Error detected XC XD XE XF BUSY signal BUSY (operating) X10 X11 X12 X13 Start complete signal Start completed X14 X15 X16 X17 Positioning complete signal Positioning completed Y0 Output Application Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal CPU module preparation completed Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Reverse run JOG start signal Y9 YB YD YF Y10 Y11 Y12 Y13 Positioning start signal Starting reverse run JOG Requesting start X20 OPR request OFF command Commanding OPR request OFF X21 External command valid command Commanding external command valid setting X22 External command invalid command Commanding external command invalid X23 Machine OPR command Commanding machine OPR X24 Fast OPR command Commanding fast OPR X25 Positioning start command Commanding positioning start Speed-position switching operation command Commanding speed-position switching operation X27 Speed-position switching enable command Commanding speed-position switching enable command X28 Speed-position switching prohibit command Commanding speed-position switching prohibit X29 Movement amount change command Commanding movement amount change X2A High-level positioning control start command Commanding high-level positioning control start X2B Positioning start command (dedicated Commanding positioning start instruction) X26 — 6-5 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Axis 1 Axis 2 Axis 3 Axis 4 M code OFF command Commanding M code OFF X2D JOG operation speed setting command X2E Forward run JOG/inching command Commanding JOG operation speed setting Commanding forward run JOG/inching operation X2F Reverse run JOG/inching command Commanding reverse run JOG/inching operation Manual pulse generator operation enable command Manual pulse generator operation disable command Commanding manual pulse generator operation enable Commanding manual pulse generator operation disable X31 Speed change command Commanding speed change Override command Commanding override Acceleration/deceleration time change command Acceleration/deceleration time change disable command Commanding acceleration/deceleration time change Commanding acceleration/deceleration time change disable X37 Step operation command Commanding step operation X38 Skip operation command Commanding skip operation X39 Teaching command Commanding teaching X3A Continuous operation interrupt command Commanding continuous operation interrupt command X3B Restart command Commanding restart X32 — X33 X34 X35 X3C Parameter initialization command Commanding parameter initialization X3D Flash ROM write command Commanding flash ROM write X3E Error reset command Commanding error reset X3F Stop command Commanding stop Position-speed switching operation command Position-speed switching enable command Position-speed switching prohibit command Commanding position-speed switching operation Commanding position-speed switching enable Commanding position-speed switching prohibit X43 Speed change command Commanding speed change X44 Inching movement amount setting command Commanding inching movement amount setting X45 Target position change command Commanding target position change X4D Speed-position switching control (ABS Commanding speed-position switching mode) setting command control (ABS mode) setting X4E Positioning start command (Y start) X47 ABS data bit 0 — ABS data bit 1 — X49 Transmission data READY flag — Y50 Servo ON signal — ABS transmission mode — ABS request mode — X40 X41 X42 External input (absolute position restoration) External output (absolute position restoration) Details when ON X2C X30 External input (command) Application MELSEC-Q X48 Y51 Y52 — — — 6-6 Positioning start command being given 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Details when ON M0 OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command pulse OPR request OFF commanded M2 OPR request OFF command storage OPR request OFF command held M3 Fast OPR command Commanding fast OPR M4 Fast OPR command storage Fast OPR command held M5 Positioning start command pulse Positioning start commanded M6 Positioning start command storage Positioning start command held M7 In-JOG/Inching operation flag Operating JOG/Inching M8 Manual pulse generator operation enable command Commanding manual pulse generator operation enable M9 Manual pulse generator operating flag Operating manual pulse generator M10 Manual pulse generator operation disable command Commanding manual pulse generator operation disable Speed change command pulse Speed change commanded M11 Internal relay Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q — M12 Speed change command storage Speed change command held M13 Override command Requesting override M14 Acceleration/deceleration time change Requesting acceleration/deceleration command time change M16 Step operation command pulse Step operation commanded M17 Skip command pulse Skip commanded M18 Skip command storage Skip command held M19 Teaching command pulse Teaching commanded M20 Teaching command storage Teaching command held M21 Continuous operation interrupt command Requesting continuous operation interrupt M22 Restart command Requesting restart M23 Restart command storage Restart command held M24 Parameter initialization command pulse Parameter initialization commanded M25 Parameter initialization command storage Parameter initialization command held M26 Flash ROM write command pulse Flash ROM write commanded M27 Flash ROM write command storage Flash ROM write command held Error reset Error reset completed M29 Stop command pulse Stop commanded M30 Target position change command pulse Target position change commanded Target position change command storage Target position change command held M32 ZP.PSTRT1 instruction complete device ZP.PSTRT1 instruction completed M33 ZP.PSTRT1 instruction error failure device ZP.PSTRT1 instruction failed M28 M31 — 6-7 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Internal relay Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details when ON M34 ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed M35 ZP.TEACH1 instruction failure device ZP.TEACH1 instruction failed M36 ZP.PINIT instruction complete device ZP.PINIT instruction completed M37 ZP.PINIT instruction failure device ZP.PINIT instruction failed M38 ZP.PFWRT instruction complete device ZP.PFWRT instruction completed M39 ZP.PFWRT instruction failure device M40 — ZP.PFWRT instruction failed Absolute position restoration instruction Absolute position restoration pulse commanded Absolute position restoration instruction Absolute position restoration storage instruction held M41 M42 Z.ABRST instruction complete device Z.ABRST instruction completed M43 Z.ABRST instruction failure device Z.ABRST instruction failed M50 Basic parameter 1 setting complete device Basic parameter 1 setting completed M51 OPR basic parameter setting complete device OPR basic parameter setting completed (2) Data resisters and timers Device name Data register Device Application Axis 1 Axis 2 Axis 3 Axis 4 Details of storage D0 OPR request flag ( Md.31 Status (bit 3)) D1 Speed (low-order 16 bits) D2 Speed (high-order 16 bits) ( Cd.25 Position-speed switching control speed change resister) D3 Movement amount (low-order 16 bits) D4 Movement amount (high-order 16 bits) ( Cd.23 Speed-position switching control movement amount change resister) D5 Inching movement amount ( Cd.16 Inching movement amount) D6 JOG operation speed (low-order 16 bits) D7 JOG operation speed (high-order 16 bits) D8 — Manual pulse generator 1 pulse input magnification (low-order) ( Cd.17 JOG operation speed) ( Cd.20 Manual pulse generator 1 pulse input magnification) D9 Manual pulse generator 1 pulse input magnification (high-order) D10 Manual pulse generator operation enable D11 Speed change value (low-order 16 bits) D12 Speed change value (high-order 16 bits) D13 Speed change request ( Cd.15 Speed change request) D14 Override value ( Cd.13 Positioning operation speed override) 6-8 ( Cd.21 Manual pulse generator enable flag) ( Cd.14 New speed value) 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 Acceleration time setting (low-order 16 bits) Acceleration time setting (high-order 16 bits) Deceleration time setting (low-order 16 bits) Deceleration time setting (high-order 16 bits) D15 D16 D17 D18 MELSEC-Q Details of storage ( Cd.10 New acceleration time value) ( Cd.11 New deceleration time value) D19 Acceleration/deceleration time change enable ( Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection) D20 Step mode ( Cd.34 Step mode) D21 Step valid flag ( Cd.35 Step valid flag) D22 Unused D23 Target position (low-order 16 bits) D24 Target position (high-order 16 bits) — ( Cd.27 Target position change value (new address)) D25 Target speed (low-order 16 bits) D26 Target speed (high-order 16 bits) D27 Target position change request D28 Unused — D29 Unused — D30 ZP.PSTRT1 instruction control data — D31 Completion status — Start number — D33 ZP.TEACH1 instruction control data — D34 Completion status — D35 Teaching data — D36 Positioning data No. — D37 ZP.PINIT instruction control data — D38 Completion status — D39 ZP.PFWRT instruction control data — D40 Completion status — D41 Z.ABRST1 control data — D42 Completion status — D43 Signals received from servo — D44 Signals transmitted to servo — D45 Status — D46 System area — D47 System area — D48 System area — D49 Error code Error code at absolute position restoration D79 Error code ( Md.23 Axis error No.) D50 Unit setting ( Pr.1 Unit setting) D51 No. of pulses per rotation ( Pr.2 No. of pulses per rotation) Data register D32 — 6-9 ( Cd.28 Target position change value (new speed)) ( Cd.29 Target position change request flag) 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Axis 1 Axis 2 Axis 3 Axis 4 Application MELSEC-Q 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 ( Pr.6 Rotation direction setting) D56 Bias speed at start (low-order 16 bits) D57 Bias speed at start (high-order 16 bits) D200 OPR method ( Pr.43 OPR method) D201 OPR direction ( Pr.44 OPR direction) D202 OP address (low-order 16 bits) D203 OP address (high-order 16 bits) D204 OPR speed (low-order 16 bits) D205 OPR speed (high-order 16 bits) D206 Creep speed (low-order 16 bits) D207 Creep speed (high-order 16 bits) D208 OPR retry ( Pr.7 Bias speed at start) ( Pr.45 OP address) ( Pr.46 OPR speed) ( Pr.47 Creep speed) ( Pr.48 OPR retry) ( Da.1 Operation pattern) ( Da.2 Control system) D58 D59 D60 D61 D62 ( Da.5 Axis to be interpolated) M code ( Da.10 M code) Dwell time ( Da.9 Dwell time) (Dummy) — Command speed (low-order 16 bits) D67 ( Da.8 Command speed) Command speed (high-order 16 bits) Positioning (low-order 16 bits) address/ ( Da.6 Positioning movement (high-order 16 bits) address/movement amount) amount (low-order 16 bits) Arc address ( Da.7 Arc address) (high-order 16 bits) D68 Point 1 (shape, start No.) D69 Point 2 (shape, start No.) D63 D64 D65 D76 Block start data (Block 0) D66 D77 T0 T1 Point 5 (special start instruction) PLC READY signal OFF confirmation PLC READY signal OFF confirmation D70 D71 D72 D73 D74 D75 Timer ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) — Positioning data No.1 Data register Positioning identifier — Point 3 (shape, start No.) Point 4 (shape, start No.) ( Da.11 Shape) Point 5 (shape, start No.) ( Da.12 Start data No.) Point 1 (special start instruction) ( Da.13 Special start instruction) Point 2 (special start instruction) ( Da.14 Parameter) Point 3 (special start instruction) Point 4 (special start instruction) 6 - 10 PLC READY signal OFF 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in PART 2 are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system. Refer to Section 5.6 "List of monitor data" for details on the monitor items.) 6.3.1 General configuration of program The general configuration of the "positioning control operation program" is shown below. Start of program creation Parameter and data are... Set using GX Configurator-QP Set using the sequence program Parameter and data setting program Program for carrying out initialization Initialization program Program required to carry out "OPR control", "major positioning control" and "high-level positioning control" Start details setting program Start program Program required to carry out "manual control" JOG operation program Inching operation program Manual pulse generator operation program Program required for "sub functions" and "common functions" Sub program Program for stopping control Stop program Completion of program creation 6 - 11 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system. (Numbers are assigned to the following programs. Configuring the program in the order of these numbers is recommended.) Start of program creation Parameter and data are... Set using the (TO instruction) program Parameter and data setting program No.1 Parameter setting program Set using GX Configurator-QP When not carrying out "OPR control", the OPR parameters do not need to be set. No.2 Positioning data setting program No.3 Block start data setting program Initialization program Not carried out OPR is... No.4 OPR request OFF program Carried out No.5 External command function valid setting program Refer to Section 6.5.1 No.6 PLC READY signal [Y0] ON program Required Continued on next page 6 - 12 Refer to Section 6.5.1 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start details setting program No.7 Positioning start No. setting program Program required to carry out "OPR control" "Major positioning control" "High-level positioning control" Refer to Section 6.5.2 Start program No.8 No.9 Positioning start program M code OFF program Refer to Section 6.5.3 Program to reset the start signal and turn the M code ON signal OFF JOG operation program No.10 No.12 JOG operation program Refer to Section 11.2.4 Inching operation program No.11 No.12 Inching operation program Refer to Section 11.3.4 Manual pulse generator operation program No.13 Manual pulse generator operation program Refer to Section 11.4.4 Continued on next page 6 - 13 Program required to carry out "manual control" 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Sub program No.14 No.15 No.16 No.17 No.18 No.19 No.20 No.21 No.22 Speed change program Refer to Section 12.5.1 Override program Refer to Section 12.5.2 Acceleration/deceleration time change program Refer to Section 12.5.3 Step operation program Refer to Section 12.7.1 Skip program Refer to Section 12.7.2 Teaching program Refer to Section 12.7.4 Continuous operation interrupt program Refer to Section 6.5.4 Target position change program Refer to Section 12.5.5 Absolute position restoration program Refer to Section 14.3 Restart program Refer to Section 6.5.5 Parameter initialization program Refer to Section 13.2 No.25 Flash ROM write program Refer to Section 13.3 No.26 Error reset program Program required to reset errors No.23 No.24 Program added according to control details. (Create as required.) Stop program Program used to stop control No.27 Stop program End of program creation 6 - 14 Refer to Section 6.5.6 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD75 using the TO instruction from the CPU module. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program is not necessary. 6 - 15 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 2 Positioning data setting program (For positioning data No. 1 ) Operation pattern: Positioning complete Control system: 1-axis linear control (ABS) Acceleration time No.: 1, deceleration time No.: 2 <(Dummy data)> No. 3 Block start data setting program Block start data of start block 0 (axis 1) For setting of points 1 to 5 (Conditions) Shape: Continued at points 1 to 4, ended at point 5 Special start instruction: Normal start at all of points 1 to 5 [Setting of shape and start data No.] 6 - 16 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6 - 17 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Speed-position switching operation (positioning data No. 2) (In the ABS mode, new movement amount write is not needed.) 287 295 301 307 (5) Position-speed switching operation (positioning data No. 3) 313 320 326 332 (6) High-level positioning control 338 (7) Fast OPR command and fast OPR command storage OFF (Not required when fast OPR is not used) 345 No. 8 Positioning start program (1) When dedicated instruction (PSTRT1) is used (When fast OPR is not made, contacts of M3 and M4 are not needed.) (When M code is not used, contact of X04 is not needed.) (When JOG operation/inching operation is not performed, contact of M7 is not needed.) (When manual pulse generator operation is not performed, contact of M9 is not needed.) 359 372 384 6 - 18 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) When positioning start signal (Y10) is used (When fast OPR is not made, contacts of M3 and M4 are not needed.) (When M code is not used, contact of X04 is not needed.) (When JOG operation/inching operation is not performed, contact of M7 is not needed.) (When manual pulse generator operation is not performed, contact of M9 is not needed.) 397 408 421 DX0C 431 No. 9 M code OFF program (Not required when M code is not used) 439 No. 10 JOG operation setting program 449 No. 11 Inching operation setting program 480 No. 12 JOG operation/inching operation execution program 505 512 516 521 6 - 19 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6 - 20 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6 - 21 MELSEC-Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 22 Absolute position restoration program (1) Absolute position restoration command acceptance 788 796 (2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion ABRST1 instruction completed when M42 is ON and M43 is OFF. Absolute position data restoration completed when status = 0. 802 (3) ABS data setting and ABRST1 instruction execution 823 No. 23 Restart program 850 857 864 No. 24 Parameter initialization program 878 885 889 896 6 - 22 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 25 Flash ROM write program 911 918 922 926 No. 26 Error reset program 944 953 957 No. 27 Stop program 964 971 975 979 6 - 23 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Md.31 Status : b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request" made by the QD75 when the power is turned ON, etc. Data requiring setting Set the following data to use the OPR request flag OFF request. Setting value Setting item OPR request flag OFF Cd.19 request 1 Buffer memory address Setting details Axis 1 Axis 2 Axis 3 Axis 4 Set to "1: Turn OPR request flag OFF". 1521 1621 1721 1821 Refer to Section 5.7 "List of control data" for details on the setting details. Time chart for OPR request OFF ON PLC READY signal [Y0] [X0] QD75 READY signal OFF ON OFF ON OFF OPR request OFF flag [ Md. 31 Status: b3] Cd. 19 OPR request flag OFF request 0 1 0 Fig. 6.1 Time chart for OPR request OFF [2] External command function valid setting program This program is used to validate the "external command signal" beforehand when using the external command functions (external start, speed change, speedposition switching, position-speed switching, skip). (Set which function to use beforehand in " Pr.42 External command function selection".) Set the following data to validate the "external command signal". Setting item Setting value Cd.8 External command valid 1 Setting details Set to "1: Validate external command". Refer to Section 5.7 "List of control data" for details on the setting details. 6 - 24 Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1505 1605 1705 1805 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For " high-level positioning control", "fast OPR", "speedposition switching control" and "position-speed switching control", add the respectively required sequence program. (Refer to CHAPTER 10 for details on starting the " high-level positioning control.) Procedures for setting the starting details (1) Set the "positioning start No." corresponding to the control to be started in " Cd.3 Positioning start No.". Setting value Setting item Cd.3 Setting details 1 to 600 9001 9002 9003 9004 7000 to 7004 Positioning start No. : : : : : : Positioning data No. Machine OPR Fast OPR Current value changing Simultaneous start Block No. (For "high-level positioning control") Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1500 1600 1700 1800 Refer to Section 5.7 "List of control data" for details on the setting details. (2) For " high-level positioning control", set the "positioning start point No." of the block to be started in " Cd.4 Positioning starting point No.". Setting value Setting item Cd.4 Positioning starting point No. Setting details 1 to 50 : Point No. of block start data Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1501 1601 1701 1801 Refer to Section 5.7 "List of control data" for details on the setting details. (3) Set the following control data for "speed-position switching control (INC mode)". (Set " Cd.23 Speed-position switching control movement amount change register as required". Setting is not required in the ABS mode.) Setting item Setting value Speed-position switching Cd.23 control movement amount change register Cd.24 Speed-position switching enable flag 1 Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set the new value when the position control's movement amount is to be changed during speed control. 1526 1626 1726 1826 1527 1627 1727 1827 When "1" is set, the speed-position switching signal will be validated. 1528 1628 1728 1828 Refer to Section 5.7 "List of control data" for details on the setting details. 6 - 25 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) For "position-speed switching control", set the control data shown below. (As required, set the " Cd.25 Position-speed switching control speed change resister".) Setting item Setting value Position-speed switching Cd.25 control speed change resister Cd.26 Position-speed switching enable flag 1 Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Used to set a new value when speed is changed during positioning control. 1530 1630 1730 1830 1531 1631 1731 1831 To validate position-speed switching signal, this is set to 1. 1532 1632 1732 1832 Refer to Section 5.7 "List of control data" for details on the setting details. 6 - 26 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] [2] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13] Starting by inputting external command signal Buffer memory 3) Control with positioning data No. 1 1) 1 Drive unit 1500 CPU module 2) ON Input/output signal Y10 1) 2) 3) When starting positioning with the scan after the completion of positioning, insert X10 as an interlock so that positioning is started after Y10 is turned OFF and X10 is turned OFF. Set the "positioning start No." in " Cd.3 Positioning start No." according to the control to be started. (In the above example, set positioning data No. "1".) Input the positioning start signal [Y10] or the external command signal. The positioning data No. "1" will start. Fig. 6.2 Procedures for starting control (for axis 1) 6 - 27 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied. Signal name Signal state Device Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 QD75 buffer memory ON Accessible X1 Synchronization flag Interface Axis stop signal signal M code ON signal OFF Axis stop signal is OFF. Y4 Y5 Y6 Y7 OFF M code ON signal is OFF. X4 X5 X6 X7 Error detection signal OFF No error is present. X8 X9 XA XB BUSY signal OFF BUSY signal is OFF. XC XD XE XF Start complete signal OFF Start complete signal is OFF. X10 X11 X12 X13 Drive unit READY signal ON Drive unit preparation completed External Stop signal signal Upper limit (FLS) Lower limit (RLS) – OFF Stop signal is OFF. – ON Within limit range – ON Within limit range – : When the synchronous setting of the CPU module is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the CPU module. 6 - 28 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL [1] MELSEC-Q Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF. If the positioning start signal is ON even after positioning is completed, the start complete signal will remain ON. (3) If the positioning start signal turns ON again while the BUSY signal is ON, the warning "Start during operation" (warning code: 100) will occur. (4) The process taken when positioning is completed will differ according to case (a) and (b) below. (a) When next positioning is not to be carried out If a dwell time is set, the system will wait for the set time to pass, and then positioning will be completed. When positioning is completed, the BUSY signal will turn OFF and the positioning complete signal will turn ON. However, when using speed control or when the positioning complete signal ON time is "0", the signal will not turn ON. When the positioning complete signal ON time is passed, the positioning complete signal will turn OFF. (b) When next positioning is to be carried out If a dwell time is set, the system will wait for the set time to pass. When the set dwell time is passed, the next positioning will start. V Dwell time t Positioning ON OFF Positioning start signal [Y10, Y11, Y12, Y13] ON OFF Start complete signal [X10, X11, X12, X13] ON BUSY signal OFF [XC, XD, XE, XF] ON Positioning complete OFF signal [X14, X15, X16, X17] Fig. 6.3 ON/OFF timing of each signal at start of positioning POINTS The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal [X10, X11, X12, X13], positioning complete signal [X14, X15, X16, X17] and M code ON signal [X4, X5, X6, X7] can be detected in the sequence program.) 