Mitsubishi Electronics Programmable Logic Controller Qd75D Users Manual Type QD75P/QD75D Positioning Module User's

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Type QD75P/QD75D Positioning Module

User's Manual

Type QD75P/QD75D Positioning Module
User's Manual

Type QD75P/QD75D Positioning Module User's Manual

MODEL

QD75-U-S-E

MODEL
CODE

13JR09

SH(NA)-080058-C(0106)MEE

HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO
NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the
Ministry of International Trade and Industry for service transaction permission.

Specifications subject to change without notice.
Printed in Japan on recycled paper.

Mitsubishi Programmable
Logic Controller

QD75P1
QD75P2
QD75P4
QD75D1
QD75D2
QD75D4

SAFETY INSTRUCTIONS
(Always read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable logic controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

DANGER

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

! CAUTION

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

Note that the ! CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.

[Design Instructions]
!

DANGER

Provide a safety circuit outside the programmable logic controller so that the entire system will
operate safely even when an external power supply error or PLC 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 PLC.
(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 PLC.
(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 Instructions]
!

CAUTION

Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm (3.94in.) or more.
Failure to observe this could lead to malfunctioning caused by noise.

[Mounting Instructions]
!

CAUTION

Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
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 PLC 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 Instructions]
!

DANGER

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

[Startup/Maintenance Instructions]
!

DANGER

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-2

[Startup/Maintenance Instructions]
!

CAUTION

[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 Instructions]
!

CAUTION

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

A-3

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

Print Date
Dec., 1999
Oct., 2000

Jun., 2001

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

Apr., 2003

SH (NA)-080058-D

Partial corrections and additions
SAFETY INSTRUCTIONS, CONTENTS, Component List,
Section 1.2.3, Section 1.4, Section 2.3, Section 2.4, Section 3.1,
Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.4.1, Section
3.4.4, Section 4.1.2, Section 4.3.1, Section 4.3.2, Section 5.1.1,
Section 5.1.7, Section 5.1.8, Section 5.2.1, Section 5.2.4, Section
5.6.2, Section 5.7.1, Section 6.4, Section 6.5.4, Section 6.5.6, Section
8.2.3 to Section 8.2.8, Section 9.2.17, Section 9.2.19, Section 11.2.1,
Section 11.3.1, Section 11.4.1, Section 12.1.1, Section 12.5.1, Section
12.5.2, Section 12.7.3, Section 12.7.5, Section 12.7.9, Section 14.4,
Section 15.2, Appendix 1.1, Appendix 4.1 to Appendix 4.3, Appendix
7.1, Appendix 9.2, Appendix 10 to Appendix 13, INDEX

Oct., 2003

SH (NA)-080058-E

Partial corrections and additions
CONTENTS, Section 1.1.1, Section 1.4, Section 2.2, Section 2.4,
Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.3.2, Section
3.4.3, Section 3.4.4, Section 5.1.1, Section 5.1.8, Section 5.7.1,
Section 6.5.3, Section 6.5.6, Section 7.1.2, Section 9.1.2, Section
9.2.3 to Section 9.2.9, Section 11.2.1, Section 11.3.1, Section 11.4.1,
Section 12.2.1, Section 12.7.10, Appendix 9.2, Appendix 12, INDEX

A-4

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

Print Date

Manual Number

Revision

Feb., 2004

SH (NA)-080058-F

Nov., 2004

SH (NA)-080058-G Partial corrections and additions

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

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

Japanese Manual Version SH-0800047-L
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-5

INTRODUCTION
Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series.
Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC
before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS.............................................................................................................................A- 1
REVISIONS ....................................................................................................................................................A- 4
INTRODUCTION ...........................................................................................................................................A- 6
CONTENTS....................................................................................................................................................A- 6
About Manuals ..............................................................................................................................................A- 13
Using This Manual.........................................................................................................................................A- 13
Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES.................................................................A- 13
Generic Terms and Abbreviations ................................................................................................................A- 14
Component List .............................................................................................................................................A- 15
Section 1 Product Specifications and Handling

1. Product Outline

1- 1 to 1- 22

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 for restarting......................................................................................................................... 1- 21
1.3 Restrictions with a system using a stepping motor................................................................................ 1- 22
1.4 Function additions/modifications according to function version B......................................................... 1- 22
2. System Configuration

2- 1 to 2- 6

2.1 General image of system......................................................................................................................... 22.2 Component list ......................................................................................................................................... 22.3 Applicable system .................................................................................................................................... 22.4 How to check the function version and SERIAL No. ............................................................................. 2-

A-6

2
4
5
6

3. Specifications and Functions

3- 1 to 3- 24

3.1 Performance specifications...................................................................................................................... 3- 2
3.2 List of functions ....................................................................................................................................... 3- 4
3.2.1 QD75 control functions...................................................................................................................... 3- 4
3.2.2 QD75 main functions......................................................................................................................... 3- 6
3.2.3 QD75 sub functions and common functions .................................................................................... 3- 8
3.2.4 Combination of QD75 main functions and sub functions................................................................ 3- 12
3.3 Specifications of input/output signals with PLC CPU............................................................................. 3- 14
3.3.1 List of input/output signals with PLC CPU....................................................................................... 3- 14
3.3.2 Details of input signals (QD75 PLC CPU) .................................................................................. 3- 15
3.3.3 Details of output signals (PLC CPU QD75) ................................................................................ 3- 16
3.4 Specifications of input/output interfaces with external devices ............................................................. 3- 17
3.4.1 Electrical specifications of input/output signals ............................................................................... 3- 17
3.4.2 Signal layout for external device connection connector.................................................................. 3- 19
3.4.3 List of input/output signal details...................................................................................................... 3- 20
3.4.4 Input/output interface internal circuit................................................................................................ 3- 22
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 Precautions for installation................................................................................................................ 4- 7
4.3 Wiring........................................................................................................................................................ 4- 8
4.3.1 Precautions for wiring........................................................................................................................ 4- 8
4.3.2 Wiring of the differential driver common terminal............................................................................ 4- 13
4.4 Confirming the installation and wiring..................................................................................................... 4- 14
4.4.1 Items to confirm when installation and wiring are completed ......................................................... 4- 14
4.5 Maintenance............................................................................................................................................ 4- 15
4.5.1 Precautions for maintenance ........................................................................................................... 4- 15
4.5.2 Disposal instructions ........................................................................................................................ 4- 15
5. Data Used for Positioning Control (List of buffer memory addresses)

5- 1 to 5-132

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- 4
5.1.3 Setting items for OPR parameters.................................................................................................... 5- 6
5.1.4 Setting items for positioning data...................................................................................................... 5- 7
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- 16

A-7

5.2 List of parameters ................................................................................................................................... 5- 20
5.2.1 Basic parameters 1 .......................................................................................................................... 5- 20
5.2.2 Basic parameters 2 .......................................................................................................................... 5- 26
5.2.3 Detailed parameters 1...................................................................................................................... 5- 28
5.2.4 Detailed parameters 2...................................................................................................................... 5- 36
5.2.5 OPR basic parameters..................................................................................................................... 5- 46
5.2.6 OPR detailed parameters ................................................................................................................ 5- 54
5.3 List of positioning data ............................................................................................................................ 5- 58
5.4 List of block start data ............................................................................................................................. 5- 74
5.5 List of condition data ............................................................................................................................... 5- 80
5.6 List of monitor data.................................................................................................................................. 5- 86
5.6.1 System monitor data ........................................................................................................................ 5- 86
5.6.2 Axis monitor data.............................................................................................................................. 5- 96
5.7 List of control data.................................................................................................................................. 5-110
5.7.1 System control data......................................................................................................................... 5-110
5.7.2 Axis control data.............................................................................................................................. 5-112
6. Sequence Program Used for Positioning Control

6- 1 to 6- 44

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- 42
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-8

2
2
5
6

Section 2 Control Details and Setting

8. OPR Control

8- 1 to 8- 22

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- 6
8.2.4 OPR method (2): Stopper method 1) ............................................................................................... 8- 8
8.2.5 OPR method (3): Stopper method 2) .............................................................................................. 8- 11
8.2.6 OPR method (4): Stopper method 3) .............................................................................................. 8- 14
8.2.7 OPR method (5): Count method 1).................................................................................................. 8- 16
8.2.8 OPR method (6): Count method 2).................................................................................................. 8- 18
8.3 Fast OPR................................................................................................................................................. 8- 20
8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 20
9. Major Positioning Control

9- 1 to 9-114

9.1 Outline of major positioning controls ....................................................................................................... 9- 2
9.1.1 Data required for major positioning control ...................................................................................... 9- 4
9.1.2 Operation patterns of major positioning controls ............................................................................. 9- 5
9.1.3 Designating the positioning address................................................................................................ 9- 15
9.1.4 Confirming the current value............................................................................................................ 9- 16
9.1.5 Control unit "degree" handling ......................................................................................................... 9- 18
9.1.6 Interpolation control.......................................................................................................................... 9- 21
9.2 Setting the positioning data ................................................................................................................... 9- 25
9.2.1 Relation between each control and positioning data ...................................................................... 9- 25
9.2.2 1-axis linear control .......................................................................................................................... 9- 27
9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 29
9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 33
9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -39
9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 43
9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 45
9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 47
9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 51
9.2.10 2-axis circular interpolation control with sub point designation..................................................... 9- 53
9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 59
9.2.12 1-axis speed control ....................................................................................................................... 9- 67
9.2.13 2-axis speed control ....................................................................................................................... 9- 70
9.2.14 3-axis speed control ....................................................................................................................... 9- 73
9.2.15 4-axis speed control ....................................................................................................................... 9- 77
9.2.16 Speed-position switching control (INC mode)............................................................................... 9- 82
9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 90
9.2.18 Position-speed switching control ................................................................................................... 9- 98
9.2.19 Current value changing................................................................................................................. 9-105
A-9

9.2.20 NOP instruction ............................................................................................................................. 9-110
9.2.21 JUMP instruction ........................................................................................................................... 9-111
9.2.22 LOOP............................................................................................................................................. 9-113
9.2.23 LEND ............................................................................................................................................. 9-114
10. High-Level Positioning Control

10- 1 to 10- 26

10.1 Outline of high-level positioning control............................................................................................... 10- 2
10.1.1 Data required for high-level positioning control............................................................................ 10- 3
10.1.2 " Block start data" and "condition data" configuration .................................................................. 10- 4
10.2 High-level positioning control execution procedure ........................................................................... 10- 6
10.3 Setting the block start data .................................................................................................................. 10- 7
10.3.1 Relation between various controls and block start data .............................................................. 10- 7
10.3.2 Block start (normal start) .............................................................................................................. 10- 8
10.3.3 Condition start .............................................................................................................................. 10- 10
10.3.4 Wait start....................................................................................................................................... 10- 11
10.3.5 Simultaneous start ...................................................................................................................... 10- 12
10.3.6 Repeated start (FOR loop) .......................................................................................................... 10- 13
10.3.7 Repeated start (FOR condition) .................................................................................................. 10- 14
10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 15
10.4 Setting the condition data ................................................................................................................... 10- 16
10.4.1 Relation between various controls and the condition data ......................................................... 10- 16
10.4.2 Condition data setting examples ................................................................................................. 10- 19
10.5 Multiple axes simultaneous start control ............................................................................................ 10- 20
10.6 Start program for high-level positioning control ................................................................................. 10- 23
10.6.1 Starting high-level positioning control.......................................................................................... 10- 23
10.6.2 Example of a start program for high-level positioning control..................................................... 10- 24
11. Manual Control

11- 1 to 11- 36

11.1 Outline of manual control .................................................................................................................... 11- 2
11.1.1 Three manual control methods..................................................................................................... 11- 2
11.2 JOG operation...................................................................................................................................... 11- 4
11.2.1 Outline of JOG operation .............................................................................................................. 11- 4
11.2.2 JOG operation execution procedure ............................................................................................ 11- 7
11.2.3 Setting the required parameters for JOG operation..................................................................... 11- 8
11.2.4 Creating start programs for JOG operation................................................................................. 11- 10
11.2.5 JOG operation example ............................................................................................................... 11- 13
11.3 Inching operation................................................................................................................................. 11- 17
11.3.1 Outline of inching operation ......................................................................................................... 11- 17
11.3.2 Inching operation execution procedure ....................................................................................... 11- 20
11.3.3 Setting the required parameters for inching operation................................................................ 11- 21
11.3.4 Creating a program to enable/disable the inching operation...................................................... 11- 22
11.3.5 Inching operation example........................................................................................................... 11- 25
11.4 Manual pulse generator operation...................................................................................................... 11- 27
11.4.1 Outline of manual pulse generator operation.............................................................................. 11- 27
11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 31
11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 32
A - 10

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

12- 1 to 12- 98

12.1 Outline of sub functions ....................................................................................................................... 12- 2
12.1.1 Outline of sub functions................................................................................................................. 12- 2
12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4
12.2.1 OPR retry function......................................................................................................................... 12- 4
12.2.2 OP shift function ........................................................................................................................... 12- 8
12.3 Functions for compensating the control ............................................................................................. 12- 11
12.3.1 Backlash compensation function ................................................................................................. 12- 11
12.3.2 Electronic gear function................................................................................................................ 12- 13
12.3.3 Near pass function ....................................................................................................................... 12- 18
12.4 Functions to limit the control ............................................................................................................... 12- 21
12.4.1 Speed limit function...................................................................................................................... 12- 21
12.4.2 Torque limit function..................................................................................................................... 12- 23
12.4.3 Software stroke limit function....................................................................................................... 12- 26
12.4.4 Hardware stroke limit function ..................................................................................................... 12- 32
12.5 Functions to change the control details.............................................................................................. 12- 34
12.5.1 Speed change function ................................................................................................................ 12- 34
12.5.2 Override function .......................................................................................................................... 12- 41
12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 44
12.5.4 Torque change function ............................................................................................................... 12- 48
12.6 Absolute position restoration function ................................................................................................ 12- 50
12.7 Other functions.................................................................................................................................... 12- 58
12.7.1 Step function................................................................................................................................. 12- 58
12.7.2 Skip function ................................................................................................................................. 12- 63
12.7.3 M code output function................................................................................................................. 12- 66
12.7.4 Teaching function......................................................................................................................... 12- 70
12.7.5 Target position change function................................................................................................... 12- 77
12.7.6 Command in-position function ..................................................................................................... 12- 81
12.7.7 Acceleration/deceleration processing function............................................................................ 12- 84
12.7.8 Pre-reading start function............................................................................................................. 12- 87
12.7.9 Deceleration start flag function .................................................................................................... 12- 92
12.7.10 Stop command processing for deceleration stop function........................................................ 12- 96
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- 22

14.1 List of dedicated instructions ............................................................................................................... 14- 2
14.2 Interlock during dedicated instruction is executed .............................................................................. 14- 2
14.3 ABRST1, ABRST2, ABRST3, ABRST4.............................................................................................. 14- 3
A - 11

14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 8
14.5 TEACH1, TEACH2, TEACH3, TEACH4 ............................................................................................ 14- 12
14.6 PFWRT................................................................................................................................................ 14- 16
14.7 PINIT ................................................................................................................................................... 14- 20
15. Troubleshooting

15- 1 to 15- 38

15.1 Error and warning details..................................................................................................................... 15- 2
15.2 List of errors ......................................................................................................................................... 15- 6
15.3 List of warnings ................................................................................................................................... 15- 32
15.4 LED display functions ......................................................................................................................... 15- 38
Appendices

Appendix- 1 to Appendix-108

Appendix 1 Version up of the functions............................................................................................Appendix- 2
Appendix 1.1 Comparison of functions according to function versions.......................................Appendix- 2
Appendix 2 Format sheets ................................................................................................................Appendix- 4
Appendix 2.1 Positioning Module operation chart .......................................................................Appendix- 4
Appendix 2.2 Parameter setting value entry table .......................................................................Appendix- 6
Appendix 2.3 Positioning data setting value entry table ............................................................Appendix- 12
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses...............................Appendix- 13
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
.......................................................................................................................................Appendix- 37
Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver) ...............Appendix- 37
Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) .....Appendix- 38
Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver) ...............Appendix- 39
Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
.......................................................................................................................................Appendix- 40
Appendix 5.1 Connection example of QD75P and VEXTA UPD (Open collector)................Appendix- 40
Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co.,
Ltd. ................................................................................................................................Appendix- 41
Appendix 6.1 Connection example of QD75D
and MINAS-A series (Differential driver)......Appendix- 41
Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
.......................................................................................................................................Appendix- 42
Appendix 7.1 Connection example of QD75D and PYO series (Differential driver)..............Appendix- 42
Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
.......................................................................................................................................Appendix- 43
Appendix 8.1 Connection example of QD75D and Σ- series (Differential driver) .................Appendix- 43
Appendix 9 Comparisons with conventional positioning modules..................................................Appendix- 44
Appendix 9.1 Comparisons with A1SD71S2 model....................................................................Appendix- 44
Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 45
Appendix 10 MELSEC Explanation of positioning terms................................................................Appendix- 68
Appendix 11 Positioning control troubleshooting ............................................................................Appendix- 92
Appendix 12 List of buffer memory addresses.................................................................................Appendix-98
Appendix 13 External dimension drawing ......................................................................................Appendix-107

A - 12

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)

Type QD75P/QD75D Positioning Module User's Manual
(Hardware)
Describes the performance, specifications, I/O interface, component names, and startup procedure of
the respective positioning modules: QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4.

IB-0800063
(13JQ73)

(The manual is supplied with the module.)

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

SH-080172

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

(13JU19)

operations, and testing. (The manual is supplied with the software.)

Using This Manual
The symbols used in this manual are shown below.

Pr.
Da.
Md.
Cd.

........ Symbol indicating positioning parameter and OPR parameter item.
....... Symbol indicating positioning data, block start data and condition
data item.
....... Symbol indicating monitor data item.
....... Symbol indicating control data item.

(A serial No. is inserted in the

mark.)

Representation of numerical values used in this manual.
Buffer memory addresses, error codes and warning codes are represented in
decimal.
X/Y devices are represented in hexadecimal.
Setting data and monitor data are represented in decimal or hexadecimal. Data
ended by "H" are represented in hexadecimal.
(Example) 10.........Decimal
10H ......Hexadecimal
Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES
For details on making Mitsubishi PLC conform to the EMC and Low Voltage
Directives when installing it in your product, please refer to Chapter 3, “EMC AND
LOW-VOLTAGE DIRECTIVES” of the using PLC CPU module User’s Manual
(Hardware).
The CE logo is printed on the rating plate on the main body of the PLC that
conforms to the EMC and Low Voltage Directives.
To make this product conform to the EMC and Low Voltage Directives, please
refer to Section 4.3.1 "Precautions for wiring".
A - 13

Generic Terms and Abbreviations
Unless specially noted, the following generic terms and abbreviations are used in this
manual.
Generic term/abbreviation

Details of generic term/abbreviation

PLC CPU

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

QD75

Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and
QD75D4.
The module type is described to indicate a specific module.

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).

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

Abbreviation for manual pulse generator (prepared by user).

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

Generic term for DOS/V personal computer.

Workpiece

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

Axis 1, axis 2, axis 3,
axis 4

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 - 14

Component List
The table below shows the component included in respective positioning modules:
Module name

Description

Quantity

QD75P1

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

QD75P2

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

QD75P4

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

QD75D1 Positioning Module(1-axis differential driver output system)

Differential driver common terminal

QD75D2 Positioning Module(2-axes differential driver output system)

Differential driver common terminal

QD75D4 Positioning Module(4-axes differential driver output system)

Differential driver common terminal

QD75D1
QD75D2
QD75D4

A - 15

MEMO

A - 16

Section 1

Section 1 Product Specifications and Handling

Section 1 is configured for the following purposes (1) to (5).
(1) To understand the outline of positioning control, and the 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 Section 2 for details on each control.

Chapter 1

Product outline .............................................................................................. 1- 1 to 1- 22

Chapter 2

System configuration .................................................................................... 2- 1 to 2-

Chapter 3

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

Chapter 4

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

Chapter 5

Data Used for Positioning Control ................................................................ 5- 1 to 5-132

Chapter 6

Sequence Program Used for Positioning Control........................................ 6- 1 to 6- 44

Chapter 7

Memory Configuration and Data Process .................................................... 7- 1 to 7- 12

MEMO

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 for restarting ......................................................................................1- 21
1.3 Restrictions with a system using a stepping motor ....................................................1- 22
1.4 Function additions/modifications according to function version B .............................1- 22

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) One, two and four axis modules are available for both the open collector
system pulse output (QD75P1, QD75P2, and QD75P4) and differential
driver system pulse output (QD75D1, QD75D2, and QD75D4), comprising
six different models.
A model is determined by the drive unit type and number of axes. (Refer to
Section 2.2.)
(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 PLC CPU, 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

MELSEC-Q

(c)

Continuous positioning control using multiple positioning data can be
executed in accordance with the operation patterns the user assigned to
the positioning data. (Refer to Section 5.3 and 9.1.2)
Continuous positioning control can be executed over multiple blocks, where
each block consists of multiple positioning data. (Refer to Section 10.3.2.)

(d) OPR control is given additional features (Refer to Section 8.2.)
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: automatic
trapezoidal acceleration/deceleration and S-pattern
acceleration/deceleration. (Refer to Section 12.7.7.)
(The S-pattern acceleration/deceleration control is disabled if stepping
motors are used. Refer to Section 1.3.)

(3) Quick startup (Refer to Section 3.1.)
A positioning operation starts up quickly taking as little as 6 ms to 7 ms.
When operation using simultaneous start function or interpolation operation is
executed, the axes start without delay.
(Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and
simultaneous start function
Axis 3 start
Axis 2 and Axis 4 are started by the : No delay in Axis 2 and
interpolation operation
Axis 4 start

(4) Faster pulse output and allowance of longer distance to drive unit
(Refer to Section 3.1.)
The modules with a differential driver (QD75D1, QD75D2, and QD75D4)
incorporate the improvements in pulse output speed and maximum distance to
the drive unit.
• QD75D1/QD75D2/QD75D4: 1 Mpulse/s, 10 m max.
• QD75P1/QD75P2/QD75P4: 200 kpulse/s, 2 m 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

MELSEC-Q

(6) 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)
Gear and ball screw
Y axis
servomotor

Y axis

15m/min
(2000r/min)

320mm 160mm

X axis
Y axis

15m/min
(1875r/min)

Press
punching
12 s
Press head

PLC
MELSEC-Q

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
X axis
servomotor

Servo
amplifier

• To punch insulation material or leather, etc.,

QD75

AD75
Servo
amplifier

• When the material type or shape changes, the

press head die is changed, and the positioning
pattern is changed.

X axis
Y axis

Palletizer
• Using the servo for one axis, the palletizer is

Conveyor control
Conveyor

positioned at a high accuracy.
• The amount to lower the palletizer according to

Servomotor
(with brakes)

the material thickness is saved.
Position detector

G
Servo amplifier

Reduction
gears

Palletizer
Unloader control

Ball screw
(From QD75)

PLC
MELSEC-Q

Teaching unit
AD75TU

QD75

AD75

Compact machining center (ATC magazine positioning)
• The ATC tool magazine for a compact

Servomotor

machining center is positioned.

Coupling Reduction

• The relation of the magazine's current value

gears

and target value is calculated, and positioning
is carried out with forward run or reverse run to
achieve the shortest access time.

ATC tool
magazine

Servo
amplifier
QD75

Positioning
pin

PLC
MELSEC-Q
AD75

Tool
(12 pcs., 20 pcs.)
Rotation direction
for calling
11, 12, 1, 2 or 3

Rotation direction
for calling
17 to 20, 1 to 5

Current
value
retrieval
position
Rotation direction
for calling 5, 6, 7, 8, 9 or 10

Current
value
retrieval
position
Rotation direction
for calling 7 to 16

1-5

1 PRODUCT OUTLINE

MELSEC-Q

Lifter (Storage of Braun tubes onto aging rack)
Unloader
Loader/unloader

B conveyor
C
conveyor
A conveyor

Counterweight

storage onto the rack is carried out by
positioning with the AC servo.
• The up/down positioning of the lifter is carried

Aging rack

Lifter

• During the aging process of braun tubes,

Servo amplifier

out with the 1-axis servo, and the horizontal
position of the aging rack is positioned with the
2-axis servo.

Reduction
gears

Positioning module

Loader

Servomotor QD75

Servomotor
(with brakes)
Servo amplifier

PLC MELSEC-Q

Index table (High-accuracy indexing of angle)
• The index table is positioned at a high accuracy

AD75
QD75

PLC
MELSEC-Q

using the 1-axis servo.

Digital switch

Servo
amplifier

Index table

Detector
Servomotor

Worm gears

Inner surface grinder
Servomotor

• The grinding of the workpiece's inner surface

Motor
1M

Inverter

Servo
amplifier
220VAC
60Hz

• The rotation of the workpiece is controlled with

Motor

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.

PLC
Operation
MELSEC-Q

a
b
c

QD75

is controlled with the servo and inverter.

Workpiece
Grinding stone

panel
d
e

a. Total feed
d. Rough grinding speed (mm/s)
amount (mm)
b. Finishing
e. Fine grinding
feed amount (mm)
speed (mm/s)
c. Compensation
amount (mm)

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 PLC CPU.
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.