6 - 29 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine OPR" V t Near-point dog Zero signal ON Positioning start signal PLC READY signal OFF [Y10] [Y0] ON OFF ON QD75 READY signal [X0] Start complete signal [X10] OFF ON BUSY signal [XC] Error detection signal [X8] OFF ON OFF OFF Cd. 3 Positioning start No. 9001 ON OPR request flag [ Md. 31 Status: b3] OFF OPR complete flag [ Md. 31 Status: b4] OFF ON Fig. 6.4 Time chart for starting "machine OPR" 6 - 30 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Time chart for starting "fast OPR" V t ON Positioning start signal PLC READY signal QD75 READY signal Start complete signal OFF [Y10] [Y0] [X0] [X10] BUSY signal [XC] Error detection signal [X8] ON OFF ON OFF ON OFF ON OFF OFF 9002 Cd. 3 Positioning start No. Fig. 6.5 Time chart for starting "fast OPR" 6 - 31 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) Time chart for starting "major positioning control" V Operation pattern Positioning data No. Dwell time 1(11) 2(00) t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal [X14] [X8] Error detection signal Cd. 3 Positioning start No. 1 Fig. 6.6 Time chart for starting "major positioning control" (4) Time chart for starting "speed-position switching control" V Speed control Position control Operation pattern(00) Positioning data No.(1) Dwell time t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] [XC] BUSY signal Positioning complete signal Error detection signal [X14] [X8] Speed-position switching signal (external) Cd. 3 Positioning start No. 1 Cd. 24 Speed-position switching enable flag 1 Fig. 6.7 Time chart for starting "speed-position switching control" 6 - 32 0 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for starting "position-speed switching control" V Operation pattern (00) Position control Positioning data No. (1) Speed control t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal Error detection signal [X14] [X8] Position-speed switching signal (external) Stop command Cd. 3 Positioning start No. 1 Cd. 26 Position-speed switching enable flag 1 Fig. 6.8 Time chart for starting "position-speed switching control" 6 - 33 0 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Machine OPR operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 Start complete signal [X10, X11, X12, X13] t4 Standby Md. 26 Axis operation status OPR Standby t2 Output pulse to external source (PULSE) Positioning operation OPR request flag [ Md. 31 Status: b3] t3 OPR complete flag [ Md. 31 Status: b4] Fig. 6.9 Machine OPR operation timing and process time Normal timing time Model t1 QD75P N/QD75D N 0.2 to 1.1ms QD75P /QD75D 1.0 to 1.4ms t2 t3 t4 0.4 to 1.3ms 0 to 0.9ms 0 to 0.9ms 2.7 to 4.4ms 0 to 1.8ms 0 to 1.8ms The t1 timing time could be delayed depending on the operating conditions of the other axis. 6 - 34 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal (WITH mode) [X4, X5, X6, X7] t2 Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13] t3 Standby Md. 26 Axis operation status Position control Standby t4 Output pulse to external source (PULSE) Positioning operation t5 Positioning complete signal [X14, X15, X16, X17] M code ON signal (AFTER mode) [X4, X5, X6, X7] t6 t2 Cd. 7 M code OFF request OPR complete flag [ Md. 31 Status: b4] Fig. 6.10 Position control operation timing and process time When the positioning start signal turns ON, if all signals marked with an asterisk ( ) are already ON, the signals marked with an asterisk ( ) will turn OFF when the positioning start signal turns ON. Normal timing time Model t1 QD75P N/QD75D N 0.2 to 1.1ms QD75P /QD75D 1.2 to 2.3ms t2 t3 0 to 0.9ms 0 to 0.9ms 0 to 1.8ms 0 to 1.8ms t4 t5 t6 0.4 to 1.3ms 0 to 0.9ms 2.7 to 4.4ms 0 to 1.8ms Follows parameters The t1 timing time could be delayed depending on the operating conditions of the other axis. 6 - 35 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL [2] MELSEC-Q Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the QD75. This allows the variation time equivalent to one scan time of the CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed. To start positioning control by inputting the external command signal, set the "data required to be set" and then turn ON the external command signal. Restrictions When starting by inputting the external command signal, the start complete signal [X10, X11, X12, X13] will not turn ON. Data required to be set To execute positioning start with the external command signal, set parameter ( Pr.42 ) beforehand, and validate the "external command signal" with the "External command function valid setting program (program No. 5)". Setting value Setting item Buffer memory address Setting details Pr.42 External command function selection 0 Set to "0: External positioning start". Cd.8 External command valid 1 Set to "1: Validate external command". Axis 1 Axis 2 Axis 3 Axis 4 62 212 362 512 1505 1605 1705 1805 Refer to CHAPTER 5 "DATA USED FOR POSITIONING CONTROL" for details on the setting details. Starting time chart V Operation pattern Dwell time Positioning data No. 1(00) t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] [XC] BUSY signal Positioning complete signal Error detection signal [X14] [X8] External command signal Pr. 42 External command function selection 0 Cd. 3 Positioning start No. 1 Cd. 8 External command valid 1 0 Fig. 6.11 Time chart for starting with external start signal 6 - 36 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Continuous operation interrupt request" for " Cd.18 Continuous operation interrupt request". [1] V Operation during continuous operation interruption Stop process when stop command turns ON Stop command ON or continuous operation interrupt request Stop process at continuous operation interrupt request Start Positioning data No. 10 Positioning data No. 11 t Positioning data No. 12 Fig. 6.12 Operation during continuous operation interruption [2] Restrictions (1) When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When " Cd.6 Restart command" is issued, a warning "Restart not possible" (warning code: 104) will occur. (2) Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request" cannot be canceled. Thus, if "restart" is executed after stopping by turning the stop command ON, the operation will stop when the positioning data No. where "continuous operation interrupt request" was executed is completed. Axis 1 Continuous operation interrupt request Positioning for positioning data No. 12 is not executed Positioning with positioning data No. 11 Positioning ends with continuous operation interrupt request Axis 2 Positioning with positioning data No. 10 6 - 37 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below. Positioning data No. have sufficient remaining distance data No. for positioning complete (pattern: 00) Positioning data No. for continuous positioning control (pattern: 01) Positioning (4) When operation is not performed (BUSY signal [XC, XD, XE, XF] is OFF), the interrupt request during continuous operation is not accepted. It is cleared to 0 at a start or restart. [3] Control data requiring settings Set the following data to interrupt continuous operation. Setting item Cd.18 Continuous operation interrupt request Setting value Setting details 1 Set "1: Continuous operation interrupt request". Refer to Section 5.7 "List of control data" for details on the setting details. 6 - 38 Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1520 1620 1720 1820 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ( Cd.6 Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position during position control of incremental system such as the INC Linear 1. (Calculation of remaining distance is not required.) [1] Restart operation After a deceleration stop by the stop command is completed, write "1" to the " Cd.6 Restart command" with " Md.26 Axis operation status" is "Stopped" and the positioning restarts. Axis 1 Positioning with positioning data No. 11 Positioning data No. 11 continues with restart command Positioning with positioning data No. 12 Stop with stop command Positioning with positioning data No. 10 Axis 2 Fig. 6.13 Restart operation [2] Restrictions (1) Restarting can be executed only when the " Md.26 Axis operation status" is "Stopped (the deceleration stop by stop command is completed)". If the axis operation is not "stopped", restarting is not possible. In this case, a warning "Restart not possible" (warning code: 104) will occur, and the process at that time will be continued. (2) Restarting can be executed even while the positioning start signal is ON. However, make sure that the positioning start signal does not change from OFF to ON while " Md.26 Axis operation status" is "Stopped". If the signal is changed from OFF to ON while " Md.26 Axis operation status" is "Stopped", the normal positioning (the positioning data set in " Cd.3 Positioning start signal") is started. (3) If the PLC READY signal is turned ON from OFF while " Md.26 Axis operation status" is "Stopped", the positioning cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104) will occur. 6 - 39 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Do not execute restart while the stop command is ON. If restart is executed while stopped, an error "Stop signal ON at start" (error code: 106) will occur, and the " Md.26 Axis operation status" will change to "Error". Thus, even if the error is reset, the operation cannot be restarted. (5) If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104) will occur. (6) When stopped with interpolation operation, write "1: Restarts" into " Cd.6 Restart command" for the reference axis, and then restart. (7) If any of reference partner axes executes the positioning operation once, a warning "Restart not possible" (warning code: 104) will occur, and the positioning cannot restarts. (8) When the machine OPR and fast OPR is stopped, an error "OPR restart not possible" (error code: 209) will occur and the positioning cannot restarts. 6 - 40 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL [3] MELSEC-Q Control data requiring setting Set the following data to execute restart. Setting value Setting item Cd.6 Restart command 1 Setting details Set "1: Restarts". Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1503 1603 1703 1803 Refer to Section 5.7 "List of control data" for details on the setting details. [4] Starting conditions The following conditions must be satisfied when restarting. (Assemble the required conditions into the sequence program as an interlock.) (1) Operation state " Md.26 Axis operation status" is "1: Stopped" (2) Signal state Signal name Signal state Device Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 QD75 buffer memory ON Accessible X1 Synchronization flag Interface Axis stop signal signal M code ON signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal OFF No error is present X8 X9 XA XB BUSY signal OFF BUSY signal is OFF XC XD XE XF Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 Drive unit READY signal ON Drive unit preparation completed External Stop signal signal Upper limit (FLS) Lower limit (RLS) – OFF Stop signal is OFF – ON Within limit range – ON Within limit range – : When the synchronous setting of the CPU module is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the CPU module. 6 - 41 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (5) MELSEC-Q Time chart for restarting Dwell time V t Positioning start signal [Y10] Axis stop signal [Y4] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal Positioning complete signal Error detection signal [XC] [X14] [X8] Md. 26 Axis operation status 0 8 0 Cd. 6 Restart command Fig. 6.14 Time chart for restarting 6 - 42 1 8 1 0 0 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below. Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the drive unit READY signal is turned OFF. When a CPU module error occurs When the PLC READY signal is turned OFF. When an error occurs in QD75. When control is intentionally stopped (Stop signal from CPU module turned ON, stop signal from peripheral devices) The stop process for the above cases is shown below. (Excluding item (1) above "When each control is completed normally".) [1] Stop process Stop cause Stop axis Drive unit Each READY signal axis OFF Hardware stroke Fatal stop limit upper/lower Each (Stop group 1) limit error axis occurrence CPU module error occurrence Emergency stop PLC READY All axes (Stop group 2) signal OFF Error in test mode Axis error detection (Error Relatively safe other than stop Each stop group 1 or 2) axis (Stop group 3) "Stop" input from peripheral device "Stop signal" ON from external Intentional stop source Each (Stop group 3) "Axis stop signal" axis ON from CPU module Forced stop Axis M code operation status ON signal ( Md.26 ) after stop after stopping Stop process OPR control Manual control Major High-level Manual JOG/ Machine pulse Fast OPR positioning positioning Inching OPR control control generator control operation control operation No Error change Immediate stop Deceleration stop No Error change Deceleration stop/sudden stop (Select with " Pr.37 Stop group 1 sudden stop selection". Deceleration stop No change Turns Error OFF No change Delegation stop/sudden stop (Select with " Pr.38 Stop group 2 sudden stop selection". Deceleration stop Deceleration stop/sudden stop (Select with " Pr.39 Stop group 3 sudden stop selection". Deceleration stop No Error change No Stopped change (Standby) 6 - 43 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL [2] MELSEC-Q Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop 1 The operation stops with "deceleration time 0 to 3" ( Pr.10 , Pr.28 , Pr.29 , Pr.30 ). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ( Da.4 ). (2) Sudden stop The operation stops with " Pr.36 Sudden stop deceleration time". (3) Immediate stop The operation does not decelerate. The QD75 immediately stops the pulse output, but the operation will coast for the droop pulses accumulated in the drive unit's deviation counter. Positioning speed Positioning speed Positioning speed Actual sudden stop deceleration time Actual deceleration time Pr. 36 Sudden stop deceleration time Set deceleration time Coast for the droop pulses accumulated in the drive unit's deviation counter. Fig. 6.15 Types of stop processes REMARK 1 "Deceleration stop" and "sudden stop" are selected with the details parameter 2 "stop group 1 to 3 sudden stop selection". (The default setting is "deceleration stop". 6 - 44 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL [3] MELSEC-Q Order of priority for stop process The order of priority for the QD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of " Cd.42 Stop command processing for deceleration stop selection". (a) Manual control Independently of the Cd.42 setting, a deceleration curve is re-processed from the speed at stop cause occurrence. (b) OPR control, positioning control When Cd.42 = 0 (deceleration curve re-processing): A deceleration curve is re-processed from the speed at stop cause occurrence. When Cd.42 = 1 (deceleration curve continuation): The current deceleration curve is continued after stop cause occurrence. (For details, refer to "Section 12.7.9 Stop command processing for deceleration stop function".) (2) If the stop signal ON or stop cause specified for a sudden stop occurs during deceleration, sudden stop process will start at that point. However, if the sudden stop deceleration time is longer than the deceleration time, the deceleration stop process will be continued even if a sudden stop cause occurs during the deceleration stop process. Example The process when a sudden stop cause occurs during deceleration stop is shown below. Positioning speed Deceleration stop process Positioning speed Sudden stop cause Stop Sudden stop deceleration process Deceleration stop process continues Deceleration stop process Sudden stop cause Stop Process for sudden stop (3) Operation will stop immediately if the target reaches the positioning address specified in the currently executed positioning data during deceleration of position control. 6 - 45 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MEMO 6 - 46 MELSEC-Q CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 7 The QD75 memory configuration and data transmission are explained in this chapter. The QD75 is configured of two memories. By understanding the configuration and roles of two memories, the QD75 internal data transmission process, such as "when the power is turned ON" or "when the PLC READY signal changes from OFF to ON" can be easily understood. This also allows the transmission process to be carried out correctly when saving or changing the data. 7.1 Configuration and roles of QD75 memory ................................................................. 77.1.1 Configuration and roles of QD75 memory ................................................... 77.1.2 Buffer memory area configuration ................................................................ 77.2 Data transmission process ......................................................................................... 7- 7-1 2 2 5 6 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1 Configuration and roles of QD75 memory 7.1.1 Configuration and roles of QD75 memory The QD75 is configured of the following two memories. Area that can be directly accessed Not possible Buffer memory with sequence program from CPU module. Flash ROM Backup PLC CPU memo area Block start data area (No.7000 to 7004) Positioning data area (No. 1 to 600) Control data area Role Monitor data area Memory configuration Parameter area Area configuration Area for backing up data required for positioning. – – – : Setting and storage area provided, Not possible: Data is lost when power is turned OFF – : Setting and storage area not provided, Possible: Data is held even when power is turned OFF 7-2 Possible 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Details of areas Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.57 , Pr.150 for each axis.) Monitor data area Area where positioning system or QD75 operation state is stored. (Set the items indicated with Md.1 to Md.48 , Md.50 to Md.52 1: Md.50 to Md.52 are for the QD75P N/QD75D N only. 1.) Control data area Area where data for operating and controlling positioning system is set and stored. (Set the items indicated with Cd.1 to Cd.42 .) Positioning data area (No.1 to 600) Area where positioning data No.1 to 600 is set and stored. (Set the items indicated with Da.1 to Da.10 for each positioning data.) Block start data area (No.7000 to 7004) Area where information required only when carrying out block No. 7000 to 7004 high-level positioning is set and stored. (Set the items indicated with Da.11 to Da.19 .) PLC CPU memo area Area where condition judgment values required for special positioning, etc., are set and stored. 7-3 7 MEMORY CONFIGURATION AND DATA PROCESS User accesses here. Data is backed up here. Buffer memory Flash ROM Parameter area Parameter area Positioning data area (No.1 to 600) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) MELSEC-Q Copy Block start data area (No. 7000 to 7004) Monitor data area Control data area PLC CPU memo area QD75 7-4 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1.2 Buffer memory area configuration The QD75 buffer memory is configured of the following types of areas. Buffer memory area configuration Parameter area Buffer memory address Axis 2 Axis 3 Axis 4 Basic parameter area 0 to 15 150 to 165 300 to 315 450 to 465 Detailed parameter area 17 to 62 167 to 212 317 to 362 467 to 512 OPR basic parameter area 70 to 78 220 to 228 370 to 378 520 to 528 OPR detailed parameter area 79 to 89 229 to 239 379 to 389 529 to 539 System monitor area Monitor data area Control data area Axis monitor area Axis control data area Block start data area Condition data area Block start data area (No.7001) Block start data area Condition data area Block start data area (No.7002) Block start data area Condition data area Block start data area (No.7003) Block start data area Condition data area Block start data area (No.7004) Block start data area Condition data area PLC CPU memo area 1200 to 1425, 1440 to 1487 800 to 847, 899 System control data area Positioning data area (No.1 Positioning data area to 600) Block start data area (No.7000) 1 Axis 1 900 to 947, 999 1000 to 1047, 1099 1100 to 1147, 1199 1900, 1901, 1905, 1907 2000 to 7999 8000 to 13999 14000 to 19999 20000 to 25999 26000 to 26049 27000 to 27049 28000 to 28049 29000 to 29049 26050 to 26099 27050 to 27099 28050 to 28099 29050 to 29099 26100 to 26199 27100 to 27199 28100 to 28199 29100 to 29199 26200 to 26249 27200 to 27249 28200 to 28249 29200 to 29249 26250 to 26299 27250 to 27299 28250 to 28299 29250 to 29299 26300 to 26399 27300 to 27399 28300 to 28399 29300 to 29399 26400 to 26449 27400 to 27449 28400 to 28449 29400 to 29449 26450 to 26499 27450 to 27499 28450 to 28499 29450 to 29499 26500 to 26599 27500 to 27599 28500 to 28599 29500 to 29599 26600 to 26649 27600 to 27649 28600 to 28649 29600 to 29649 26650 to 26699 27650 to 27699 28650 to 28699 29650 to 29699 26700 to 26799 27700 to 27799 28700 to 28799 29700 to 29799 26800 to 26849 27800 to 27849 28800 to 28849 29800 to 29849 26850 to 26899 27850 to 27899 28850 to 28899 29850 to 29899 26900 to 26999 27900 to 27999 28900 to 28999 29900 to 29999 30000 to 30099 Possible 2 1500 to 1550 1600 to 1650 1700 to 1750 1800 to 1850 PLC CPU memo area Writing possibility Not possible Possible Possible Possible 1: Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly. 2: 1440 to 1487 are not used for the QD75P /QD75D . 7-5 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.2 Data transmission process The data is transmitted between the QD75 memories with steps (1) to (8) shown below. The data transmission patterns numbered (1) to (8) on the right page correspond to the numbers (1) to (8) on the left page. CPU module (4) FROM instruction (2) TO instruction QD75 Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area Parameter area (a) Pr.1 to Pr.7 Pr.11 to Pr.24 Pr.43 to Pr.57 Pr.150 Parameter area (b) Pr.8 to Pr.10 Pr.25 to Pr.42 Control data area (1) Power supply ON/ CPU module reset Flash ROM PLC CPU memo area ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) 7-6 (3) PLC READY signal [Y0] OFF ON 7 MEMORY CONFIGURATION AND DATA PROCESS (1) MELSEC-Q Transmitting data when power is turned ON or CPU module is reset ( ) When the power is turned ON or the CPU module is reset, the "parameters", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory. (2) Transmitting data with TO instruction from CPU module ( ) The parameters or data is written from the CPU module to the buffer memory using the TO instruction. At this time, when the "parameter area (b) 1", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)", "control data" and "PLC CPU memo area" are written into the buffer memory with the TO instruction, it is simultaneously valid. 1 Parameter area (b) ...... Parameters validated with the next each positioning control is started. ( Pr.8 to Pr.10 , Pr.25 to Pr.42 ) (3) Validate parameters when PLC READY signal [Y0] changes from OFF to ON When the PLC READY signal [Y0] changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) 2" is validated. For Pr.5 , however, only the data obtained first after the PLC READY signal [Y0] changes from OFF to ON when the power is turned ON or CPU module is reset becomes validate. (Refer to Section 5.2 "List of parameters" for details.) 2: Parameter area (a) .... Parameters validated when PLC READY signal [Y0] changes from OFF to ON. ( Pr.1 to Pr.7 , Pr.11 to Pr.24 , Pr.43 to Pr. 57 , Pr.150 ) POINT The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO instruction. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON. (4) Accessing with FROM instruction from CPU module ( The data is read from the buffer memory to the CPU module using the FROM instruction. 7-7 ) 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Peripheral device (6) Flash ROM write request CPU module (6) Flash ROM write request (5) Flash ROM write (Set "1" in Cd.1 with TO instruction) QD75 Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area Control data area (5) Flash ROM write PLC CPU memo area (6) Flash ROM write request Flash ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) 7-8 Parameter area (a) Pr.1 to Pr.7 Pr.11 to Pr.24 Pr.43 to Pr.57 Pr.150 Parameter area (b) Pr.8 to Pr.10 Pr.25 to Pr.42 7 MEMORY CONFIGURATION AND DATA PROCESS (5) Flash ROM write ( MELSEC-Q ) The following transmission process is carried out by setting "1" in " Cd.1 Flash ROM write request" (buffer memory [1900]). 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM. The writing to the flash ROM may also be carried out using a dedicated instruction "ZP.PFWRT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.) (6) Flash ROM request (writing) ( ) The following transmission processes are carried out with the [flash ROM request] (write) from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM. Note) This transmission process is the same as (5) above. IMPORTANT (1) Do not turn the power OFF or reset the CPU module while writing to the flash ROM. If the power is turned OFF or the CPU module is reset to forcibly end the process, the data backed up in the flash ROM will be lost. (2) Do not write the data to the buffer memory before writing to the flash ROM is completed. (3) The number of writes to the flash ROM with the programmable controller program is 25 max. while the power is turned ON. Writing to the flash ROM beyond 25 times will cause the error "Flash ROM write number error" (error code: 805). Refer to Section 15.3 "List of errors" for details. 