PLC CPU
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 PLC CPU, 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.
Pulse frequency
This area is the total
[pps]
No. of commanded
pulses.
Positioning
module

Servo
amplifier

Servo
motor

Detector
(Pulse
encoder)

Speed = Pulses frequency
Feedback pulses
Movement amount = No.of pulses
Feedback pulses =
Pulses generated by detector

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
PLC CPU

Drive unit

Positioning module
QD75 Forward run
pulse train

Program

Read, write, etc.
Setting data

Peripheral
devices
interface

Reverse run
pulse train

Deviation
counter

D/A
converter

Speed
command

Servomotor

Servo
amplifier

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
Pulse droop
Pulse
amount
distribution

Speed V

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

Workpiece
Worm gear

Pulse encoder
(PLG)
R

Table

Servomotor
P0

L
P

A
Vs
n
L
R
V
N
K

:
:
:
:
:
:
:
:

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)

ε : Deviation counter droop pulse amount
P0 : OP (pulse)
P : 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 pulser 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 pulser amount.
The deviation counter droop pulser amount is determined by the
command pulse frequency and position loop gain.
ε=

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 movement amount per pulse,
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

PLC
CPU
Y0
X0
X1
Y8,YA,YC,YE
Y9,YB,YD,YF
Y14,Y15,Y16,Y17

The outline of the signal communication between the QD75 and PLC CPU, peripheral
device and drive unit, etc., is shown below.
(A peripheral device communicates with the QD75 via the PLC CPU to which it is
connected)
QD75
PLC READY signal
QD75 READY signal
Syncronization flag

Drive unit READY signal
Upper/lower limit signal

External

Near-point dog signal signal
Zero signal

Forward run JOG start signal

Drive
unit

Reverse run JOG start signal
Execution prohibition flag

Deviation counter clear
External
interface
Positioning start signal

Manual pulse generator A-phase

Y10,Y11,Y12,Y13
Positioning complete signal
X14,X15,X16,X17

XC,XD,XE,XF
X10,X11,X12,X13

Y4,Y5,Y6,Y7
X4,X5,X6,X7

X8,X9,XA,XB

Stop signal
External command signal

M code ON signal

Interface
with
PLC
CPU

Data write/read

Parameter write/read
Positioning data write/read
Block start data write/read

Peripheral
device
interface

Manual pulse

Manual pulse generator B-phase generator

BUSY signal
Start complete signal
Axis stop signal

Error detection signal

Pulse train

OPR operation (test)
JOG/Inching operation
Positioning operation (test)

Operation monitor

Peripheral
device

1 - 12

External
signal

1 PRODUCT OUTLINE

QD75

MELSEC-Q
PLC CPU

The QD75 and PLC CPU communicate the following data via the base unit.
Direction

QD75

Communication

PLC CPU

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 PLC CPU" for details.

QD75

Peripheral device

The QD75 and peripheral device communicate the following data via the PLC CPU:
Direction
Communication

QD75

Peripheral device

• Parameter
• Positioning data
• Block start data

Data (read/write)

Test operation

• Monitor data

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

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.
GX Configurator-QP

QD75

Servo, etc.

PLC CPU

GX Developer

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

Design

2)
Installation, wiring

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

8)
Connection confirmation

Monitoring with
test operation,
and debugging
of setting data

Operation

Writing of program

Monitor

Test operation

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.

• Chapter 1
• Chapter 2
• Chapter 3
• Chapter 8 to Chapter 13

Install the QD75 onto the base unit, wire the QD75 and external connection devices
• Chapter 4
(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.

• Chapter 5
• Chapter 8 to Chapter 13
• GX Configurator-QP

Operating Manual
• Chapter 6
Using GX Developer, create the sequence program required for positioning
4) operation. (When not using GX Configurator-QP, also create the sequence program • GX Developer Operating
for setting data.)
Manual

Write the parameters and positioning data, etc., created with GX Configurator-QP
into the QD75.

Using GX Developer, write the created sequence program into the PLC CPU.
6) (When not using GX Configurator-QP, also write in the sequence program for
setting data.)
Carry out test operation and adjustments in the test mode to check the connection
with the QD75 and external connection device, and to confirm that the designated
7)
positioning operation is executed correctly. (Debug the set "parameters" and
"positioning data", etc.)
Carry out test operation and adjustment to confirm that the designated positioning
8) operation is executed correctly. (Debug the created sequence program. When not
using GX Configurator-QP, also debug the set data.

• Chapter 7
• GX Configurator-QP

Operating Manual
• Chapter 7
• GX Developer Operating

Manual
• GX Configurator-QP

Operating Manual
• Chapter 13
• GX Developer Operating

Manual
• GX Developer Operating

Manual
• Chapter 5
• Chapter 15

Actually operate the positioning operation. At this time, monitor the operation state
as required. If an error or warning occurs, remedy.

• GX Configurator-QP

Operating Manual
• GX Developer Operating

Manual
10) Service the QD75 as required.

• Chapter 4

11) Dispose of the QD75.

• Chapter 4

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
PLC CPU
Method (2) Issue the PSTRT instruction from the PLC CPU.
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 PLC CPU

)

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

PLC CPU

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

PLC CPU

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 PLC CPU 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 PLC CPU 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

Drive unit
READY
signal OFF

Axis
Stop process
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

During
error

Hardware
stroke limit
Fatal stop
upper/lower
(Stop group 1)
limit error
occurrence

Each No
axis change

During
error

PLC CPU
error
occurrence

No
change

Forced stop

Deceleration stop/sudden stop
(Select with “ Pr.37

Sudden stop group1

Deceleration
stop

sudden stop selection” )

Emergency
All
stop
PLC READY
Turns
axes
(Stop group 2) signal OFF
OFF
Error in test
mode

Deceleration
stop

Immediate stop

Deceleration stop/sudden stop
During
error

(Select with “ Pr.38

Sudden stop group2

Deceleration
stop

sudden stop selection” )

No
change

Axis error
detection
(Error other
Relatively safe than stop
group 1 or 2) Each No
stop
axis change
(Stop group 3) “Stop signal”
from
peripheral
device

During
error

"Stop signal"
ON from
external
Intentional stop source
Each No
(Stop group 3) "Axis stop
axis change
signal" ON
from PLC
CPU

When
stopped
(While
waiting)

Deceleration stop/sudden stop
(Select with “ Pr.39 Sudden stop group3
sudden stop selection”)

1 - 20

Deceleration
stop

1 PRODUCT OUTLINE

MELSEC-Q

1.2.4 Outline for restarting
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the " 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

200

400

Stop position due to stop cause
Stop position
after restart

200

100

Operation during
restart

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 waiting or stopped, positioning will be
restarted from the start of the positioning start data regardless of the absolute
system or incremental system. ( : When the external command signal is set to
"External positioning start")
(Same as normal positioning.)
[Example for incremental system]
(a) The positioning start operation when the axis 1 movement amount is 300
and the axis 2 movement amount is 600 is shown below.
Axis 1
Stop position due to stop cause
500

Axis 1
Stop position due to stop cause
Designated end
400
Start point
point position
address
200

Positioning
start
200

100

Operation during
positioning start

100
100

300

700

Axis 2

1 - 21

Stop position
after restart

100

300

900

Axis 2

1 PRODUCT OUTLINE

MELSEC-Q

1.3 Restrictions with a system using a stepping motor
Note the following restrictions applicable to a system that uses a stepping motor:
(1) The S-pattern acceleration/deceleration is disabled because it requires a
servomotor for the controlled axis.
(2) The circular interpolation control is disabled because it requires a servomotor
for each of the two controlled axes.

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 PLC 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 12.7.8

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".

Stop command processing for deceleration stop
function 3

Section 12.7.9

Function that selects a deceleration curve when a stop
cause occurs during deceleration stop processing to
Section 12.7.10
speed 0.

1: Usable on GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual.
2: Usable with the module whose first five digits of SERIAL No. are "03042" or later.
3: Usable with the module whose first five digits of SERIAL No. are "05072" or later.

1 - 22

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 General image of system .............................................................................................2- 2
2.2 Component list..............................................................................................................2- 4
2.3 Applicable system.........................................................................................................2- 5
2.4 How to check the function version and SERIAL No....................................................2- 6

2-1

2 SYSTEM CONFIGURATION

MELSEC-Q

2.1 General image of system
The general image of the system, including the QD75, PLC CPU 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

Positioning
module
1
CPU
module

I/O
module

USB cable
5

Extension
system

RS-232 cable
4

REMARK
1 Refer to Section 2.3 "Applicable system" for the CPU modules that can be used.
2 Refer to the CPU module User's Manual for the base units that can be used.
2-2

2 SYSTEM CONFIGURATION

MELSEC-Q

6
Drive
unit

Motor

Manual pulse generator
7

Cable

Machine system inputs (switches)

Near point dog
Limit switch
External command
signal
Stop signal

Peripheral device

Personal
computer

GX Configurator
-QP

SWnD5C
-QD75P-E

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

2-3

2 SYSTEM CONFIGURATION

MELSEC-Q

2.2 Component list
The positioning system using the QD75 is configured of the following devices.
No.

Part name

Type

Remarks

Positioning module

QD75P1
QD75P2
QD75P4
QD75D1
QD75D2
QD75D4

GX Configurator-QP

SW D5CQD75P-E

Refer to GX Configurator-QP Operating Manual for details.

Personal computer

DOS/V personal
computer

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

RS-232 cable

QD75
No. of control axes
P: Open collector output system
D: Differential driver output system

USB cable

–

(Prepared by user)
A USB cable is needed for connecting the CPU module with a personal
computer (DOS/V).
For details, refer to GX Configurator-QP Operating Manual.

Drive unit

–

(Prepared by user)

Manual pulse
generator

–

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

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.)

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

Power supply voltage

4.5 to 13.2VDC

Current consumption

60mA

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

Friction torque

0.1N/m (at 20

2-4

(68 ))

2 SYSTEM CONFIGURATION

MELSEC-Q

2.3 Applicable system
The QD75 can be used in the following system.

(1) Applicable modules and the number of installable modules
The following table indicates the CPU modules and network modules (for remote
I/O station) usable with the QD75 and the number of installable modules.
Applicable modules
Number of installable modules
Remarks
Q00JCPU
Max. 16 modules
Q00CPU
( 1)
Max. 24 modules
Q01CPU
Q02CPU
Q02HCPU
Installable in the Q mode
CPU
Max. 64 modules
only
Q06HCPU
module
( 1)
Q12HCPU
Q25HCPU
Q12PHCPU
( 1)
Max. 64 modules
Q25PHCPU
QJ72LP25-25
Network
MELSECNET/H remote I/O
QJ72BR15
Max. 64 modules
station ( 2)
module
QJ72LP25G
QJ72LP25GE
1 Refer to the User's Manual (Hardware Design, Maintenanse and Inspection) of the CPU
module used.
2 Refer to the Q Corresponding MELSECNET/H Network System Reference Manual
(Remote I/O Network).

(2) Usable base unit
The QD75 can be installed in any of the I/O slots ( 3) of a base unit.
When installing the QD75, always consider the power supply capacity since a
shortage of the power supply capacity may occur depending on the combination
with the other installed module and the number of installed module.
3 Within the I/O point range of the CPU module and network module (for remote
I/O station).

(3) Compatibility with multiple PLC system
When using the QD75 in a multiple PLC system, first refer to the QCPU (Q mode)
User's Manual (Function Explanation, Program Fundamentals).

(4) Supported software packages
The following table lists the compatibility between the systems using the QD75 and
the software packages. GX Developer is required for use of the QD75.
Software version
GX Developer
GX Configurator-QP
Single PLC
system
Q00J/Q00/Q01CPU
Multiple PLC
system
Single PLC
Q02/Q02H/Q06H/
system
Multiple
PLC
Q12H/Q25HCPU
system
Single PLC
system
Q12PH/Q25PHCPU
Multiple PLC
system
For use on MELSECNET/H remote
I/O station

2-5

Version 7 or more
Version 8 or more
Version 2.10L or more
Version 4 or more
Version 6 or more

Version 7.10L or more

Version 2.13P or more

Version 6 or more

Version 2.10L or more

2 SYSTEM CONFIGURATION

MELSEC-Q

2.4 How to check the function version and SERIAL No.
The function version and SERIAL No. of the QD75 can be checked in the following
methods.
[1] Method using the rated plate on the module side face
[2] Method using the software

[1] Method using the rated plate on the module side face
Check the function version and SERIAL No. in the "SERIAL" field.

SERIAL No. (The first five digits)
Function version

Standard symbol for conformance
is discribed

[2] Method using the software
Check the function version and SERIAL No. in "Product information" displayed
on System monitor "Module's Detailed Information" of GX Developer *1 or on
"OS information" of GX Configurator-QP *2.

SERIAL No.

Function version

1: This check can be made using the version of SW4D5C-GPPW-E or more. For details, refer
to GX Developer Operating Manual.
2: For details, refer to GX Configurator-QP Operating Manual.

2-6

Chapter 3 Specifications and Functions
3

The various specifications of the QD75 are explained in this chapter.
The "General specifications", "Performance specifications", "List of functions",
"Specifications of input/output signals with PLC CPU", and the "Specifications of
input/output interfaces with external devices", etc., are described as information required
when designing the positioning system.
Confirm each specification before designing the positioning system.

3.1 Performance specifications ..........................................................................................3- 2
3.2 List of functions ............................................................................................................3- 4
3.2.1

QD75 control functions ...................................................................................3- 4

3.2.2

QD75 main functions ......................................................................................3- 6

3.2.3

QD75 sub functions and common functions..................................................3- 8

3.2.4

Combination of QD75 main functions and sub functions .............................3- 12

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

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

3.3.2

Details of input signals (QD75

3.3.3

Details of output signals (PLC CPU

PLC CPU) ................................................3- 15
QD75)..............................................3- 16

3.4 Specifications of input/output interfaces with external devices..................................3- 17
3.4.1

Electrical specifications of input/output signals.............................................3- 17

3.4.2

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

3.4.3

List of input/output signal details ...................................................................3- 20

3.4.4

Input/output interface internal circuit .............................................................3- 22

3-1

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.1 Performance specifications
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

QD75P2
QD75D2
2 axes

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 (positioning data Nos. 1 to 600)/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)
• 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)
Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration
1 to 8388608 (ms)
Four patterns can be set for each of acceleration time and deceleration time
1 to 8388608 (ms)

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)".

3-2

3 SPECIFICATIONS AND FUNCTIONS

Model
Item

Starting time (ms)

MELSEC-Q

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
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

6
6
7
7
7
6
7
7
6
7
7

QD75P4 1
QD75D4
Factors in starting time extension
The following times will be added to
the starting time in the described
conditions:
• S-pattern acceleration/
deceleration is selected: 0.5
• Other axis is in
operation:
1.5
• During continuous
positioning control:
0.2
• During continuous path
control:
1.0

External wiring connection system 40-pin connector
Applicable wire size

0.3 mm2 (for A6CON1 or A6CON4), AWG #24 (for A6CON2)

Applicable connector for external
device

A6CON1, A6CON2, A6CON4 (sold separately)

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: 32 points for intelligent function module)
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 12.7.8 "Pre-reading start
function".

Differential driver common terminal specifications(QD75D1, QD75D2,
QD75D4 only)
Applicable wire size

12AWG
2

Rated multiple wire
connection size

Solid wire: 0.2 to 0.8 mm

2 pcs.
2

Stranded wire: 0.2 to 0.8 mm

Screw tightening torque

0.5N • m

3-3

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".)

3-4

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Main functions

OPR control

Sub functions

Control registered in QD75
(Functions characteristic to
machine OPR)
OPR retry function

[Positioning start No.]
[9001]

Machine OPR

[9002]

Fast OPR

OP shift function

Backlash compensation function

Major positioning control

Control using "Positioning data"

Position control

Speed control

Electronic gear function
Near pass function

·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

Independent
positioning control
(Positioning complete)

Software stroke limit function

Continuous
positioning control

Hardware stroke limit function

Speed change function
Override function
Acceleration/deceleration
time change function
Torque change function

Continuous path
control

Speed-position switching control
Position-speed switching control
Other control

·Current value changing,
NOP instruction
·JUMP instruction,
LOOP to LEND

Major positioning
control

[Block start data]

[Positioning start No.]
[9004]

Manual control

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

High-level positioning control

Block start (Normal start)
Condition start
Wait start
Simultaneous start
Repeated start
(FOR loop)
Repeated start
(FOR condition)
Multiple axes
simultaneous start
control

Control with signals input from external source

[Positioning start signal]
JOG start signal ON
Pulse input from manual
pulse generator

Speed limit function
Torque limit function

JOG operation, Inching operation
Manual pulse generator
operation

Step function
Skip function
Continuous operation
interrupt function
M code output function
Teaching function
Target position change
function
Command in-position
function
Acceleration/deceleration
processing function
Pre-reading start function
Deceleration start flag
function
Stop command processing
for deceleration stop function

Common functions

Parameter initialization function

Execution data backup function

External I/O signal monitor function

3-5

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 Section 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 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

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.

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

Changes the Current feed value ( Md.20 ) to the address

Current value changing

Other
control
NOP instruction
JUMP instruction
LOOP
LEND

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.

3-6

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.

3-7

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 Section 2 for details on each function.
Sub function

Functions
characteristic
to machine
OPR

Details

OPR retry function

OP shift function
Backlash compensation
function

Functions that
Electronic gear function
compensate
control

Near pass 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.
When the movement amount per pulse is set, a flexible
positioning system that matches the machine system can be
structured.
This function suppresses the machine vibration when the
speed changes during continuous path control in the
interpolation control.
If the command speed exceeds " Pr.8 Speed limit value"
during control, this function limits the commanded speed to

Speed limit function

Reference
section
12.2.1

12.2.2

12.3.1

12.3.2

12.3.3

12.4.1

within the " Pr.8 Speed limit value" setting range.

Functions that Torque limit function
limit control

Software stroke limit
function
Hardware stroke limit
function

Speed change function

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

12.4.2

12.4.3
12.4.4

12.5.1

Speed change request ( Cd.15 ).
Functions that
change control
Override function
details
Acceleration/deceleration
time change function
Torque change function
Absolute position restoration function 3

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.
This function changes the "torque limit value" during control.
This function restores the absolute position of designated axis.

12.5.2

12.5.3
12.5.4
12.6

1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters.
2: Using "Torque limit function" requires a "D/A conversion module" and a "drive unit capable of torque limit command with analog voltage".
3: Using "Absolute position restoration function" requires a "16-point input module", a "16-point output module", and a "drive unit that can
construct absolute position detection system".

3-8

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

Target position change
function

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

12.7.5

Command in-position
function

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.

12.7.6

Acceleration/deceleration
process function

This function adjusts the control acceleration/deceleration.

12.7.7

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.

12.7.8

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.

12.7.9

Sub function

Other functions

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

3-9

12.7.10

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Common functions
The outline of the functions executed as necessary are described below.
(Refer to Section 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: Usable on GX Developer (SW6D5C-GPPW-E or later).

3 - 10

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

MEMO

3 - 11

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
control
Speed control (1- to 4-axis)

(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 Inching operation does not perform acceleration/deceleration processing.
6 Valid for the reference axis only.
7 Valid for only the case where a deceleration start is made during position control.
8 Disabled for a start of positioning start No. 9003.

3 - 12

3 - 13

Deceleration start flag
function
Stop command processing
for deceleration stop
function

Pre-reading start function

Acceleration/deceleration
process function

Command in-position
function

Functions that change
control details

Target position change
function

Teaching function

M code output function

Skip function

Step function

Torque change function

Acceleration/ deceleration
time change function

Override function

Functions that limit
control

Speed change function

Hardware stroke limit
function

Software stroke limit
function

Torque limit function

Functions that
compensate
control

Speed limit function

Near pass function

Electronic gear function

Backlash compensation
function

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Other functions

3
4
6

REMARK

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

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

with the control.)

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

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.3 Specifications of input/output signals with PLC CPU
3.3.1 List of input/output signals with PLC CPU
The QD75 uses 32 input points and 32 output points for exchanging data with the PLC
CPU.
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 PLC CPU, and device Y
refers to the signals output from the PLC CPU to the QD75.
Signal direction: QD75 PLC CPU
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: PLC CPU 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 - 14

3 SPECIFICATIONS AND FUNCTIONS

3.3.2 Details of input signals (QD75

MELSEC-Q

PLC CPU)

The ON/OFF timing and conditions of the input signals are shown below.
Device
Signal name
Details
No.
• When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting
X0 QD75 READY
ON: READY
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

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

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

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
OFF: Not BUSY
ON: BUSY

remain OFF.
• With using continuous path control for the positioning operation, the positioning will
continue even when this signal does not turn OFF. However, a warning will occur.
(Warning code: 503)
• When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn
OFF.
• If operation is started while the M code is ON, an error will occur.
• This signal turns ON when an error listed in Section 15.1 occurs, and turns OFF
when the error is reset on " 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

X10
X11
X12
X13

Axis 1 Start
Axis 2 complete
Axis 3
Axis 4

OFF: Start
incomplete
ON: Start
complete

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

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.
(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 - 15

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 (PLC CPU

QD75)

The ON/OFF timing and conditions of the output signals are shown below.
Device No.
Y0
PLC READY

Signal name
OFF:
PLC READY OFF
ON:
PLC READY ON

Details
(a) This signal notifies the QD75 that the PLC CPU 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".

Y4
Y5
Y6
Y7

Axis 1 Axis stop
Axis 2
Axis 3
Axis 4

OFF:
Axis stop not
requested
ON:
Axis stop requested

(e) When parameters or positioning data (No. 1 to 600) are written
from the peripheral device or PLC CPU to the flash ROM, the
PLC READY signal will turn OFF.
• 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".

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

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

• 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
operation starting warning will occur (warning code: 100).
• If the execution prohibition flag is ON when the positioning start
signal turns ON, positioning control does not start until the
execution prohibition flag turns OFF. (Pulse output not provided)
Used with the "Pre-reading start function". (Refer to Section
12.7.8)

3 - 16

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
Input specifications
Signal name

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

17.5VDC or more/ 7VDC or less/
Approx. 4.7kΩ 4ms or less
3.5mA or more
1.7mA or less

5VDC/5mA

4.5 to 6.1VDC

2VDC or more/
2mA or more

0.5VDC or less/
Approx. 0.3kΩ 1ms or less
0.5mA or less

24VDC/5mA

12 to 26.4VDC

10VDC or more/
3mA or more

3VDC or less/
Approx. 4.7kΩ 1ms or less
0.2mA or less

Zero signal
(PG05/PG024)

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. 1.5kΩ 1ms or less
0.1mA or less

Pulse width

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. 4.3kΩ 1ms or less
3.5mA or more
1.7mA or less

3 - 17

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

Output specifications
Max. load
Max. voltage
Leakage current
current/rush
Response time
drop at ON
at OFF
current
• Differential driver equivalent to Am26C31 (For QD75D )
• Select the CW/CCW type, PULSE/SIGN type and A phase/B phase type using the parameter ( Pr.5 Pulse
Rated load
voltage

Signal name

Working load
voltage range

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.23 Output signal logic selection (bit 0)

Pr.5 Pulse

Positive logic

output mode

Forward run

Negative logic

Reverse run

Forward run

Reverse run

CW
CCW

Pulse output
(CW/PULSE/A phase)
Pulse sign
(CCW/SIGN/B phase)

PULSE
SIGN

High

Low

High

Low

Aφ
Bφ

The table below shows the rising/falling edge time and duty ratio when the QD75P

is used.

ON
OFF
tr

Deviation counter clear
(CLEAR)

5 to 24VDC

4.75 to 30VDC

5 to 24VDC

4.75 to 30VDC

50mA/1 point/
200mA 10ms or
less
0.1A/1 point/0.4A
10ms or less

0.5VDC (TYP)

0.1mA or less

—

1VDC (TYP)
2.5VDC (MAX)

0.1mA or less

2ms or less
(resistance load)

: Pulse rising/falling edge time when the QD75P is used (Unit for "tr" and "tf": µs, unit for "Duty": %)
... When ambient temperature is room temperature.
Load voltage (V)
Cable length (m)
Load
Pulse
current speed
(mA) (kpps)
2

26.4
tr
(Rising
edge)

1
tf
(Falling
edge)

2.33
2.42
2.44
1.00
1.01
1.00
0.27
0.29
0.30
0.19
0.19
0.18

0.08
0.09
0.09
0.09
0.09
0.10
0.10
0.10
0.10
0.11
0.11
0.12

200
100
10
200
100
10
200
100
10
200
100
10

4.75

Duty

tr
(Rising
edge)

2
tf
(Falling
edge)

6.6
34.7
48.7
39.8
45.3
49.6
50.1
49.8
49.9
50.5
50.4
50.0

2.20
4.44
4.52
1.77
1.76
1.72
0.44
0.48
0.48
0.24
0.24
0.22

0.08
0.10
0.10
0.11
0.10
0.10
0.11
0.11
0.12
0.12
0.12
0.13

The time for H/L width of differential output waveform with the QD75D

Duty

tr
(Rising
edge)

1
tf
(Falling
edge)

14.6
12.6
47.7
24.5
40.3
49.2
48.0
49.1
49.9
50.6
50.4
50.1

0.57
0.57
0.60
0.32
0.31
0.33
0.15
0.15
0.17
0.15
0.14
0.14

0.07
0.07
0.07
0.07
0.07
0.08
0.08
0.08
0.08
0.10
0.10
0.10

Duty

tr
(Rising
edge)

2
tf
(Falling
edge)

44.8
47.5
49.7
48.4
49.2
49.9
50.7
50.4
50.1
51.8
50.7
50.1

0.95
1.01
1.04
0.45
0.45
0.49
0.15
0.18
0.18
0.14
0.15
0.15

0.07
0.08
0.08
0.08
0.08
0.08
0.08
0.08
0.08
0.11
0.10
0.12

Duty
39.0
45.3
49.5
45.8
48.7
49.8
51.3
50.4
49.9
51.7
50.8
50.1

. (Cable length: 2m, Ambient temperature: room temperature)

Pulse speed

H width

L width

1Mpps

410ns

456ns

500kpps

936ns

1µs

3 - 18

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.
QD75P1
RUN

QD75P2
AX1

ERR

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

QD75P4
AX1
AX2

Axis 4(AX4)
Pin No. Signal name
2B20
Vacant
2B19
Vacant
2B18
PULSE COM
3
PULSE R–
2B17
PULSE R
3
PULSE R+
2B16
PULSE COM
3
PULSE F–
2B15
PULSE F
3
PULSE F+
2B14
CLRCOM
2B13
CLEAR
2B12
RDYCOM
2B11
READY
2B10
PGOCOM
2B9
PG05
2B8
PG024
2B7
COM
2B6
COM
2B5
CHG
2B4
STOP
2B3
DOG
2B2
RLS
2B1
FLS

RUN

ERR

AX1

Pin layout

RUN

AX1
AX2

Axis 3(AX3)
Pin No. Signal name
2A20
Vacant
2A19
Vacant
2A18
PULSE COM
3
PULSE R–
2A17
PULSE R
3
PULSE R+
2A16
PULSE COM
3
PULSE F–
2A15
PULSE F
3
PULSE F+
2A14
CLRCOM
2A13
CLEAR
2A12
RDYCOM
2A11
READY
2A10
PGOCOM
2A9
PG05
2A8
PG024
2A7
COM
2A6
COM
2A5
CHG
2A4
STOP
2A3
DOG
2A2
RLS
2A1
FLS

AX3
AX4

AX1
AX2
AX3
AX4
AX1
AX2

Axis 2(AX2)
Pin No. Signal name
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
PGOCOM
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
PULSER B+
1A19
PULSER A+
1A18
PULSE COM
3
PULSE R–
1A17
PULSE R
3
PULSE R+
1A16
PULSE COM
3
PULSE F–
1A15
PULSE F
3
PULSE F+
1A14
CLRCOM
1A13
CLEAR
1A12
RDYCOM
1A11
READY
1A10
PGOCOM
1A9
PG05
1A8
PG024
1A7
COM
1A6
COM
1A5
CHG
1A4
STOP
1A3
DOG
1A2
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 QD75P1/QD75P2/QD75P4, and the lower line indicates the signal name for the
QD75D1/QD75D2/QD75D4.