7-9 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q QD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11 to Pr.24 Parameter area (b) Pr.43 to Pr.57 Pr.150 Positioning data area (No.1 to 600) Parameter area (b) Block start data area (No.7000 to 7004) Pr.8 to Pr.10 Pr.25 to Pr.42 Monitor data area Control data area PLC CPU memo area Flash ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) (7) QD75 read, monitor (8) QD75 write CPU module (7) QD75 read, monitor (8) QD75 write Peripheral device 7 - 10 7 MEMORY CONFIGURATION AND DATA PROCESS (7) MELSEC-Q Reading data from buffer memory to peripheral device ( ) The following transmission processes are carried out with the [Read from module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the peripheral device via the CPU module. The following transmission processes are carried out with the [monitor] from the peripheral device. 2) The "monitor data" in the buffer memory area is transmitted to the peripheral device via the CPU module. (8) Writing data from peripheral device to buffer memory ( ) The following transmission processes are carried out with the [Write to module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the peripheral device area transmitted to the buffer memory via the CPU module. At this time, when [Flash ROM write] is set with the peripheral device, the transmission processes indicated with the following are carried out. (5) Flash ROM write 7 - 11 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (Ex.) Setting the positioning data The following methods can be used to set the positioning data. From peripheral device Using sequence program Write positioning data into buffer memory using TO instruction. Set the data according to the peripheral device menu. Write the data set with the peripheral device into the buffer memory. Completion User work QD75 state 7 - 12 PART 2 CONTROL DETAILS AND SETTING PART 2 is configured for the following purposes (1) to (3). (1) To understand the operation and restrictions of each control. (2) To carry out the required settings in each control. (3) To deal with errors. CHAPTER 8 CHAPTER 9 CHAPTER 10 CHAPTER 11 CHAPTER 12 CHAPTER 13 CHAPTER 14 CHAPTER 15 OPR CONTROL ................................................................................... 8- 1 to 8- 24 MAJOR POSITIONING CONTROL ....................................................9- 1 to 9-120 HIGH-LEVEL POSITIONING CONTROL ........................................10- 1 to 10- 28 MANUAL CONTROL ........................................................................11- 1 to 11- 34 CONTROL SUB FUNCTIONS ........................................................12- 1 to 12-110 COMMON FUNCTIONS ................................................................. 13- 1 to 13- 8 DEDICATED INSTRUCTIONS ........................................................14- 1 to 14- 24 TROUBLESHOOTING .....................................................................15- 1 to 15- 48 PART 2 The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc. Carry out these settings while referring to CHAPTER 5 "DATA USED FOR POSITIONING CONTROL". Also refer to CHAPTER 6 "SEQUENCE PROGRAMS USED FOR POSITIONING CONTROL" when creating the programs required in each control, and consider the entire control program configuration when creating each program. MEMO CHAPTER 8 OPR CONTROL The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position. OPR carried out by sequence programs from the CPU module are explained in this chapter. Refer to GX Configurator-QP Operating Manual for details on OPR using the peripheral device. 8.1 Outline of OPR control ............................................................................................... 8- 2 8.1.1 Two types of OPR control............................................................................. 8- 2 8.2 Machine OPR ............................................................................................................. 8- 4 8.2.1 Outline of the machine OPR operation ........................................................ 8- 4 8.2.2 Machine OPR method .................................................................................. 8- 5 8.2.3 OPR method (1): Near-point dog method .................................................... 8- 7 8.2.4 OPR method (2): Stopper method 1) ........................................................... 8- 9 8.2.5 OPR method (3): Stopper method 2) ........................................................... 8- 12 8.2.6 OPR method (4): Stopper method 3) ........................................................... 8- 15 8.2.7 OPR method (5): Count method 1) .............................................................. 8- 17 8.2.8 OPR method (6): Count method 2) .............................................................. 8- 20 8.3 Fast OPR .................................................................................................................... 8- 23 8.3.1 Outline of the fast OPR operation ................................................................ 8- 23 8-1 8 8 OPR CONTROL MELSEC-Q 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when the QD75 issues a "OPR request" with the power turned ON or others, or after a positioning stop. In the QD75, the two types of controls shown below are defined as "OPR control", following the flow of the OPR work. These two types of OPR control can be executed by setting the "OPR parameters", setting "Positioning start No. 9001" and "Positioning start No. 9002" prepared beforehand in the QD75 to " Cd.3 Positioning start No.", and turning ON the positioning start signal. The ZP.PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control. (For details, refer to CHAPTER 14 "DEDICATED INSTRUCTIONS".) (1) Establish a positioning control OP – "Machine OPR" (positioning start No. 9001) (2) Carry out positioning toward the OP – "Fast OPR" (positioning start No. 9002). The "machine OPR" in (1) above must always be carried out before executing the "fast OPR" in (2). REMARK OPR request The "OPR request flag" ( Md.31 Status: b3) must be turned ON in the QD75, and a machine OPR must be executed in the following cases. When the power is turned ON At the ON OFF of the drive unit READY signal ( Md.30 External input/output signal: b2). At the OFF ON of the PLC READY signal [Y0] The address information stored in the QD75 cannot be guaranteed while the "OPR request flag" is ON. The "OPR request flag" turns OFF and the "OPR complete flag" ( Md.31 Status: b4) turns ON if the machine OPR is executed and is completed normally. 8-2 8 OPR CONTROL MELSEC-Q OPR sub functions Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to CHAPTER 12 "CONTROL SUB FUNCTIONS" for details on each sub function. [Remarks] The following two sub functions are only related to machine OPR. Sub function name Machine OPR Fast OPR Reference OPR retry function Section 12.2.1 OP shift function Section 12.2.2 : Combination possible, : Restricted, : Combination not possible When an OPR is not required Control can be carried out ignoring the "OPR request flag" ( Md.31 Status: b3) in systems that do not require an OPR. In this case, the "OPR parameters ( Pr.43 to Pr.57 )" must all be set to their initial values or a value at which an error does not occur. OPR from peripheral devices "Machine OPR" and "fast OPR" can be executed from the test mode of the peripheral device. Refer to GX Configurator-QP Operating Manual for details on OPR from the peripheral device. 8-3 8 OPR CONTROL MELSEC-Q 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not complete unless the OPR retry function is used. Machine OPR operation In a machine OPR, a machine OP is established. None of the address information stored in the QD75, CPU module, or servo is used at this time. The position mechanically established after the machine OPR is regarded as the "OP" to be the starting point for positioning control. The method for establishing an "OP" by a machine OPR differs according to the method set in " Pr.43 OPR method". The following shows the operation when starting a machine OPR. 1) The machine OPR is started. 2) The operation starts according to the speed and direction set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The "OP" is established by the method set in " Pr.43 OPR method", and the machine stops. (Refer to Sections 8.2.2 to 8.2.8) 4) If "a" is set as " Pr.45 OP address", "a" will be stored as the current position in the " Md.20 Current feed value" and " Md.21 Machine feed value" which are monitoring the position. 5) The machine OPR is completed. The " Pr.45 OP address" is a fixed value set by the user. M OP Machine OPR Near-point dog Fig. 8.1 Example of a machine OPR 8-4 8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the six methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR parameters. It is set in " Pr.43 OPR method" of the basic parameters for OPR.) Pr.43 OPR method Operation details Near-point dog method ON of the near-point dog. (Speed is reduced to Deceleration starts by the OFF " Pr.47 Creep speed".) The operation stops at the first zero signal after the near-point dog turns from ON OFF. When a "deviation counter clear output" is completed, the machine OPR is completed. Stopper method 1) The stopper position is regarded as the OP. ON of the near-point dog, the machine presses After the deceleration starts by the OFF against the stopper at the " Pr.47 Creep speed" and stops. The machine OPR is regarded as completed on completion of the deviation counter clear output provided after " Pr.49 OPR dwell time" passed after stoppage. Stopper method 2) The stopper position is regarded as the OP. ON of the near-point dog, the machine presses After the deceleration starts by the OFF against the stopper at the " Pr.47 Creep speed" and stops. The machine OPR is regarded as completed on completion of the deviation counter clear output provided after the zero signal is detected after stoppage. Stopper method 3) The stopper position is regarded as the OP. The machine starts at the " Pr.47 Creep speed" from the beginning, then presses against the stopper at the " Pr.47 Creep speed" and stops. The machine OPR is regarded as completed on completion of the deviation counter clear output provided after the zero signal is detected after stoppage. Count method 1) The deceleration starts by the OFF ON of the near-point dog, and the machine moves at the " Pr.47 Creep speed". The machine stops at the zero signal after moving the distance set in the " Pr.50 Setting for the movement amount after near-point dog ON" from the near point dog OFF ON position. When a "deviation counter clear signal output" is completed, the machine OPR is regarded as completed. Count method 2) ON of the near-point dog, and the machine moves The deceleration starts by the OFF at the " Pr.47 Creep speed". The machine moves the distance set in the " Pr.50 Setting for the movement amount after near-point dog ON" from the near point dog OFF ON position, and stops at that position. The machine OPR is then regarded as completed. : The following are the signals input as the zero signals of the QD75 in the corresponding OPR methods. Near-point dog method, count method 1): Signal that is output as a single pulse at one motor revolution (e.g. Z-phase signal output from the drive unit) Stopper method 2), 3) : Signal that is output on detection of contact with the stopper. (Input externally) 8-5 8 OPR CONTROL MELSEC-Q The following shows the external I/O signals used for machine OPR. Pr.43 OPR method Near-point dog Signal required for control Upper/lower Zero signal limit switches Deviation counter clear output Torque limit – Near-point dog method – Stopper method 1) Stopper method 2) Stopper method 3) – – Count method 1) – Count method 2) : Necessary – – : Necessary as required -: Unnecessary REMARK Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds. To improve the machine's stopping accuracy, its must change over to a slow speed before stopping. This speed is set in the " Pr.47 Creep speed". 8-6 8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected. The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. 3) (At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is OFF.) 4) After the near-point dog turns OFF, the pulse output from the QD75 will stop at the first zero signal, outputting a "deviation counter clear signal" to the drive unit. (The "deviation counter clear signal output time" is set in Pr.55 .) 5) After a "deviation counter clear signal" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. V Pr.46 OPR speed Deceleration at the near-point dog ON Pr.47 Creep speed 1) 2) 3) t Movement amount after Md.34 near-point dog ON *1 4) 5) ON Adjust so the near-point dog OFF position is as close as possible to the center of the zero signal HIGH level. If the near-point dog OFF position overlaps with the zero signal, the machine OPR stop position may deviate by one servomotor rotation. Near-point dog OFF Zero signal One servomotor rotation ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF ON Md.31 Status: b3 ON OFF OPR complete flag Md.31 Status: b4 Deviation counter clear Pr.55 signal output time Deviation counter clear output Md.26 Axis operation status Standby Md.34 Movement amount after Inconsistent near-point dog ON Md.20 Current feed value Md.21 Machine feed value Inconsistent OPR Standby 0 Value of *1 Value of the machine moved is stored. OP address Fig. 8.2 Near-point dog method machine OPR 8-7 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Start at OP (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0" is set in " Pr.48 OPR retry"). (2) Machine OPR carried out from the near-point dog ON position will start at the " Pr.47 Creep speed". (3) The near-point dog must be ON during deceleration from the OPR speed " Pr.47 Creep speed". The workpiece will continue decelerating and stop if the near-point dog is turned OFF before it has decelerated to the creep speed, thus causing an error "Dog detection timing fault" (error code: 203). V Pr.46 OPR speed Pr.47 Creep speed t ON Near-point dog OFF ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF ON Md.31 Status : b3 OPR complete flag OFF Md.31 Status : b4 Md.26 Axis operation status Standby Inconsistent Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Inconsistent Error OPR 0 Value the machine moved is stored Address at stop Fig. 8.3 Operation when the near-point dog is turned OFF before the creep speed is reached (4) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8-8 8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Stopper method 1) The following shows an operation outline of the "stopper method 1)" OPR method. Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected. 3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. (Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).) 4) The machine presses against the stopper at the creep speed and stops. The pulse output from the QD75 will stop when the " Pr.49 OPR dwell time" has elapsed after the near-point dog turns ON, outputting 5) 6) the "deviation counter clear output" to the drive unit. (A "deviation counter clear signal output time" is set in the Pr.55 .) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. V Pr.46 OPR speed Pr.47 Creep speed Stops at stopper 1) 2) 3) 4) 5) 6) t Range in which the servomotor rotation is forcibly stopped by the stopper Valid torque limit range Torque limit ON Near-point dog OFF Time out of dwell time Dwell time measurement ON OFF Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] ON OFF OPR request flag Md.31 Status : b3 ON OFF OPR complete flag Md.31 Status : b4 Deviation counter clear output Md.26 Axis operation status Pr.55 Deviation counter clear signal output time Standby Md.34 Movement amount Inconsistent after near-point dog ON Md.20 Current feed value Inconsistent OPR Standby 0 Value the machine moved is stored OP address Md.21 Machine feed value Md.35 Torque limit stored Inconsistent value Torque limit setting value OPR torque limit value Fig. 8.4 Stopper method 1) machine OPR 8-9 8 OPR CONTROL MELSEC-Q Restrictions Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) Precautions during operation (1) Set a value in the " Pr.49 OPR dwell time" that is equal to or higher than the movement time from the near-point dog ON to the time the machine presses against the stopper. (2) The workpiece will continue decelerating and stop if the " Pr.49 OPR dwell time" elapses during deceleration from the " Pr.46 OPR speed", thus causing an error "Dwell time fault" (error code: 205). V Pr.46 OPR speed Pr.47 Creep speed Stopper t " Pr.49 OPR dwell time" setting ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF ON OPR request flag Md.31 OPR complete flag Md.31 OFF Status : b3 OFF Status : b4 Md.26 Axis operation status Standby Inconsistent Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Inconsistent OPR Error 0 Value the machine moved is stored Address at stop Fig. 8.5 Operation when the dwell time elapses during deceleration from the OPR speed 8 - 10 8 OPR CONTROL MELSEC-Q (3) If the " Pr.49 OPR dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. At this time, an error will not occur. V Pr.46 OPR speed Pr.47 Creep speed Stopper t Valid torque limit range Torque limit ON Near-point dog OFF Time out of dwell time Dwell time measurement ON OFF Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] ON OFF OPR request flag Md.31 Status : b3 ON OFF OPR complete flag Md.31 Status : b4 Deviation counter clear output Md.26 Axis operation status Md.34 Movement amount after near-point dog ON Md.20 Current feed value Pr.55 Standby Deviation counter clear signal output time Standby OPR Inconsistent 0 Inconsistent Value the machine moved is stored Inconsistent Torque limit setting value OP address Md.21 Machine feed value Md.35 Torque limit stored value OPR torque limit value Fig. 8.6 Operation when the dwell time elapses before the stop at the stopper (4) The near-point dog must be turned ON until it presses against the stopper. If any range that the near-point is turned OFF exists until it presses against the stopper, executing the machine OPR from the area leads it to be pressed against the stopper at OPR speed. (5) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep speed". (6) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8 - 11 8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Stopper method 2) The following shows an operation outline of the "stopper method 2)" OPR method. Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected. 3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. (Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).) 4) The machine presses against the stopper at the creep speed and stops. 5) The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter clear output" to the drive unit. (A "deviation counter clear signal output time" is set in the Pr.55 .) 6) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. V Pr.47 Creep speed Pr.46 OPR speed Stops at stopper 1) 2) 3) 4) 5) 6) t Zero signal Valid torque limit range Torque limit ON Near-point dog OFF ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF Md.31 ON Status : b3 ON OPR complete flag Md.31 OFF Status : b4 Deviation counter clear output Md.26 Axis operation Pr.55 Deviation counter clear signal output time Standby OPR Standby status Inconsistent after near-point dog ON Md.20 Current feed value Inconsistent Md.21 Machine feed value Md.34 Movement amount Md.35 Torque limit stored Inconsistent 0 Value the machine moved is stored Torque limit setting value OP address OPR torque limit value value Fig. 8.7 Stopper method 2) machine OPR 8 - 12 8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal. Precautions during operation (1) Input a zero signal from an external source after the machine presses against the stopper. The workpiece will continue decelerating and stop if a zero signal is input before deceleration to the " Pr.47 Creep speed". An error "OP detection timing fault" (error code: 204) will occur after the machine stops. V Pr.46 OPR speed Pr.47 Creep speed Stopper t Zero signal ON Near-point dog OFF ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF ON OPR request flag Md.31 OPR complete flag Md.31 OFF Status : b3 OFF Status : b4 Md.26 Axis operation status Standby Inconsistent Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Inconsistent OPR Error 0 Value the machine moved is stored Address at stop Fig. 8.8 Operation when a zero signal is input before the creep speed is reached 8 - 13 8 OPR CONTROL MELSEC-Q (2) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. V Pr.46 OPR speed Pr.47 Creep speed Stopper t Zero signal Valid torque limit range Torque limit ON Near-point dog OFF ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF ON OFF OPR request flag Md.31 Status : b3 ON OFF OPR complete flag Md.31 Status : b4 Deviation counter clear output Pr.55 Deviation counter clear signal output time Md.26 Axis operation status Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Standby Standby OPR Inconsistent 0 Inconsistent Value the machine moved is stored Md.35 Torque limit stored Inconsistent Torque limit setting value OP address OPR torque limit value value Fig. 8.9 Operation when the zero signal is input before the stop at the stopper (3) The near-point dog must be turned ON until it presses against the stopper. If any range that the near-point is turned OFF exists until it presses against the stopper, executing the machine OPR from the area leads it to be pressed against the stopper at ORR speed. (4) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep speed". (5) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8 - 14 8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Stopper method 3) The following shows an operation outline of the "stopper method 3)" OPR method. The "stopper method 3)" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the " Pr.47 Creep speed", so it will take some time until the machine OPR completion.) Operation chart 1) The machine OPR is started. (The machine moves at the " Pr.47 Creep speed", in the direction designated in " Pr.44 OPR direction". Torque limiting is required at this time. If the torque is not limited, the servomotor may fail when the machine presses against the stopper in step 2.) 2) The machine presses against the stopper at the " Pr.47 Creep speed" and stops. 3) The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter clear output" to the drive unit. (A "deviation counter clear signal output time" is set in the Pr.55 .) 4) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. V Pr.47 Creep speed Stops at stopper 1) t 2) 3) 4) Zero signal Valid torque limit range Torque limit ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF ON Md.31 Status : b3 ON OPR complete flag OFF Md.31 Status : b4 Deviation counter clear output Md.26 Axis operation status Pr.55 Standby Inconsistent Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Md.35 Torque limit stored value Deviation counter clear signal output time Standby OPR 0 Inconsistent Value the machine moved is stored Inconsistent OPR torque limit value OP address Fig. 8.10 Stopper method 3) machine OPR 8 - 15 8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal. (3) The OPR retry function cannot be used in "stopper stop method 3)". Precautions during operation (1) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will become the OP. At this time an error will not occur. V Pr.47 Creep speed Stopper t Zero signal Valid torque limit range Torque limit ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF ON OFF OPR request flag Md.31 Status : b3 ON OFF OPR complete flag Md.31 Status : b4 Deviation counter clear output Md.26 Axis operation status Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Md.35 Torque limit stored value Pr.55 Standby OPR Deviation counter clear signal output time Standby Inconsistent 0 Inconsistent Value the machine moved is stored Inconsistent OPR torque limit value OP address Fig. 8.11 When the zero signal is input before the stop at the stopper (2) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8 - 16 8 OPR CONTROL MELSEC-Q 8.2.7 OPR method (5): Count method1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)", machine OPR can be performed even in the following situations: when near-point dog is ON after completion of a machine OPR Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected. 3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. 4) On detection of the first zero signal after the axis has traveled the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON" after near-point dog ON, the pulse output from the QD75 stops and the "deviation counter clear output" is output to the drive unit. (A "deviation counter clear signal output time" is set in Pr.55 .) 5) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF. V Pr.46 OPR speed Pr.50 Setting for the movement amount after near-point dog ON Pr.47 Creep speed 1) 2) 3) t 4) 5) Md.34 Movement amount after near-point dog ON *1 Leave sufficient distance from the zero point position to the near-point dog OFF ON Adjust the setting for the movement amount after near-point dog ON to be as near as possible to the center of the zero signal HIGH. If the setting for the movement amount after near-point dog ON falls within the zero signal, there may be produced an error of one servomotor rotation in the machine OPR stop position. Near-point dog OFF Zero signal First zero signal after travel of the movement amount set to " Pr. 50 Setting for the movement amount after near-point dog ON" One servomotor rotation ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF ON Md.31 Status: b3 ON OFF OPR complete flag Md.31 Status: b4 Deviation counter clear output Md.26 Axis operation status Md.34 Movement amount Standby Inconsistent Pr.55 Deviation counter clear signal output time OPR Standby 0 Value of *1 Value the machine moved is stored OP address after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Inconsistent Fig. 8.12 Count method1) machine OPR 8 - 17 8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Count method movement amount fault" (error code: 206) will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed". (2) If the speed is changed to a speed faster than " Pr.46 OPR speed" by the speed change function (refer to "12.5.1 Speed change function".) during a machine OPR, the distance to decelerate to " Pr.47 Creep speed" may not be ensured, depending on the setting value of " Pr.50 Setting for the movement amount after near-point dog ON". In this case, the error "Count method movement amount fault" (error code: 206) occurs and the Machine OPR is stopped. (3) The following shows the operation when a machine OPR is started while the near-point dog is ON. Pr. 50 Setting for the movement amount after near-point dog ON 4) 1) 3) 5) [Operation when a machine OPR is started at the near-point dog ON position] 1) A machine OPR is started. 2) The machine moves at the OPR speed in the opposite direction of an OPR. 3) Deceleration processing is carried out by " Pr.39 Stop group 3 sudden stop selection" when the near-point dog OFF is detected. 4) After the machine stops, a machine OPR is carried out in the OPR direction. 2) ON Near-point dog OFF 5) The machine OPR is completed after the deviation counter clear output is provided on detection of the first zero signal after the travel of the movement amount set to " Pr.50 Setting for the movement amount after near-point dog ON" on detection of the near-point dog signal ON. Zero signal Fig. 8.13 Count method 1) machine OPR on the near-point dog ON position 8 - 18 8 OPR CONTROL MELSEC-Q (4) Turn OFF the near-point dog at a sufficient distance from the OP. Although there is no harm in operation if the near-point dog is turned OFF during a machine OPR, it is recommended to leave a sufficient distance from the OP when the near-point dog is turned OFF for the following reason. If machine OPRs are performed consecutively after the near-point dog is turned OFF at the time of machine OPR completion, operation will be performed at the OPR speed until the hardware stroke limit (upper/lower limit) is reached. If a sufficient distance cannot be kept, consider the use of the OPR retry function. (5) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8 - 19 8 OPR CONTROL MELSEC-Q 8.2.8 OPR method (6): Count method 2) The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) In the "count method 2)", as well as in the "count method 1)", machine OPR can be performed even in the following situations: when near-point dog is ON after completion of a machine OPR Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected. 3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. 4) The pulse output from the QD75 will stop and the machine OPR will be completed when the machine moves the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON " from the near-point dog ON position. V Pr.46 OPR speed Pr.50 Setting for the movement amount after near-point dog ON Pr.47 Creep speed 1) 2) 3) t Movement amount after near-point Md.34 dog ON *1 4) Leave sufficient distance from the OP position to the near-point dog OFF ON Near-point dog OFF ON Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] OFF OPR request flag OFF ON Md.31 Status: b3 ON OPR complete flag OFF Md.31 Status: b4 OPR Standby Inconsistent 0 Value of *1 Inconsistent Value the machine moved is stored OP address Md.26 Axis operation status Standby Md.34 Movement amount after near-point dog ON Md.20 Current feed value Md.21 Machine feed value Fig. 8.14 Count method 2) machine OPR 8 - 20 8 OPR CONTROL MELSEC-Q Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1ms occurs in taking in the near-point dog ON. Precautions during operation (1) An error "Count method movement amount fault" (error code: 206) will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed". (2) If the speed is changed to a speed faster than " Pr.46 OPR speed" by the speed change function (refer to Section 12.5.1 "Speed change function".) during a machine OPR, the distance to decelerate to " Pr.47 Creep speed" may not be ensured, depending on the setting value of " Pr.50 Setting for the movement amount after near-point dog ON". In this case, the error "Count method movement amount fault" (error code: 206) occurs and the Machine OPR is stopped. (3) The following shows the operation when a machine OPR is started while the near-point dog is ON. Pr.50 Setting for the movement amount after near-point dog ON 4) 1) 3) 5) [Operation when a machine OPR is started at the near-point dog ON position] 1) A machine OPR is started. 2) The machine moves at the OPR speed in the opposite direction of an OPR. 3) Deceleration processing is carried out by " Pr.39 Stop group 3 sudden stop selection" when the near-point dog OFF is detected. 4) After the machine stops, a machine OPR is carried out in the OPR direction. 2) ON Near-point dog OFF 5) The machine OPR is completed after moving the movement amount set in the " Pr.50 Setting for the movement amount after near-point dog ON". Fig. 8.15 Count method 2) machine OPR on the near-point dog ON position (4) Turn OFF the near-point dog at a sufficient distance from the OP. Although there is no harm in operation if the near-point dog is turned OFF during a machine OPR, it is recommended to leave a sufficient distance from the OP when the near-point dog is turned OFF for the following reason. If machine OPRs are performed consecutively after the near-point dog is turned OFF at the time of machine OPR completion, operation will be performed at the OPR speed until the hardware stroke limit (upper/lower limit) is reached. If a sufficient distance cannot be kept, consider the use of the OPR retry function. 8 - 21 8 OPR CONTROL MELSEC-Q (5) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs. 8 - 22 8 OPR CONTROL MELSEC-Q 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation After establishing OP position by a machine OPR, positioning control to the OP position is executed without using a near-point dog or a zero signal. The following shows the operation during a fast OPR start. 1) The fast OPR is started. 2) Positioning control to the OP position established by a machine OPR begins at the speed set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The fast OPR is completed. Pr.46 OPR speed Machine OP (OP position) Fast OPR start (Positioning start signal) [Y10,Y11,Y12,Y13] Md.26 Axis operation Standby status Position control Standby M Positioning to the OP OP Fig. 8.16 Fast OPR 8 - 23 8 OPR CONTROL MELSEC-Q Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 Start complete signal [X10,X11,X12,X13] t3 Md.26 Axis operation status Standby Position control Standby t2 Output pulse to external source (PULSE) Positioning operation Fig. 8.17 Operation timing and processing time of fast OPR Normal timing time Model t1 t2 t3 QD75P N/QD75D N 0.2 to 1.1ms 0.4 to 1.3ms 0 to 0.9ms 1.0 to 1.3ms 2.7 to 4.4ms 0 to 1.8ms QD75P /QD75D The t1 timing time could be delayed by the operation state of other axes. Operating restrictions (1) The fast OPR can only be executed after the OP position is established by executing the Machine OPR. If not, the error "OPR request ON" (error code: 207) will occur. (OPR request flag ( Md.31 Status: b3) must be turned OFF.) (2) If the fraction pulse is cleared to zero using current value changing or fixedfeed control, execute the fast OPR and an error will occur by a cleared amount. (3) When unlimited length feed is executed by speed control and the current machine feed value overflows or underflows once, the fast OPR cannot be executed normally. (4) The OPR complete flag ( Md.31 Status: b4) is not turned ON. (5) The axis operation status during fast OPR is "Position control". 8 - 24 CHAPTER 9 MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed switching control" in which the operation is shifted from "position control" to "speed control". Carry out the required settings to match each control. 9.1 Outline of major positioning controls .......................................................................... 9- 2 9.1.1 Data required for major positioning control .................................................. 9- 4 9.1.2 Operation patterns of major positioning controls ......................................... 9- 5 9.1.3 Designating the positioning address ............................................................ 9- 16 9.1.4 Confirming the current value ........................................................................ 9- 17 9.1.5 Control unit "degree" handling ...................................................................... 9- 19 9.1.6 Interpolation control ...................................................................................... 9- 22 9.2 Setting the positioning data ...................................................................................... 9- 26 9.2.1 Relation between each control and positioning data ................................... 9- 26 9.2.2 1-axis linear control ....................................................................................... 9- 28 9.2.3 2-axis linear interpolation control.................................................................. 9- 30 9.2.4 3-axis linear interpolation control.................................................................. 9- 34 9.2.5 4-axis linear interpolation control.................................................................. 9 -40 9.2.6 1-axis fixed-feed control................................................................................ 9- 44 9.2.7 2-axis fixed-feed control (interpolation) ........................................................ 9- 46 9.2.8 3-axis fixed-feed control (interpolation) ........................................................ 9- 49 9.2.9 4-axis fixed-feed control (interpolation) ...................................................... 9- 54 9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 57 9.2.11 2-axis circular interpolation control with center point designation ............... 9- 63 9.2.12 1-axis speed control...................................................................................... 9- 71 9.2.13 2-axis speed control...................................................................................... 9- 74 9.2.14 3-axis speed control...................................................................................... 9- 77 9.2.15 4-axis speed control...................................................................................... 9- 81 9.2.16 Speed-position switching control (INC mode) ............................................. 9- 86 9.2.17 Speed-position switching control (ABS mode) ............................................ 9- 95 9.2.18 Position-speed switching control .................................................................. 9-103 9.2.19 Current value changing ................................................................................ 9-110 9.2.20 NOP instruction ............................................................................................. 9-115 9.2.21 JUMP instruction ........................................................................................... 9-116 9.2.22 LOOP ............................................................................................................ 9-118 9.2.23 LEND ............................................................................................................. 9-119 9-1 9 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD75. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls" is set in setting item " Da.2 Control system" of the positioning data. Control defined as a "major positioning control" carries out the following types of control according to the " Da.2 Control system" setting. Major positioning control 1-axis linear control 2-axis linear interpolation control Linear control 3-axis linear interpolation control 4-axis linear interpolation control Position control 1-axis fixedfeed control Fixed-feed control ABS Linear 2 INC Linear 2 ABS Linear 3 INC Linear 3 ABS Linear 4 INC Linear 4 Fixed-feed 1 Fixed-feed 2 3-axis fixedfeed control Fixed-feed 3 4-axis fixedfeed control Fixed-feed 4 2-axis circular interpolation Center point control designation Speed control ABS Linear 1 INC Linear 1 2-axis fixedfeed control Sub point designation 1-axis speed control 2-axis speed control 3-axis speed control 4-axis speed control Details Da.2 Control system ABS Circular sub INC Circular sub ABS Circular right ABS Circular left INC Circular right INC Circular left Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 Positioning of a designated 1 axis is carried out from the start address (current stop position) to the designated position. Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Positioning of a designated 1 axis is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Positioning is carried out in an arc path to a position designated from the start point address (current stop position), using the designated 2 axes. The speed control of the designated 1 axis is carried out. The speed control of the designated 2 axes is carried out. The speed control of the designated 3 axes is carried out. The speed control of the 4 axes is carried out. 9-2 9 MAJOR POSITIONING CONTROL Major positioning control Speed-position switching control Position-speed switching control NOP instruction MELSEC-Q Details Da.2 Control system Forward run speed/position Reverse run speed/position Forward run position/speed Reverse run position/speed The control is continued as position control (positioning for the designated address or movement amount) by turning ON the "speed-position switching signal" after first carrying out speed control. The control is continued as speed control by turning ON the "position-speed switching signal" after first carrying out position control. NOP instruction Current value Current value changing changing Other control JUMP instruction LOOP LOOP LEND LEND JUMP instruction A nonexecutable control system. When this instruction is set, the operation is transferred to the next data operation, and the instruction is not executed. The current feed value ( Md.20 ) is changed to an address set in the positioning data. This can be carried out by either of the following 2 methods. (The machine feed value cannot be changed.) Current value changing using the control system Current value changing using the current value changing start No. (No. 9003). An unconditional or conditional JUMP is carried out to a designated positioning data No. A repeat control is carried out by repeat LOOP to LEND. Control is returned to the top of the repeat control by repeat LOOP to LEND. After the repeat operation is completed specified times, the next positioning data is run. In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis circular interpolation control", "2-axis speed control", "3-axis speed control" and "4-axis speed control", control is carried out so that linear and arc paths are drawn using a motor set in two or more axes directions. This kind of control is called "interpolation control". (Refer to Section 9.1.6 "Interpolation control" for details.) 9-3 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Positioning data No. 1 Setting item Setting details Da.1 Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No. 1, No. 2, No. 3) will be controlled. (Refer to Section 9.1.2.) Da.2 Control system Set the control system defined as a "major positioning control". (Refer to Section 9.1.) Da.3 Acceleration time No. Select and set the acceleration time at control start. (Select one of the four values set in Pr.9 , Pr.25 , Pr.26 , and Pr.27 for the acceleration time.) Da.4 Deceleration time No. Select and set the deceleration time at control stop. (Select one of the four values set in Pr.10 , Pr.28 , Pr.29 , and Pr.30 for the deceleration time.) Da.5 Axis to be interpolated Set an axis to be interpolated (partner axis) during the 2-axis interpolation operation (Refer to Section 9.1.6). Da.6 Positioning address/ Set the target value during position control. (Refer to Section 9.1.3.) movement amount Da.7 Arc address Set the sub point or center point address during circular interpolation control. Da.8 Command speed Set the speed during the control execution. Da.9 Dwell time The time between the command pulse output is completed to the positioning completed signal is turned ON. Set it for absorbing the delay of the mechanical system to the instruction, such as the delay of the servo system (deviation). Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.) corresponding to the code No. related to the positioning data execution. Da.10 M code The settings and setting requirement for the setting details of Da.1 to Da.10 differ according to the " Da.2 Control system". (Refer to Section 9.2 "Setting the positioning data".) Major positioning control sub functions Refer to Section 3.2.4 "Combination of QD75 major functions and sub functions" for details on "sub functions" that can be combined with the major positioning control. Also refer to CHAPTER 12 "CONTROL SUB FUNCTIONS" for details on each sub function. Major positioning control from peripheral devices "Major positioning control" can be executed from the peripheral device test mode. Refer to GX Configurator-QP Operating Manual for details on carrying out major positioning control from the peripheral device. REMARK 600 positioning data (positioning data No. 1 to 600) items can be set per axis. 9-4 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning complete Positioning continue (1) Independent positioning control (operation pattern: 00) (2) Continuous positioning control (operation pattern: 01) (3) Continuous path control (operation pattern: 11) The following shows examples of operation patterns when "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation pattern are shown on the following pages. < Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 > (Setting details) Positioning data No.1 Positioning to address [A] at command speed [a] No.2 Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control No.3 Positioning to address [C] at command speed [a] Operation pattern = 01: Continuous positioning control No.4 Positioning to address [D] at command speed [b] Operation pattern = 01: Continuous positioning control No.5 No.6 Speed Operation pattern = 00: Independent positioning control (Positioning complete) Control stop Positioning to address [F] at command speed [a] Operation pattern = 11: Continuous path control Positioning to address [E] at command speed [a] Da. 1 Operation pattern 01 11 b 11 a No.1 Start Operation pattern = 11: Continuous path control 01 00 The machine stops, and then continues the next positioning. Speed is changed without stopping Positioning is terminated Time 0 NO.1 A (Positioning data) No.2 B No.3 C No.4 D No.5 Address E F (Direction in which axis 1 addresses increase) For 1-axis linear control (One motor is driven, and positioning is carried out to an addresses designated in one direction.) POINT The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. 9-5 9 MAJOR POSITIONING CONTROL [1] MELSEC-Q Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning. (The positioning stops after this data is executed.) V Positioning complete (00) Dwell time Time Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] OFF BUSY signal [XC, XD, XE, XF] OFF Positioning complete signal [X14, X15, X16, X17] ON ON ON ON OFF Fig. 9.1 Operation during independent positioning control 9-6 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses. (2) In operation by continuous positioning control (operation pattern "01"), the next positioning No. is automatically executed. Always set operation pattern "00" in the last positioning data to complete the positioning. If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found. If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not completed, the operation will be started again from the positioning data No. 1. Dwell time Positioning continue (01) Positioning continue (01) Address (+) direction Time Dwell time not designated Address (-) direction Positioning complete (00) Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] OFF ON ON ON BUSY signal [XC, XD, XE, XF] OFF ON Positioning complete signal OFF [X14, X15, X16, X17] Fig. 9.2 Operation during continuous positioning control 9-7 9 MAJOR POSITIONING CONTROL [3] MELSEC-Q Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the running positioning data and the command speed of the positioning data that will run next. The speed is not changed if the current speed and the next speed are equal. Positioning continue (11) Positioning continue (11) Dwell time Positioning complete (00) Address (+) direction Time Address (-) direction ON Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal OFF [X10, X11, X12, X13] ON ON BUSY signal [XC, XD, XE, XF] OFF ON OFF Positioning complete signal [X14, X15, X16, X17] Fig. 9.3 Operation during continuous path control (Standard speed switching mode) (b) The speed will become the speed used in the previous positioning operation if the command speed is set to "-1". (c) Dwell time will be ignored, even if set. (d) The next positioning No. is executed automatically in operations by continuous path control (operation pattern "11"). Always complete the positioning by setting operation pattern "00" in the last positioning data. If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found. If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not completed, the operation will be started again from the positioning data No. 1. (e) The speed switching patterns include the "front-loading speed switching pattern" in which the speed is changed at the end of the current positioning side, and the "standard speed switching pattern" in which the speed is at the start of the next positioning side. (Refer to " Pr.19 Speed switching mode".) Continuous path control Standard speed switching mode Front-loading speed switching mode 9-8 9 MAJOR POSITIONING CONTROL (f) MELSEC-Q In continuous path control, the positioning may be completed before , and the data the set address/movement amount by the distance may switch to the "positioning data that will run next". is as follows: The value of the distance • QD75P N/QD75D N: < (Moving distance in 0.9ms at the command speed) 0 • QD75P /QD75D : < (Moving distance in 1.8ms at the command speed) 0 Acceleration/deceleration (setting) V V1 Positioning data No.1 Acceleration/deceleration (actual one) V Positioning data No.2 V1 V2 Positioning data No.1 Positioning data No.2 V2 Distance l Distance t The object reached the address specified in Positioning data No.1. The object reached the address specified in Positioning data No.1. QD75P N/QD75D N: Less than 0.9ms QD75P /QD75D : Less than 1.8ms l t QD75P N/QD75D N: 0.9ms or more QD75P /QD75D :1.8ms or more is output when the next positioning data is running The distance at the specified speed. Therefore, the execution time of the next positioning data may be *1 longer than the set execution time. If this causes a control problem, take one of the following measures. 1) Use the function "output timing selection of near pass control". By selecting "At deceleration" as an output timing, the positioning execution time of the next positioning data remains the same as it was set. (Refer to Section 12.3.4 "Output timing selection of near pass control".) 2) Use the "speed change function". Change speed using the speed change function instead of continuous path control. (Refer to Section 12.5.1 "Speed change function".) 1: When the command speed V1 of a positioning data and the command speed V2 of the next positioning data is different significantly, and V1 > V2 For positioning data in which automatic deceleration is set, the positioning is completed at the set address. Therefore, in continuous path control, the address where a positioning is completed may be different from the set address. However, the address will be the specified one on completion of automatic deceleration for continuous positioning control (01) or positioning complete (00). POINT In the continuous path control, a speed variation will not occur using the near-pass function when the positioning data No. is switched (Refer to Section 12.3.3 "Nearpass function"). 9-9 9 MAJOR POSITIONING CONTROL (2) MELSEC-Q Deceleration stop conditions during continuous path control Deceleration stops are basically not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases (a) to (c). (a) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for 1-axis positioning control (Refer to the "Point" in the next page.)) V Positioning data No.1 Operation pattern : 11 Speed becomes 0 Positioning data No.2 Operation pattern : 00 9 - 10 9 MAJOR POSITIONING CONTROL MELSEC-Q (b) During operation by step operation. (Refer to Section 12.7.1 "Step function".) (c) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below). Because of this, the interpolation axis may suddenly reverse direction. To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control "01" instead of setting it to continuous path control "11". [Positioning by interpolation] [Reference axis operation] [Interpolation axis operation] V Positioning data Positioning data No.1 No.2 V Interpolation axis t Reference axis Positioning data No.1 • • • Continuous path control t Positioning data Positioning data No.1 No.2 Positioning data Positioning data No.1 No.2 (2) When the interpolation axis reveres direction suddenly, the command pulses from QD75 are output as shown in the figure below. Forward run command Reverse run command t1 t2 The t1 and t2 are calculated using the following expressions, where a command frequency is f (pps). t1 = 1/2 f (s) t2 = 1/f (s) A time of t1 must be maintained by the drive unit for a specified period T (s). (T depends on the drive unit specifications.) If t1 cannot be maintained for T or longer, lower the " Da.8 Command speed" of the positioning data. (3) When a "0" is set in the " Da.6 Positioning address/movement amount" of the continuous path control positioning data, the command speed of about 0.9ms (QD75P N/QD75D N) or 2ms (QD75P /QD75D ) is reduced to 0. When a "0" is set in the " Da.6 Positioning address/movement amount" to increase the number of speed change points in the future, change the " Da.2 Control system" to the "NOP instruction" to make the control nonexecutable. (Refer to Section 9.2.20 "NOP instruction".) (4) In the continuous path control positioning data, assure a movement distance so that the execution time with that data is 100ms or longer, or lower the command speed. 