3 - 19

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
Manual pulse generator B
phase

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
Manual pulse generator B
common

1B19
1B20

—

[When decreased]

A 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)

1A8

1B8

2A8

Zero signal (+5V)

1A9

1B9

2A9

Zero signal common

1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V).

Pulse output F (+)
Pulse output F (–)

1A15 1B15 2A15 2B15
1A16 1B16 2A16 2B16 • Output the positioning pulses and pulse sign for the differential driver output
1A17 1B17 2A17 2B17 system compatible drive unit.
(QD75D only)

Pulse output R (+)
Pulse output R (–)

Pulse output F

Pulse output F common

Pulse output R

Pulse output R common

Upper limit signal

2B8

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 only)
1A18 1B18 2A18 2B18

1A1

1B1

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.

Lower limit signal

1A2

1B2

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.

Near-point dog signal

1A3

1B3

2A3

2B3

• 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.

3 - 20

3 SPECIFICATIONS AND FUNCTIONS

Signal name

Stop signal

External command signal

Pin No.
AX1 AX2 AX3 AX4

1A4

1A5

1B4

1B5

2A4

2A5

MELSEC-Q

Signal details
(Negative logic is selected by external I/O signal logic selection)

• 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
selection".

Common

1A6
1A7

1B6
1B7

2A6
2A7

2B6 • Common for upper/lower limit, near-point dog, stop, and external command
2B7 signals.

Drive unit 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

1A12 1B12 2A12 2B12 • Common for drive unit READY signal.
• 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

Zero signal

1A13 1B13 2A13 2B13

Pr.55 Deviation counter

OFF
ON

clear signal output time
CLEAR

OFF
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

3 - 21

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

3.4.4 Input/output interface internal circuit
The outline diagrams of the internal circuits for the QD75P1/QD75D1 external device
connection interface are shown below.

(1) Input (Common to QD75P1 and QD75D1)
External wiring

Pin No.

Internal circuit

Need for wiring
1

Signal name

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

When upper limit
switch is not used

When lower limit
switch is not used

24VDC

1A6
1A7

(+)
1A19

PULSER A+
Manual pulse generator
A phase

A
5VDC
B

0V
Manual pulse
generator
(MR-HDP01)

(–)
1B19

PULSER A–

(+)
1A20

PULSER B+
Manual pulse generator
B phase

(–)
1B20

PULSER B–

1A11

Drive unit READY

READY

1A12

Drive unit READY
common

RDY COM

1A8

PG024
Zero signal

1A9

PG05

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 - 22

PG0 COM

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

(a) 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

(Voltage not applied)
DOG

OFF

24VDC
COM

Negative logic
(Initial value)

(Voltage applied)
DOG

24VDC
COM

(Voltage not applied)
DOG

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 - 23

3 SPECIFICATIONS AND FUNCTIONS

MELSEC-Q

(2) Output (For QD75P1)
External wiring

Pin No.

Internal circuit

Need for wiring
1

Signal name

1A13

Deviation counter clear

1A14

Common

CLEAR COM

1A15

CW
A phase
PULSE

PULSE F

1A16
1A17

PULSE COM
PULSE R

CCW
B phase
SIGN

1A18

CLEAR

PULSE COM

(3) Output (For QD75D1)
External wiring

Pin No.

Internal circuit

1A13

Deviation counter clear

1A14

Common

CLEAR COM

1A15

CW
A phase
PULSE

PULSE F+

CCW
B phase
SIGN

PULSE R+

1A16
1A17
1A18
2

Differential driver
common terminal

2
1:

Need for wiring
1

Signal name

The symbols in Need for wiring column indicate the following meanings:
•

: Wiring is necessary for positioning.

•

: Wiring is necessary depending on the situation.
A terminal block at the bottom of the module. (Refer to Section 4.1.2)

3 - 24

CLEAR

PULSE F–

PULSE R–
SG

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 Precautions for installation .............................................................................4- 7
4.3 Wiring .........................................................................................................................4- 8
4.3.1 Precautions for wiring .....................................................................................4- 8
4.3.2 Wiring of the differential driver common terminal .........................................4- 13
4.4 Confirming the installation and wiring .........................................................................4- 14
4.4.1 Items to confirm when installation and wiring are completed.......................4- 14
4.5 Maintenance ................................................................................................................4- 15
4.5.1 Precautions for maintenance.........................................................................4- 15
4.5.2 Disposal instructions......................................................................................4- 15

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.

Confirming the
installation and
wiring

STEP 5

Confirm 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 shown below:
For QD75P4

For QD75D4
(1)

(1)

QD75P4
RUN

ERR
AX3
AX4

QD75D4
AX1
AX2
AX3
AX4

RUN

AX1
AX2
AX3
AX4

(2)

ERR

AX1
AX2

AX3
AX4

(2)

AX1
AX2

(3)

(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 (QD75D1,
QD75D2, QD75D4) 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".

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

(2) The LED display indicates the following operation statuses of the QD75 and axes.

QD75P4
RUN

AX1
AX2
AX3
AX4

ERR

Display

RUN

Attention point

AX1
AX2
RUN is OFF.
AX3
AX4

ERR
RUN

AX1
AX2 RUN illuminates.
AX3 ERR is OFF.
AX4
AX1
AX2
AX3 ERR illuminates.
AX4

ERR
RUN

AX1
AX2 AX1 to AX4 are
AX3 OFF.
AX4

ERR

Description

Display

Hardware failure,
watch dog timer
error
The module
operates
normally.

RUN

ERR
RUN

System error

ERR

Attention point

Description

AX1
AX2
AX3
AX4

The
corresponding
AX1 (or other
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) The interface of each QD75 is as shown below.
QD75P1
QD75P1
RUN

QD75P2
QD75P2

AX1

RUN

AX1
AX2

AX1

RUN

ERR

QD75P4

QD75D1

QD75P4

AX1
AX2

AX3
AX4

QD75D1
AX1
AX2
AX3
AX4

RUN

AX1

ERR

AX1
AX2

RUN

QD75D4
QD75D4

AX1
AX2

RUN

ERR

AX1

4-4

QD75D2
QD75D2

AX1
AX2

AX3
AX4

AX1
AX2
AX3
AX4
AX1
AX2

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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4.1.3 Handling precautions
Handle the QD75 and cable while observing the following precautions.

[1] Handling precautions
!

CAUTION

Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Do not directly touch the conductive section and electronic parts of the module.
Failure to observe this could lead to module malfunctioning or trouble.
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.
Failure to observe this could lead to fires, trouble or malfunctioning.
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

4-5

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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[2] Other precautions
(1) Main body
•

The main body case is made of plastic. Take care not to drop or apply
strong impacts onto the case.
• Do not remove the QD75 PCB from the case. Failure to observe this
could lead to faults.

(2) Cable
•
•
•
•
•
•

Do not press on the cable with a sharp object.
Do not twist the cable with force.
Do not forcibly pull on the cable.
Do not step on the cable.
Do not place objects on the cable.
Do not damage the cable sheath.

(3) Installation environment
Do not install the module in the following type of environment.
•
•
•
•
•
•
•
•

Where the ambient temperature exceeds the 0 to 55°C range.
Where the ambient humidity exceeds the 5 to 95%RH range.
Where there is sudden temperature changes, or where dew condenses.
Where there is corrosive gas or flammable gas.
Where there are high levels of dust, conductive powder, such as iron
chips, oil mist, salt or organic solvents.
Where the module will be subject to direct sunlight.
Where there are strong electric fields or magnetic fields.
Where vibration or impact could be directly applied onto the main body.

4-6

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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4.2 Installation
4.2.1 Precautions for installation
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.

Precautions for installation
!

DANGER

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 mount/remove the module onto/from base unit more than 50 times (IEC61131-2compliant), after the first use of the product. Failure to do so may cause the module to
malfunction due to poor contact of connector.
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
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

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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 Precautions for wiring
(1) 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".)
(2) Correctly solder the external wiring connector. An incomplete soldering could lead
to malfunctioning.
(3) 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.
(4) 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.
(5) Securely mount the external device connector to the connector on the QD75 with
two screws.
(6) Do not disconnect the external wiring cable connected to the QD75 and the drive
unit by pulling the cable section. When the cable has a connector, be sure to hold
the connector connected to the QD75 and the drive unit. Pulling the cable while it
is connected to the QD75 and the drive unit may lead to malfunctioning or
damage of the QD75 and the drive unit or cable.
(7) 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 PLC. Separate these by 100mm as a guide. Failure to
observe this could lead to malfunctioning caused by noise, surge, or induction.
(8) 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.
(9) 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

[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)

Shielded
cable

To external
devices

Drive
unit

To external
device
To drive unit
To QD75
The length between the connector and the shielded
cables should be the shortest possible.

Use the shortest possible length to
ground the 2mm2 or more FG wire.
(The shield must be grounded on
the QD75 side.)

[Processing example of shielded cables]
Remove the covering from all shielded cables and bind
the appeared shield with a conductive tape.
Coat the wire with
insulaing tape.

Solder the shield of any one of the
shielded cables to the FG wire.

4-9

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

Assembling of connector (A6CON1)

Wrap the coated parts
with a heat contractile
tube.

4 - 10

MELSEC-Q

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

(10) To make this product conform to the EMC and Low Voltage Directive, be
sure to use of a AD75CK type cable clamp (manufactured by Mitsubishi
Electric) for grounding to the control box.

Inside control box
QD75

20cm(7.88inch)
to 30cm(11.82inch)

AD75CK

[How to ground shielded cable using AD75CK]

Shielded cable
Shield

Ground terminal

Ground terminal installation screw (M4 8 screw)
Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for
grounding.

4 - 11

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MELSEC-Q

[Wiring examples using duct (incorrect example and corrected example)]
Wiring duct
Relay

Relay

Drive

unit

Relay

Control panel

PLC

The drive units are placed

near the noise source.
The connection cable between

Noise source

the QD75 and drive units is
(power system,
etc.)

too long.

Changed

Wiring duct
Relay

Relay

Relay
Control panel

PLC

QD
75

The QD75 and drive units are
placed closely. The connection
cable between the QD75 and

Noise source

drive units is separately laid
(power system,
etc.)

Drive

unit

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.
(12) If compliance with the EMC directive is not required, the influence of external
noise may be reduced by making the configuration compliant with the EMC
directive.
For the configuration compliant with the EMC directive, refer to Chapter 3 "EMC
AND LOW-VOLTAGE DIRECTIVES" in the User's Manual (Hardware) of the
used CPU module.

4 - 12

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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4.3.2 Wiring of the differential driver common terminal
When the differential driver output system (QD75D1, QD75D2, QD75D4) 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 QD75D1/QD75D2/QD75D4 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 QD75D1/QD75D2/QD75D4 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.)
The following shows an example of wiring to the differential driver common terminal of
the QD75D1/QD75D2/QD75D4.
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
Module side

Insert until hook
catches.

Module bottom

4 - 13

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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4.4 Confirming the installation and wiring
4.4.1 Items to confirm when installation and wiring are completed
Check the following points when completed with the 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 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 (SW6D5C-GPPW-E or later).

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 - 14

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

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4.5 Maintenance
4.5.1 Precautions for maintenance
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.

DANGER

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

4.5.2 Disposal instructions
!

CAUTION

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

4 - 15

4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

MEMO

4 - 16

MELSEC-Q

Chapter 5 Data Used for Positioning Control

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 section thoroughly and make settings
according to each control or application.
Refer to Section 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- 4
5.1.3 Setting items for OPR parameters .................................................................5- 6
5.1.4 Setting items for positioning data ...................................................................5- 7
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- 16
5.2 List of parameters........................................................................................................5- 20
5.2.1 Basic parameters 1........................................................................................5- 20
5.2.2 Basic parameters 2........................................................................................5- 26
5.2.3 Detailed parameters 1 ...................................................................................5- 28
5.2.4 Detailed parameters 2 ...................................................................................5- 36
5.2.5 OPR basic parameters ..................................................................................5- 46
5.2.6 OPR detailed parameters ..............................................................................5- 54
5.3 List of positioning data.................................................................................................5- 58
5.4 List of block start data..................................................................................................5- 74
5.5 List of condition data....................................................................................................5- 80
5.6 List of monitor data ......................................................................................................5- 86
5.6.1 System monitor data......................................................................................5- 86
5.6.2 Axis monitor data ...........................................................................................5- 96
5.7 List of control data ......................................................................................................5-110
5.7.1 System control data ......................................................................................5-110
5.7.2 Axis control data ...........................................................................................5-112
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.
Setting data

(Data set beforehand according to the machine and application, and stored in the flash ROM.)
Positioning
parameters

Parameters

Basic parameters 1

Pr.1 to Pr.57 )
Pr.1 to Pr.42

Pr.150 )

Basic parameters 2

Set according to the machine and applicable
motor when system is started up.

)

Note)
If the setting of the basic parameters 1 is incorrect, the rotation direction
may be reversed, or no operation may take place.
Detailed parameters 1
Detailed parameters 2

Set according to the system configuration when
the system is started up.

Note)
Detailed parameters 2 are data items for using the QD75 functions to the fullest.
Set as required.
OPR
parameters
)

Positioning data

OPR basic parameters
OPR detailed parameters

Pr.43 to Pr.57 )

Set the values required for carrying
out OPR control.

Positioning data

Set the data for "major positioning control".

Block start data

Set the block start data for "high-level positioning control".

Da.1 to Da.10 )

)

Block start data

)

Condition data
)

Da.11 to Da.19 )

Da.11 to Da.14 )

Set the condition data for "high-level positioning control".

Da.15 to Da.19 )

Set the condition judgment values for the condition
data used in "high-level positioning control".

Memo data

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 PLC CPU 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.
The basic parameters 2 and detailed parameters 2 become valid immediately when
they are written to the buffer memory, regardless of the state of the PLC READY
signal [Y0].
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 these parameters 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

System monitor data

Monitors the QD75 specifications and the operation history.

Md.1 to Md.19 )

Monitors the data related to the operating axis, such as the current position
and speed.

)

Axis monitor data
Md.20 to Md.48 )

)

The data is monitored with the sequence program or peripheral device. In this chapter,
the method using the peripheral device will be explained.
Control data

(Data for user to control positioning system.) :

System control data

Cd.1 to Cd.42

Performs write/initialization, etc. of the "setting data" in the module.

Cd.1 to Cd.2 , Cd.41 , Cd.42 )

Makes settings related to the operation, and controls the speed change during
operation, and stops/restarts the operation.

Axis control data
Cd.3 to Cd.40 )

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.

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.
5-3

)

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 Section 2. For details of setting items, refer to Section
5.2 "List of parameters".

Detailed parameters 1

Basic
parameters 2

Basic parameters 1

Related sub function

JOG operation
Inching operation

Manual pulse generator operation

JUMP instruction, NOP instruction,
LOOP to LEND

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

Manual control
Other 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

12.3.2

–

Speed limit value

–

Pr.9

Acceleration time 0

–

Pr.10

Deceleration time 0

–

Pr.11

Back 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
selection

–

Pr.16

Command in-position width

–

Pr.17

Torque limit setting value

–

Pr.18

M code ON signal output timing

–

12.7.3

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

12.4.1

12.7.7

Pr.150 Speed-position function selection
:
:
:
:
– :

1-axis linear control
2/3/4-axis linear interpolation control

Positioning parameter

Major positioning control
Position control

OPR control

Control

–

–
–
–

12.4.3

–

12.3.1

–

12.7.6
12.4.2

–
–
–

–

Always set
Set as required (Read "–" when not 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.)

5-4

5 DATA USED FOR POSITIONING CONTROL

Manual control

–

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-pattern proportion

–

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

–

–
12.5.1
12.7.2

–

Related sub function

Manual pulse generator operation

Acceleration time 3

JOG operation
Inching operation

JUMP instruction, NOP instruction,
LOOP to LEND

–

Pr.27

Speed-position or position-speed
control

–

1 to 4 axis speed control

–

2-axis circular interpolation control

–

Acceleration time 2

1-axis fixed-feed control
2/3/4-axis fixed-feed control

Acceleration time 1

Pr.26

OPR control

Current value changing

Other control

Pr.25

Positioning parameter

Detailed parameters 2

Major positioning control
Position control
1-axis linear control
2/3/4-axis linear interpolation control

Control

MELSEC-Q

12.7.7

–

: Always set
: Set as required ("–" when not set)
– : 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 PLC CPU 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".

5-5

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)

–

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

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

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

: 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". ("–" when not set.)
S : Set when using the "12.2.2 OP shift function". ("–" when not set.)
C : Set the deviation counter clear signal output time. (Read as "–" when the setting is not required.)

Checking the OPR parameters.
Pr.43 to Pr.57

are checked with the following timing.

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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".

Forward
run
speed/
position
Reverse
run
speed/
position

Current value changing

LEND

Linear 1
Linear 2
Linear 3
Linear 4

Fixedfeed 1
Fixedfeed 2
Fixedfeed 3
Fixedfeed 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 (Read "–" when not 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.

5-7

5 DATA USED FOR POSITIONING CONTROL

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

5-8

MELSEC-Q

5 DATA USED FOR POSITIONING CONTROL

MEMO

5-9

MELSEC-Q

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
Da.11

Shape (end/continue)

Da.12

Start data No.

Da.13

Special start instruction

–

Da.14

Parameter

–

Repeated
start
(FOR loop)

Repeated
start
(FOR
condition)

: Set as required ("–" when not set)
– : 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.
Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level
positioning control", and to Section 5.5" List of condition data" for details on each
setting item.
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 ("–" when not set)
: 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 )

•

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 )
The axis monitor data are refreshed every 1.8 ms. Note that " Md.21 Machine
feed value", " Md.22 Feedrate", " Md.28 Axis feedrate" and " Md.30 External
input/output signal" 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
Md.1

In test mode flag

Start information

Md.3

Start information

Start No.

Md.4

Start No.

Md.5

Start

(Hour)

Minute:second Md.6

Start

(Minute:second)

Whether the system is in the test mode or not

History of data that
started an operation

Hour
Start
Error upon starting

Md.7

Error judgment

Latest pointer No.

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.

Md.11

Axis error occurrence

Hour

Minute:second Md.12

Axis error occurrence

Minute:second

History of all errors

Hour
Axis error occurrence

History of all warnings

Latest pointer No.

Md.13

Error history pointer

Axis in which the warning occurred

Md.14

Axis in which the warning occurred

Axis warning No.

Md.15

Axis warning No.

Md.16

Axis warning occurrence (Hour)

Axis warning
occurrence

Hour

Minute:second Md.17
Md.18

Latest pointer No.

Number of write accesses
to the flash ROM after the Number of write accesses to flash ROM Md.19
power is switched ON

5 - 12

Axis warning occurrence (Minute:second)
Warning history pointer
No. of write accesses to flash ROM

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

[2] 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
When "0:
Composite speed"
is set for " Pr.20
Monitor the
current speed

During
interpolation
control

Interpolation speed
designation method"

Corresponding item
Indicates the
speed of each
axis
Indicates the
composite
speed

Md.22

Feedrate

Md.28

Axis feedrate

Md.33

Target speed

When "1:
Reference axis speed" Indicates the
reference axis
is set for " Pr.20
speed
Interpolation speed
designation method"

Constantly indicates the speed of each axis
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.

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 control 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

Speed-position switching control
positioning amount

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

Monitor the external input/output signal and flag

5 - 14

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 15

MELSEC-Q

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". (through the system
control data Cd.1 , Cd.2 , Cd.41 and Cd.42 )

•

Controlling the operation :
Setting operation parameters, changing speed during operation, interrupting or
restarting operation (through 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 - 16

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

[2] 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

Positioning starting point No.

Stop continuous control

Cd.18

Interrupt request during continuous
operation

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.)

Specify write destination for teaching results

Cd.38

Teaching data selection

Specify data to be taught

Cd.39

Teaching positioning data No.

Set start data Nos. for axes that start up simultaneously

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 continuous operation or restart from stopped
step

Cd.36

Step start information

Controlling the speed
Control details

Corresponding item
Cd.14

New speed value

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

Cd.12

Acceleration/deceleration time change
during speed change, enable/disable
selection

Set new speed when changing speed during operation
Issue instruction to change speed in operation to Cd.14 value
(Only during positioning operation and JOG operation)

5 - 17

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 Cd.23
switching control (INC mode)

Speed-position switching control
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

Position-speed switching control speed
change register

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

Target position change value(new
address)

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

Set manual pulse generator operation validity

Cd.21

Manual pulse generator enable flag

Set scale per pulse of No. of input pulses from manual pulse
generator

Cd.20

Manual pulse generator 1 pulse input
magnification

Change OPR request flag from "ON to OFF"

Cd.19

OPR request flag OFF request

Validate external command signal

Cd.8

External command valid

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

Stop command processing for
deceleration stop selection

5 - 18

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 19

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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 peripheral device

Pr.1 Unit setting

0 : mm
1 : inch
2 : degree
3 : pulse

Movement amount per pulse

Pr.2

No. of pulses per
rotation (Ap)
(Unit : pulse)

1 to 65535

Value set with sequence
program
0
1
2
3
1 to 65535
1 to 32767
:Set as a decimal
32768 to 65535
:Convert into hexadecimal
and set

The setting value range differs according to the " Pr.1
Pr.3

Movement amount per
rotation (Al)

Pr.4

Unit magnification (Am)

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

150

300

450

20000

151

301

451

20000

152

302

452

153

303

453

Unit

[Table 1] on right page
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 - 20

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.

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 MR-H, MR-J2/J2S , or MR-C, 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
Since the "Resolution per servomotor revolution" of Mitsubishi servo amplifier MR-J2S
exceeds 65535 pulses, make setting after referring to the Servo Amplifier Instruction
Manual.

[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 (µm)

1 to 65535 (× 10-1µm)

1 : inch

0.0001 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 32767
: Set as a decimal
32768 to 65535 : Convert into hexadecimal and set

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 - 21

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 µm (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 µm, adjust with the unit magnification so that the
"movement amount per rotation (Al) " does not exceed 6553.5 µm.
Example 1)
When movement amount per rotation (AL) = PB × 1/n = 6000.0µm (= 6mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
×
1
=
6000

Example 2)
When movement amount per rotation (AL) = PB × 1/n = 60000.0µm (= 60mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
×
=
6000
10
×
=
600
100

PLC
PLC CPU

Servo amplifier

Workpiece

Servomotor

QD75

G
1 Reduction gears
n

Encoder

Pf
Movement amount per pulse
=

PB
Pf

PB : Worm gear lead (mm/rev)
1/n : Deceleration rate
Pf : No. of encoder pulses (pulse/rev)

1
[mm/pulse]
n

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

154

304

454

155

305

455

3
0
1

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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 PLC CPU 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).
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

Forward
run

Reverse
run

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
PULSE F

PULSE F

PULSE R

Forward run

Reverse run

Forward run

5 - 23

Reverse run

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

(3) 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.

Positive logic

Negative logic

1) For multiple of 1 setting

Forward run
Command pulse output

Reverse run
Command pulse output

A phase
(A )

B phase
(B )
When B phase is
90° behind A phase

When B phase is
90° behind A phase

When B phase is
90° ahead of A phase

2) For multiple of 4 setting

When B phase is
90° ahead of A phase

2) For multiple of 4 setting

Forward run
Command pulse output

Reverse run
Command pulse output

A phase
(A )

B phase
(B )
When B phase is
90° behind A phase

When B phase is
90° behind A phase

When B phase is
90° ahead of A phase

Pr.6 Rotation direction setting
Set the relation of the motor rotation direction and current value address
increment/decrement.
[Setting procedure]
1) Set "0" in Pr.6 , and carry out forward run JOG operation.
("0" is set as the default value for Pr.6 .)
2) When workpiece "W" moves toward the address increment direction, keep the current setting.
When workpiece "W" moves toward the address decrement direction, set "1" in Pr.6 to change the
rotation direction.
3) Carry out forward run JOG operation again, and if "W" moves toward the increment direction, the
setting is complete.

Motor

Address decreAddress increment direction
ment direction
2) Workpiece

QD75
1) Forward run pulse

5 - 24

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

POINT
When Pr.6 has been changed from "0" to "1", check if the upper and lower limit
switches operate properly by JOG operation.
If any malfunction is identified, check and correct the wiring.

5 - 25

5 DATA USED FOR POSITIONING CONTROL

Setting value, setting range
Item

Value set with sequence
program

Value set with peripheral device

MELSEC-Q

Default
value

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

The setting range differs depending on the " Pr.1 Unit setting".
Here, the value within the [Table 1] range is set.

Pr.7

Bias speed at start

[Table 1] on right page

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".

5.2.2 Basic 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

The setting range differs depending on the " Pr.1 Unit setting".
Pr.8

Here, the value within the [Table 2] range is set.