9 - 11 9 MAJOR POSITIONING CONTROL (3) MELSEC-Q Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD75 then carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No. if the command speed is set to "–1". (The "current speed" will be displayed in the command speed when the positioning data is set with a peripheral device. The current speed is the speed of the positioning control being executed currently.) 1) 2) 3) The speed does not need to be set in each positioning data when carrying out uniform speed control if "–1" is set beforehand in the command speed. If the speed is changed or the override function is executed in the previous positioning data when "–1" is set in the command speed, the operation can be continued at the new speed. An error "No command speed" (error code: 503) occurs and positioning cannot be started if "–1" is set in the command speed of the first positioning data at start. [Relation between the command speed and current speed] Speed P1 P2 P3 P4 P5 Speed 3000 3000 2000 2000 1000 1000 Da. 8 Command speed 1000 3000 Md.27 Current speed 1000 3000 -1 -1 -1 3000 3000 3000 P1 P2 Da. 8 Command speed 1000 3000 Md.27 Current speed 1000 3000 P3 P4 P5 -1 -1 -1 3000 3000 3000 The current speed is changed even if the command speed is not reached in P2. POINTS (1) In the continuous path control, a speed variation will not occur using the near-pass function when the positioning data is switched (Refer to Section 12.3.3 "Near-pass function"). (2) The QD75 holds the command speed set with the positioning data, and the latest value of the speed set with the speed change request as the " Md.27 Current speed". It controls the operation at the "current speed" when "-1" is set in the command speed. (Depending on the relation between the movement amount and the speed, the feedrate may not reach the command speed value, but even then the current speed will be updated.) (3) When the address for speed change is identified beforehand, generate and execute the positioning data for speed change by the continuous path control to carry out the speed change without requesting the speed change with a sequence program. 9 - 12 9 MAJOR POSITIONING CONTROL (4) MELSEC-Q Speed switching (Refer to " Pr.19 Speed switching mode".) The two modes for changing the speed are shown below. Standard switching………Switch the speed when executing the next positioning data. Front-loading switching.....The speed switches at the end of the positioning data currently being executed. (a) Standard speed switching mode 1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed" and the speed will change over to the speed set in the "positioning data to carry out the next operation". The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same. 2) Speed switching V Dwell time Dwell time Positioning t Da. 1 Operation pattern 11 11 11 01 00 ON Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] OFF ON ON BUSY signal [XC, XD, XE, XF] OFF ON Positioning complete signal [X14, X15, X16, X17] OFF Fig. 9.4 Operation for the standard speed switching mode 3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01"), the machine will immediately stop at the designated positioning address, and a warning "Insufficient movement distance" (warning code: 513) will occur. 9 - 13 9 MAJOR POSITIONING CONTROL MELSEC-Q [When the movement amount is small during automatic deceleration] The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed 0 status. [When the speed cannot change over in P2] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. P1 P2 P3 Pn P4 Pn+1 Positioning address (b) Front-loading speed switching mode 1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation" at the end of the "positioning data currently being executed". 2) The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same. V Dwell time Dwell time t Positioning Da. 1 Operation pattern 11 11 11 01 ON Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] OFF ON ON BUSY signal [XC, XD, XE, XF] OFF ON Positioning complete signal [X14, X15, X16, X17] OFF Fig. 9.5 Operation for the front-loading speed switching mode 9 - 14 00 9 MAJOR POSITIONING CONTROL 3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01"), the machine will immediately stop at the designated positioning address, and a warning "Insufficient movement distance" (warning code: 513) will occur. [When the speed cannot change over to the P2 speed in P1] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. P1 P2 P3 MELSEC-Q [When the movement amount is small during automatic deceleration] The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed 0 status. P4 9 - 15 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address 100 Address 100 Address 150 Start point End point Address 300 Address 150 Address 100 Address 150 OP (Reference point) 100 A point 150 300 B point C point Within the stroke limit range Fig. 9.6 Absolute system positioning Incremental system The position where the machine is currently stopped is regarded as the start point, and positioning is carried out for a designated movement amount in a designated movement direction. Movement amount +100 Movement amount +100 Movement amount -150 Movement amount +100 Movement amount-100 100 A point Start point End point Movement amount -100 Movement amount+50 150 B point 300 C point Within the stroke limit range Fig. 9.7 Incremental system positioning 9 - 16 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the QD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc. This is the value stored in " Md.20 Current feed value". This value has an address established with a "machine OPR" as a Current feed value reference, but the address can be changed by changing the current value to a new value. This value is updated every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ). This is the value stored in " Md.21 Machine feed value". This value always has an address established with a "machine OPR" Machine feed value as a reference. The address cannot be changed, even if the current value is changed to a new value. This value is updated every 0.9ms (QD75P N/QD75D N) or 56.8ms (QD75P /QD75D ). The "current feed value" and "machine feed value" are used in monitoring the current value display, etc. V Current value changed to 20000 with current value changing instruction OP t Address after the current value is changed is stored Md.20 Current feed value 0 1 to 10000 Md.21 Machine feed value 0 1 to 10000 20000 Address does not change even after the current value is changed Fig. 9.8 Current feed value and machine feed value 9 - 17 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions A 0.9ms (QD75P N /QD75D N) or 1.8ms (QD75P /QD75D ) error will occur in the current value update timing when the stored "current feed value" is used in the control. A 0.9ms (QD75P N /QD75D N) or 56.8ms (QD75P /QD75D ) error will occur in the current value update timing when the stored "machine feed value" is used in the control. Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO (P) instruction" or "DMOV (P) instruction" from the CPU module. Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4 Md.20 Current feed value 800, 801 900, 901 1000, 1001 1100, 1101 Md.21 Machine feed value 802, 803 902, 903 1002, 1003 1102, 1103 (1) The following shows the examples of programs to read out the current feed value of the axis 1 to D104 and D105 when X40 is turned ON. (a) For the DFRO(P) instruction (b) For the DMOV(P) instruction 9 - 18 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of “ Md.20 Current feed value” becomes a ring address from 0 to 359.99999°. But the address of “ Md.21 Machine feed value” doesn’t become a ring address. 0° [2] 359.99999° 359.99999° 0° 0° Software stroke limit valid/invalid setting With the control unit set to "degree", the software stroke limit upper and lower limit values are 0 to 359.99999. (a) Setting to validate software stroke limit To validate the software stroke limit, set the software stroke limit lower limit value and the upper limit value in a clockwise direction. 0 Clockwise direction 315.00000 Section A 90.00000 Section B 1) To set the movement range A, set as follows. • Software stroke limit lower limit value .................................. 315.00000º • Software stroke limit upper limit value ................................... 90.00000º 2) To set the movement range B, set as follows. • Software stroke limit lower limit value .................................... 90.00000º • Software stroke limit upper limit value ................................. 315.00000º (b) Setting to invalidate software stroke limit To invalidate the software stroke limit, set the software stroke limit lower limit value equal to the software stroke limit upper limit value. The control can be carried out irrespective of the setting of the software stroke limit. 9 - 19 9 MAJOR POSITIONING CONTROL [3] MELSEC-Q Positioning control method when the control unit is set to "degree" 1) Absolute system (a) When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) Example 1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°. 2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°. Moved from 315° to 45° 315° 45° Moved from 45° to 315° 315° 45° To designate the positioning direction (not carrying out the shortcut control), using the " Cd.40 ABS direction in degrees", the shortcut control can be invalidated to carry out positioning in the designated direction. This function can be performed when the software stroke limit is invalid. When the software stroke limit is valid, an error "Illegal setting of ABS direction in unit of degree" (error code: 546) occurs and positioning is not started. To designate the movement direction for the ABS control, write 1 or 2 to the " Cd.40 ABS direction in degrees" of the buffer memory. (The initial value is 0). The value written to the " Cd.40 ABS direction in degrees" becomes valid only when the positioning control is started. In the continuous positioning control or continuous path control, the operation is continued with the setting made at a start if the setting is changed during the operation. Name Cd.40 ABS direction in degrees Function Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The ABS movement direction in the unit of degree is designated. 0: Shortcut (direction setting 1550 ignored) 1: ABS clockwise 2: ABS counterclockwise 9 - 20 1650 1750 1850 Initial value 0 9 MAJOR POSITIONING CONTROL (b) MELSEC-Q When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. Example When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction if the software stroke limit lower limit value is 0° and the upper limit value is 345°. 345.00000° 0° 315.00000° Positioning carried out in the clockwise direction. POINT Positioning addresses are within a range of 0° to 359.99999°. Use the incremental system to carry out positioning of one rotation or more. 2) Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, –) of the movement amount. For a positive (+) movement direction ....Clockwise For a negative (–) movement direction ...Counterclockwise POINT Positioning of 360° or more can be carried out with the incremental system. At this time, set as shown below to invalidate the software stroke limit. (Set the value with in the setting range (0° to 359.99999°).) [Software stroke limit upper limit value = Software stroke limit lower limit value] 9 - 21 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions. This kind of control is called "interpolation control". In interpolation control, the axis in which the control system is set is defined as the "reference axis", and the other axis is defined as the "interpolation axis". The QD75 controls the "reference axis" following the positioning data set in the "reference axis", and controls the "interpolation axis" corresponding to the reference axis control so that a linear or arc path is drawn. The following table shows the reference axis and interpolation axis combinations. Axis definition Axis set to interpolation control in " Da.2 Control system" 2-axis linear interpolation control, "2-axis fixed-feed control, 2-axis circular interpolation control, 2-axis speed control 3-axis linear interpolation control, "3-axis fixed-feed control, 3-axis speed control 4-axis linear interpolation control, "4-axis fixed-feed control, 4-axis speed control 9 - 22 Reference axis Interpolation axis Any of axes 1, 2, 3, and 4 "Axes to be interpolated" set in reference axis Axis 1 Axis 2, Axis 3 Axis 2 Axis 3, Axis 4 Axis 3 Axis 4, Axis 1 Axis 4 Axis 1, Axis 2 Axis 1 Axis 2, Axis 3, Axis 4 Axis 2 Axis 3, Axis 4, Axis 1 Axis 3 Axis 4, Axis 1, Axis 2 Axis 4 Axis 1, Axis 2, Axis 3 MAJOR POSITIONING CONTROL MELSEC-Q Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. Axis Setting item Da.1 Same positioning data Nos 9 Reference axis setting item Operation pattern – Linear 2, 3, 4, Fixed-feed 2, 3, 4, Circular sub, Circular right, Circular left Forward run speed 2, 3, 4 Reverse run speed 2, 3, 4 Da.2 Control system Da.3 Acceleration time No. – Da.4 Deceleration time No. – Da.5 Axis to be interpolated. – Da.6 – Positioning address/ Forward run speed 2, 3, and 4. Forward run speed 2, 3, and 4. movement amount Reverse run speed 2, 3, and 4 not Reverse run speed 2, 3, and 4 not required. required. Da.7 Arc address Da.8 Command speed Da.9 Dwell time (Only during circular sub, circular (Only during circular sub, circular right, and circular left). right, and circular left). Only during forward run speed 2, 3, 4 and reverse run speed 2, 3, 4. – Da.10 M code – Interpolation axis setting item – : : : : Setting always required Set according to requirements Setting restrictions exist Setting not required (Unrelated setting item, so any setting value will be ignored. Use the initial value or a value within the setting range.) : For 2-axis interpolation, the partner axis is set. If the self-axis is set, an error "Illegal interpolation description command" (error code: 521) will occur. For 3- and 4-axis interpolation, the axis setting is not required. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 23 9 MAJOR POSITIONING CONTROL MELSEC-Q Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started. Reference axis Interpolation axis : The error "Interpolation while interpolation axis BUSY" (error code: 519) : The error "Control system setting error" (error code: 524), The warning "Start during operation" (warning code: 100) Interpolation control continuous positioning When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data in which "positioning complete" is set must be set to interpolation control. The number of the interpolation axes and axes to be interpolated cannot be changed from the intermediate positioning data. An error "Control system setting error" (error code: 524) will occur and the positioning will stop if setting, which changes the number of the interpolation axes and axes to be interpolated, is carried out. Speed during interpolation control Either the "composite speed" or "reference axis speed" can be designated as the speed during interpolation control. ( Pr.20 Interpolation speed designation method) Only the "Reference axis speed" can be designated in the following interpolation control. When a "composite speed" is set and positioning is started, the error "Interpolation mode error" (error code: 523) occurs, and the system will not start. • 4-axis linear interpolation • 2-axis speed control • 3-axis speed control • 4-axis speed control Cautions in interpolation control (1) If a stepping motor is used, the circular interpolation control cannot be carried out. Ensure to use a servomotor when the circular interpolation control is carried out. (2) If either of the axes exceeds the " Pr.8 Speed limit value" in the 2 to 4 axes speed control, the axis which exceeded the speed limit value is controlled by the speed limit value. For the other axes which perform interpolation, the speed can be suppressed by the ratio of a command speed. If the reference axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis linear interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular interpolation control, the reference axis is controlled at the speed limit value. (The speed limit does not function on the interpolation axis side.) (3) In 2-axis interpolation, you cannot change the combination of interpolated axes midway through operation. 9 - 24 9 MAJOR POSITIONING CONTROL MELSEC-Q POINT When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.20 Interpolation speed designation method) that can be set, depending on the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits. Pr.1 Unit setting " Da.2 Control system" interpolation control Pr.20 Interpolation speed Reference axis and interpolation Reference axis and designation method axis units are the same, or a combination of "mm" and "inch". interpolation axis units differ 3 3 Composite speed Linear 2 (ABS, INC) Fixed-feed 2 Circular sub Circular right Circular left 1 Reference axis speed (ABS, INC) (ABS, INC) (ABS, INC) Composite speed 2 Reference axis speed Linear 3 (ABS, INC) Fixed-feed 3 Composite speed Linear 4 (ABS, INC) Fixed-feed 4 Composite speed Reference axis speed Reference axis speed : Setting possible, : Setting not possible. 1 "mm" and "inch" unit mix possible. 2 "degree" setting not possible. An error "Circular interpolation not possible" (error code: 535) will occur and the position cannot start if circular interpolation control is set when the unit is "degree". The machine will immediately stop if "degree" is set during positioning control. 3 The unit set in the reference axis will be used for the speed unit during control if the units differ or if "mm" and "inch" are combined. Axis operation status during interpolation control "Interpolation" will be stored in the " Md.26 Axis operation status" during interpolation control. "Standby" will be stored when the interpolation operation is terminated. Both the reference axis and interpolation axis will carry out a deceleration stop if an error occurs during control, and "error occurring" will be stored in the operation status. 9 - 25 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da.2 Control system". The following table shows the positioning data setting items corresponding to the different types of control. Details and settings for the operation of each control are shown in Section 9.2.2 and subsequent sections. (In this section, it is assumed that the positioning data setting is carried out using GX Configurator-QP.) Major positioning control Positioning data setting items Position control 1-axis linear control 2-axis linear interpolation control 3-axis linear interpolation control 4-axis linear interpolation control Speed control 1-axis fixed-feed control 2-axis fixed-feed 2-axis circular 1-axis, 2-axis, control 3-axis, 4-axis 3-axis fixed-feed interpolation control Speed control control 4-axis fixed-feed control Speedposition switching control Positionspeed switching control Independent positioning control (Positioning complete) Da.1 Operation Continuous positioning pattern control Continuous path control Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated Da.6 Positioning address/movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Linear 1 Linear 2 Linear 3 Linear 4 Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 : 2 - a x i s –: 1, 3, 4-axis Forward run speed/position Reverse run speed/position Forward run position/speed Reverse run position/speed – – – – – – – – – Da.10 M code : : – : : Always set : Set as required Setting not possible (If setting is made, an error "Continuous path control not possible" (error code: 516) will occur at a start.) Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.) The "ABS (absolute) system" or "INC (incremental) system" can be used for the control system. 9 - 26 9 MAJOR POSITIONING CONTROL MELSEC-Q REMARK It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP. Execution by sequence program uses many sequence programs and devices. The execution becomes complicated, and the scan times will increase. Major positioning control Other control NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Positioning data setting items Independent positioning control (Positioning complete) Da.1 Operation Continuous positioning pattern control Continuous path control – – – – – – – – – – – – NOP instruction Current value changing Acceleration time No. – – Deceleration time No. – – – – – Da.5 Axis to be interpolated – – – – – Da.6 Positioning address/movement amount – Change destination address – – – Da.7 Arc address – – – – – Da.8 Command speed – – – – – – JUMP destinationpositioning data No. – – Condition data No. at JUMP No. of repetition – Da.2 Control system Da.3 Da.4 Da.9 Dwell time Da.10 M code – – JUMP instruction LOOP instruction LEND instruction – – – : Always set : Set as required : Setting not possible (If setting is made, an error "New current value not possible" (error code: 515) will occur.) – : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.) 9 - 27 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount". Example When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000, positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000) Start point address (current stop position) 0 End point address (positioning address) 1000 8000 Positioning control (movement amount 7000) Positioning data setting example The following table shows setting examples when "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 of axis 1. Setting example Setting details Set "Positioning complete" assuming the next positioning data will not be executed. Da.1 Operation pattern Da.2 Control system Positioning data No. 1 Positioning complete Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required (setting value will be ignored). Da.6 Positioning address/ movement amount Axis 1 Setting item Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code ABS linear 1 8 0 0 0 . 0 m – Set absolute system 1-axis linear control. Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) Setting not required (setting value will be ignored). 6000.00mm/min Set the speed during movement to the positioning address. 500ms 10 Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 28 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount. Example When the start point address is 5000, and the movement amount is -7000, positioning is carried out to the -2000 position. Start point address (current stop position) Address after positioning control -3000 -2000 -1000 0 1000 2000 3000 4000 5000 6000 Positioning control in the reverse direction (movement amount -7000) Positioning data setting example The following table shows setting examples when "1-axis linear control (INC linear 1)" is set in positioning data No. 1 of axis 1. Setting details Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC linear 1 Set incremental system 1-axis linear control. Positioning data No. 1 Setting example Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required (setting value will be ignored). Da.6 Positioning address/ - 7 0 0 0 . 0 m movement amount Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".) Axis 1 Setting item Da.7 Arc address Setting not required (setting value will be ignored). Da.8 Command speed Da.9 Dwell time Da.10 M code – 6000.00mm/min Set the speed during movement. 500ms 10 Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 29 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) [1] 2-axis linear interpolation control (ABS linear 2) Operation chart In absolute system 2-axis linear interpolation control, specified two axes are used to perform linear interpolation positioning from the current stop position (start point address) to the address set in the " Da.6 Positioning address/movement amount" (end point address). Forward direction (Y axis) Start point address (X1,Y1) (current stop position) End point address (X2,Y2) Y2 (positioning address) Y axis movement amount Movement by linear interpolation of the X axis and Y axis Y1 Reverse direction Forward direction (X axis) X1 X2 X axis movement amount Reverse direction Example When the start point address (current stop position) is (1000, 1000) and the end point address (positioning address) is (10000, 4000), positioning is carried out as follows. Axis 2 Start point address (current stop position) End point address 4000 (positioning address) Axis 2 movement amount (4000-1000=3000) 1000 0 1000 5000 10000 Axis 1 movement amount (10000-1000=9000) 9 - 30 Axis 1 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning 30 address/movement amount" is "1073741824 (=2 )".) Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis linear interpolation control (ABS linear 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Da.1 Operation pattern Positioning data No. 1 Da.2 Control system Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. ABS linear 2 – Set absolute system 2-axis linear interpolation control. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Da.6 Positioning address/ movement amount 10000.0 m Da.7 Arc address Axis 1 Setting details Da.8 Command speed Da.9 Dwell time 4000.0m Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".) – – Setting not required (setting value will be ignored). 6000.00 mm/min – Set the speed during movement to the end point address. 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". 9 - 31 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, designated 2 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount. Forward direction (Y axis) Start point address (X1,Y1) (current stop position) Y2 Y axis movement amount Movement by linear interpolation positioning of the X axis and Y axis Y1 Reverse direction Forward direction (X axis) X1 X2 X axis movement amount Reverse direction Example When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning is carried out as follows. Axis 2 Start point address (current stop position) 4000 Axis 2 movement amount (-3000) Stop address after the positioning control 1000 0 1000 5000 Axis 1 movement amount (9000) 9 - 32 10000 Axis 1 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning 30 address/movement amount" is "1073741824 (=2 )".) Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis linear interpolation control (INC linear 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC linear 2 – Set incremental system 2-axis linear interpolation control. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Da.6 Positioning address/ 9000.0m movement amount Da.7 Arc address Axis 1 Setting details Da.8 Command speed Da.9 Dwell time -3000.0m Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".) – – Setting not required (setting value will be ignored). 6000.00 mm/min – Set the speed during movement. 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". 9 - 33 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" (" Da.2 Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) [1] 3-axis linear interpolation control (ABS linear 3) Operation chart In absolute system 3-axis linear interpolation control, 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount". Forward direction End point address (X2,Y2,Z2) (Y axis) (Positioning address) Movement by linear interpolation of the X axis, Y axis and Z axis Y axis movement amount Forward direction (Z axis) Za xis mo ve Reverse direction me nt am ou nt Start point address (X1,Y1,Z1) (Current stop position) X axis movement amount Reverse direction Reverse direction 9 - 34 Forward direction (X axis) 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning 30 address/movement amount" is "1073741824 (=2 )".) Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis linear interpolation control (ABS linear 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.) Axis Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.2 Control system Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Setting details Positioning complete – – Set "Positioning complete" assuming the next positioning data will not be executed. ABS linear 3 – – Set absolute system 3-axis linear interpolation control. Da.3 Acceleration time No. 1 – – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3. Axis to be Da.5 interpolated Da.6 – Positioning address/ movement amount 4000.0 m Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code – 8000.0m Set the end point address. (Assuming "mm" 4000.0m is set in " Pr.1 Unit setting".) – – – Setting not required (setting value will be ignored). 6000.00 mm/min – – Set the speed during movement to the end point address. 500ms – – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 35 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 36 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 3-axis linear interpolation control (INC linear 3) Operation chart In incremental system 3-axis linear interpolation control, designated 3 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount. Forward direction Movement by linear interpolation positioning of the X axis, Y axis and Z axis Y2 Forward direction Y axis movement amount Z2 Z axis movement amount X2 Forward direction Start point address (X1, Y1, Z1) (current stop position) Reverse direction X axis movement amount Reverse direction Reverse direction Example When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000 and the axis 3 movement amount is 6000, positioning is carried out as follows. Stop address after the positioning control Axis 2 Axis 3 5000 Axis 3 movement amount (6000) Axis 2 movement amount (5000) 6000 Start point address (current stop position) 5000 10000 Axis 1 movement amount (10000) 9 - 37 Axis 1 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning 30 address/movement amount" is "1073741824 (=2 )".) Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis linear interpolation control (INC linear 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Setting details Da.1 Operation pattern Positioning complete – – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC linear 3 – – Set incremental system 3-axis linear interpolation control. Da.3 Acceleration time No. 1 – – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3. Da.6 Positioning address/ 10000.0m movement amount 5000.0m 6000.0m Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".) Da.7 Arc address – – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min – – Set the speed during movement. Da.9 Dwell time 500ms – – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code – Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 38 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 39 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" (" Da.2 Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) [1] 4-axis linear interpolation control (ABS linear 4) In absolute system 4-axis linear interpolation control, 4 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount". 9 - 40 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Setting item Da.1 Operation pattern Da.2 Control system Axis 1 Positioning data No. 1 Da.3 Axis 1 Axis 2 Axis 3 Axis 4 (reference (interpolation (interpolation (interpolation axis) setting axis) setting axis) setting axis) setting example example example example Positioning complete – – – Set "Positioning complete" assuming the next positioning data will not be executed. ABS linear 4 – – – Set absolute system 4-axis linear interpolation control. 1 – – – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4. Acceleration time No. Deceleration time Da.4 No. 0 Da.5 Axis to be interpolated Da.6 Positioning address/ 4000.0m movement amount – Da.9 Dwell time Da.10 M code – – – – – 8000.0m 4000.0m 3000.0m Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".) – – – – Setting not required (setting value will be ignored). 6000.00 mm/min – – – Set the speed during movement to the end point address. Da.7 Arc address Da.8 Command speed Setting details 500ms – – – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – – – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. POINTS (1) When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 41 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 4-axis linear interpolation control (INC linear 4) Operation chart In incremental system 4-axis linear interpolation control, designated 4 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount. 9 - 42 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 Axis 3 Axis 4 (reference (interpolation (interpolation (interpolation axis) setting axis) setting axis) setting axis) setting example example example example Setting details Da.1 Operation pattern Positioning complete – – – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC linear 4 – – – Set incremental system 4-axis linear interpolation control. – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4. Da.3 Acceleration time No. Da.4 Deceleration time No. 1 0 Da.5 Axis to be interpolated Da.6 Positioning address/ 4000.0m movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code – – – – – – – 8000.0m 4000.0m – – – – Setting not required (setting value will be ignored). 6000.00 mm/min – – – Set the speed during movement. – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. 500ms 10 – – – – Set the movement amount. 3000.0m (Assuming "mm" is set in " Pr.1 Unit setting".) Refer to Section 5.3 "List of positioning data" for information on the setting details. POINTS (1) When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 43 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses. Operation chart In 1-axis fixed-feed control, the address ( Md.20 Current feed value) of the current stop position (start point address) is set to "0". Positioning is then carried out to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the movement amount sign. " Md. 20 Current feed value" is set to "0" at the positioning start 0 Positioning start 0 0 0 0 Designated movement amount Stop position Forward direction Reverse direction Movement direction for Movement direction for a negative movement amount a positive movement amount Restrictions (1) An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) (2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. 9 - 44 9 MAJOR POSITIONING CONTROL MELSEC-Q POINT When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start. Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] 1.0 = 2.5 pulses 2.5 m Movement amount 2.5 m 0.5 pulse hold by the QD75 is carried to next positioning. Output pulses INC line1 2 pulses Fixed-feed 1 3 pulses (=2.5+0.5) 2 pulses 2 pulses 0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning. Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixedfeed 1)" is set in positioning data No. 1 of axis 1. Setting details Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. Da.1 Operation pattern Da.2 Control system Positioning data No. 1 Setting example Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required (setting value will be ignored). Da.6 Positioning address/ movement amount Axis 1 Setting item Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code Fixed-feed 1 8 0 0 0 . 0 m – Set 1-axis fixed-feed control. Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) Setting not required (setting value will be ignored). 6000.00mm/min Set the speed during movement to the positioning address. 500ms 10 Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. * Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 45 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) Operation chart In incremental system 2-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of both axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount. Y axis " Md. 20 Current feed value" of each axis is set to "0" at the positioning start (0,0) (0,0) Designated movement amount (0,0) X axis Designated movement amount Restrictions (1) An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) 30 (2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 504) occurs at a positioning start and positioning cannot be started. (The maximum movement amount that can be set in " Da.6 Positioning address/movement 30 amount" is "1073741824 (= 2 )". (3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. 9 - 46 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.2 Control system Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Fixed-feed 2 – Set 2-axis fixed-feed control. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Positioning Da.6 address/ movement amount 8000.0m 6000.0m – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min – Set the speed during movement. (Designate the composite speed of reference axis speed in " Pr.20 Interpolation speed designation method".) Da.9 Dwell time 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.7 Arc address Da.10 M code Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) * Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 47 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start. Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] Movement amount 1.0 = 2.5 pulses 2.5 m 2.5 m 0.5 pulse hold by the QD75 is carried to next positioning. Output pulses INC line1 Fixed-feed 1 2 pulses 3 pulses (=2.5+0.5) 2 pulses 2 pulses 0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning. (2) When the "reference axis speed" is set during 2-axis fixed-feed control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". 9 - 48 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.8 3-axis fixed-feed control (interpolation) In "3-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 3), three motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) 9 - 49 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart In incremental system 3-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount. Y axis (0,0,0) (0,0,0) Z axis Designated movement amount (0,0,0) Designated movement amount X axis " Md.20 Current feed value" of each axis is set to "0" at the positioning start. Designated movement amount 9 - 50 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) 30 (2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 504) occurs at a positioning start and positioning cannot be started. (The maximum movement amount that can be set in " Da.6 Positioning address/movement 30 amount" is "1073741824 (= 2 )". (3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis fixed-feed control (fixedfeed 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.) 9 - 51 9 MAJOR POSITIONING CONTROL Axis Axis 1 Positioning data No. 1 Setting item MELSEC-Q Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Setting details Positioning complete – – Set "Positioning complete" assuming the next positioning data will not be executed. Fixed-feed 3 – – Set 3-axis fixed-feed control. Acceleration time No. 1 – – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3. Da.6 Positioning address/ 10000.0m movement amount 5000.0m 6000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) Da.7 Arc address – – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min – – Set the speed during movement. Da.9 Dwell time 500ms – – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.1 Operation pattern Da.2 Control system Da.3 Da.10 M code – Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 52 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start. Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] Movement amount 1.0 = 2.5 pulses 2.5 m 2.5 m 0.5 pulse hold by the QD75 is carried to next positioning. Output pulses INC line1 Fixed-feed 1 2 pulses 3 pulses (=2.5+0.5) 2 pulses 2 pulses 0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning. (2) When the "reference axis speed" is set during 3-axis fixed-feed control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (3) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 53 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) Operation chart In incremental system 4-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount. Restrictions (1) An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) (2) For 4-axis fixed-feed control, set "1: Reference axis speed" in " Pr.20 Interpolation speed designation method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start If "0: Composite speed" is set. (3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. 9 - 54 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixedfeed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Axis 1 Positioning data No. 1 Setting item Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No. Axis 1 Axis 2 Axis 3 Axis 4 (reference (interpolation (interpolation (interpolation axis) setting axis) setting axis) setting axis) setting example example example example Positioning complete – – – Set "Positioning complete" assuming the next positioning data will not be executed. Fixed-feed 4 – – – Set 4-axis fixed-feed control. – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4. 1 0 Da.5 Axis to be interpolated Da.6 Positioning address/ 4000.0m movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code Setting details – – – – – – – – 8000.0m 4000.0m 3000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) – – – – Setting not required (setting value will be ignored). 6000.00 mm/min – – – Set the speed during movement. – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. 500ms 10 – – – – Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 55 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start. Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] Movement amount 1.0 = 2.5 pulses 2.5 m 2.5 m 0.5 pulse hold by the QD75 is carried to next positioning. Output pulses INC line1 Fixed-feed 1 2 pulses 3 pulses (=2.5+0.5) 2 pulses 2 pulses 0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning. (2) For 4-axis fixed-feed control, set the "reference axis speed" and make setting so that the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (3) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations. 9 - 56 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) [1] 2-axis circular interpolation control with sub point designation (ABS circular sub) Operation chart In the absolute system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount", in an arc path that passes through the sub point address set in " Da.7 Arc address". The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line between the start point address (current stop position) and sub point address (arc address), and a straight line between the sub point address (arc address) and end point address (positioning address). Forward direction Movement by circular interpolation Sub point address (arc address) End point address (positioning address) Start point address Arc center point (current stop position) Reverse direction Forward direction OP Reverse direction 9 - 57 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in " Pr.1 Unit setting" When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.20 Interpolation speed designation method" (2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. 29 When the radius exceeds "536870912 (=2 )". (The maximum radius for 29 which circular interpolation control is possible is "536870912 (=2 )" ... An error "Outside radius range" (error code: 544) will occur at positioning start. 31 When the center point address is outside the range of "–2147483648 (–2 ) to 31 2147483647 (2 –1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start. When the start point address is the same as the end point address ... An error "End point setting error" (error code: 526) will occur. When the start point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur. When the end point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur. When the start point address, sub point address, and end point address are in a straight line ... An error "Sub point setting error" (error code: 525) will occur. 9 - 58 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system ABS circular sub – Set absolute system, 2-axis circular interpolation control with sub point designation. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Da.6 Positioning address/ 8000.0m movement amount 6000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) Da.7 Arc address 4000.0m 3000.0m Set the sub point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Da.8 Command speed 6000.00 mm/min – Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".) Da.9 Dwell time 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT Set a value in " Da.8 Command speed" so that the speed of each axis does not exceed the " Pr.8 Speed limit value". (The speed limit does not function for the speed calculated by the QD75 during interpolation control.) 9 - 59 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" in an arc path that passes through the sub point address set in " Da.7 Arc address". The movement direction depends on the sign (+ or -) of the movement amount. The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line between the start point address (current stop position) and sub point address (arc address) calculated from the movement amount to the sub point, and a straight line between the sub point address (arc address) and end point address (positioning address) calculated from the movement amount to the end point. Forward direction Sub point address Movement by circular interpolation (arc address) Start point Movement amount Movement amount address to sub point to the end point Arc center Reverse direction Movement amount to the sub point Movement amount to the end point Reverse direction 9 - 60 Forward direction 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in " Pr.1 Unit setting" When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.20 Interpolation speed designation method" (2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. 29 When the radius exceeds "536870912 (=2 )". (The maximum radius for 29 which circular interpolation control is possible is "536870912 (=2 )" ... An error "Outside radius range" (error code: 544) will occur at positioning start. When the auxiliary point address is outside the range of -2147483648 (–231) 31 to 2147483647 (2 –1). ... An error "Sub point setting error" (error code: 525) will occur. When the end point address is outside the range of -2147483648 (–231) to 31 2147483647 (2 –1). ... An error "End point setting error" (error code: 526) will occur. When the auxiliary point address, center point address is outside the range of 31 31 "–2147483648 (–2 ) to 2147483647 (2 –1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start. When the start point address is the same as the end point address ... An error "End point setting error" (error code: 526) will occur. When the start point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur. When the end point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur. When the start point address, sub point address, and end point address are in a straight line ... An error "Sub point setting error" (error code: 525) will occur. 9 - 61 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC circular sub – Set incremental system, 2-axis circular interpolation control with sub point designation. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Da.6 Positioning address/ 8000.0m movement amount 6000.0m Set the movement amount. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Da.7 Arc address 4000.0m 3000.0m Set the sub point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Da.8 Command speed 6000.00 mm/min – Set the speed during movement. (Designate the composite speed in " Pr.20 Interpolation speed designation method".) Da.9 Dwell time 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT Set a value in " Da.8 Command speed" so that the speed of each axis does not exceed the " Pr.8 Speed limit value". (The speed limit does not function for the speed calculated by the QD75 during interpolation control.) 9 - 62 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.) The following table shows the rotation directions, arc center angles that can be controlled, and positioning paths for the different control systems. Control system Rotation direction Arc center angle that can be controlled Positioning path Positioning path ABS circular right Clockwise Start point (current stop position) 0° < < 360° End point (positioning address) INC circular right Center point 0° < 360° Center point ABS circular left 0°< Counterclockwise < 360° Start point (current stop position) INC circular left End point (positioning address) Positioning path 9 - 63 9 MAJOR POSITIONING CONTROL MELSEC-Q Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and center point address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount". (Refer to " Pr.41 Allowable circular interpolation error width".) (1) Calculated error " Pr.41 Allowable circular interpolation error width" Circular interpolation control to the set end point address is carried out while the error compensation is carried out. (This is called "spiral interpolation".) Path using spiral interpolation Error Calculated end point address End point address Start point address Center point address In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows. Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached. Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached. (2) Calculated error > " Pr.41 Allowable circular interpolation error width" At the positioning start, an error "Large arc error deviation" (error code: 506) will occur and the control will not start. The machine will immediately stop if the error is detected during positioning control. 9 - 64 9 MAJOR POSITIONING CONTROL [1] MELSEC-Q 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount" in an arc path having as its center the address (arc address) of the center point set in " Da.7 Arc address". Forward direction Movement by circular interpolation Start point address (current stop position) End point address (positioning address) Radius Reverse direction Forward direction Arc address Reverse direction Positioning of a complete round with a radius from the start point address to the arc center point can be carried out by setting the end point address (positioning address) to the same address as the start point address. 9 - 65 9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows. Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached. Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached. Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in " Pr.1 Unit setting" When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.20 Interpolation speed designation method" (2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. 29 When the radius exceeds "536870912 (=2 )". (The maximum radius for 29 which circular interpolation control is possible is "536870912 (=2 )" ... An error "Outside radius range " (error code: 544) will occur at positioning start. When the start point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur. When the end point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur. When the center point address is outside the range of -2147483648(-231) to 31 2147483647(2 -1) ... An error "Center point setting error" (error code: 527) will occur. 9 - 66 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system ABS circular right ABS circular left – Set absolute system, 2-axis circular interpolation control with center point designation. (Select clockwise or counterclockwise according to the control.) Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Da.6 Positioning address/ 8000.0m movement amount 6000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".) Da.7 Arc address 4000.0m 3000.0m Set the arc address. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Da.8 Command speed 6000.00 mm/min – Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".) Da.9 Dwell time 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Da.10 M code Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT Set a value in " Da.8 Command speed" so that the speed of each axis does not exceed the " Pr.8 Speed limit value". (The speed limit does not function for the speed calculated by the QD75 during interpolation control.) 9 - 67 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" in an arc path having as its center the address (arc address) of the center point set in " Da.7 Arc address". Forward direction Start point address (Current stop position) Movement by circular interpolation Movement amount to the end point Radius Reverse direction Forward direction Arc center point Reverse direction (Arc address) Movement amount to the end point Positioning of a complete round with a radius of the distance from the start point address to the arc center point can be carried out by setting the movement amount to "0". 9 - 68 9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows. Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached. Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached. Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in " Pr.1 Unit setting" When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.20 Interpolation speed designation method" (2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. 29 When the radius exceeds "536870912 (=2 )". (The maximum radius for 29 which circular interpolation control is possible is "536870912 (=2 )" ... An error "Outside radius range" (error code: 544) will occur at positioning start. 31 When the end point address is outside the range of -2147483648(-2 ) to 31 2147483647(2 -1) ... An error "End point setting error" (error code: 526) will occur. When the start point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur. When the end point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur. 31 When the center point address is outside the range of -2147483648(-2 ) to 31 2147483647(2 -1) ... An error "Center point setting error" (error code: 527) will occur. 9 - 69 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. Da.2 Control system INC circular right INC circular left – Set incremental system, 2-axis circular interpolation control with center point designation. (Select clockwise or counterclockwise according to the control.) Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Da.6 Positioning address/ movement amount 8000.0m Da.7 Arc address 4000.0m 3000.0m Da.8 Command speed 6000.00 mm/min – Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".) Da.9 Dwell time 500ms – Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal. 10 – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Axis 2 Da.10 M code Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Set the movement amount. (Assuming that the 6000.0m " Pr.1 Unit setting" is set to "mm".) – Set the center point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Refer to Section 5.3 "List of positioning data" for information on the setting details. POINT Set a value in " Da.8 Command speed" so that the speed of each axis does not exceed the " Pr.8 Speed limit value". (The speed limit does not function for the speed calculated by the QD75 during interpolation control.) 9 - 70 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.12 1-axis speed control In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of 1-axis speed control are "Forward run: speed 1" in which the control starts in the forward run direction, and "Reverse run: speed 1" in which control starts in the reverse run direction. Operation chart The following chart shows the operation timing for 1-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "Positioning complete signal" is not turned ON. V Da. 8 Command speed t ON OFF Positioning start signal [Y10] ON BUSY signal OFF [XC] Positioning complete signal [X14] Does not turn ON even when control is stopped by stop command. OFF ON Axis stop signal (stop command) [Y4] In speed control flag Md.31 Status:b0 OFF ON OFF Fig.9.9 1-axis speed control operation timing 9 - 71 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 1-axis speed control The following table shows the " Md.20 Current feed value" during 1-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during speed control" setting Speed Md.20 Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated. 2: Zero clear current feed value The current feed value is fixed at 0. In speed control Speed In speed control t Current feed value during speed control start is maintained (a) Current feed value not updated In speed control Speed t Current feed value is updated (b) Current feed value updated t 0 (c) Current feed value zero cleared Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) An error "No command speed" (error code: 503) will occur if the current speed (-1) is set in " Da.8 Command speed". (4) The software stroke limit check will not carried out if the control unit is set to "degree". 9 - 72 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Axis 1 Positioning data No. 1 Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 1 Set 1-axis speed control. Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required (setting value will be ignored). Da.6 Positioning address/ movement amount – Setting not required (setting value will be ignored). Da.7 Arc address – Setting not required (setting value will be ignored). Da.8 Command speed Da.9 Dwell time Da.10 M code 6000.00mm/min Set the speed to be commanded. – Setting not required (setting value will be ignored). 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.) Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 73 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.13 2-axis speed control In "2-axis speed control" (" Da.2 Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of 2-axis speed control are "Forward run: speed 2" in which the control starts in the forward run direction, and "Reverse run: speed 2" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axis.) Operation chart The following chart shows the operation timing for 2-axis (axes 1 and 2) speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. V Interpolation axis (axis 2) Da. 8 Command speed t V Referense axis (axis1) Da. 8 Command speed t ON OFF Positioning start signal [Y10] ON OFF BUSY signal [XC,XD] Does not turn ON even when control is stopped Positioning complete signal [X14,X15] by stop command. OFF ON Axis stop signal (stop command) (Either Y4 or Y5) In speed control flag Md.31 Status: b0 OFF ON OFF Fig. 9.10 2-axis speed control operation timing 9 - 74 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 2-axis speed control The following table shows the " Md.20 Current feed value" during 2-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed control" setting Speed Md.20 Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated. 2: Zero clear current feed value The current feed value is fixed at 0. In speed control Speed In speed control t t Current feed value during speed control start is maintained (a) Current feed value not updated In speed control Speed t Current feed value is updated (b) Current feed value updated 0 (c) Current feed value zero cleared Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set. (4) When either of two axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Setting item Pr.8 Speed limit value 4000.00mm/min 5000.00mm/min Da.8 Command speed 8000.00mm/min 6000.00mm/min With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at an ratio of an axis 1 command speed to an axis 2 command speed). 9 - 75 9 MAJOR POSITIONING CONTROL MELSEC-Q Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed. (5) An error "No command speed" (error code: 503) occurs if a current speed (-1) is set in " Da.8 Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree". Positioning data setting examples [Setting examples when the reference axis and interpolation axis are designated as axes 1 and 2, respectively.] The following table shows the setting examples when "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Setting details Da.1 Operation pattern Positioning complete – Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 2 – Set 2-axis speed control. Da.3 Acceleration time No. 1 – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated Axis 2 – Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur. Da.6 Positioning address/ movement amount – – Setting not required (setting value will be ignored). Da.7 Arc address – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min 3000.00 mm/min Da.9 Dwell time – – Setting not required (setting value will be ignored). – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.) Da.10 M code 10 Set the speed to be commanded. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 76 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.14 3-axis speed control In "3-axis speed control" (" Da.2 Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of 3-axis speed control are "Forward run: speed 3" in which the control starts in the forward run direction, and "Reverse run: speed 3" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axes.) Operation chart The following chart shows the operation timing for 3-axis (axes 1, 2, and 3) speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. V Interpolation axis (axis 3) Da. 8 Command speed t V Interpolation axis (axis 2) Da. 8 Command speed t V Referense axis (axis 1) Da. 8 Command speed t ON OFF Positioning start signal [Y10] ON OFF BUSY signal [XC,XD,XE] Does not turn ON even when control is stopped Positioning complete signal [X14,X15,X16] by stop command. OFF ON Axis stop signal (stop command) (Either Y4,Y5 or Y6) OFF In speed control flag Md.31 Status: b0 ON OFF Fig. 9.11 3-axis speed control operation timing 9 - 77 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 3-axis speed control The following table shows the " Md.20 Current feed value" during 3-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed control" setting Speed Md.20 Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated. 2: Zero clear current feed value The current feed value is fixed at 0. In speed control Speed In speed control t t Current feed value during speed control start is maintained (a) Current feed value not updated In speed control Speed Current feed value is updated (b) Current feed value updated t 0 (c) Current feed value zero cleared Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set. 9 - 78 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Axis 3 setting Setting item Pr.8 Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min Da.8 Command speed 8000.00mm/min 6000.00mm/min 4000.00mm/min With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3 command speeds). Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3 command speeds). Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed. (5) An error "No command speed" (error code: 503) will occur if a current speed (-1) is set in " Da.8 Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree". 9 - 79 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Da.1 Operation pattern Positioning complete – – Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 3 – – Set 3-axis speed control. Da.3 Acceleration time No. 1 – – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Positioning data No. 1 Setting details Da.4 Deceleration time No. 0 – – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – – – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3. Da.6 Positioning address/ movement amount – – – Setting not required (setting value will be ignored). Axis 1 Setting item Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Da.7 Arc address – – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min 3000.00 mm/min 2000.00 mm/min Da.9 Dwell time – – – Setting not required (setting value will be ignored). – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.) Da.10 M code 10 – Set the speed to be commanded. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 80 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.15 4-axis speed control In "4-axis speed control" (" Da.2 Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of 4-axis speed control are "Forward run: speed 4" in which the control starts in the forward run direction, and "Reverse run: speed 4" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axes.) 9 - 81 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. V Interpolation axis (axis 4) Da. 8 Command speed t V Interpolation axis (axis 3) Da. 8 Command speed t V Interpolation axis (axis 2) Da. 8 Command speed t V Referense axis (axis 1) Da. 8 Command speed t ON OFF Positioning start signal [Y10] ON OFF BUSY signal [XC,XD,XE,XF] Does not turn ON even when control is stopped Positioning complete signal [X14,X15,X16,X17] by stop command. OFF ON Axis stop signal (stop command) (Either Y4,Y5,Y6 or Y7) In speed control flag Md.31 Status: b0 OFF ON OFF Fig. 9.12 4-axis speed control operation timing 9 - 82 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 4-axis speed control The following table shows the " Md.20 Current feed value" during 4-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed control" setting Speed Md.20 Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated. 2: Zero clear current feed value The current feed value is fixed at 0. In speed control Speed In speed control t Current feed value during speed control start is maintained (a) Current feed value not updated In speed control Speed t Current feed value is updated (b) Current feed value updated t 0 (c) Current feed value zero cleared Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set. 9 - 83 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Setting item Axis 1 setting Axis 2 setting Axis 3 setting Axis 4 setting Pr.8 Speed limit value 4000.00mm/ min 5000.00mm/ 6000.00mm/ 8000.00mm/ min min min Da.8 Command speed 8000.00mm/ min 6000.00mm/ 4000.00mm/ 1500.00mm/ min min min With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds). Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds). Axis 4: 750.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds). Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed. (5) An error "No command speed" (error code: 503) will occur if a current speed (-1) is set in " Da.8 Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree". 9 - 84 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 Axis 3 Axis 4 (reference (interpolation (interpolation (interpolation axis) setting axis) setting axis) setting axis) setting example example example example Setting details Da.1 Operation pattern Positioning complete – – – Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 4 – – – Set 4-axis speed control. Da.3 Acceleration time No. – Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. – Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. 1 0 – – – – Da.5 Axis to be interpolated – – – – Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4. Da.6 Positioning address/ movement amount – – – – Setting not required (setting value will be ignored). Da.7 Arc address – – – – Setting not required (setting value will be ignored). Da.8 Command speed 6000.00 mm/min 3000.00 mm/min 2000.00 mm/min 1000.00 mm/min Da.9 Dwell time – – – – Setting not required (setting value will be ignored). – Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.) Da.10 M code 10 – – Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 85 Set the speed to be commanded. 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in " Da.6 Positioning address/movement amount" is exercised. "Speed-position switching control (INC mode)" is available in two different types: "forward run: speed/position" which starts the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction. Use the detailed parameter 1 " Pr.150 Speed-position function selection" with regard to the choice for "speed-position switching control (INC mode)". Setting item Pr.150 Speedposition function selection Setting value 0 Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Speed-position switching control (INC mode) 34 184 334 484 If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Section 5.2 "List of parameters". Switching over from speed control to position control (1) The control is switched over from speed control to position control by executing the external command signal set in "speed-position switching signal". (2) Besides setting the positioning data, the " Cd.24 Speed-position switching enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from speed control to position control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.) Setting item Cd.24 Speedposition switching enable flag Setting value Setting details 1 Set "1: Switch from speed control to position control when the external command signal [CHG] turns ON.". 9 - 86 Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1528 1628 1728 1828 9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 External Set the "2: speed-position and command Pr.42 2 position-speed switching 62 212 362 512 function requests". selection External Set "1: Validate external Cd.8 command 1 1505 1605 1705 1805 command". valid Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details. 9 - 87 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (INC mode). V Da. 8 Command speed Movement amount set in " Da. 6 Positioning address/movement amount" t Speed control Position control Dwell time ON OFF Positioning start signal [Y10,Y11,Y12,Y13] ON BUSY signal OFF [XC,XD,XE,XF] ON OFF Positioning complete signal [X14,X15,X16,X17] ON Speed-position switching signal OFF ON Cd. 24 Speed-position switching enable flag OFF ON In speed control flag Md. 31 Status: b0 OFF Fig. 9.13 Speed-position switching control (INC mode) operation timing 9 - 88 9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.00000 Speed-position switching signal ON 0.00000 90.00000 90.00000 90.00000+270.00000 =360.00000 =Stop at 0.00000 [degree] 9 - 89 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (INC mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7] (WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Standby Md.26 Axis operation status Position control Speed control Standby t4 Output pulse to external source (PULSE) Speed control Position control Positioning operation Speed control carried out until speed-position switching signal turns ON External speed-position switching command t6 Position control movement amount is from the input position of the external speed-position switching signal Speed-position switching latch flag Md.31 Status: b1 t5 Positioning complete signal [X14,X15,X16,X17] t7 M code ON signal [X4,X5,X6,X7] (AFTER mode) t2 Cd.7 M code OFF request OPR complete flag Md.31 Status: b4 Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode) Normal timing time Model t1 QD75P N/QD75D N QD75P /QD75D t2 t3 t4 t5 t6 t7 0.2 to 1.1ms 0 to 0.9ms 1.1ms 0 to 1.8ms 0 to 0.9ms 0.4 to 1.3ms 0 to 0.9ms 1.0ms 0 to 1.8ms 2.7 to 4.4ms 0 to 1.8ms 1.0ms Follows parameters The t1 timing time could be delayed by the operation state of other axes. 9 - 90 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) The following table shows the " Md.20 Current feed value" during speedposition switching control (INC mode) corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during speed control" setting Md.20 Current feed value The current feed value at control start is maintained during 0: Do not update current feed value speed control, and updated from the switching to position control. Speed Speed control 1: Update current feed value The current feed value is updated during speed control and position control. 2: Zero clear current feed value The current feed value is cleared (set to "0") at control start, and updated from the switching to position control. Position control Speed Speed control Position control t Maintained Speed control Position control t t Updated Updated (a) Current feed value not updated Speed 0 (b) Current feed value updated Updated from 0 (c) Current feed value zero cleared Switching time from speed control to position control There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON. ON Speed-position switching signal OFF Speed-position switching latch flag OFF ON 1ms 9 - 91 9 MAJOR POSITIONING CONTROL MELSEC-Q Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. (1) The "new movement amount" is stored in " Cd.23 Speed-position switching control movement amount change register" by the sequence program during speed control. When the speed-position switching signal is turned ON, the movement amount for position control is stored in " Cd.23 Speed-position switching control movement amount change register". (2) The movement amount is stored in the " Md.29 Speed-position switching control positioning amount" of the axis monitor area from the point where the control changes to position control by the input of a speed-position switching signal from an external source. Speed control Position control Position control start Speed-position switching control (INC mode) start t Movement amount change possible ON Speed-position switching signal OFF Setting after the speed-position switching signal ON is ignored 0 Cd.23 Speed-position switching control, movement amount change register P2 P3 P2 becomes the position control movement amount Speed-position switching latch flag Md.31 Status : b1 ON OFF Fig. 9.15 Position control movement amount change timing 9 - 92 9 MAJOR POSITIONING CONTROL MELSEC-Q POINT The machine recognizes the presence of a movement amount change request when the data is written to " Cd.23 Speed-position switching control movement amount change register" with the sequence program. The new movement amount is validated after execution of the speed-position switching control (INC mode), before the input of the speed-position switching signal. The movement amount change can be enable/disable with the interlock function in position control using the “speed-position switching latch flag” ( Md.31 Status : b1) of the axis monitor area. Restrictions (1) The axis error "Continuous path control not possible" (error code: 516) will occur, and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "speed-position switching control" cannot be set in positioning data No. 2.) The axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) The error "No command speed" (error code: 503) will occur if "current speed (1)" is set in " Da.8 Command speed". (4) The software stroke limit range check during speed control is made only when the following (a) and (b) are satisfied: (a) When " Pr.21 Current feed value during speed control" is "1: Update current feed value" If the movement amount exceeds the software stroke limit range during speed control in cases of settings other than the one above, the error "Software stroke limit+" (error code: 507) or "Software stroke limit–" (error code: 508) will occur as soon as speed control is changed to position control, and the axis will decelerate to a stop. (b) When " Pr.1 Unit setting" is other than "2: degree" If the unit is "degree", the software stroke limit range check is not performed. (5) If the value set in " Da.6 Positioning address/movement amount" is negative, the error "Outside address range" (error code: 530) will occur. (6) Deceleration processing is carried out from the point where the speed-position switching signal is input if the position control movement amount set in " Da.6 Positioning address/movement amount" is smaller than the deceleration distance from the " Da.8 Command speed". (7) Turn ON the speed-position switching signal in the speed stabilization region (constant speed status). The warning "Speed-position switching (during acceleration) signal ON" (warning code: 508) will occur because of large deviation in the droop pulse amount if the signal is turned ON during acceleration. During use of the servomotor, the actual movement amount after switching of speed control to position control is the "preset movement amount + droop pulse amount". If the signal is turned ON during acceleration/deceleration, the stop position will vary due to large variation of the droop pulse amount. Even though " Md.29 Speed-position switching control positioning amount" is the same, the stop position will change due to a change in droop pulse amount when " Da.8 Command speed" is different. 