Speed limit value

Pr.9

200000

10
11

160
161

310
311

460
461

[Table 2] on right page

1 to 8388608 (ms)

1000

12
13

162
163

312
313

462
463

1 to 8388608 (ms)

1000

14
15

164
165

314
315

464
465

Acceleration time 0
Pr.10

Deceleration time 0

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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 to 20000000.00 (mm/min)

0 to 2000000000 (×10-2mm/min)

1 : inch

0 to 2000000.000 (inch/min)

0 to 2000000000 (×10-3inch/min)

2 : degree
3 : pulse

0 to 2000000.000 (degree/min)
0 to 1000000 (pulse/s)

0 to 2000000000 (×10-3degree/min)
0 to 1000000 (pulse/s)

[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)

1 to 2000000000 (×10-3degree/min)
0.001 to 2000000.000 (degree/min)
[Select type 1 is QD75P]
1 to 200000 (pulse/s)
1 to 1000000 (pulse/s) 2
3 : pulse
[Select type 1 is QD75D]
1 to 1000000 (pulse/s)
1: For Select type, refer to GX Configurator-QP Operating Manual.
2: When using the QD75P (open collector output type), set the value to within "1 to 200000 (pulse/s)".
2 : degree

Pr.8 Speed limit value
Set the maximum speed during positioning and OPR operations.
The maximum speed during positioning control has to be limited in consideration
of the drive unit and control target specifications.
Take account of the following when determining the speed limit value:
1) Motor speed
2) Workpiece movement speed

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 the speed limit value ( Pr.8 ).
" Pr.10 Deceleration time 0" specifies the time for the speed to decrease from the
speed limit value ( Pr.8 ) to zero.
Speed

Pr.8 Speed limit value
Positioning speed
Time

Actual
Actual deceleration time
acceleration
time
Pr.10 Deceleration time 0
Pr.9
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 - 27

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

5.2.3 Detailed parameters 1
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 according to the " Pr.1 Unit
Pr.11

Backlash compensation
amount

setting".
Here, the value within the [Table 1] range is set.

167

317

467

2147483647

18
19

168
169

318
319

468
469

–2147483648

20
21

170
171

320
321

470
471

172

322

472

173

323

473

[Table 1] on right page

Pr.12

The setting value range differs according to the " Pr.1 Unit

Software stroke limit upper
limit value

setting".
Here, the value within the [Table 2] range is set.

Pr.13

Software stroke limit lower
limit value
Pr.14

Software stroke limit
selection
Pr.15

Software stroke limit
valid/invalid setting

[Table 2] on right 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

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)

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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

Value set with peripheral device Value set with sequence program
(unit)
(unit)

setting value
0 : mm

0 to 6553.5 (µm)

0 to 65535 (× 10-1µm)

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)

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 (µm)

-2147483648 to 2147483647 (× 10-1µm)

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 - 29

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.)
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

The setting value range differs depending on the " Pr.1
Pr.16

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

Unit
100

24
25

174
175

324
325

474
475

300

176

326

476

177

327

477

Command in-position width

[Table 1] on right page
Pr.17

1 to 500 (%)

Torque limit setting value
Pr.18

0 : WITH mode

M code ON signal output
timing

1 : AFTER mode

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

Command
in-position flag

OFF

5 - 30

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)

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]

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

Md.25

Positioning

Da.1
Da.1

Valid M code

Operation pattern

01 (continuous)

00 (end)

Operation pattern

01 (continuous)

00 (end)

: 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 - 31

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

An M code is a number between 0 and 65535 that can be assigned to each positioning
data ( Da.10 ).
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

Value set with sequence
program
0

Speed switching mode

0 : Standard speed switching mode
1 : Front-loading speed switching
mode

Pr.20

0 : Composite speed

Interpolation speed
designation method

1 : Reference axis speed

0 : Do not update current feed value

1 : Update current feed value

2 : Clear current feed value to zero

Pr.19

Default
value

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

178

328

478

179

329

479

180

330

480

181

331

481

182

332

482

–

184

334

484

Pr.21

Current feed value during
speed control

b0
b1
b2
b3
b4
Pr.22

Input signal logic selection

b6
b7
b8

Lower limit
Upper limit
Drive unit
READY
Stop signal
External
command
0: Negative
logic
Zero signal
1: Positive
Near-point
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
Deviation
Output signal logic selection 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)

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 - 32

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
n: Positioning
data No.

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

X axis
Designate composite speed
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 code 523 "interpolation mode
error" will be output when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always.

5 - 33

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 - 34

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 35

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

200

350

500

201

351

501

Pr.25 Acceleration time 1
Pr.26 Acceleration time 2
Pr.27 Acceleration time 3

1 to 8388608 (ms)

Pr.28 Deceleration time 1
Pr.29 Deceleration time 2
Pr.30 Deceleration time 3

The setting range differs depending on the " Pr.1 Unit setting".
Pr.31

JOG speed limit value

Pr.32

Here, the value within the [Table 1] range is set.

[Table 1] on right page
0: Pr.9 Acceleration time 0

1: Pr.25 Acceleration time 1

JOG operation acceleration
2: Pr.26 Acceleration time 2
time selection
3: Pr.27 Acceleration time 3

2
3

0: Pr.10 Deceleration time 0

1: Pr.28 Deceleration time 1
JOG operation deceleration
2: Pr.29 Deceleration time 2
time selection
3: Pr.30 Deceleration time 3

Pr.33

2
3

Pr.25 Acceleration time 1 to Pr.27 Acceleration time 3
These parameters set the time for the speed to increase from zero to the speed
limit value ( Pr.8 ) 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 the speed limit
value ( Pr.8 ) to zero during a positioning operation.

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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)

[Select type 1 is QD75P]
1 to 200000 (pulse/s)
1 to 1000000 (pulse/s) 2
3 : pulse
[Select type 1 is QD75D]
1 to 1000000 (pulse/s)
1: For Select type, refer to GX Configurator-QP Operating Manual "Section 11.1.2".
2: When using the QD75P (open collector output type), set the value to within "1 to 200000
(pulse/s)".

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 "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 " Pr.9 Acceleration time 0".
1 : Use value set in " Pr.25 Acceleration time 1".
2 : Use value set in " Pr.26 Acceleration time 2".
3 : Use value set in " Pr.27 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 " Pr.10 Deceleration time 0".
1 : Use value set in " Pr.28 Deceleration time 1".
2 : Use value set in " Pr.29 Deceleration time 2".
3 : Use value set in " Pr.30 Deceleration time 3".

5 - 37

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Setting value, setting range
Item
Value set with peripheral device
Pr.34

Acceleration/deceleration
process selection

Value set with sequence
program

0 : Automatic trapezoid
acceleration/deceleration process
1 : S-pattern
acceleration/deceleration process

Pr.35

Default
value

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

0
0

202

352

502

1 to 100 (%)

100

203

353

503

1 to 8388608 (ms)

1000

54
55

204
205

354
355

504
505

206

356

506

207

357

507

208

358

508

S-pattern ratio
Pr.36

Sudden stop deceleration
time
Pr.37

Stop group 1 sudden stop
selection

0 : Normal deceleration stop

Pr.38

Stop group 2 sudden stop
selection
Pr.39

1 : Sudden stop

Stop group 3 sudden stop
selection

Pr.34 Acceleration/deceleration process selection
Set whether to use automatic trapezoid acceleration/deceleration or S-pattern
acceleration/deceleration for the acceleration/deceleration process.
Note) Refer to Section 12.7.7 "Acceleration/deceleration process function" for
details.
Speed

The acceleration and
deceleration are linear.

Time

Speed

The acceleration and
deceleration follow a Sin curve.

Time

The S-pattern acceleration/deceleration is disabled when a stepping motor is used.

5 - 38

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Pr.35 S-pattern ratio
Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern
acceleration/deceleration process.
The S-pattern ratio indicates where to draw the acceleration/deceleration curve
using the Sin curve as shown below.
(Example)
A

Positioning
speed

B
B/2

B/2

t
When S-pattern ratio is 100%
V
Positioning
speed
b

sin curve

S-pattern ratio = B/A

100%

5 - 39

b/a = 0.7

t
When S-pattern 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" 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

3) Positioning stop
When a "sudden stop cause"
does not occur, the deceleration starts toward the stop
position following the "deceleration time".

Speed limit
value
Da.8

Command
speed

Actual acceleration time

Actual sudden stop
deceleration time
Pr.36

Actual deceleration time

Sudden stop
deceleration time
Acceleration time

Deceleration 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 - 40

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 .............. PLC CPU error occurrence, PLC READY signal [Y0] OFF,
Fault in test mode
• Stop group 3 .............. External stop signal
Stop signal from PLC CPU
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)
Stop made when the near-point dog signal turns from
OFF to ON in counter method machine OPR
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 signal is input.

5 - 41

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Setting value, setting range
Item
Value set with peripheral device

Pr.40

0 to 65535 (ms)

Positioning complete signal
output time

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

Default
value

Allowable circular
interpolation error width

Axis 1 Axis 2 Axis 3 Axis 4

300

209

359

509

100

60
61

210
211

360
361

510
511

212

362

512

Unit

setting".
Here, the value within the [Table 1] range is set.

Pr.41

Setting value buffer memory
address

[Table 1] on right 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.
PLC
PLC CPU

Positioning start signal
[Y10, Y11, Y12, Y13]

QD75

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 - 42

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 (µm)

0 to 100000 (× 10-1µm)

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)

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. 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

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 - 43

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 Speed change 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 - 44

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 45

MELSEC-Q

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

5.2.5 OPR basic parameters
Setting value, setting range
Item

Value set with sequence
program
0
1
2
3
4
5

Value set with peripheral device
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)

Pr.43

OPR method

Default
value

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

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
" Pr.44

OPR speed" in the

Pr.46 OPR speed

(2)

OPR direction".)

Pr.47

Creep speed

(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 - 46

(3)
(1)
Near-point dog OFF

Zero signal

(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".)

Pr.46 OPR speed

(2)

(2) Detect the near-point dog ON, and start deceleration.

Pr.47 Creep speed

(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

(3)

Creep

Range to forcibly stop
the servomotor
rotation with the stopper.

the torque is not limited, the servomotor could be damaged
in step (4).)
(4) The axis contacts against the stopper at " Pr.47

(5)

(4)

(1)

ON
Near-point dog OFF
Dwell time up

Dwell time counting

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.
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.

Pr.46 OPR speed

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

Pr.47

(2)

(3) Decelerate to " Pr.47 Creep speed", and move with the

Creep speed
Stop with stopper

(3) (4)

(5)

(1)

Zero signal
ON

Near-point dog OFF

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.
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

V
Pr.47 Creep speed

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 - 47

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".)

Pr.50
Setting for the movement
amount after near-poing dog ON

Pr.46 OPR speed

(2)

(2) Detect the near-point dog ON, and start deceleration.

Pr.47 Creep speed

(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.

(3)
(4)
t

(1)

Md.34 Movement amount after
near-point dog ON

Near-point dog OFF

The near-point dog must turn OFF
at a sufficient distance away from
the OP position.

Zero signal

First zero signal after moving the
movement amount after nearpoint dog ON

5 : Count method 2)
(1) Start machine OPR.
(Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)

Pr.46 OPR speed

(2)

(2) Detect the near-point dog ON, and start deceleration.

Pr.50
Setting for the movement
amount after near-poing dog ON

Pr.47 Creep speed

(3)

(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

(4)

(1)

Md.34 Movement amount after
near-point dog ON

ON
Near-point dog OFF

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

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

221

371

521

72
73

222
223

372
373

522
523

74
75

224
225

374
375

524
525

The setting value range differs depending on the " Pr.1 Unit
Pr.45

setting".
Here, the value within the [Table 1] range is set.

OP address

[Table 1] on right page
The setting value range differs depending on the " Pr.1 Unit
Pr.46

setting".
Here, the value within the [Table 2] range is set.

OPR speed

[Table 2] on right page

5 - 48

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

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]
Value set with peripheral device
(unit)

Pr.1 setting value

Value set with sequence program
(unit)

0 : mm

-214748364.8 to 214748364.7 (µm)

-2147483648 to 2147483647 (× 10-1µm)

1 : inch

-21474.83648 to 21474.83647 (inch)

-2147483648 to 2147483647 (× 10-5inch)

2 : degree

0 to 359.99999 (degree)

0 to 35999999 (× 10-5degree)

3 : pulse

-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)

1 to 2000000000 (× 10-3degree/min)

3 : pulse

1 to 1000000 (pulse/s)

5 - 49

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 "OPR speed" will be limited by " Pr.8 Speed
limit value".
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

Value set with sequence
program

The setting value range differs depending on the " Pr.1
Pr.47

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

Unit
1

76
77

226
227

376
377

526
527

228

378

528

Creep speed

[Table 1] on right page
Pr.48

OPR retry

0 : Do not retry OPR with limit
switch
1 : Retry OPR with limit switch

0
1

5 - 50

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.
Set a speed equal to or faster than the bias speed at start.
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)

3 : pulse

1 to 1000000 (pulse/s)

5 - 51

1 to 1000000 (pulse/s)

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)).

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), 6) After stopping with the near-point dog signal OFF, carries out machine OPR in the
OPR direction.

5 - 52

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 53

MELSEC-Q

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

0 to 65535 (ms)

OPR dwell time

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
Pr.50

Setting for the movement
amount after near-point dog
ON

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

229

379

529

80
81

230
231

380
381

530
531

232

382

532

233

383

533

Unit

[Table 1] on right page
0 : Pr.9 Acceleration time 0

Pr.51

1 : Pr.25 Acceleration time 1

OPR acceleration time
selection

2 : Pr.26 Acceleration time 2

3 : Pr.27 Acceleration time 3

0 : Pr.10 Deceleration time 0

Pr.52

1 : Pr.28 Deceleration time 1

OPR deceleration time
selection

2 : Pr.29 Deceleration time 2

3 : Pr.30 Deceleration time 3

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 10 ms at the OPR speed".)

5 - 54

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 (µm)

0 to 2147483647 (× 10-1µm)

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)

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

Vz
1000

t + 0.01 Vz
Movement amount for
10ms at OPR speed
Vz
Tb Vz
+ 0.01 Vz
= 2000
Vp
3
3
3
10 10 300 10 10
+ 0.01 10 10
= 2000
3
200 10

[Machine OPR operation]
Pr.8 Speed limit value: Vp=200kpulse/s

Pr.46 OPR speed:
Vz=10kpulse/s

= 75 + 100
= 175
Pr.47 Creep speed: Vc=1kpulse/s

Setting for the movement amount after
near-point dog ON ( Pr. 50 ) should be
equal to or larger than 175.
Actual deceleration time:t = Tb

Vz
Vp

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 - 55

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Setting value, setting range
Item

Value set with peripheral
device

Default
value

Value set with sequence program

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".
Pr.53

Here, the value within the [Table 1] range is set.

OP shift amount

Pr.54

84
85

234
235

384
385

534
535

300

236

386

536

237

387

537

238

388

538

239

389

539

[Table 1] on right page
1 to 300 (%)

1 to 300 (%)

OPR torque limit value
Pr.55

Deviation counter
clear signal output
time

1 to 65535 (ms)

1 to 65535 (ms)
0 to 32767:
Set the decimal value as it is.
32768 to 65535:
Convert the decimal value into a
hexadecimal value and set the latter.

Pr.56

0 : OPR speed

Speed designation
during OP shift

1 : Creep speed

Pr.57

Dwell time during
OPR retry

0 to 65535 (ms)

0 to 65535 (ms)
0 to 32767 :
Set as a decimal
32768 to 65535 :
Convert into hexadecimal and set

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
Shift point

Start point

When " Pr.53 OP
shift amount" is negative

Near-point dog signal

Zero signal

5 - 56

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 (µm)

-2147483648 to 2147483647 (× 10-1µm)

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)

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

5 - 57

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.
ˆƒ
’[ Œ
ˆ ^ƒ ß
‚‡
f@[ ^ƒ 599
‡
‚ @ 600
ˆÊ u
’ Œ
ˆ ß
‚Ê
fu
‚ƒ

Positioning data No.

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆ ß
‚ˆÊ ¯u
7980 7990
3
Da.1@
` @ Da.4
Da.1@
` @ Da.4

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆidentifier
ß
‚ˆÊ ¯u
Positioning
2020
2010Da.5
Da.1@
` @ Da.5
Da.4
2000
7981 7991
Da.1@
`
Da.1 to Da.5 @ Da.4
’ Œ
ˆƒ
ß
‚ ƒ
Aƒ
h ƒ
Œ ƒ
X
ˆÊ u
’ Œ
ˆ ß
‚ˆÊ ƒ
Au
h ƒ
Œ
Xƒ
Da.5

² ‚P

Axis 1

² ‚P

Da.6

2022
2012Da.7
Da.7
2002
~
Œƒ
Aƒ
h ƒ
Œ X
ƒ
~ Ê
‰
Œ ‰
ƒ ƒ
A
hÊ
Œƒ
Xƒ
ß ¬
‘ “x
Dwell time
w —
ß ¬
‘w“x —

Da.9

One positioning data item is configured of the items shown in the
bold box.

² ‚P

2021
Da.10 Da.5
Da.6
2011Da.6
2001
7982 7992
’ Œ
ˆƒ
ß
‚ ƒ
A
h ƒ
Œ ƒ
X
’ Œ
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Au
h ƒ
Œ
Xƒ
ƒ
~
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Aƒ
h ƒ
Œ ƒ
X
M codeˆÊ u
~ Ê
‰
Œ ‰
A ƒ
ƒ
hÊ
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
ß ¬
‘ “x2005 2015 2025
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ßspeed
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‘w“x —
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Da.8

Da.7

2026
Da.8
2016Da.9
Da.6 Da.8
2006 Da.9
h‹ƒ ƒ
E
F ‹ƒ
ƒ
ƒ
^ ƒ
C ƒ
€2017 2027
Positioning
h ƒ
ƒ
E address/
Fƒ
ƒ
ƒ
^ ƒ
C
ƒ
€2007
Mƒ
R [ h
ƒ
Mƒ
R [ h
ƒ
movement amount
Da.9
2028
2008 2018
Da.7 Da.9
Mƒ
R [ h
ƒ 2009 2019 2029
Mƒ
R [ h
ƒ
Arc address

7988 7998
7989 7999

’[ Œ
ˆ ^ƒ ß
‚‡
f@[ ^ƒ 599
‡
‚ @ 600
ˆÊ u
’ Œ
ˆ ß
‚ ˆÊƒ
fu
‚ƒ

Positioning data No.

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆ ß
‚ˆÊ ¯u
13990
3
Da.1@
` @ 13980
Da.4
Da.1@ ` @ Da.4

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆidentifier
ß
‚ˆÊ ¯u
Positioning
8020
8010Da.5
Da.1@
` @ Da.5
Da.4
8000
13981 13991
Da.1 Da.1@
to Da.5` @ Da.4
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ˆƒ
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h ƒ
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X
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Au
h ƒ
Œ
Xƒ

Da.6

² ‚P

Axis 2

Da.6
8022
8012Da.7
Da.7
8002
‰
~
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Aƒ
h ƒ
Œ ƒ
X
‰
~
Ê
Œ
A h
ƒ
ƒÊ
Œƒ
Xƒ
ß ¬
‘ “x
Dwell time
w —
ß ¬
‘w“x —

Da.9

13984 13994
13985 13995

8024
Da.7
8014Da.8
8004Da.8
13986 13996
8025
w“x —
ß ¬
‘ “x8005 8015 ƒ
w
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ß
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Da.8

Da.7

8026
8016Da.9
Da.6
8006Da.9
8027
h‹ƒ ƒ
E
ƒ ‹ƒ
F
ƒ
^ ƒ
C ƒ
€ 8017 Mƒ
Positioning
h ƒ
ƒ
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Fƒ
ƒ
ƒ
^ ƒ
C
ƒ
€8007
ƒ
Mƒ
R [ h
ƒR [ h
Da.8

b15

b12

b0
Buffer memory

² ‚P

Da.5
8021
8011Da.6
Da.10 Da.5
Da.6
13982 13992
’ Œ
ˆƒ
ß
‚ ƒ
A8001
h ƒ
Œ ƒ
X
Ê
ˆ
u
’
Œ
ˆ
ß
‚ˆÊ ƒ
Au
h ƒ
Œ
Xƒ
ƒ
~
Œƒ
Aƒ
h ƒ
Œ ƒ
X
M code
~ Ê
‰
Œ ‰
A ƒ
ƒ
hÊ
Œƒ
Xƒ

Configuration of positioning identifier

Da.8

movement amount
8028
Da.9
8008 8018
Da.7 Da.9
8029
Mƒ
R
[
h
ƒ
8019
Mƒ
R [ h
ƒ
8009
Arc address

13988 13998
13989 13999

5 - 58

Da.1 Operation pattern

Da.2 Control system
Da.5

Axis to be
interpolated

Da.3 Acceleration time No.
Da.4 Deceleration time No.

5 DATA USED FOR POSITIONING CONTROL

599

Positioning data No.

MELSEC-Q

600

ˆ ¯u
’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆ u
Ê
’ Œ
ˆ ß
‚Ê
19990
3
Da.1@
` @ 19980
Da.4
2
Da.1@ ` @ Da.4

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆidentifier
ß
‚ˆÊ ¯u
Positioning
14020
Da.5
14010
Da.1@
` @ Da.5
Da.4
14000
19981 19991
Da.1@
`
Da.1 to Da.5 @ Da.4
’ Œ
ˆƒ
ß
‚ ƒ
AX
ƒ ƒ
Œ ƒ
X
ˆÊ u
’ Œ
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‚ˆÊ ƒ
Au
h ƒ
Œ
ƒh

Da.6
14022
14012Da.7
Da.7
~
‰
Œƒ
A14002
ƒ ƒ
Œ ƒ
X
‰
~
Ê
Œ
A h
ƒ
ƒÊ
Œƒ
Xh
ƒ
ß ¬
‘ “x
Dwell time
w —
ß ¬
‘wx“ —
Da.6

² ‚P

Da.9

² ‚P

Axis 3

² ‚P

Da.5
14021
Da.10 Da.5
Da.6
14011Da.6
19992
ˆÊ ƒ
u
’ Œ
ˆh
ß
‚ 14001
ƒ
Aƒ
ƒ
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u
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A
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ƒ ƒ
Œ 19982
X
ƒ
M code
~ Ê
‰
Œ ‰
A h
ƒ
ƒÊ
Œƒ
Xh

19984 19994
19985 19995

14024
14014Da.8
14004Da.8
19986 19996
14025
14015
w
—
ß
¬
‘
x
“
14005 ƒ
w —
ßspeed
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h ƒ
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Da.8

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
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R [ h
ƒ
Mƒ
R [ h
ƒMƒ
movement amount
Da.9
14028
Da.7 Da.9
14008 14018
R [ h
ƒ 14009 14019 14029
Mƒ
R [ h
ƒMƒ
Arc address

19988 19998
19989 19999

Buffer memory address
599

Positioning data No.

600

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆ ß
‚ˆÊ ¯u
25990
3
` @ 25980
Da.4
Da.1@ Da.1@
` @ Da.4

’ Œ
ˆ•Ê q
ß
‚ ¯ •Ê q
ˆÊ u
’ Œ
ˆidentifier
ß
‚ˆÊ ¯u
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
ƒ ƒ
Œ ƒ
X
ˆÊ u
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Œ
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Da.6

20022
20012Da.7
Da.7
~
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A20002
ƒ ƒ
Œ X
ƒ
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‰
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ƒ h
A
ƒÊ
Œƒ
Xh
ƒ
ß ¬
‘ “x
Dwell time
w —
ß ¬
‘wx“ —

Da.9

² ‚P

Axis 4

² ‚P

Da.6

² ‚P

Da.5
20021
Da.10 Da.5
Da.6
20011Da.6
25992
’ Œ
ˆh
ß
‚ 20001
ƒ
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Œ 25982
X
ƒ
M codeˆÊ u
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‰
Œ ‰
A h
ƒ
ƒÊ
Œƒ
Xh

25984 25994
25985 25995

20024
Da.7
20014Da.8
20004Da.8
25986 25996
20015 20025
wx“ —
ß ¬
‘ 20005
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Da.8

Da.7

Da.8
20026
20016Da.9
Da.6 Da.8
20006Da.9
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ƒ
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ƒ
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Positioning
R [ h
ƒ
Mƒ
R [ h
ƒMƒ
movement amount
Da.9
20028
Da.7 Da.9
20008 20018
Mƒ
R [ h
ƒ 20009 20019 20029
Mƒ
R
[
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 - 59

5 DATA USED FOR POSITIONING CONTROL

Setting value

Item
Value set with peripheral device

Da.1
Operation
pattern

MELSEC-Q

Value set with sequence program

00:Positioning complete

01:Continuous positioning control

11:Continuous path control

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

01H
02H
03H
04H
05H

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

Da.2
Control
system

0: Pr.9 Acceleration time 0

0EH
0FH

11H

Setting value
12H
13H
14H
15H
16H

H
Convert into
hexadecimal

17H
18H
19H
1AH
1BH

b15 b12

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

0: Pr.10
Da.4
1: Pr.28
Deceleration
2: Pr.29
time No.
3: Pr.30

Deceleration time 0

Deceleration time 1

Deceleration time 2

Deceleration time 3

0: Axis1
Da.5
1: Axis 2
Axis to be
interpolated 2: Axis 3
3: Axis 4

Control system

10H

10
11

Acceleration
time

Deceleration time

00
01
10
11

Axis to be interpolated
(in 2-axis interpolation only)

5 - 60

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.
Note)

•

When "JUMP instruction" is set for the control system, the " Da.9
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 "Circular interpolation not possible error"
will occur when executed (error code: 535).)

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 - 61

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 "Illegal interpolation description command error" will
occur during the program execution (error code: 521).)
• 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

Default
value

Value set with sequence
program

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

The setting value range differs according to the " Da.2 Control
Da.6

Positioning address/
movement amount

system".
Here, the value within the following range of [Table 1] range is set.

2006 8006 14006 20006
2007 8007 14007 20007

[Table 1] on right 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 - 62

3000

Movement
amount
: 2000

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

(2) 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
(µm)

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
(× 10-1µm)

◊ 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 - 63

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

(3) 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 - 64

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

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

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 movement amount
-2147483648 to 2147483647

◊ Set the movement amount
0 to 2147483647

◊ Set the address
-2147483648 to 2147483647

◊ 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 - 65

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

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 - 66

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 67

MELSEC-Q

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 according to the " Da.2 Control
Da.7

system".
Here, the value within the [Table 1] range is set.

Arc address

2008 8008 14008 20008
2009 8009 14009 20009

[Table 1] on right 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 - 68

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.)
Value set with peripheral device
(µm)

Da.2 setting value

ABS circular sub
ABS circular right
ABS circular left
INC circular sub
INC circular right
INC circular left

:
:
:
:
:
:

0DH
◊
0FH Set the address
-214748364.8 to 214748364.7
10H
0EH
◊ Set the movement amount
11H
-214748364.8 to 214748364.7
12H

Value set with sequence program
(× 10-1µm)

◊ Set the address
-2147483648 to 2147483647
◊ 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.)

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.)
Value set with peripheral device
(pulse)

Da.2 setting value

ABS circular sub
ABS circular right
ABS circular left
INC circular sub
INC circular right
INC circular left

:
:
:
:
:
:

0DH
◊
0FH Set the address
-2147483648 to 2147483647
10H
0EH
◊ Set the movement amount
11H
-2147483648 to 2147483647
12H

Value set with sequence program
(pulse)

◊ Set the address
-2147483648 to 2147483647
◊ 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.)

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.)
Value set with peripheral device
(inch)

Da.2 setting value

ABS circular sub
ABS circular right
ABS circular left
INC circular sub
INC circular right
INC circular left

:
:
:
:
:
:

0DH
◊
0FH Set the address
-21474.83648 to 21474.83647
10H
0EH
◊ Set the movement amount
11H
-21474.83648 to 21474.83647
12H

1: Set an integer because the sequence program cannot handle fractions.
(The value will be converted properly within the system.)

5 - 69

Value set with sequence program
(×10-5 inch)
◊ Set the address
-2147483648 to 2147483647
◊ Set the movement amount
-2147483648 to 2147483647

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

[Table 1] on right page

Command speed
-1: Current speed
(Speed set for previous
positioning data No.)
Da.9

Dwell time

Da.10

M code

2004 8004 14004 20004
2005 8005 14005 20005

2002

8002 14002 20002

2001

8001 14001 20001

-1

The setting value range differs according to the " Da.2 Control

system".
Dwell time/
Here, the value within the [Table 2] range is set.
JUMP
JUMP
destination
[Table 2] on right page
positioning data destination
positioning
No.
data No.
M code

The setting value range differs according to the " Da.2 Control

system".
Condition
Here, the value within the [Table 3] range is set.
data No.
No. of
[Table 3] on right page
LOOP to
LEND
repetitions

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 15.2 "List of errors" for details on the errors.)

5 - 70

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" or "LOOP" 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).
Make sure that you specify the number of LOOP to LEND repetitions
by a number other than "0". The "Control system LOOP setting error"
will occur if you specify "0". (error code: 545)
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)

3 : pulse

1 to 1000000 (pulse/s)

[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

0 to 65535 (ms)

Value set with peripheral
device

Value set with sequence
program

[Table 3]
Da.2 setting value

Setting item

JUMP instruction: 82H

Condition data No.

0 to 10

Other than JUMP instruction

M code

0 to 65535

LOOP: 83H

Repetition count

1 to 65535

5 - 71

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"

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"

Positioning control
Next positioning
control

Set the time from when positioning control ends to when
the next positioning control starts as the "dwell time".

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.)

Positioning control
Next positioning control
t

No dwell time (0ms)

5 - 72

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 73

MELSEC-Q

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
2nd point
1st point

Setting item
Buffer memory
address

Axis 1 (Start block 0)

Setting item
œ ˆÊ u
’ Œ
ˆ ß
‚ n “® fƒ [ ^ƒ

b15

b8 b7

Buffer memory
address

26049

For information on the organization of the
buffer memory addresses assigned to the
start blocks 1 to 4, refer to Appendix 12
"List of buffer memory addresses".

26001

26000
Da.12 Start data No.

Da.11 Shape

b15

b8 b7

26099

26051

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
œ ˆÊ u
’ Œ
ˆ ß
‚ n “® fƒ [ ^ƒ

Axis 2 (Start block 0)

b15

b8 b7

Buffer memory
address

27049

27001

27000
Da.12 Start data No.

Da.11 Shape

b15

b8 b7

27099

27051

27050
Da.13 Special start
instruction

Da.14 Parameter

5 - 74

Up to 50 block start data points can be set
(stored) for each axis in the buffer memory
addresses shown on the left.
Items in a single unit of block start data are
shown included in a bold frame.
Each axis has five start blocks (block Nos.
0 to 4).

5 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 ˆÊ u
’ Œ
ˆ ß
‚ n “® fƒ [ ^ƒ

b15

b8 b7

Buffer memory
address

28049

28001

28000
Da.12 Start data No.

Da.11 Shape

b15

b8 b7

28099

28051

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 ˆÊ u
’ Œ
ˆ ß
‚ n “® fƒ [ ^ƒ

Axis 4 (Start block 0)

b15

b8 b7

Buffer memory
address

29049

29001

29000
Da.12 Start data No.

Da.11 Shape

b15

b8 b7

29099

29051

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 - 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

7001

7002

7003

7004

Axis 2
Axis 3

Condition

Start block 0

Condition data (1 to 10)
Start block 1

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 3

Start block 2

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 2
Axis 3

Start block 3

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 2
Axis 3

Supports the
settings

Condition data (1 to 10)

Axis 1

Axis 2

Supports the
settings

Condition data (1 to 10)
Condition data (1 to 10)

Axis 3

GX
ConfiguratorQP

Condition data (1 to 10)

Axis 4
Axis 2

Buffer memory

Start block 4

Axis 4

Condition data (1 to 10)
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, "Outside start No. range error
(error code: 543)" will occur.
(For details, refer to Section 12.7.8 "Pre-reading start function".)

5 - 76

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Setting value
Item

Value set with peripheral
device

Default
value

Value set with sequence program

0 : End

1 : Continue

Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4

Da.11

Shape

b15
b11
0 0 0

0000H 26000 27000 28000 29000
Shape

Da.12

Start data No.

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

Start data No.

b15

b11

Da.13

Special start
instruction

0000H 26050 27050 28050 29050

Special start
instruction

Da.14

Parameter

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

Parameter

5 - 77

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 - 78

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 - 79

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
Setting item

Axis 1 (start block 0)

b15

b12 b11

b8 b7

Buffer memory
Buffer memory address
address

26190

26110

26191
26192
26193
26194
26195
26196
26197
26198
26199

26100
Da.16 Condition
operator

Da.15 Condition
target

Open

26111
26112
26113
26114
26115
26116
26117
26118
26119

26101
26102
26103
26104
26105
26106
26107
26108
26109

Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Open

No.10
Buffer memory
address

Setting item
No.2
No.1

Setting item
Setting item

Axis 2 (start block 0)

b15

b12 b11

b8 b7

Buffer memory
address

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 - 80

27190

27191
27192
27193
27194
27195
27196
27197
27198
27199

Up to 10 block start data points can be set (stored)
for each axis 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 12 "List of buffer memory
addresses".

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

No.10
Buffer memory
address

Setting item
No.2
No.1

Setting item
Setting item

Axis 3 (start block 0)

b15

b12 b11

b8 b7

Buffer memory
Buffer memory address
address

28110
28100

Da.16 Condition
operator

Da.15 Condition
target

28101
28102
28103
28104
28105
28106
28107
28108
28109

Open
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Open

28111
28112
28113
28114
28115
28116
28117
28118
28119

28190

28191
28192
28193
28194
28195
28196
28197
28198
28199

No.10
Buffer memory
address

Setting item
No.2
No.1

Setting item
Setting item

Axis 4 (start block 0)

b15

b12 b11

b8 b7

Buffer memory
Buffer memory address
address

29110
29100

Da.16 Condition
operator

Da.15 Conditiion
target

Open
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Open

29101
29102
29103
29104
29105
29106
29107
29108
29109

29111
29112
29113
29114
29115
29116
29117
29118
29119

29190

29191
29192
29193
29194
29195
29196
29197
29198
29199

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 - 81

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Axis

Block start data

Axis 1
7000

7001

7002

7003

7004

Axis 2
Axis 3

Condition

Start block 0

Condition data (1 to 10)
Start block 1

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 3

Start block 2

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 2
Axis 3

Start block 3

Condition data (1 to 10)
Condition data (1 to 10)

Axis 4

Condition data (1 to 10)

Axis 1

Condition data (1 to 10)

Axis 2
Axis 3

Supports the
settings

Condition data (1 to 10)

Axis 1

Axis 2

Supports the
settings

Condition data (1 to 10)
Condition data (1 to 10)

Axis 3

GX
ConfiguratorQP

Condition data (1 to 10)

Axis 4
Axis 2

Buffer memory

Start block 4

Axis 4

Condition data (1 to 10)
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, "Outside
start No. range error (error code: 543)" will occur.
(For details, refer to Section 12.7.8 "Pre-reading start function".)

5 - 82

5 DATA USED FOR POSITIONING CONTROL

Setting value

Item

Value set with peripheral device

Da.15

Condition identifier

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 : ∗∗=P1
02 : ∗∗≠ P1
03 : ∗∗≤P1
04 : ∗∗≥P1
05 : P1≤∗∗≤ P2
06 : ∗∗≤P1, P2≤∗∗
07 : DEV=ON
08 : DEV=OFF
10: Axis 1 selected
20: Axis 2 selected
30: Axes 1 and 2 selected
40: Axis 3 selected
50: Axes 1 and 3 selected
60: Axes 2 and 3 selected
70: Axes 1, 2, and 3 selected
80: Axis 4 selected
90: Axes 1 and 4 selected
A0: Axes 2 and 4 selected
B0: Axes 1, 2, and 4 selected
C0: Axes 3 and 4 selected
D0: Axes 1, 3, and 4 selected
E0: 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

Default
value

(High-order)

0000H 26100 27100 28100 29100

26102
b16 b15

(Low-order)

0000H

26102 27102 28102 29102
26103 27103 28103 29103

0000H

26104 27104 28104 29104
26105 27105 28105 29105

0000H

26106 27106 28106 29106
26107 27107 28107 29107

Address
Buffer memory address
Example)
26105

Da.18

Value

b31

(High-order)

26104
b16 b15

(Low-order)

Parameter 1
Value
Example)
26106

26107

Da.19

Value

b31

(High-order)

b16 b15

Parameter 2
Value

5 - 83

(Low-order)

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 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

07H : DEV=ON
08H : DEV=OFF
01H : ∗∗=P1

01H: Device X
02H: Device Y

03H: Buffer memory (1-word)
04H: Buffer memory (2-word)

The state (ON/OFF) of an I/O signal is defined as the
condition. Select ON or OFF as the trigger.

02H : ∗∗≠P1
03H : ∗∗≤P1

Select how to use the value (∗∗) in the buffer memory
as a part of the condition.

04H : ∗∗≥P1
05H : P1≤∗∗≤P2
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 :
02H :
03H :

Device X
Device Y
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 - 84

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

01H : ∗∗=P1
02H : ∗∗≠P1
03H : ∗∗≤P1

Setting value

Value

04H : ∗∗≥P1
05H : P1≤∗∗≤P2
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. (P1≤P2)
If P1 is greater than P2 (P1>P2), the "condition data error" (error
code 533) will occur.

Set the device bit No.
X: 0H to 1H, 4H to 11H 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 : P1≤∗∗≤P2
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. (P1≤P2)
If P1 is greater than P2 (P1>P2), the "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 - 85

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 - 86

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)

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 - 87

5 DATA USED FOR POSITIONING CONTROL

Storage item

Storage details

Reading the monitor value

[Storage details]

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

0 0 0 0 0

Monitor
value

Not used

Start axis
Stored contents
Axis 1

Start origin

Starting history (Up to 16 records can be stored)

Stored contents

Storage value

PLC CPU

External signal

1
2

Axis 2

Peripheral device

Storage value

Axis 3

Axis 4

Restart flag
Stored contents

Storage value

Restart flag OFF

Restart flag ON

Monitoring is carried out with a hexadecimal display.
A
Buffer
memory

b15

B
b12

b4
C

Monitor value
b0

A B C D

Start No.
Stored contents

Md.4

Positioning operation

The starting No. is stored.

Storage value
B
C

Reference
(Decimal)

001

Start No.

JOG operation
Manual pulse generator
Machine OPR
Fast OPR
Current value changing
Simultaneous start

0
1

2
B

5
5

8
8

600
7000

1
1
1
1

B
B

5
5

B
B
3
3

5
5
3
3

9
A
B

7001
7002
7003
7004

3
3
3
3

2
2
2
2

2
2
2
2
2
2

C
2
3
9
A

9010
9011
9001
9002
9003

B
C

9004

Monitoring is carried out with a hexadecimal display.
Md.5

Start
(Hour)

Buffer memory (stored with BCD code)

The starting time is stored.

0
0
Not used

0 to 2

Monitor value

b15
b12
b8
b4
b0
0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1

0 to 3
00 to 23 (hour)

Monitoring is carried out with a hexadecimal display.
Md.6

Start
(Minute:
second)

Buffer memory (stored with BCD code)

The starting time is stored.

0 to 5

0 to 9

Monitor value

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
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 - 88

5 DATA USED FOR POSITIONING CONTROL

Default value

MELSEC-Q

Storage buffer memory address (common to axes 1 to 4)

Md.8
Start history pointer

1292

0000H
Indicates a pointer No. that is next to the Pointer No.
assigned to the latest of the existing starting history records.
Pointer No.

Pointer No.

Md.3

1212

Start information

Starting history

Md.4

1213

Start No.
Md.5
Start

1214

hour

Md.6
Start

1215
min: sec

Md.7

0000H

Error judgement

1216

1282
1272 1277
1262 1267
1252 1257
1247
1237 1242
1227 1232
1217 1222
1283
1273 1278
1263 1268
1258
1253
1243 1248
1228 1233 1238
1218 1223
1279 1284
1269 1274
1259 1264
1254
1249
1239 1244
1229 1234
1219 1224
1285
1275 1280
1265 1270
1255 1260
1250
1240 1245
1230 1235
1220 1225
1286
1276 1281
1266 1271
1261
1251 1256
1241 1246
1231 1236
1221 1226

1287

1288

1289

1290

1291

Each group of buffer memory addresses storing a complete starting history
Item

Buffer memory address

record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216
Pointer No. 1 = Buffer memory addresses 1217 to 1221
Pointer No. 2 = Buffer memory addresses 1222 to 1226

Pointer No. 15 = Buffer memory addresses 1287 to 1291
Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.

0000

(A new record replaces an older record when a pointer No. is reassigned.)

0000

5 - 89

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

b15

B
b12

C
b8

D
b4

Buffer memory
a

A B C D

Error flag
Stored contents
Error flag OFF
Error flag ON

Monitor value
b0

Storage value

0
1

Error No.
Convert the hexadecimal value "a, B, C, D" into a decimal value and
match it with "15.2 List of errors".

BUSY start warning flag
Stored contents

Md.8

Start history
pointer

Indicates a pointer No. that
is next to the Pointer No.
assigned to the latest of the
existing starting history
records.

Storage value

BUSY start
warning OFF

BUSY start
warning ON

Monitoring is carried out with a decimal display.
Monitor value

5 - 90

Storage value (Pointer number)
0 to 15

5 DATA USED FOR POSITIONING CONTROL

Default value

MELSEC-Q

Storage buffer memory address (common to axes 1 to 4)
Md.8
Start history pointer

1292

Indicates a pointer No. that is next to the Pointer No.
assigned to the latest of the existing starting history records.
Pointer No.

Pointer No.

Md.3

1212 1217

Start information

0000H

Starting histroy

Md.4

1213 1218

Start No.
Md.5

1214 1219

Start hour
Md.6

1215 1220

Start min: sec
Md.7
Error judgement

Item

1216 1221

1272 1277
1262 1267
1252 1257
1247
1242
1232 1237
1222 1227
1278
1268 1273
1258 1263
1253
1243 1248
1233 1238
1223 1228
1274 1279
1264 1269
1254 1259
1249
1244
1234 1239
1224 1229
1275 1280
1265 1270
1255 1260
1250
1245
1235 1240
1225 1230
1281
1271 1276
1261 1266
1256
1246 1251
1236 1241
1226 1231

Buffer memory address

1282 1287

1283 1288

1284 1289

1285 1290

1286 1291

Each group of buffer memory addresses storing a complete starting history
record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216
Pointer No. 1 = Buffer memory addresses 1217 to 1221
Pointer No. 2 = Buffer memory addresses 1222 to 1226

1292

5 - 91

5 DATA USED FOR POSITIONING CONTROL

Storage item

MELSEC-Q

Storage details

Reading the monitor value

Monitoring is carried out with a decimal display.

Md.9

Stores a number (Axis No.)
Axis in which that indicates the axis that
the error
encountered an error.
occurred

Monitor
value

Storage value
1: Axis 1
2: Axis 2
3: Axis 3
4: Axis 4

Error history (Up to 16 records can be stored)

Monitoring is carried out with a decimal display.
Md.10

Stores an axis error No.

Monitor value

Error No.
For details on the error Nos.
(Error codes),refer to
Section 15.2 "List of errors".

Axis error No.

Monitoring is carried out with a hexadecimal display.
Md.11

Axis error
occurrence
(Hour)

Buffer memory (stored with BCD code)

Stores the time at which an
axis error was detected.

Not used

0 to 2

Monitor value

0 to 3
00 to 23 (hour)

Monitoring is carried out with a hexadecimal display.

Md.12

Buffer memory (stored with BCD code)

Axis error
occurrence
(Minute:
second)

Stores the time at which an
axis error was detected.

Md.13

Indicates a pointer No. that
is next to the Pointer No.
assigned to the latest of the
existing records.

Error history
pointer

b15
b12
b8
b4
b0
0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1

0 to 5

0 to 9

Monitor value

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
00 to 59 (minute) 00 to 59 (second)

Monitoring is carried out with a decimal display.
Monitor value

5 - 92

Storage value
(Pointer number)
0 to 15

5 DATA USED FOR POSITIONING CONTROL

Default value

MELSEC-Q

Storage buffer memory address (common to axes 1 to 4)

Md.13
Error history pointer

1357

Indicates a pointer No. that is next to the Pointer No.
assigned to the latest of the existing error history records.
Pointer No.

Pointer No.

Md.10

1294 1298

Axis error No.
Md.11
Axis error occurrence
hour

1295 1299

Md.12
Axis error occurrence
min: sec

1296 1300

Item

0000

Md.9
1297
Axis in which the error 1293
occured
Error history

0000

1341 1345
1333 1337
1325 1329
1321
1317
1309 1313
1301 1305
1346
1338 1342
1330 1334
1322 1326
1318
1310 1314
1302 1306
1343 1347
1335 1339
1327 1331
1323
1319
1311 1315
1303 1307
1344 1348
1336 1340
1328 1332
1324
1320
1312 1316
1304 1308

Buffer memory address

1349 1353

1350 1354

1351 1355

1352 1356

Each group of buffer memory addresses storing a complete error history
record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1293 to 1296
Pointer No. 1 = Buffer memory addresses 1297 to 1300
Pointer No. 2 = Buffer memory addresses 1301 to 1304

Pointer No. 15 = Buffer memory addresses 1353 to 1356
Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
(A new record replaces an older record when a pointer No. is reassigned.)

1357

5 - 93

5 DATA USED FOR POSITIONING CONTROL

Storage item

MELSEC-Q

Storage details

Reading the monitor value

Monitoring is carried out with a decimal display.

Md.14

Warning history (Up to 16 records can be stored)

Stores a number (Axis No.)
Axis in which that indicates the axis that
the warning
encountered a warning.
occurred

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.

Monitor
value

Stores an axis warning No.

Monitor
value

Warning No.
For details of warning Nos.
(warning codes), refer to
Section 15.3 "List of warnings".

Monitoring is carried out with a hexadecimal display.
Md.16

Axis warning
occurrence
(Hour)

Buffer memory (stored with BCD code)

Stores the time at which an
axis warning was detected.

Not used

0 to 2

Monitor value

0 to 3
00 to 23 (hour)

Monitoring is carried out with a hexadecimal display.

Md.17

Axis warning
occurrence
(Minute:
second)

b15
b12
b8
b4
b0
0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1

Buffer memory (stored with BCD code)

Stores the time at which an
axis warning was detected.

Indicates a pointer No. that
is next to the Pointer No.
Warning
assigned to the latest of the
history pointer existing records.

Md.18

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.

0 to 5

0 to 9

Monitor value

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
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 - 94

Storage value
0 to 25

5 DATA USED FOR POSITIONING CONTROL

Default value

MELSEC-Q

Storage buffer memory address (common to axes 1 to 4)

Md.18
Warning history
pointer

1422

Indicates a pointer No. that is next to the Pointer No.
assigned to the latest of the existing warning history records.
Pointer No.

Pointer No.

Warning history

0000

Md.14
Axis in which the
warning occured

1366
1358 1362

Md.15

1367
1359 1363

Axis warning No.

Md.16
1364 1368
Axis warning occurrence 1360
hour
Md.17
1365 1369
Axis warning occurrence 1361
min: sec

Item

0000

Buffer memory address

1410 1414
1402 1406
1394 1398
1390
1386
1378 1382
1370 1374
1415
1407 1411
1399 1403
1395
1387 1391
1379 1383
1371 1375
1412 1416
1404 1408
1396 1400
1392
1388
1380 1384
1372 1376
1413 1417
1405 1409
1397 1401
1393
1389
1381 1385
1373 1377

1418

1419

1420

1421

Each group of buffer memory addresses storing a complete warning history
record is assigned a pointer No.
Example: Pointer No. 0 = Buffer memory addresses 1358 to 1361
Pointer No. 1 = Buffer memory addresses 1362 to 1365
Pointer No. 2 = Buffer memory addresses 1366 to 1369

Pointer No. 15 = Buffer memory addresses 1418 to 1421
Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
(A new record replaces an older record when a pointer No. is reassigned.)

1422

1424
1425

5 - 95

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 359.9999 degrees.
• Update timing : 1.8ms
• 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: 56.8ms

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

Reference axis

: Composite speed or reference axis speed
(Set with Pr.20 )

Interpolation axis : 0
• Update timing: 56.8ms

Md.23 Axis error No.

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 - 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.
Low-order buffer memory Example) 800
Monitor
value

b15

b12

H
E

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

806

906

1006 1106

High-order buffer memory Example) 801
b31

b28

b24

b20

b16

D
A

Sorting

(High-order buffer memory) (Low-order buffer memory)

Converted from
hexadecimal to decimal
Decimal integer
value

Unit conversion table
Md.20 Md.21 )

)

Unit

-1

-5

inch

-5

degree

pulse

Unit conversion
R

10n

Unit conversion table
Md.22 )

)

Actual value

Md.20 Current feed value
Md.21 Machine feed value
Md.22 Feedrate

Unit

-2

mm/min

-3

inch/min

-3

degree/min

pulse/s

Monitoring is carried out with a decimal.
Monitor
value

Error code
Refer to Section 15.2 "List of
errors" for details on the error
Nos. (error codes).

5 - 97

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.

" Da.8 Command speed" of the positioning data currently in execution is stored.
(Stores "0" under the speed control.)
• If " Da.8 Command speed" is set to "-1", this area stores the command speed

Md.27 Current 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 - 98

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

Warning No.
For details of warning Nos.
(warning codes), refer to
Section 15.3 "List of warnings".

807

907

1007 1107

808

908

1008 1108

809

909

1009 1109

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.

Decimal integer
value

Unit conversion
R

Actual
value

10 n

Md.27 Current speed

Unit conversion table
Md.27 )

)

Monitor
value

Unit

-2

mm/min

-3

inch/min

-3

degree/min

pulse/s

5 - 99

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: 56.8ms

• The value set as the movement amount for the position control to end after

changing to position control with the speed-position switching control (INC mode)
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 signal
• Deviation counter clear signal
Update timing: 56.8ms

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 hexadecimal.
Low-order buffer memory Example) 812
b15

Monitor
value

b12

H
E

High-order buffer memory Example) 813
b31

b28

b24

b20

b16

D
A

0000H

812
813

912
913

1012 1112
1013 1113

0000H

814
815

914
915

1014 1114
1015 1115

0000H

816

916

1016 1116

Sorting

(High-order buffer memory) (Low-order buffer memory)

H
Unit conversion table
Md.28 )

)

Converted from
hexadecimal to decimal
Decimal integer
value

Unit

-2

mm/min

-3

inch/min

-3

degree/min

pulse/s

Unit conversion
R

Unit conversion table
Md.29 )

10 n

)

n
Actual value

Md.28 Axis feedrate
Md.29 Speed-position switching
control positioning amount

Unit

-1

-5

inch

-5

degree

pulse

Monitoring is carried out with a hexadecimal.

Monitor
value

b12
b8
b4
b0
Buffer b15
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Not used
Stored items

D e fa ult
v a lue

Meaning

b0 Lower limit signal

b1 Upper limit signal

b2 Drive unit READY signal

b3 Stop signal

b4 External command signal

0: OFF

b5 Zero signal

1: ON

b6 Near-point signal

b7 Not used

b8 Deviation counter clear signal

5 - 101

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 positionspeed 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 (INC mode) for interlocking
the movement amount change function. During the speed-position switching control (INC
mode), 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 1.8 ms 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.
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 ON 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.
Md.32 Target value

• At the beginning of positioning control: Stores the value of " Da.6 Positioning

address/movement amount".
: Stores "0".

• At other times

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 hexadecimal display.
Monitor
value

0
b12
b8
b4
b0
Buffer b15
memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Not used

Not used

Default
value Meaning

Stored items
b0 In speed control flag

b1 Speed-position switching latch flag

b2 Command in-position flag

b3 OPR request flag

0: OFF

b4 OPR complete flag

1: ON

b5 Position-speed switching latch flag

b9 Axis warning detection

b10 Speed change 0 flag

0000H

817

917

1017 1117

818
819

918
919

1018 1118
1019 1119

Monitoring is carried out with a decimal display.

Decimal integer
value

Unit conversion
R

Actual
value

Md.32 Target value

10 n

Unit conversion table
Md.32 )

)

Monitor
value

Unit

-1

-5

inch

-5

degree

pulse

5 - 103

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
: The composite speed or reference
axis speed is stored in the reference
axis address, and "0" is stored in the
interpolation axis address.
• 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 not using the near-point dog, or when using the stopper
method.