9 - 93 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Axis 1 Positioning data No. 1 Setting item Setting example Setting details Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speedposition switching control (INC mode)".) Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required. (Setting value is ignored.) Da.6 Positioning address/ movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code Forward run: Set speed-position switching control by forward run. speed/position 10000.0m – INC mode ( Pr.150 = 0) Set the movement amount after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Setting not required. (Setting value is ignored.) 6000.00mm/min Set the speed to be controlled. 500ms 10 Set a time from the positioning stop (pulse output stop) by position control until the positioning complete signal is output. When the system is stopped by speed control, ignore the setting value. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 94 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output in the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control to the address set in " Da.6 Positioning address/movement amount" is exercised. "Speed-position switching control (ABS mode)" is available in two different types: "forward run: speed/position" which starts the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction. "Speed-position switching control (ABS mode)" is valid only when " Pr.1 Unit setting" is "2: degree". Pr.1 Unit setting mm Speed-position function selection inch degree pulse INC mode ABS mode : Setting allowed, : Setting disallowed (If setting is made, the error "Speed-position function selection error" (error code: 935) will occur when the PLC READY (Y0) turns ON.) Use the detailed parameter 1 " Pr.150 Speed-position function selection" to choose "speed-position switching control (ABS mode)". Setting item Pr.150 Speedposition function selection Setting value 2 Setting details Speed-position switching control (ABS mode) Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 34 184 334 484 If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Section 5.2 "List of parameters". 9 - 95 9 MAJOR POSITIONING CONTROL MELSEC-Q Switching over from speed control to position control (1) The control is switched over from speed control to position control by executing the external command signal set in "speed-position switching signal". (2) Besides setting the positioning data, the " Cd.24 Speed-position switching enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from speed control to position control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.) Setting item Cd.24 Speedposition switching enable flag Setting value Setting details 1 Set "1: Switch from speed control to position control when the external command signal [CHG] turns ON.". Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1528 1628 1728 1828 Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 External Set the "2: speed-position and command 2 position-speed switching 62 212 362 512 function requests". selection External Set "1: Validate external Cd.8 1505 1605 1705 1805 command 1 command". valid Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details. Pr.42 9 - 96 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). V Da. 8 Command speed Address set in " Da. 6 Positioning address/movement amount" t Speed control Position control Dwell time ON OFF Positioning start signal [Y10,Y11,Y12,Y13] ON BUSY signal OFF [XC,XD,XE,XF] ON OFF Positioning complete signal [X14,X15,X16,X17] ON Speed-position switching signal OFF ON Cd. 24 Speed-position switching enable flag OFF ON In speed control flag Md. 31 Status: b0 OFF Fig. 9.16 Speed-position switching control (ABS mode) operation timing 9 - 97 9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.00000 Speed-position switching signal ON 90.00000 0.00000 270.00000 90.00000 Stop at 270.00000 [degree] 9 - 98 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (ABS mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7] (WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Md.26 Axis operation status Standby Speed control Position control Standby t4 Output pulse to external source (PULSE) Speed control Position control Positioning operation Speed control carried out until speed-position switching signal turns ON External speed-position switching command t6 t5 Positioning complete signal [X14,X15,X16,X17] t7 M code ON signal (AFTER mode) [X4,X5,X6,X7] t2 Cd.7 M code OFF request OPR complete flag Md.31 Status: b4 Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode) Normal timing time Model t1 t2 t3 t4 t5 t6 t7 QD75P N/QD75D N 0.2 to 1.1ms 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms 0 to 0.9ms 1.0ms 1.1ms 0 to 1.8ms 0 to 1.8ms 2.7 to 4.4ms 0 to 1.8ms 1.0ms Follows parameters QD75P /QD75D The t1 timing time could be delayed by the operation state of other axes. 9 - 99 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (ABS mode) The following table shows the " Md.20 Current feed value" during speedposition switching control (ABS mode) corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during speed control" setting Md.20 Current feed value The current feed value is updated during speed control and position control. 1: Update current feed value Only "1: Update current value" is valid for the setting of " Pr.21 Current feed value during speed control" in speed-position switching control (ABS mode). The error "Speed-position function selection error" (error code: 935) will occur if the " Pr.21 Current feed value during speed control" setting is other than 1. Speed Speed control Position control t Updated Current feed value updated Switching time from speed control to position control There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON. ON Speed-position switching signal OFF ON Speed-position switching latch flag OFF 1ms 9 - 100 9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) The axis error "Continuous path control not possible" (error code: 516) will occur, and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "speed-position switching control" cannot be set in positioning data No. 2.) The axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) The error "No command speed" (error code: 503) will occur if "current speed (-1)" is set in " Da.8 Command speed". (4) If the value set in " Da.6 Positioning address/movement amount" is negative, the error "Outside address range" (error code: 530) will occur. (5) Even though the axis control data " Cd.23 Speed-position switching control movement amount change register" was set in speed-position switching control (ABS mode), it would not function. The set value is ignored. (6) To exercise speed-position switching control (ABS mode), the following conditions must be satisfied: (a) " Pr.1 Unit setting" is "2: degree" (b) The software stroke limit function is invalid (upper limit value = lower limit value) (c) " Pr.21 Current feed value during speed control" is "1: Update current feed value" (d) The setting range of " Da.6 Positioning address/movement amount" is within 0 to 359.99999 (degree) (If the value is outside of the range, the error "Outside address range" (error code: 530) will occur at the start.) (e) The " Pr.150 Speed-position function selection" setting is "2: Speedposition switching control (ABS mode)". (7) If any of the conditions in (6)(a) to (6)(c) is not satisfied in the case of (6)(e), the error "Speed-position function selection error" (error code: 935) will occur when the PLC READY [Y0] turns from OFF to ON. (8) If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the positioning address after N revolutions so that automatic deceleration can always be made. (N: Natural number) In the following example, since making deceleration in the path of dotted line will cause the axis to exceed the positioning addresses twice, the axis will decelerate to a stop at the third positioning address. Speed-position switching signal 360 added 360 added positioning address positioning address positioning address 9 - 101 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1. Axis 1 Positioning data No. 1 Setting item Setting example Setting details Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speedposition switching control (ABS mode)".) Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required. (Setting value is ignored.) Da.6 Positioning address/ movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code Forward run: Set speed-position switching control by forward run. speed/position 270.00000 degree – ABS mode ( Pr.150 = 2) Set the address after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "degree".) Setting not required. (Setting value is ignored.) 6000.00mm/min Set the speed to be controlled. 500ms 10 Set a time from the positioning stop (pulse output stop) by position control until the positioning complete signal is output. When the system is stopped by speed control, ignore the setting value. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 102 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.18 Position-speed switching control In "position-speed switching control" (" Da.2 Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in " Da.6 Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position-speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of position-speed switching control are "Forward run: position/speed" in which the control starts in the forward run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction. Switching over from position control to speed control (1) The control is switched over from position control to speed control by executing the external command signal set in "position-speed switching signal". (2) Besides setting the positioning data, the " Cd.26 Position-speed switching enable flag" must also be turned ON to switch over from position control to speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control. The control will be switched over from position control to speed control when the position-speed switching signal turns from OFF to ON again. Only speed control will be carried out when the " Cd.26 Position-speed switching enable flag" and position-speed switching signal are ON at the operation start.) Setting item Cd.26 Positionspeed switching enable flag Setting value Setting details 1 Set "1: Switch from position control to speed control when the external command signal [CHG] turns ON". Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1532 1632 1732 1832 Position-speed switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals. Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 External Set the "2: speed-position and command 2 position-speed switching 62 212 362 512 function requests". selection External Set "1: Validate external Cd.8 command 1 1505 1605 1705 1805 command". valid Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details. Pr.42 9 - 103 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control of position-speed switching control. V Da. 8 Command speed t Position control Speed control ON Positioning start signal [Y10,Y11,Y12,Y13] OFF ON BUSY signal [XC,XD,XE,XF] Positioning complete signal [X14,X15,X16,X17] OFF Does not turn ON even when control is stopped by stop command. OFF ON Position-speed switching signal OFF ON Cd.26 Position-speed switching enable flag Stop command In speed control flag Md.31 Status: b0 OFF ON OFF ON OFF Fig. 9.18 Position-speed switching control operation timing 9 - 104 9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during position-speed switching control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7] (WITH mode) t2 Cd. 7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Standby Md.26 Axis operation status Position control Speed control Stopped t4 Output pulse to external source (PULSE) Position control Speed control Positioning operation Position control carried out until position-speed switching signal turns ON. External position-speed switching command Speed control command speed is from the input position of the external position-speed switching signal. t6 Position-speed switching latch flag Md.31 Status: b5 Positioning complete signal [X14,X15,X16,X17] M code ON signal [X4,X5,X6,X7] (AFTER mode) t2 Cd. 7 M code OFF request OPR complete flag Md.31 Status: b4 Stop signal [STOP] Fig. 9.19 Operation timing and processing time during position-speed switching control Normal timing time Model t1 QD75P N/QD75D N 0.2 to 1.1ms QD75P /QD75D 1.0 to 1.4ms t2 t3 t4 t5 t6 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms - 1.0ms 0 to 1.8ms 0 to 1.8ms 2.7 to 4.4ms - 1.0ms The t1 timing time could be delayed by the operation state of other axes. 9 - 105 9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during position-speed switching control The following table shows the " Md.20 Current feed value" during positionspeed switching control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during speed control" setting Md.20 Current feed value The current feed value is updated during position control, and the current feed value at the time of switching is 0: Do not update current feed value maintained as soon as position control is switched to speed control. Speed Position control 1: Update current feed value The current feed value is updated during position control and speed control. 2: Zero clear current feed value The current feed value is updated during positioning control, and the current feed value is cleared (to "0") as soon as position control is switched to speed control. Speed control Speed Position control Speed control Speed t Updated Speed control t Maintained (a) Current feed value not updated Position control t Updated Updated (b) Current feed value updated 0 (c) Current feed value zero cleared Switching time from position control to speed control There is 1ms from the time the position-speed switching signal is turned ON to the time the position-speed switching latch flag ( Md.31 Status: b5) turns ON. ON Position-speed switching signal OFF Position-speed switching latch flag OFF ON 1ms 9 - 106 9 MAJOR POSITIONING CONTROL MELSEC-Q Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. (1) The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control. (2) The "new command speed" is stored in " Cd.25 Position-speed switching control speed change register" by the sequence program during position control. This value then becomes the speed control command speed when the position-speed switching signal turns ON. Position control Speed control Position-speed switching control start Position control start t Speed change enable ON Position-speed switching signal OFF Setting after the position-speed switching signal ON is ignored. Cd.25 Position-speed switching control speed change register V2 0 V3 V2 becomes the speed control command speed. ON Position-speed switching OFF latch flag Md.31 Status: b5 Stop signal ON OFF Fig. 9.20 Speed control speed change timing 9 - 107 9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS The machine recognizes the presence of a command speed change request when the data is written to " Cd.25 Position-speed switching control speed change register" with the sequence program. The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal. The command speed change can be enabled/disabled with the interlock function in speed control using the "position-speed switching latch flag" ( Md.31 Status: b5) of the axis monitor area. Restrictions (1) The axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". (2) "Position-speed switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "position-speed switching control" cannot be set in positioning data No. 2.) The axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) The software stroke limit range is only checked during speed control if the "1: Update current feed value" is set in " Pr.21 Current feed value during speed control". The software stroke limit range is not checked when the control unit is set to "degree". (4) The error "Software stroke limit+" or "Software stroke limit-" (error code: 507 or 508) will occur and the operation cannot start if the start point address or end point address for position control exceeds the software stroke limit range. (5) Deceleration stop will be carried out if the position-speed switching signal is not input before the machine is moved by a specified movement amount. When the position-speed switching signal is input during automatic deceleration by positioning control, acceleration is carried out again to the command speed to continue speed control. When the position-speed switching signal is input during deceleration to a stop with the stop signal, the control is switched to the speed control to stop the machine. Restart is carried out by speed control using the restart command. (6) The warning "Speed limit value over" (warning code: 501) will occur and control is continued by " Pr.8 Speed limit value" if a new speed exceeds " Pr.8 Speed limit value" at the time of change of the command speed. (7) If the value set in " Da.6 Positioning address/movement amount" is negative, the error "Outside address range" (error code: 530) will occur. 9 - 108 9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1. Axis 1 Positioning data No. 1 Setting item Setting example Setting details Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous positioning control" and "Continuous path control" cannot be set in "position/speed changeover control".) Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration. Da.5 Axis to be interpolated – Setting not required. (Setting value is ignored.) Da.6 Positioning address/ movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.10 M code Forward run: Set position-speed switching control. position/speed 10000.0m – Set the movement amount at the time of position control before the switching to speed control. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Setting not required. (Setting value is ignored.) 6000.00mm/min Set the speed to be controlled. 500ms 10 Set the time the machine dwells after the positioning stop (pulse output stop) by position control to the output of the positioning complete signal. If the machine is stopped by speed control, the setting value will be ignored. Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 109 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the " Md.20 Current feed value" of the stopped axis is changed to a random address set by the user. (The " Md.21 Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below. [1] Changing to a new current value using the positioning data [2] Changing to a new current value using the start No. (No. 9003) for a current value changing The current value changing using method [1] is used during continuous positioning of multiple blocks, etc. [1] Changing to a new current value using the positioning data Operation chart The following chart shows the operation timing for a current value changing. The " Md.20 Current feed value" is changed to the value set in " Da.6 Positioning address/movement amount" when the positioning start signal turns ON. ON Positioning start signal [Y10,Y11,Y12,Y13] Md.20 Current feed value OFF 50000 0 Current feed value changes to the positioning address designated by the positioning data of the current value changing. The above chart shows an example when the positioning address is "0". Restrictions (1) An axis error "New current value not possible" (error code: 515) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in current value changing.) (2) "Current value changing" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "current value changing" cannot be set in positioning data No. 2.) An axis error "New current value not possible" (error code: 515) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) An axis error "Outside new current value range" (error code: 514) will occur and the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the value set in " Da.6 Positioning address/movement amount" is outside the setting range (0 to 359.99999 [degree]). 9 - 110 9 MAJOR POSITIONING CONTROL MELSEC-Q (4) If the value set in " Da.6 Positioning address/movement amount" is outside the software stroke limit ( Pr.12 , Pr.13 ) setting range, an error "Software stroke limit +" or "Software stroke limit –" (error code: 507 or 508) will occur at the positioning start, and the operation will not start. Positioning data setting examples The following table shows the setting examples when " current value changing" is set in the positioning data No. 1 of axis 1. Setting item Axis 1 positioning data No. 1 Setting example Setting details Positioning complete Set "Positioning complete" assuming that the next positioning data will be executed. ("Continuous path control" cannot be set by current value change.) Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. – Setting not required (Setting value is ignored.) Da.4 Deceleration time No. – Setting not required (Setting value is ignored.) Da.5 Axis to be interpolated – Setting not required (Setting value is ignored.) Da.6 Positioning address/ movement amount Current value changing 10000.0 m Set the current value changing. Set the address to which address change is desired. (Assuming that the " Pr.1 Unit setting" is set to "mm".) Da.7 Arc address – Setting not required (Setting value is ignored.) Da.8 Command speed – Setting not required (Setting value is ignored.) Da.9 Dwell time – Setting not required (Setting value is ignored.) Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data. Refer to Section 5.3 "List of positioning data" for information on the setting details. 9 - 111 9 MAJOR POSITIONING CONTROL [2] MELSEC-Q Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart The current value is changed by setting the new current value in the current value changing buffer memory " Cd.9 Current value changing", setting "9003" in the " Cd.3 Positioning start No.", and turning ON the positioning start signal. ON Positioning start signal OFF [Y10,Y11,Y12,Y13] Md.20 Current feed value 50000 0 Current value changes to the positioning address designated by the current value changing buffer memory. The above chart shows an example when the positioning address is "0". Restrictions (1) An axis error "Outside new current value range" (error code: 514) will occur if the designated value is outside the setting range when "degree" is set in "Unit setting". (2) An error "Software stroke limit +" or "Software stroke limit –" (error code: 507 or 508) will occur if the designated value is outside the software stroke limit range. (3) The current value cannot be changed during stop commands and while the M code ON signal is ON. (4) The M code output function is made invalid. Current value changing procedure The following shows the procedure for changing the current value to a new value. 1) Write the current value to " Cd. 9 Current value changing" 2) Write "9003" in " Cd. 3 Positioning start No." 3) Turn ON the positioning start signal. 9 - 112 9 MAJOR POSITIONING CONTROL MELSEC-Q Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The " Md.20 Current feed value is changed to "5000.0 m" in the example shown.) (1) Set the following data. (Set with the sequence program shown in (3), while referring to the start time chart shown in (2).) Setting item Cd.3 Cd.9 Setting details 9003 Set the start No. "9003" for the new current value. 1500 1600 1700 1800 Set the new " Md.20 Current feed value". 1506 1507 1606 1607 1706 1707 1806 1807 Positioning start No. Current value changing Buffer memory address Setting value 50000 Axis 1 Axis 2 Axis 3 Axis 4 Refer to Section 5.7 "List of control data" for details on the setting details. (2) The following shows a start time chart. V Start of data No. 9003 t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal [X14] Error detection signal [X8] Md.20 Current feed value Cd.3 Positioning start No. Cd.9 Current value changing Address during positioning execution 50000 Data No. during positioning execution 9003 50000 Fig. 9.21 Changing to a new current value using the start No. (No. 9003) for a current value changing 9 - 113 9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Add the following sequence program to the control program, and write it to the CPU module. 例 Example Current value changing Store new current feed value in D106 and D107 9 - 114 9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control system. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples The following table shows the setting examples when "NOP instruction" is set in positioning data No. 1 of axis 1. Setting item Axis 1 positioning data No. 1 Setting example Setting details – Setting not required (Setting value is ignored.) Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. – Setting not required (Setting value is ignored.) Da.4 Deceleration time No. – Setting not required (Setting value is ignored.) Da.5 Axis to be interpolated – Setting not required (Setting value is ignored.) Da.6 Positioning address/ movement amount – Setting not required (Setting value is ignored.) Da.7 Arc address – Setting not required (Setting value is ignored.) Da.8 Command speed – Setting not required (Setting value is ignored.) Da.9 Dwell time – Setting not required (Setting value is ignored.) M code – Setting not required (Setting value is ignored.) Da.10 NOP instruction Set the NOP instruction Refer to Section 5.3 "List of positioning data" for information on the setting details. Restrictions An error "Control system setting error" (error code: 524) will occur if the "NOP instruction" is set for the control system of the positioning data No. 600. POINT