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 is changed to " Cd.22 New torque value" during operation

...The " Cd.22 New torque value" is stored.

5 - 104

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.
Low-order buffer memory Example) 820
Monitor
value

b15

b12

H
E

High-order buffer memory Example) 821
b31

b28

b24

b20

b16

D
A

0000H

820
821

920
921

1020 1120
1021 1121

0000H

822
823

922
923

1022 1124
1023 1125

300

826

926

1026 1126

Sorting

(High-order buffer memory) (Low-order buffer memory)

Converted from
hexadecimal to decimal
Decimal integer
value

Unit conversion table
Md.33 )

)

Unit

-2

mm/min

-3

inch/min

-3

degree/min

pulse/s

Unit conversion
R

10 n

Unit conversion table
Md.34 )

)

n
Actual value

Md.33 Target speed
Md.34 Movement amount after
near-point dog ON

Unit

-1

-5

inch

-5

degree

pulse

Monitoring is carried out with a decimal display.
Monitor
value

Storage value
0 to 500 (%)

5 - 105

5 DATA USED FOR POSITIONING CONTROL

Storage item

Md.36 Special start data instruction

code setting value

Md.37 Special start data instruction

parameter setting value

Md.38 Start positioning data No.

setting value

MELSEC-Q

Storage details

• The " instruction code" used with special start and indicated by the start data

pointer currently being executed is stored.

The " instruction parameter" used with special start and indicated by the start data
pointer currently being executed is stored.
The stored value differs according to the value set for Md.36 .

• 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

Md.40 In speed change processing

flag

positioning control.
• After the speed change process is completed or when deceleration starts with the

stop signal during the speed change process, the in speed change process flag
turns OFF.

5 - 106

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

827

927

1027 1127

828

928

1028 1128

829

929

1029 1129

830

930

1030 1130

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

01
02
03
05

Condition
data No.

1 to 10

No. of
repetitions

0 to 255

Monitoring is carried out with a decimal display.
Monitor
value

Storage value
1 to 600

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 - 107

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

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

Md.42 Control system repetition

counter

Md.43 Start data pointer being

executed

Md.44 Positioning data No. being

executed

to control system.

• 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 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

being 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".

Md.46 Last executed positioning

data No.

Md.47 Positioning data being

executed

• This area stores the positioning data No. attached to the positioning data that was

executed last time.
• The value is retained until a new positioning 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 - 108

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

832

932

1032 1132

0000H

833

933

1033 1133

834

934

1034 1134

835

935

1035 1135

836

936

1036 1136

837

937

1037 1137

838
to
847

938
to
947

1038 1138
to
to
1047 1147

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

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

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

841

941

1041

1141

Open

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 - 109

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 PLC CPU or reboot
the PLC 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 for • Set the stop command processing for deceleration stop function (deceleration

deceleration stop selection

curve re-processing/deceleration curve continuation).

5 - 110

5 DATA USED FOR POSITIONING CONTROL

Setting value

MELSEC-Q

Default value

Storage buffer
memory address
(common to axes 1
to 4)

1900

1901

1905

1907

Set with a decimal.

Setting
value

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

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 - 111

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

5.7.2 Axis control data

Setting item

Setting details

• Set the positioning start No.

Cd.3 Positioning start No.

Cd.4 Positioning starting point No.

(Only 1 to 600 for the Pre-reading start function. For details, refer to Section
12.7.8 "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 "in error occurrence", the error is cleared

and the QD75 is returned to the "waiting" state.

• When positioning is stopped for any reason (when axis operation state is

Cd.6 Restart command

"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.

Cd.7 M code OFF request

• The M code ON signal turns OFF.

5 - 112

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

1500 1600 1700 1800

1501 1601 1701 1801

1502 1602 1702 1802

1503 1603 1703 1803

1504 1604 1704 1804

Set with a decimal.

Setting
value

Positioning starting point No.

1 to 50

The value is set to "0" by the QD75 automatically when the continuous
operation is interrupted.

Set with a decimal.
Setting value

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

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

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 - 113

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

Setting range

mm
(×10-1 µm)

inch
(×10-5 inch)

degree
(×10-5 degree)

pulse
(pulse)

-2147483648 -2147483648
-2147483648
to
to
0 to 35999999
to
+2147483647 +2147483647
+2147483647

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

1505 1605 1705 1805

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)

Unit

-1

-5

inch

-5

degree

pulse

5 - 115

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 - 116

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

1508 1608 1708 1808
1509 1609 1709 1809

1510 1610 1710 1810
1511 1611 1711 1811

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 - 117

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 resulting from a small override value (e.g. 1%) includes fractions
below the minimum unit, the speed is raised to make a complete unit and the
warning No. 110 is output.

• When changing the speed, use this data item to specify a new speed.
• The operation halts if you specify "0".
• Set a value within the following range:

Cd.14 New speed value

Pr.1

Setting range

Cd.15 Speed change request

mm
(× 10-2 mm/min)
0 to
2000000000

inch
degree
(× 10-3 inch/min) (× 10-3 degree/min)
0 to
2000000000

0 to
2000000000

pulse
(pulse/s)
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 - 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

100

1513 1613 1713 1813

1514 1614 1714 1814
1515 1615 1715 1815

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)

Unit

-2

mm/min

-3

inch/min

-3

degree/min

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

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 - 119

5 DATA USED FOR POSITIONING CONTROL

Setting item

MELSEC-Q

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

mm
(×10-1 µm)

inch
(×10-5 inch)

degree
(×10-5 degree)

pulse
(pulse)

Setting range

0 to 65535

• Use this data item to set the JOG speed.
• Set a value within the following range:

Cd.17 JOG speed

Pr.1

Setting range

Cd.18 Interruption request during

continuous operation

mm
(× 10-2 mm/min)
0 to
2000000000

inch
degree
(× 10-3 inch/min) (× 10-3 degree/min)
0 to
2000000000

0 to
2000000000

pulse
(pulse/s)
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 - 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.16 Inching movement amount

Conversion into an integer value
Unit conversion table ( Cd.16 )

10n
Setting value
(Decimal)

Unit

-1

-5

inch

-5

degree

pulse

1517 1617 1717 1817

1518 1618 1718 1818
1519 1619 1719 1819

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)

Unit

-2

mm/min

-3

inch/min

-3

degree/min

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

Interruption request continuous operation
1: Interrupts continuous operation control
or continuous path control.

The QD75 resets the value to "0" automatically when the continuous
control interruption request is processed.
(This indicates the completion of continuous operation interruption request.)

5 - 121

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 "0"
: read as "1".
• Value "101" or less: read as "100".

• 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 - 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

1
OPR request flag OFF request
1: Turns the "OPR request flag"
from ON to OFF.

1521 1621 1721 1821

1522 1622 1722 1822
1523 1623 1723 1823

1524 1624 1724 1824

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

K
Manul pulse generator
1 pulse input
magnification
1 to 100

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

Torque change value

1 to Pr.17 Torque limit setting value

5 - 123

5 DATA USED FOR POSITIONING CONTROL

Setting item

MELSEC-Q

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

Setting range

Cd.24 Speed-position switching

enable flag

mm
(×10-1 µm)

inch
(×10-5 inch)

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

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.
Cd.25 Position-speed switching
• Set a value within the following range:
control speed change register
Pr.1

Setting range

mm
(× 10-2 mm/min)
0 to
2000000000

5 - 124

inch
degree
(× 10-3 inch/min) (× 10-3 degree/min)
0 to
2000000000

0 to
2000000000

pulse
(pulse/s)
0 to 1000000

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)

Unit

-1

-5

inch

-5

degree

pulse

1526 1626 1726 1826
1527 1627 1727 1827

1528 1628 1728 1828

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)

Unit

-2
-3

mm/min
inch/min

-3

degree/min

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 - 125

5 DATA USED FOR POSITIONING CONTROL

Setting item

Cd.26 Position-speed switching

control enable flag

MELSEC-Q

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:

Cd.28 Target position change value

(New speed)

Pr.1

Setting range

Cd.29 Target position change

request flag

mm
(× 10-2 mm/min)
0 to
2000000000

inch
degree
(× 10-3 inch/min) (× 10-3 degree/min)
0 to
2000000000

0 to
2000000000

pulse
(pulse/s)
0 to 1000000

• Requests a change in the target position during a positioning operation.

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.

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 comes ON.
1: Position control will be taken
over by speed control when the
external command signal comes ON.

1532 1632 1732 1832

1534 1634 1734 1834
1535 1635 1735 1835

1536 1636 1736 1836
1537 1637 1737 1837

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)

Unit

-1

-5

inch

-5

degree

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".

Unit

-2

mm/min

-3

inch/min

-3

degree/min

pulse/s

Set with a decimal.

Setting
value

1
Target position change request flag
1: Requests a change in the target position

The QD75 resets the value to "0" automatically
when the new target position value has been written.
(This indicates the completion of write operation.)

5 - 127

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

• Set "0" to any axis that should not start simultaneously.

start data No. (axis 3 start
data No.)

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 - 128

5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Default
value

Setting value

Storage buffer
memory address
Axis 1 Axis 2 Axis 3 Axis 4

1540 1640 1740 1840

1541 1641 1741 1841

1542 1642 1742 1842

1543 1643 1743 1843

1544 1644 1744 1844

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 - 129

5 DATA USED FOR POSITIONING CONTROL

Setting item

Cd.36 Step start information

MELSEC-Q

Setting details

• During a step operation, this data item determines whether the operation is

continued or restarted.

Cd.37 Skip command

• To skip the current positioning operation, set "1" in this data item.

Cd.38 Teaching data selection

• This data item specifies the teaching result write destination.

Cd.39 Teaching positioning data No.

• 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 a 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 - 130

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
Step start information
1: Continues step opration
2: Restarts operation

1546 1646 1746 1846

1547 1647 1747 1847

1548 1648 1748 1848

1549 1649 1749 1849

1550 1650 1750 1850

The QD75 resets the value to "0" automatically
when processing of the step start request completes.

Set with a decimal.

Setting
value

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: Takes a shortcut.
(Specified direction ignored.)
1: ABS circular right
2: ABS circular left

5 - 131

5 DATA USED FOR POSITIONING CONTROL

MEMO

5 - 132

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 sequence 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 Section 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- 42

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 PLC CPU 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 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

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

(4) System configuration
Unless particularly designated, the sequence program for the following system is
shown in this chapter and subsequent.
Refer to Section 6.2 for the application of the devices to be used.

Power supply module

Q35B
Q
25
H
C
P
U

Q
D
75
P
4

Q
X
41

Q
X
40

Q
Y
40

Q
62
D
A

00
to
1F

X20
to
X3F

X40
to
X4F

Y50
to
Y5F

60
to
6F
X40 to X45

X47 to X49
(for absolute
position restoration)

Servo-amplifier

Servomotor

External
devices

X20 to X3F

Y50 to Y52
(for absolute position restoration)
CH.1 output (for torque changing)

(5) Control unit
In the program, the unit of "0 (mm)" is set for the basic parameter 1.

(6) 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 command.
In the sequence program in this chapter and subsequent, the program example
using the "intelligent function device" is shown without using an FROM/TO
command for communication with QD75.
When using the FROM/TO command 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 command, change the command to a TO command.
Intelligent function device

U0\
G1505

X21
0

MOVP

X21
0

TOP

6-3

K1505

Designated
value
at U0

Designated
value
at G1505

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 command, change the command to a
FROM command and a TO command.
X15

X0C

MOVP

U0\
G826

U6\
G1
Set the
same device.

X15

X0C

FROMP H0

K826

D100

TOP

D100

(c) When the circuit uses the "intelligent function device" for a COMPARISON
command, change the command to a FROM command and a
COMPARISON command.
M0
0

U0\
G1521

RST

D102

RST

M0
0

FROMP H0
=

D102

K1521

Data read out

(d) When the circuit uses the "intelligent function device" for a WAND command,
change the command to a FROM command and a WAND command.
M2

U0\
WANDP G817

D101

M2
0

FROMP H0

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

Inputs/

Details when ON
Preparation completed

Synchronization flag

QD75 buffer memory accessible

M code ON signal

M code outputting

Error detection signal

Error detected

BUSY signal

BUSY (operating)

X4
Input

Application

Axis 1 Axis 2 Axis 3 Axis 4

outputs

X10

X11

X12

X13 Start complete signal

Start completed

X14

X15

X16

X17 Positioning complete signal

Positioning completed

QD75

Y0
Output

External
input
(command)

PLC READY signal

PLC CPU preparation completed

Axis stop signal

Requesting stop

Forward run JOG start signal

Starting forward run JOG

Reverse run JOG start signal

Starting reverse run JOG

Y10

Y11

Y12

Y13 Positioning start signal

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

X2F

Reverse run JOG/inching command

Commanding JOG operation speed
setting
Commanding forward run JOG/inching
operation
Commanding reverse run JOG/inching
operation
Commanding manual pulse generator
operation enable
Commanding manual pulse generator
operation disable

Manual pulse generator operation
enable command
Manual pulse generator operation
disable command

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

X36

Torque change command

Commanding torque change

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

X32
—

X33
X34
X35

Restart command

Commanding restart

X3C

Parameter initialization command

Commanding parameter initialization

X3D

Flash ROM write command

Commanding flash ROM write

Error reset command

Commanding error reset

X3B

X3E

Stop command

Commanding stop

Position-speed switching operation
command
Position-speed switching enable
command
Position-speed switching prohibit
command

X43

Speed change command

X44

Inching movement amount setting
command

X45

Target position change command

X4D

Speed-position switching control (ABS Speed-position switching control (ABS
mode) setting command
mode) setting command

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

—

X3F
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

OPR request OFF command

Commanding OPR request OFF

OPR request OFF command pulse

OPR request OFF commanded

OPR request OFF command storage OPR request OFF command held

Fast OPR command

Commanding fast OPR

Fast OPR command storage

Fast OPR command held

Positioning start command pulse

Positioning start commanded

Positioning start command storage

Positioning start command held

In-JOG/Inching operation flag

Manual pulse generator operation
enable command

Commanding manual pulse generator
operation enable

Manual pulse generator operating flag Manual pulse generator operating flag

M10

Manual pulse generator operation
disable command

Commanding manual pulse generator
operation disable

Speed change command pulse

Speed change commanded

M11

—

M12

Internal relay

Application

Axis 1 Axis 2 Axis 3 Axis 4

MELSEC-Q

Speed change command storage

Speed change command held

M13

Override command

Requesting override

M14

Acceleration/deceleration time change Requesting acceleration/deceleration
command
time change

M15

Torque change command

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

Requesting torque change

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

M28

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

PSTRT1 instruction complete device

PSTRT1 instruction completed

M33

PSTRT1 instruction error complete
device

PSTRT1 instruction error completed

M31

—

6-7

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

Device
name

Device

Application

Axis 1 Axis 2 Axis 3 Axis 4

MELSEC-Q

Details when ON

M34

TEACH1 instruction complete device

TEACH1 instruction completed

M35

TEACH1 instruction error complete
device

TEACH1 instruction error completed

M36

PINIT instruction complete device

PINIT instruction completed

M37

PINIT instruction error complete device

PINIT instruction error completed

M38

PFWRT instruction complete device

PFWRT instruction completed

M39

PFWRT instruction error complete
device

PFWRT instruction error completed

Internal relay

—
M40

Absolute position restoration instruction Absolute position restoration
pulse
commanded

M41

Absolute position restoration instruction Absolute position restoration
storage
instruction held

M42

ABRST instruction complete device

M43

ABRST instruction error complete device ABRST instruction error completed

M50

Basic parameter 1 setting complete
device

ABRST instruction completed

Basic parameter 1 setting completed

(2) Data resisters and timers
Device
name

Device

Application

Axis 1 Axis 2 Axis 3 Axis 4

Details of storage

OPR request flag

( Md.31 Status (bit 3))

Speed (low-order 16 bits)

( Cd.25 Position-speed switching

Speed (high-order 16 bits)

control speed change resister)

Movement amount (low-order 16 bits)

( Cd.23 Speed-position switching

Movement amount (high-order 16 bits)

control movement amount change
resister)

Inching movement amount

( Cd.16 Inching movement amount)

JOG operation speed (low-order 16 bits)

JOG operation speed (high-order 16
bits)

Data register

—
D8

Manual pulse generator 1 pulse input
magnification (low-order)

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

D14

Override value

( Cd.17 JOG operation speed)

( Cd.20 Manual pulse generator 1
pulse input magnification)
( Cd.21 Manual pulse generator
enable flag)
( Cd.14 New speed value)
( Cd.15 Speed change request)
( Cd.13 Positioning operation speed
override value)

6-8

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

Device
name

Device

Application

Axis 1 Axis 2 Axis 3 Axis 4

MELSEC-Q

Details of storage

D15

Acceleration time setting
(low-order 16 bits)

D16

Acceleration time setting
(high-order 16 bits)

D17

Deceleration time setting
(low-order 16 bits)

D18

Deceleration time setting
(high-order 16 bits)

value)

D19

Acceleration/deceleration time change
enable

( Cd.12 Acceleration/deceleration
time change enable/disable selection
in speed change)

D20

Step valid flag

( Cd.35 step valid flag)

D21

Step mode

( Cd.34 Step mode)

D22

Unused

D23

Target position (low-order 16 bits)

D24

Target position (high-order 16 bits)

( Cd.27 New target position value
(address))

D25

Target speed (low-order 16 bits)

( Cd.28 New target position value

D26

Target speed (high-order 16 bits)

(speed))

D27

Target position change request

( Cd.10 New acceleration time
value)

( Cd.11 New deceleration time

—

( Cd.29 New target position change
value flag)

D28

Unused

—

D29

Unused

—

Data register D30
D31

PSTRT1 instruction control data

—

Completion status

—

Start number

—

D33

TEACH1 instruction control data

—

D34

Completion status

—

D35

Teaching data

—

D36

Positioning data No.

—

D37

PINIT instruction control data

—

D38

Completion status

—

D39

PFWRT instruction control data

—

D40

Completion status

—

D41

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

D32

—

D49

Error code

Error code at absolute position
restoration

D50

Unit setting

( Pr.1 Unit setting)

D51

No. of pulses per rotation

( Pr.2 No. of pulses per rotation)

6-9

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

Device
name

Device

Application

Axis 1 Axis 2 Axis 3 Axis 4
D52

Movement amount per rotation

MELSEC-Q

Details of storage
( 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)

( Pr.7 Bias speed at start)
( Da.1 Operation pattern)
( Da.2 Control system)

D58

Positioning identifier

( Da.3 Acceleration time No.)

D59
D60
Data register

D61

—

D62
D63

Positioning data No.1

( Da.4 Deceleration time No.)

D64

M code

( Da.10 M code)

Dwell time

( Da.9 Dwell time)

(Dummy)

—

Command speed (low-order 16 bits)
Command speed (high-order 16 bits)
Positioning
address/
movement
amount

D65
D66

Arc address

D67

( Da.6 Positioning
(high-order 16 bits) address/movement amount)
(low-order 16 bits)
(high-order 16 bits)

D69

Point 2 (shape, start No.)

Block start data (Block 0)

Point 1 (shape, start No.)

D71
D72
D73
D74
D75
D76

( Da.7 Arc address)

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 Specilal start instruction)

Point 2 (special start instruction)

( Da.14 Parameter)

Point 3 (special start instruction)
Point 4 (special start instruction)
Point 5 (special start instruction)

D77
T0

( Da.8 Command speed)

(low-order 16 bits)

D68
D70

Timer

( Da.5 Axis to be interpolated)

—

PLC READY signal OFF confirmation
PLC READY signal OFF confirmation

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 Section 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 the sequence program

Set using GX
Configurator-QP

Initialization program

Start details setting program

Parameter and data setting program

Program for carrying out initialization

Program required to carry out "OPR control",
"major positioning control" and "high-level positioning control"

Start program

JOG operation program

Program required to carry out "manual control"

Inching operation program

Manual pulse generator
operation program

Sub program

Stop program

Program required for
"sub functions" and "common functions"

Program for stopping control

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 sequence program
(TO command)
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
Carried out

OPR request OFF program

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

Program required to carry out
• "OPR control"
• "Major positioning control"
• "High-level positioning control"

Positioning start No.
setting program

Refer to Section 6.5.2

Start program

No.8
Positioning start program

Refer to Section 6.5.3

No.9

Program to reset the start
signal and turn the M code
ON signal OFF

M code OFF program

JOG operation program

No.10
Refer to Section 11.2.4

JOG operation program
No.12

Inching operation program

No.11
Refer to Section 11.3.4

Inching operation program
No.12

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

No.23

No.24

No.25

No.26

No.27

Program added according to control details.
(Create as required.)
Speed change program

Override program

Refer to Section 12.5.1

Refer to Section 12.5.2

Acceleration/deceleration time
change program

Refer to Section 12.5.3

Torque change program

Refer to Section 12.5.4

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 12.7.5

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

Flash ROM write program

Refer to Section 13.3

Error reset program

Program required to
reset errors

Stop program
Program used to stop control
No.28
Stop program

Refer to Section 6.5.6

End of program creation

6 - 14

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 command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y1D] is
OFF.)
When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program
is not necessary.

No. 1 Parameter setting program
(For basic parameters 1 )

Parameter setting program for speed-position switching control (ABS mode)

(Not needed when speed-position switching control (ABS mode) is not executed)

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

MELSEC-Q

[Setting of special start instruction to normal start]

150

No. 4 OPR request OFF program
183

190

195

211

No. 5 External command function valid setting program
223

232

No. 6 PLC READY signal [Y0] ON program
(M50 contact not required for synchronous mode.)
238

No. 7 Positioning start No. setting program
(1) Machine OPR
249

(2) Fast OPR

258

(3) Positioning with positioning data No. 1
280

6 - 17

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

MELSEC-Q

No. 13 Manual pulse generator operation program
526

533

551

555

No. 14 Speed change program
565

572

576

No. 15 Override program
596

603

No. 16 Acceleration/deceleration time change program
613

620

639

6 - 20

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

No. 17 Torque change program
645

652

No. 18 Step operation program
660

667

No. 19 Skip program
681

688

692

No. 20 Teaching program
Positioned manually to target position.
704

715

719

No. 21 Continuous operation interrupt program

740

747

No. 22 Target position change program
754

761

765

6 - 21

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

No. 23 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. 24 Restart program
850

857

864

No. 25 Parameter initialization program

878

885

889

896

6 - 22

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

No. 26 Flash ROM write program
911

918

922

929

No. 27 Error reset program
944

953

957

No. 28 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
Cd.19 OPR request flag OFF
request

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 OFF request
ON
PLC READY signal

[Y0]

OFF
ON

[X0]

QD75 READY signal

OFF
ON
OFF

OPR request OFF flag
[ Md. 31 Status: b3]
Cd. 19 OPR request flag OFF request

Fig. 6.1 Time chart for OPR OFF request

[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
Cd.8

External command valid

Setting
value
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 start point No.".
Setting
value

Setting item
Cd.4

Positioning start 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

Cd.23

Speed-position switching
control movement amount
change register

Cd.24

Speed-position switching
enable flag

Setting
value

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

Cd.25

Position-speed switching
control speed change
resister

Cd.26

Position-speed switching
enable flag

Setting
value

Setting details

Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4

Used to set a new value when speed is changed 1530 1630 1730 1830
during positioning control.
1531 1631 1731 1831
1

To validate position-speed switching signal, this
is set to 1.

Refer to Section 5.7 "List of control data" for details on the setting details.

6 - 26

1532 1632 1732 1832

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] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13]
[2] Starting by inputting external command signal

Buffer memory
3)
Control with
positioning data
No. 1

1)
1

Drive unit

1500

PLC CPU
2)
ON
Input/output signal

Y10

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 PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

Interface Axis stop signal
signal
M code ON signal

QD75 buffer memory
Accessible

OFF Axis stop signal is OFF.

OFF M code ON signal is OFF.

Error detection signal

OFF No error is present.

BUSY signal

OFF BUSY signal is OFF.

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 PLC CPU 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 PLC CPU.

6 - 28

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

[1] 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 "operating start (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

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

OFF

[Y10]
ON

PLC READY signal

[Y0]

OFF
ON

QD75 READY signal

[X0]

OFF
ON

Start complete signal

[X10]

OFF
ON

BUSY signal

[XC]

Error detection signal

[X8]

OFF

Cd. 3 Positioning start No.

9001
ON

OPR request flag
[ Md. 31 Status: b3]

OFF

OPR complete flag
[ Md. 31 Status: b4]

OFF

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

ON
Positioning start signal

OFF

[Y10]
ON

PLC READY signal

[Y0]

OFF
ON

QD75 READY signal

[X0]

OFF
ON

Start complete signal

[X10]

OFF
ON

BUSY signal

[XC]

Error detection signal

[X8]

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"
Operation pattern
V

Positioning data No.

Dwell time

1(11)
2(00)

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.

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

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]

Speed-position switching signal
(external)
Cd. 3 Positioning start No.

Cd. 24 Speed-position
switching enable flag

Fig. 6.7 Time chart for starting "speed-position switching control"

6 - 32

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

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.

Cd. 26 Position-speed
switching enable flag

Fig. 6.8 Time chart for starting "position-speed switching control"

6 - 33

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
Waiting

Md. 26 Axis operation status

In OPR

Waiting

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

•

Unit: ms

1.0 to 1.4

2.7 to 4.4

0 to 1.8

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]

Cd. 7 M code OFF request
Start complete signal
[X10, X11, X12, X13]
t3
Md. 26 Axis operation status

Waiting

Controlling position

Waiting

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]

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
t1
1.2 to 2.3
•

Unit: ms
t2

0 to 1.8

t3
0 to 1.8

t4
2.7 to 4.4

0 to 1.8

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

MELSEC-Q

[2] 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 PLC CPU 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 signal validity setting program (program No. 5).
Setting
value

Setting item

Buffer memory address

Setting details

Pr.42

External command
function selection

Set to "0: External positioning start".

Cd.8

External command valid

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

Operation pattern

Dwell time

Positioning data No.

1(00)

t
[Y10]

Positioning start signal
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

Cd. 3 Positioning start No.

Cd. 8 External command valid

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
Interrupt request during continuous operation".

[1] Operation during continuous operation interruption
Stop process when stop command turns ON
V

Stop command ON or
continuous operation interrupt request

Stop process at continuous operation
interrupt request

Start

Positioning data No. 10

Positioning data No. 11

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
Positioning data No. for positioning complete (pattern: 00)
Positioning data No. for continuous positioning control (pattern: 01)
Even when the continuous operation interrupt is requested,
the remaining distance is insufficient, and thus, the
operation cannot stop at the positioning No. being executed.

Stop process when operation cannot stop
at positioning data No. 10

Continuous operation
interrupt request

Start
t
Positioninig data No. 10

Positioning data No. 11

Positioning data No. 12

(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

Interrupt request during
continuous operation

Setting
value
1

Setting details
Set "1: Interrupt request during continuous
operation".

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.")

[1] Restart operation
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".
If the axis operation is not "stopped", restarting is not possible.
(2) 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 occurring".
Thus, even if the error is reset, the operation cannot be restarted.
(3) 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 stopped.
If the positioning start signal changes from OFF to ON, positioning will start
from the positioning data No. of designated point's positioning data No. set in
" Cd.3 Positioning start No.".
(4) 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.
(5) When stopped with interpolation operation, write "1: Restarts" into
" Cd.6 Restart command" for the reference axis, and then restart.
(6) If the " Md.26 Axis operation status" is not "stopped" when restarting, a
warning "Restart not possible" (warning code: 104) will occur, and the process
at that time will be continued.

6 - 39

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

REMARK
Restarting after stopping is possible even for the following control.
• Incremental system position control • Continuous positioning control
• Continuous path control
• Block start

[3] Control data requiring setting
Set the following data to execute restart.

Cd.6

Setting item

Setting
value

Restart command

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 PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

QD75 buffer memory
ON
Accessible

Interface Axis stop signal
signal
M code ON signal
Error detection signal

OFF Axis stop signal is OFF

OFF M code ON signal is OFF

OFF No error is present

BUSY signal

OFF BUSY signal is OFF

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

–

6 - 40

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

(5) Time chart for restarting
Dwell time

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

8
0

Cd. 6 Restart command

Fig. 6.14 Time chart for restarting

6 - 41

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 PLC CPU error occurs
When the PLC READY signal is turned OFF.
When an error occurs in QD75.
When control is intentionally stopped
(Stop signal from PLC CPU 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
PLC CPU error
occurrence
Emergency stop PLC READY
All axes
signal OFF
(Stop group 2)
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 PLC
CPU
Forced stop

Axis
Stop process
OPR control
Manual control
M code operation
status
ON
Major
High-level
Manual
JOG/
Machine
signal ( Md.26 )
Fast OPR positioning positioning
pulse
Inching
OPR
after stop
control
control
generator
control
after
operation
control
operation
stopping
No
During
change error

Immediate stop

Deceleration
stop

Deceleration stop/sudden stop
No
During
change error

(Select with " Pr.37 Sudden stop group 1 sudden stop

Deceleration
stop

selection".
No
change
Turns During
OFF error
No
change

Delegation stop/sudden stop
(Select with " Pr.38 Sudden stop group 2 sudden stop

Deceleration
stop

selection".

No
During
change error
Deceleration stop/sudden stop
(Select with " Pr.39 Sudden stop group 3 sudden stop
During
stop
No
(during
change
standing
by)

selection".

6 - 42

Deceleration
stop

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

[2] Types of stop processes
The operation can be stopped with deceleration stop, sudden stop or immediate
stop.
(1) Deceleration stop

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

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 - 43

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

MELSEC-Q

[3] 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 12.7.10 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 - 44

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 PLC

CPU.
• 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 .)

•

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)
Block start data area
(No.7000 to 7004)

MELSEC-Q

Positioning data area
(No.1 to 600)
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 1

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

800 to 847,
899

900 to 947,
999

System monitor area
Monitor data area

Control data area

Axis monitor area

Positioning data area (No.1
Positioning data area
to 600)

Block start data area
(No.7000)

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

Possible

1200 to 1425

System control data area
Axis control data area

Writing
possibility

1000 to
1047, 1099

1100 to
1147, 1199

1900, 1901, 1905, 1907
1500 to 1550 1600 to 1650 1700 to 1750 1800 to 1850
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

PLC CPU memo area

30000 to 30099

Not possible

Possible

Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.

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.

PLC CPU

(4) FROM command

(2) TO command

QD75
Buffer memory
Parameter area (a)
Parameter area (b)
Positioning data area
(No.1 to 600)
Block start data area
(No.7000 to 7004)

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

Monitor data area
Control data area
(1) Power supply ON/
PLC CPU 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

MELSEC-Q

(1) Transmitting data when power is turned ON or PLC CPU is reset
)
(
When the power is turned ON or the PLC CPU 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 command from PLC CPU (

)

The parameters or data is written from the PLC CPU to the buffer memory using
the TO command. 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 command,
it is simultaneously valid.
1 Parameter area (b) ...... Parameters validated simultaneously with the writing
to the buffer memory with the TO command.
( 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 PLC CPU 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 command.
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 command from PLC CPU (

)

The data is read from the buffer memory to the PLC CPU using the FROM
command.

7-7

7 MEMORY CONFIGURATION AND DATA PROCESS

MELSEC-Q

Peripheral devices

(6) Flash ROM request (Write)

PLC CPU

(6) Flash ROM request (Write)
(5) Flash ROM write
(Set "1" in Cd.1 with TO command)

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
PLC CPU
memo area
(5) Flash ROM write
(6) Flash ROM request (Write)

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 "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 PLC CPU while writing to the flash
ROM. If the power is turned OFF or the PLC CPU 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 PLC program is 25 max. while
the power is turned ON.
Writing to the flash ROM beyond 25 times will cause an error (error code: 805).
Refer to Section 15.2 "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
Pr.43 to Pr.57
Pr.150

Parameter area (b)
Positioning data area
(No.1 to 600)

Parameter area (b)
Pr.8 to Pr.10

Block start data area
(No.7000 to 7004)

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

PLC CPU

(7) QD75 read, monitor

(8) QD75 write

Peripheral devices

7 - 10

7 MEMORY CONFIGURATION AND DATA PROCESS

MELSEC-Q

(7) 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 PLC CPU.
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 PLC CPU.

(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 PLC CPU.
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 sequense program

Write positioning data into buffer
memory using TO command.
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

Section 2 Control Details and Setting

Section 2 is configured for the following purposes shown in (1) to (3).
(1) Understanding of the operation and restrictions of each control.
(2) Carrying out the required settings in each control
(3) Dealing with errors

Chapter 8
Chapter 9
Chapter 10
Chapter 11
Chapter 12
Chapter 13
Chapter 14
Chapter 15

OPR Control .............................................................................................. 8- 1 to 8- 22
Major Positioning Control......................................................................... 9- 1 to 9-114
High-Level Positioning Control ............................................................. 10- 1 to 10- 26
Manual Control...................................................................................... 11- 1 to 11- 36
Control Sub Functions .......................................................................... 12- 1 to 12- 98
Common Functions................................................................................ 13- 1 to 13- 8
Dedicated instructions........................................................................... 14- 1 to 14- 22
Troubleshooting .................................................................................... 15- 1 to 15- 38

Section 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".
Also refer to Chapter 6 "Sequence programs used in positioning control" when creating
the sequence 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 PLC CPU 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- 6
8.2.4 OPR method (2): Stopper method 1) .............................................................8- 8
8.2.5 OPR method (3): Stopper method 2) ........................................................... 8- 11
8.2.6 OPR method (4): Stopper method 3) ........................................................... 8- 14
8.2.7 OPR method (5): Count method 1) .............................................................. 8- 16
8.2.8 OPR method (6): Count method 2) .............................................................. 8- 18
8.3 Fast OPR .................................................................................................................... 8- 20
8.3.1 Outline of the fast OPR operation ................................................................ 8- 20

8-1

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 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, PLC CPU, 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.

The operation starts according to the speed and direction set in the OPR parameters
( Pr.43 to Pr.57 ).

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)
If "a" is set as " Pr.45
4)

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.

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

Operation details

OPR method
Deceleration starts by the OFF
" Pr.47

Near-point dog method

Stopper method 1)

ON of the near-point dog. (Speed is reduced to

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.
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.

The stopper position is regarded as the OP.
After the deceleration starts by the OFF
ON of the near-point dog, the machine presses
Stopper method 2)

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.
The stopper position is regarded as the OP.
Stopper method 3)

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.
The deceleration starts by the OFF
ON of the near-point dog, and the machine moves
at the " Pr.47
Count method 1)

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.
ON of the near-point dog, and the machine moves
The deceleration starts by the OFF
at the " Pr.47
Count method 2)

Creep speed".

The machine moves the distance set in the " Pr.50

Setting for the movement amount

ON position, and stops at that
after near-point dog ON" from the near point dog OFF
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)

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".

8-5

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
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51
1)

designated in " Pr.44

OPR direction". It then moves at the " Pr.46

OPR speed" when the acceleration is

completed.)
The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.47

OPR acceleration time selection", in the direction

Creep speed", and subsequently moves at that speed.

(At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is
OFF.)

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 .)
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

4) 5)

Md.34 Movement amount after near-point dog ON
ON
Near-point dog

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.

OFF

Zero signal

One servomotor rotation
ON
Machine OPR start
(Positioning start signal)

OFF
ON

OPR request flag

OFF

Md.31 Status: b3
ON
OPR complete flag

OFF

Md.31 Status: b4
Deviation counter clear
Pr.55 signal output time

Deviation counter clear output

Md.26 Axis operation status Standing by

In OPR

Standing by

Md.34 Movement amount after Inconsistent 0
near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value

Inconsistent

Value of

Value of the machine moved is stored.

OP address

Fig. 8.2 Near-point dog method machine OPR

8-6

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)

OFF
ON

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Md.26 Axis operation status Standing by In OPR

Md.34 Movement amount
after near-point dog ON

Inconsistent 0

Md.20 Current feed value
Md.21 Machine feed value

Inconsistent Value the machine moved is stored

In error

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.

8-7

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
The machine OPR is started.
1)

(The machine begins the acceleration designated in "
"

Pr.44

OPR direction". It then moves at the "

Pr.51

Pr.46

OPR acceleration time selection", in the direction designated in

OPR speed" when the acceleration is completed.)

The machine begins decelerating when the near-point dog ON is detected.

The machine decelerates to the "

(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
The machine presses against the stopper at the creep speed and stops.

Pr.47

Creep speed", and subsequently moves at that speed.

The pulse output from the QD75 will stop when the "
5)

Pr.49 OPR dwell time" has elapsed after the near-point dog turns ON,

outputting 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,

6)
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

t
5) 6)
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
Machine OPR start
(Positioning start signal)

OFF

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Deviation counter clear output

Pr.55

Md.26 Axis operation status Standing by

Md.34 Movement amount
after near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value

In OPR

Deviation counter clear signal
output time

Standing by

Inconsistent

Value the machine moved is stored

Fig. 8.4 Stopper method 1) machine OPR

8-8

OP address

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) In the "stopper method 1)", the OPR retry function is unusable.

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
Stops at stopper
t
" Pr.49 OPR
dwell time" setting
ON

Machine OPR start
(Positioning start signal)

OFF

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Md.26 Axis operation status

Standing by

In OPR

Md.34 Movement amount
after near-point dog ON

Inconsistent

Md.20 Current feed value
Md.21 Machine feed value

Inconsistent

Value the machine moved is stored

In error

Address at stop

Fig. 8.5 Operation when the dwell time elapses during deceleration from the OPR speed

8-9

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
Stops at stopper
t
Valid torque limit range

Torque limit
ON
Near-point dog OFF
Time out of dwell time
Dwell time measurement

ON
Machine OPR start
(Positioning start signal)

OFF
ON

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status

Standing by

Md.34 Movement amount
after near-point dog ON

Inconsistent

Value the machine moved is stored

Md.20 Current feed value
Md.21 Machine feed value

In OPR

Standing by

OP address

Fig. 8.6 Operation when the dwell time elapses before the stop at the stopper
(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 - 10

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
The machine OPR is started.
1)

(The machine begins the acceleration designated in " Pr.51
" Pr.44

2)
3)
4)
5)

OPR direction". It then moves at the " Pr.46

OPR acceleration time selection", in the direction designated in

OPR speed" when the acceleration is completed.)

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.

(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
The machine presses against the stopper at the creep speed and stops.
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 .)
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,

6)
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

3) 4) 5) 6)

Zero signal
Valid torque limit range

Torque limit
ON
Near-point dog OFF
ON
Machine OPR start
(Positioning start signal)

OFF
ON
OFF

OPR request flag
[ Md.31 Status : b3]

ON
OPR complete flag
[ Md.31 Status : b4]

OFF

Deviation counter clear output
Pr.55 Deviation counter clear signal
output time
Md.26 Axis operation status Standing by

In OPR

Md.34 Movement amount
after near-point dog ON

Inconsistent

Value the machine moved is stored

Md.20 Current feed value
Md.21 Machine feed value

Standing by

OP address

Fig. 8.7 Stopper method 2) machine OPR

8 - 11

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) In the "stopper method 2)", the OPR retry function is unusable.

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.
(2) The near-point dog must be turned ON until it presses against the stopper.
V

Pr. 46 OPR speed
Pr. 47 Creep speed
Stops at stopper
t
Zero signal
ON
Near-point dog

OFF

ON
Machine OPR start
(Positioning start signal)

OFF
ON

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[Md.31 Status : b4]

OFF

Md.26 Axis operation status

Standing by

In OPR

Md.34 Movement amount
after near-point dog ON

Inconsistent

Md.20 Current feed value
Md.21 Machine feed value

Inconsistent

Value the machine moved is stored

In error

Address at stop

Fig. 8.8 Operation when a zero signal is input before the creep speed is reached

8 - 12

8 OPR CONTROL

MELSEC-Q
(3) 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
Stops at stopper
t
Zero signal
Valid torque limit range

Torque limit
ON
Near-point dog OFF
ON
OFF

Machine OPR start
(Positioning start signal)

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 Standing by

Pr.55 Deviation counter clear signal
output time
In OPR

Standing by

Md.34 Movement amount
after near-point dog ON

Inconsistent

Md.20 Current feed value

Inconsistent

Value the machine moved is stored

OP address

Md.21 Machine feed value

Fig. 8.9 Operation when the zero signal is input before the stop at the stopper
(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 - 13

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
The machine OPR is started.
1)

(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

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.

Creep speed" and stops.

(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
4)

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

t
Zero signal

Valid torque limit range
Torque limit
ON
Machine OPR start
(Positioning start signal)

OFF
ON

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status

Standing by

In OPR

Md.34 Movement amount
after near-point dog ON

Inconsistent

Md.20 Current feed value
Md.21 Machine feed value

Inconsistent

Value the machine moved is stored

Standing by

OP address

Fig. 8.10 Stopper method 3) machine OPR
8 - 14

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
Stops at stopper
t
Zero signal

Valid torque limit range
Torque limit
ON
OFF

Machine OPR start
(Positioning start signal)

ON
OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Deviation counter clear output

Md.26 Axis operation status Standing by

Md.34 Movement amount
after near-point dog ON

Inconsistent

Md.20 Current feed value
Inconsistent
Md.21 Machine feed value

Pr.55 Deviation counter clear signal
output time
In OPR

Standing by

0
Value the machine moved is stored

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 - 15

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, the following can be performed:
• Machine OPR on near-point dog ON
• Second machine OPR after completion of first machine OPR

Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51
1)

designated in " Pr.44

OPR acceleration time selection", in the direction

OPR direction". It then moves at the " Pr.46

OPR speed" when the acceleration is

completed.)
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.

On detection of the first zero signal after the axis has traveled the movement amount set in " Pr.50
4)

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 .)
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.
Pr. 46 OPR speed

Pr. 50 Setting for the movement amount
after near-point dog ON
Pr. 47 Creep speed

t
Md.34 Movement amount after near-point dog ON

Leave sufficient distance from the zero point
position to the near-point dog OFF

ON
Near-point dog OFF

First zero signal after travel of the movement
amount set to " Pr. 50 Setting for the movement
amount after near-point dog 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
Zero signal
near-point dog ON falls within the zero signal,
there may be produced an error of one servomotor
ON
rotation in the machine OPR stop position.

Machine OPR start
(Positioning start signal)

OFF

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

One servomotor rotation

Deviation counter clear output
Pr.55 Deviation counter clear
signal output time
Md.26 Axis operation status

Standing by

In OPR

Standing by

Md.34 Movement amount
after near-point dog ON

Inconsistent

Value of

Md.20 Current feed value
Md.21 Machine feed value

Inconsistent

Value the machine moved is stored

OP address

Fig. 8.12 Count method1) machine OPR

8 - 16

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".
A deceleration stop will be carried out if the speed is changed during the
operation and an error occurs.
(2) 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

[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.

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

Zero signal

" Pr.50

Setting for the movement amount

after near-point dog ON" on detection of the
near-point dog signal ON.

Fig. 8.13 Count method 1) machine OPR on the near-point dog ON position
(3) 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.
(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 - 17

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.)

Operation chart
The machine OPR is started.
1)

(The machine begins the acceleration designated in " Pr.51
direction designated in " Pr.44

OPR acceleration time selection", in the

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

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 "

Creep speed", and subsequently moves at that speed.

from the near-point dog ON position.

Pr. 46 OPR speed
V

Pr.50 Setting for the movement amount
after near-point dog ON
Pr. 47 Creep speed

t
Md.34 Movement amount after near-point dog ON
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)

OFF

OPR request flag
[ Md.31 Status : b3]

OFF

OPR complete flag
[ Md.31 Status : b4]

OFF

Md.26 Axis operation status Standing by

In OPR

Standing by

Md.34 Movement amount
after near-point dog ON

Inconsistent

Value of

Md.20 Current feed value

Inconsistent

Value the machine moved is stored

OP address

Md.21 Machine feed value

Fig. 8.14 Count method 2) machine OPR

8 - 18

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 1 ms 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".
A deceleration stop will be carried out if the speed is changed during the
operation and an error occurs.
(2) 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)

selection" when the near-point dog OFF is
detected.
4) After the machine stops, a machine OPR is
carried out in the OPR direction.

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 nearpoint dog ON".

Fig. 8.15 Count method 2) machine OPR on the near-point dog ON position
(3) 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.
(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 - 19

8 OPR CONTROL

MELSEC-Q

8.3 Fast OPR
8.3.1 Outline of the fast OPR operation
Fast OPR operation
In a fast OPR, positioning is carried out by a machine OPR to the " Md.21
Machine feed value" stored in the QD75.
The following shows the operation during a fast OPR start.
1) The fast OPR is started.
2) Positioning control to the " Md.21 Machine feed value" 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)
Md.26 Axis operation status

Standing by

In position control

Standing by

M
OP
Positioning to the OP

Fig. 8.16 Fast OPR

8 - 20

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]

Md.26 Axis operation status Standing by

Standing by

In position control
t2

Output pulse to external source
(PULSE)

Positioning operation

Fig. 8.17 Operation timing and processing time of fast OPR

Normal timing time

Unit: ms

1.0 to 1.3

2.7 to 4.4

0 to 1.8

•The

t1 timing time could be delayed by the operation state of other axes.

Operating restrictions
When the OPR complete flag ( Md.31 Status: b3) is ON, executing a fast OPR start
will result in an error "OPR request ON" (error code: 207)".

8 - 21

8 OPR CONTROL

MELSEC-Q

MEMO

8 - 22

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- 15
9.1.4 Confirming the current value ........................................................................ 9- 16
9.1.5 Control unit "degree" handling...................................................................... 9- 18
9.1.6 Interpolation control ...................................................................................... 9- 21
9.2 Setting the positioning data ....................................................................................... 9- 25
9.2.1 Relation between each control and positioning data................................... 9- 25
9.2.2 1-axis linear control....................................................................................... 9- 27
9.2.3 2-axis linear interpolation control.................................................................. 9- 29
9.2.4 3-axis linear interpolation control.................................................................. 9- 33
9.2.5 4-axis linear interpolation control.................................................................. 9 -39
9.2.6 1-axis fixed-feed control................................................................................ 9- 43
9.2.7 2-axis fixed-feed control (interpolation) ........................................................ 9- 45
9.2.8 3-axis fixed-feed control (interpolation) ........................................................ 9- 47
9.2.9 4-axis fixed-feed control (interpolation) ....................................................... 9- 51
9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 53
9.2.11 2-axis circular interpolation control with center point designation............... 9- 59
9.2.12 1-axis speed control...................................................................................... 9- 67
9.2.13 2-axis speed control...................................................................................... 9- 70
9.2.14 3-axis speed control...................................................................................... 9- 73
9.2.15 4-axis speed control...................................................................................... 9- 77
9.2.16 Speed-position switching control (INC mode).............................................. 9- 82
9.2.17 Speed-position switching control (ABS mode) ............................................ 9- 90
9.2.18 Position-speed switching control.................................................................. 9- 98
9.2.19 Current value changing................................................................................. 9-105
9.2.20 NOP instruction............................................................................................. 9-110
9.2.21 JUMP instruction........................................................................................... 9-111
9.2.22 LOOP ............................................................................................................ 9-113
9.2.23 LEND............................................................................................................. 9-114

9-1

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

Position control

2-axis linear
interpolation
control
Linear control
3-axis linear
interpolation
control
4-axis linear
interpolation
control

ABS Linear 1
INC Linear 1
ABS Linear 2
INC Linear 2
ABS Linear 3
INC Linear 3
ABS Linear 4
INC Linear 4

1-axis fixedfeed control

Fixed-feed 1

2-axis fixedfeed control

Fixed-feed 2

3-axis fixedfeed control

Fixed-feed 3

Fixed-feed
control

4-axis fixedfeed control
Sub point
designation

2-axis circular
interpolation
Center point
control
designation

Speed control

1-axis speed
control
2-axis speed
control
3-axis speed
control
4-axis speed
control

Details

Da.2 Control system

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.)

Fixed-feed 4

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.)

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

The axis in which the interpolation control system is set is
regarded as the reference axis. Positioning is carried out in
an arc path to a designated position, while controlling the
other axis (interpolation axis) to match the positioning data
set in the reference axis.
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.
A nonexecutable control system. When this instruction is
set, the operation is transferred to the next data operation,
and the instruction is not executed.

NOP instruction

The current feed value ( Md.20 ) is changed to an address

Current value
Current value changing
changing
Other control

JUMP
instruction
LOOP

LOOP

LEND

JUMP instruction

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".
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.)
Select and set the acceleration time at control start. (Select one of the four values set

Positioning data No. 1

Da.3 Acceleration time No.

Da.4 Deceleration time No.

in Pr.9 , Pr.25 , Pr.26 , and Pr.27

for the acceleration time.)

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/
movement amount

Set the target value during position control. (Refer to Section 9.1.3.)

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

Set the time the machine waits from the completion of the executed positioning control
and the stopping of the workpiece until the judgment of the QD75 positioning
completion.

Da.10 M code

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.

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

No.1 Start
Operation pattern = 11: Continuous path control

00
The machine stops, and
then continues the next
positioning.

Speed is changed
without stopping

Positioning is terminated

Time

No.2

NO.1
A

(Positioning data)

No.3

No.4
C

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.
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[1] 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
ON

Positioning complete signal
[X14, X15, X16, X17]

OFF

Fig. 9.1 Operation during independent positioning control

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[2] 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)

ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
Start complete signal
[X10, X11, X12, X13] OFF

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

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[3] Continuous path control
(1) Continuous path control
(a) The speed is changed without deceleration stop between the
command speed of the positioning data currently being run and the
speed of the positioning data that will be run next.
The speed is not changed if the current speed and the next speed are
equal.
(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

(f)

In the continuous path control, the positioning may be completed
before the set address/movement amount and the current data may be
switched to the "positioning data that will be run next".
This is because a preference is given to the positioning at a command
speed. In actuality, the positioning is completed before the set
address/movement amount by an amount of remaining distance at
speeds less than the command speed. The remaining distance (
)
at speeds less than the command speed is 0
(distance
moved in 1.8ms at a speed at the time of completion of the
positioning).

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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]
ON
Start complete signal
OFF
[X10, X11, X12, X13]
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)

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").

(2) 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 (d).
(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

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(b) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement amount
of the next positioning data is "0".
(c) During operation by step operation.
(Refer to Section 12.7.1 Step function".)
(d) 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

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 2 ms 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 100 ms or longer, or lower the command speed.

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(3) 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
1
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)

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 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.

Speed

[Relation between the command speed and current speed]
*2

Speed

3000

2000

1000

Da. 7 Command speed 1000 3000
Md. 36 Current speed

-1

1000 3000 3000

-1

3000

Da. 7 Command speed 1000 3000
Md. 36 Current speed

1000 3000

-1

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
2
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.

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(4) Speed switching
(Refer to " Pr.19 Speed switching mode".)
(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.

Speed
switching

Dwell time

Positioning

Da. 1 Operation pattern

ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
Start complete signal
[X10, X11, X12, X13] OFF

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 "insufficient movement distance warning (warning
code: 513)" will occur.

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[When the speed cannot change over in P2]
When the relation of the speeds is P1 =
P4, P2 = P3, P1 < P2.

[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.

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".

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.

Dwell time

Positioning

Da. 1 Operation pattern

ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
Start complete signal
[X10, X11, X12, X13] OFF

ON
BUSY signal

[XC, XD, XE, XF] OFF
ON

Positioning complete signal

OFF

[X14, X15, X16, X17]

Fig. 9.5 Operation for the front-loading speed switching mode

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9 MAJOR POSITIONING CONTROL

[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.

MELSEC-Q

Positioning address

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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

100
OP
(Reference point)

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

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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

reference, but the address can be changed by changing the current
value to a new value.
• This value is updated every 1.8ms.
• This is the value stored in " Md.21

Machine feed value

Current feed value".

Machine feed value".

• This value always has an address established with a "machine OPR"

as a reference. The address cannot be changed, even if the current
value is changed to a new value.
• This value is updated every 56.8ms.

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

t
Address after the current
value is changed is stored
Md. 20 Current feed value

1 to

10000

Md. 21 Machine feed value

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

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Restrictions
(1) A 1.8ms error will occur in the current value update timing when the stored
"current feed value" is used in the control.
A 56.8ms error will occur in the current value update timing when the stored
"machine feed value" is used in the control.
(2) The "current feed value" and "machine feed value" may differ from the values
set in " Da.6 Positioning address/movement amount" of the positioning data if
the movement amount per pulse is not set to "1".

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) command" from
the PLC CPU.
Buffer memory addresses
Axis 1

Axis 2

Axis 3

Axis 4

Md.20 Current feed value

800, 801

900, 900

1000, 1001

1100, 1101

Md.21 Machine feed value

802, 803

902, 903

1002, 1003

1102, 1103

Example
Program in which the axis 1 current feed value is read to D104 and D105

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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.
359.99999°

0°

359.99999°

0°

[2] 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.

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[3] 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°

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 "ABS direction in degrees illegal" (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
invalid)
1: ABS clockwise
2: ABS counterclockwise

9 - 19

1650

1750

1850

Initial
value

9 MAJOR POSITIONING CONTROL

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(b) 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.
[Software stroke limit upper limit value = Software stroke limit lower limit value]

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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 method"
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 - 21

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

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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

Reference axis setting item

Da.1 Operation pattern

Same positioning data Nos

Da.2 Control system

–
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.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

–

Forward run speed 2, 3, and 4.
Forward run speed 2, 3, and 4.
Reverse run speed 2, 3, and 4 not Reverse run speed 2, 3, and 4 not
required.
required.
(Only during circular sub, circular
right, and circular left).

Da.8 Command speed

–

Interpolation axis setting item

(Only during circular sub, circular
right, and circular left).
Only during forward run speed 2,
3, 4 and reverse run speed 2, 3, 4.

Da.9 Dwell time

–

Da.10 M code

–

:
:
:
:

Setting always required
Set according to requirements (Set to "–" when not used.)
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.

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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 while interpolation axis BUSY (error code:
519)
• Interpolation axis : Control system setting error (error code: 524), 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 QD75 may malfunction if a control system other than interpolation control is
set.

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 "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.

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9 MAJOR POSITIONING CONTROL

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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
Pr.20 Interpolation speed Reference axis and interpolation

" Da.2 Control system"
interpolation control

Linear 3 (ABS, INC)
Fixed-feed 3
Linear 4 (ABS, INC)
Fixed-feed 4

designation method

Reference axis and
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

Reference axis speed
(ABS, INC)
(ABS, INC)
(ABS, INC)

Composite speed

Reference axis speed
Composite speed
Reference axis speed
Composite speed
Reference axis speed

: Setting possible,
: Setting not possible.
1 "mm" and "inch" unit mix possible.
2 "degree" setting not possible. A "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
"In interpolation" will be stored in the " Md.26 Axis operation status" during
interpolation control. "Standing by" 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.

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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

Da.1

Operation
pattern

(Positioning complete)
Continuous positioning
control
Continuous path
control

Da.2 Control system

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

Forward run
speed/position
Reverse run
speed/position

Forward run
position/speed
Reverse run
position/speed

Da.3 Acceleration time No.
Da.4 Deceleration time No.
Da.5 Axis to be interpolated
Da.6

: 2 - a x i s –: 1, 3, 4-axis

Positioning address/movement
amount

Da.7 Arc address

–

–
–

–

Da.8 Command speed

Da.9 Dwell time
Da.10 M code
:
:
– :
:

Always set
: Set as required ("–" when not set)
Setting not possible (If setting is made, an error (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.

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9 MAJOR POSITIONING CONTROL

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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

Da.1

Operation
pattern

–

Continuous positioning
control

–

Continuous path
control

–

(Positioning complete)

NOP instruction

Current value
changing

Da.3 Acceleration time No.

–

Da.4 Deceleration time No.

–

Da.5 Axis to be interpolated

–

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.6

Positioning address/movement
amount

Da.9 Dwell time

–

Da.10 M code

–

JUMP instruction LOOP instruction LEND instruction

: Always set
: Set as required ("–" when not set)
: Setting not possible (If setting is made, an error (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.)

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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, addresses established by a machine OPR
are used. 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 item
Da.1 Operation pattern

Axis 1 Positioning data No. 1

Da.2 Control system

Setting example
Positioning
complete
ABS linear 1

Acceleration time
No.

Deceleration time
No.

Da.5

Axis to be
interpolated

–

Da.6

Positioning address/
movement amount

Da.3

Da.4

Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
Da.10 M code

Setting details
Set "Positioning complete" assuming the next positioning data will not
be executed.
Set absolute system 1-axis linear 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.

8 0 0 0 . 0 µm
–

Setting not required (setting value will be ignored).
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

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.

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[2] 1-axis linear control (INC linear 1)
Operation chart
In incremental system 1-axis linear control, addresses established by a machine
OPR are used. 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". The movement direction is determined by
the sign of the movement amount.
Start point address
(current stop position)

Reverese direction

Forward direction
Movement direction for

Movement direction for

a negative movement amount

a positive 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

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.

Axis 1 Positioning data No. 1

Setting item

Setting 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 1

Set incremental system 1-axis linear control.

Da.3

Acceleration time
No.

Designate the value set in " Pr.25
acceleration time at start.

Acceleration time 1" as the

Da.4

Deceleration time
No.

Designate the value set in " Pr.10
deceleration time at deceleration.

Deceleration time 0" as the

Da.5

Axis to be
interpolated

–

Setting not required (setting value will be ignored).

Da.6

Positioning address/
movement amount

Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
Da.10 M code

- 7 0 0 0 . 0 µm
–

Set the movement amount. (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.
500ms

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.

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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 control, addresses established by a machine OPR
on a 2-axis coordinate plane 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 (Y axis)

Start point address (X1,Y1)
(current stop position)

End point address (X2,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

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
Axis 1
0

1000

5000

10000

Axis 1 movement amount (10000-1000=9000)

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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 "Outside linear movement amount range error (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

Setting details

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.

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Set the end point address. (Assuming "mm" is set in
Positioning address/
µm 4000.0 µm
10000.0
" Pr.1 Unit setting".)
movement amount

Da.1 Operation pattern
Da.2 Control system
Da.3
Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

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.

Da.7 Arc address

–

Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.

–

Setting not required (setting value will be ignored).

Da.8 Command speed

6000.00
mm/min

–

Set the speed during movement to the end point address.

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.

–

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 intrpolation 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".

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[2] 2-axis linear interpolation control (INC linear 2)
Operation chart
In incremental system 2-axis linear interpolation control, addresses established by
a machine OPR on a 2-axis coordinate plane are used. Linear interpolation
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". 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

Reverse direction

Forward direction (X axis)
X1

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

Axis 1
0

1000

5000

Axis 1 movement amount (9000)

9 - 31

10000

9 MAJOR POSITIONING CONTROL

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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 "Outside linear movement amount range error (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

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 linear 2

–

Set incremental system 2-axis linear interpolation control.

Da.3

Acceleration time
No.

–

Designate the value set in " Pr.25
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.

Da.5

Axis to be
interpolated

–

Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.

Da.6

Positioning address/
9000.0 µm
movement amount

Da.7 Arc address

-3000.0 µm

Acceleration time 1" as

Set the movement amount. (Assuming "mm" is set in
" Pr.1 Unit setting".)

–

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.

–

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
•

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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 the absolute system 3-axis linear control, using an address established by a
machine OPR in the 3-axis coordinate space, a linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end
point address) set in the " 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

xi s

mo
vem
en
ta

mo
un
t

Start point address (X1,Y1,Z1)
(Current stop position)
X axis movement amount

Forward direction (X axis)

Reverse direction

Reverse direction Reverse direction

Example
When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.
End point address
(positioning address)
Axis 2
8000
Axis 2 movement amount (8000-2000=6000)

Start point address
(current stop position)

Axis 3

Axis 3 movement amount
(4000-1000=3000)

4000

2000
1000
0

1000

4000

Axis 1
Axis 1 movement amount
(4000-1000=3000)

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9 MAJOR POSITIONING CONTROL

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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.

–

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.

–

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.

8000.0 µm

4000.0 µm

–

Setting not required (setting value will be
ignored).

Da.8 Command speed

6000.00
mm/min

–

Set the speed during movement to the end
point address.

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.

–

Set this when other sub operation commands
are issued in combination with the No. 1
positioning data.

Axis to be
Da.5
interpolated

Da.6

–

Positioning address/
µ
movement amount 4000.0 m

Da.7 Arc address

Da.10 M code

Set the end point 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.

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POINTS
•

When the "reference axis speed" is set during 3-axis linear intrpolation 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.

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[2] 3-axis linear interpolation control (INC linear 3)
Operation chart
In the incremental system 3-axis linear interpolation control, using an address
established by a machine OPR in the 3-axis coordinate space, a linear
interpolation positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in the " Da.6
Positioning address/movement amount". The movement direction depends on the
sign (+ or -) 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)

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9 MAJOR POSITIONING CONTROL

MELSEC-Q

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.

–

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.

–

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.

6000.0 µm

Set the movement amount. (Assuming "mm"
is set in " Pr.1 Unit setting".)

Axis to be
Da.5
interpolated

Da.6

–

Positioning address/
10000.0 µm 5000.0 µm
movement amount
–

–

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.

–

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

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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POINTS
(1) When the "reference axis speed" is set during 3-axis linear intrpolation 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.

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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 the absolute system 4-axis linear control, using an address established by a
machine OPR in the 4-axis coordinate space, a linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end
point address) set in the " Da.6 Positioning address/movement amount".

address/movement amount" is "1073741824 (=2 )".)

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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

Da.3

Acceleration 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

Setting details

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.

–

Designate the value set in
" Pr.25 Acceleration time 1"
as the acceleration time at start.

Axis 1 Positioning data No. 1

Da.4

Da.5

Deceleration time
No.

Axis to be
interpolated

Positioning address/
Da.6
4000.0 µm
movement amount

Da.8 Command speed

Da.9 Dwell time

–

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.

Set the end point address.
(Assuming "mm" is set in
3000.0 µm
" Pr.1 Unit setting".)

8000.0 µm

4000.0 µm

–

Setting not required (setting
value will be ignored).

6000.00
mm/min

–

Set the speed during movement
to the end point address.

–

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

Da.10 M code

–

as the deceleration time at
deceleration.

–

Da.7 Arc address

–

Designate the value set in
" Pr.10 Deceleration time 0"

–

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
•

When the "reference axis speed" is set during 4-axis linear intrpolation 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.

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[2] 4-axis linear interpolation control (INC linear 4)
Operation chart
In the incremental system 4-axis linear interpolation control, using an address
established by a machine OPR in the 4-axis coordinate plane, a linear interpolation
positioning is carried out from the current stop position (start point address) to a
position at the end of the movement amount set in the " Da.6 Positioning
address/movement amount". The movement direction depends on the sign (+ or -)
of the movement amount.

address/movement amount" is "1073741824 (=2 )".)

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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
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.

Acceleration time
Da.3
No.

–

Designate the value set in
" Pr.25 Acceleration time 1"

Axis 1 Positioning data No. 1

as the acceleration time at start.
Deceleration time
Da.4
No.

Axis to be
interpolated

Da.6

Positioning address/
4000.0 µm
movement amount

–

Da.8 Command speed

Da.9 Dwell time

Da.10 M code

–

as the deceleration time at
deceleration.

Da.5

Da.7 Arc address

–

Designate the value set in
" Pr.10 Deceleration time 0"

–

8000.0 µm

4000.0 µm

–

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

–

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.

Set the movement amount.
3000.0 µm (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.

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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. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)

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

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.

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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 item
Da.1 Operation pattern

Axis 1 Positioning data No. 1

Da.2 Control system
Da.3

Da.4

Positioning
complete
Fixed-feed 1

Acceleration time
No.

Deceleration time
No.

Axis to be
Da.5
interpolated
Da.6

Setting example

Positioning address/
movement amount

Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
Da.10 M code

Setting details
Set "Positioning complete" assuming the next positioning data will not
be executed.
Set 1-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.
–
8 0 0 0 . 0 µm
–

Setting not required (setting value will be ignored).
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.

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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. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(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)

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 "Outside linear movement amount range error (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.
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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

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.

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Positioning address/
8000.0 µm
movement amount

Da.1 Operation pattern
Da.2 Control method
Da.3
Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

Da.7 Arc address
Da.8 Command speed

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.
Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.

–
6000.0 µm

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. (Designate the composite
speed of reference axis speed in " Pr.20 Interpolation
speed designation method".)

Da.9 Dwell time
Da.10 M code

500ms

–

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.

POINT
•

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".

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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. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

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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)

Z axis

Designated movement amount

Designated movement
amount

(0,0,0)

X axis
" Md.20 Current feed value" of each axis
is set to "0" at the positioning start.
Designated movement
amount

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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 "Outside linear movement amount range error (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

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.)

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9 MAJOR POSITIONING CONTROL

Axis
Setting item
Da.1 Operation pattern

Axis 1 Positioning data No. 1

Da.2 Control method

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.
Designate the value set in " Pr.25

Da.3

Acceleration time
No.

–

Acceleration time 1" as the acceleration time
at start.

Da.4

Deceleration time
No.

–

Deceleration time 0" as the deceleration time
at deceleration.

Designate the value set in " Pr.10

–

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.

5000.0 µm

6000.0 µm

Set the positioning address. (Assuming "mm"
is set in " Pr.1 Unit setting".)

–

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.

–

Set this when other sub operation commands
are issued in combination with the No. 1
positioning data.

Axis to be
Da.5
interpolated

Da.6

–

Positioning address/
10000.0 µm
movement amount

Da.7 Arc address

Da.10 M code

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 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".
(2)Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis
combinations.

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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. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(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.

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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
Setting item
Da.1 Operation pattern
Da.2 Control method
Da.3

Acceleration 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

Setting details

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.

Axis 1 Positioning data No. 1

Da.4

Da.5

Deceleration time
No.

Axis to be
interpolated

Da.8 Command speed

Da.9 Dwell time

Da.10 M code

–

as the deceleration time at
deceleration.

–

Positioning address/
Da.6
4000.0 µm
movement amount
Da.7 Arc address

–

Designate the value set in
" Pr.10 Deceleration time 0"

–

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.

Set the positioning address.
3000.0 µm (Assuming "mm" is set in
" Pr.1 Unit setting".)

8000.0 µm

4000.0 µm

–

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

–

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
(1) 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".
(2)Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis
combinations.

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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, addresses established by a machine OPR on a 2-axis coordinate
plane are used. 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

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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.
•

•

•
•
•
•

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)"
... A "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 "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address
... A "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
... A "Sub point setting error" (error code: 525) will occur.

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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
Setting item

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.

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Positioning address/
8000.0 µm
movement amount

6000.0 µm

Set the positioning address. (Assuming "mm" is set in
" Pr.1 Unit setting".)

4000.0 µm

3000.0 µm

Set the sub point address. (Assuming that the " Pr.1

Da.3

Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

Da.7 Arc address

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.
Set the axis to be interpolated (partner axis).

–

If the self-axis is set, an error will occur.

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
Da.10 M code

500ms

–

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.

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.)

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[2] 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

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

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9 MAJOR POSITIONING CONTROL

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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 525 will occur.
• When the end point address is outside the range of -2147483648 (–231) to
31
2147483647 (2 –1).
... An error 526 will occur.
• When the auxiliary point address, center point address is outside the range of
31
31
"–2147483648 (–2 ) to 2147483647 (2 –1)"
... A "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 "End point setting error" (error code: 526) will occur.
• When the start point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
• When the end point address is the same as the sub point address
... A "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
... A "Sub point setting error" (error code: 525) will occur.

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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
Setting item

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.

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Positioning address/
8000.0 µm
movement amount

6000.0 µm

4000.0 µm

3000.0 µm

Da.3

Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

Da.7 Arc address

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.
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 " Pr.1

Unit

setting" is set to "mm".)
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
Da.10 M code

500ms

–

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.

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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 a designated 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
Start point
(current stop
position)

Clockwise

0° <

< 360°

End point
(positioning address)

INC circular right
Center point

0° < θ ≤ 360°
Center point

ABS circular left
0°<

Counterclockwise

< 360°

Start point
(current stop
position)

INC circular left

End point
(positioning address)
Positioning path

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Circular interpolation error compensation
In circular interpolation control with center point designation, the arc path
calculated from the start point address and arc 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.

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[1] 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, addresses established by a machine OPR on a 2-axis coordinate
plane are used. 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.
Forward direction

Arc center point (Arc address)
Start point address

(current stop position)

Forward direction

Reverese direction

9 - 61

End point address
(positioning address)

9 MAJOR POSITIONING CONTROL

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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

•

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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
Setting item

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.)

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Positioning address/
8000.0 µm
movement amount

6000.0 µm

4000.0 µm

3000.0 µm

Da.3
Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

Da.7 Arc address

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.
Set the axis to be interpolated (partner axis).

–

If the self-axis is set, an error will occur.
Set the positioning address. (Assuming "mm" is set in
" Pr.1 Unit setting".)
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
Da.10 M code

500ms

–

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.

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[2] 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, addresses established by a machine OPR on a 2-axis coordinate
plane are used. 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".
Forward direction

Arc center point (Arc address)

Movement amount = 0

Forward direction

Reverese direction

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9 MAJOR POSITIONING CONTROL

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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.
•

•
•
•
•

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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
Setting item

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.)

Acceleration time
No.

–

Deceleration time
No.

Da.5

Axis to be
interpolated

Da.6

Positioning address/
µ
movement amount 8000.0 m

6000.0 µm

4000.0 µm

3000.0 µm

Da.3
Axis 1 Positioning data No. 1

Axis 1
Axis 2
(reference (interpolation
axis) setting axis) setting
example
example

Da.4

Da.7 Arc address

Da.8 Command speed

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.

6000.00
mm/min

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 " Pr.1

Unit

setting" is set to "mm".)
Set the center point address. (Assuming that the " Pr.1
Unit setting" is set to "mm".)
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
Da.10 M code

500ms

–

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.

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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

ON
OFF

Positioning start signal
[Y10]

ON
OFF

BUSY signal
[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]

OFF

ON
In speed control flag
Md.31 Status:b0

OFF

Fig.9.9 1-axis speed control operation timing

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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

Md.20 Current feed value

control" setting

Speed

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".

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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.

Designate the value set in " Pr.25
acceleration time at start.

Acceleration time 1" as the

Da.4 Deceleration time
No.

Designate the value set in " Pr.10
deceleration time at deceleration.

Deceleration time 0" as the

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

6000.00mm/min Set the speed to be commanded.

Da.9 Dwell time

–

Setting not required (setting value will be ignored).

Da.10 M code

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.

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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

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)

OFF

ON
In speed control flag
Md.31 Status: b0

OFF

Fig. 9.10 2-axis speed control operation timing

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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

Md.20 Current feed value

control" setting

Speed

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

Current feed value is updated

(b) Current feed value updated

(a) Current feed value not updated

In speed control

Speed

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 "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).
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9 MAJOR POSITIONING CONTROL

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(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.

–

Designate the value set in " Pr.25
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.

Da.5 Axis to be
interpolated

–

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).

6000.00
mm/min

3000.00
mm/min

–

Da.8 Command speed
Da.9 Dwell time

Da.10 M code

–

Acceleration time 1" as

Set the speed to be commanded.
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.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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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
by stop command.

Positioning complete signal
[X14,X15,X16]

OFF

ON
Axis stop signal
(stop command)
(Either Y4,Y5 or Y6)

OFF

ON
In speed control flag
Md.31 Status: b0

OFF

Fig. 9.11 3-axis speed control operation timing

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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

Md.20 Current feed value

control" setting

Speed

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 "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.

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(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).
(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".

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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

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

–

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.

–

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.

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).

Da.7 Arc address

–

Setting not required (setting value will be
ignored).

6000.00
mm/min

3000.00
mm/min

2000.00
mm/min

–

Da.8 Command speed
Da.9 Dwell time

Da.10 M code

–

Set the speed to be commanded.
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.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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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.)

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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)

OFF

ON
In speed control flag
Md.31 Status: b0

OFF

Fig. 9.12 4-axis speed control operation timing

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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

Md.20 Current feed value

control" setting

Speed

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 "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.

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(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

Axis 1
setting

Setting item

Axis 2
setting

Axis 3
setting

Axis 4
setting

Pr.8

Speed limit
value

4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/
min
min
min
min

Da.8

Command
speed

8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.00mm/
min
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).
(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".

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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
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.

–

Designate the value set in
" Pr.25 Acceleration time 1"

Da.3 Acceleration time
No.

Axis 1 Positioning data No. 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.

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).

6000.00
mm/min

3000.00
mm/min

2000.00
mm/min

1000.00
mm/min

–

Da.8 Command speed
Da.9 Dwell time

Da.10 M code

–

Set the speed to be
commanded.
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.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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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

Setting details

Speed-position switching control
(INC 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".

Switching over from speed control to position control
(1) The control is switched over from speed control to position control by the
external signal "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. 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.)

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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
OFF

BUSY signal

[XC,XD,XE,XF]
ON
OFF

Positioning complete signal
[X14,X15,X16,X17]

ON
OFF
Speed-position switching signal
ON
OFF
Cd. 24 Speed-position
switching enable flag
ON
In speed control flag
Md. 31 Status: b0

OFF

Fig. 9.13 Speed-position switching control (INC mode) operation timing

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[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+270.00000
=360.00000
=Stop at 0.00000 [degree]

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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]

M code ON signal
[X4,X5,X6,X7](WITH mode)

Cd.7 M code OFF request

Start complete signal
[X10,X11,X12,X13]
Standing by

Md.26 Axis operation status

In speed control

In position control

t3
Standing by

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

Position control movement amount is from the input position of
the external speed-position switching signal

Cd. 23 Speed-position switching
control movement amount
change register

Positioning complete signal
[X14,X15,X16,X17]

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. 9.14 Operation timing and processing time during speed-position switching control (INC mode)

Normal timing time

•

Unit: ms

1.1

0 to 1.8

2.7 to 4.4

0 to 1.8

1.0

Follows parameters

The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during speed-position switching control (INC mode)
The following table shows the " Md.20 Current feed value" during speed-position
switching control (INC mode) corresponding to the " Pr.21

Current feed value

during speed control" settings.
" Pr.21 Current feed value during

Md.20 Current feed value

speed control" setting
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

Maintained

Speed control

Position control

Updated

(a) Current feed value not updated

Speed

(b) Current feed value updated

Updated from 0

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

1ms

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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
value

Setting item

Pr.42

Cd.8

External
command
function
selection
External
command
valid

Setting details

Set the "2: speed-position and
position-speed switching
requests".

Set "1: Validate external
command".

Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
62

212

362

512

1505

1605

1705

1805

Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

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 position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) 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".
(3) 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 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
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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) An axis error (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) "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.) An
axis error (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
(3) An error (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) " 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 case of the setting of other than "1: Update current feed
value", an error (error code: 507 or 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,
an error (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). A warning (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.
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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.
Setting item

Setting example

Setting details

Da.1 Operation pattern

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.2 Control system

Axis 1 Positioning data No. 1

Da.3 Acceleration time No.

Forward run:
Set speed-position switching control by forward run.
speed/position
1

Designate the value set in " Pr.25

Acceleration time 1" as the

acceleration time at start.
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
Da.10 M code

Designate the value set in " Pr.10

Deceleration time 0" as the

deceleration time at deceleration.

10000.0µm
–

Setting not required. (Setting value is ignored.)
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.

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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

Speed-position
function selection

inch

degree

pulse

INC mode
ABS mode
: Setting allowed,
: Setting disallowed (If setting is made, an error (error code: 935) will occur when the PLC
READY signal (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

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".

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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
OFF

BUSY signal

[XC,XD,XE,XF]
ON
OFF
Positioning complete signal
[X14,X15,X16,X17]
ON
OFF
Speed-position switching signal
ON
OFF
Cd. 24 Speed-position
switching enable flag
ON
In speed control flag
Md. 31 Status: b0

OFF

Fig. 9.16 Speed-position switching control (ABS mode) operation timing

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9 MAJOR POSITIONING CONTROL

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0.00000

Speed-position
switching signal ON

90.00000

0.00000

270.00000

90.00000
Stop at 270.00000 [degree]

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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]

M code ON signal
[X4,X5,X6,X7](WITH mode)

Cd.7 M code OFF request

Start complete signal
[X10,X11,X12,X13]
Standing by

Md.26 Axis operation status

In speed control

In position control

t3
Standing by

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

Positioning complete signal
[X14,X15,X16,X17]

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

•

Unit: ms

1.1

0 to 1.8

2.7 to 4.4

0 to 1.8

1.0

Follows parameters

The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during speed-position switching control (ABS mode)
The following table shows the " Md.20 Current feed value" during speed-position
switching control (ABS mode) corresponding to the " Pr.21

Current feed value

during speed control" settings.
" Pr.21

Current feed value during

Md.20 Current feed value

speed control" setting
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).
An 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

Updated

Current feed value updated

OFF

ON
Speed-position switching latch flag

OFF

1ms

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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

Pr.42

Cd.8

External
command
function
selection
External
command
valid

Setting
value

Setting details

Set the "2: speed-position and
position-speed switching
requests".

Set "1: Validate external
command".

Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
62

212

362

512

1505

1605

1705

1805

Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

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Restrictions
(1) An axis error (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) "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.) An
axis error (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
(3) An error (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,
an error (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 " Da.6 Positioning address/movement amount" setting range is 0 to
359.99999 (degree)
If the value is outside of the range 0 to 359.99999 (degree), an error (error
code: 530) will occur at a 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), an
error (error code: 935) will occur when the PLC READY signal [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 this case, make the movement amount after speed-position switching signal
input within 21474.83647 (degree). If the movement amount exceeds
21474.83647 (degree), make the movement amount smaller by reducing the
command speed or shortening the deceleration time, for example.
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

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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.
Setting item

Setting example

Setting details

Da.1 Operation pattern

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.2 Control system

Axis 1 Positioning data No. 1

Da.3 Acceleration time No.

Forward run:
Set speed-position switching control by forward run.
speed/position
1

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.
Da.5 Axis to be
interpolated
Da.6 Positioning address/
movement amount
Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
Da.10 M code

–
270.00000
degree
–

Setting not required. (Setting value is ignored.)
ABS mode ( Pr.150 = 2)
Set the address 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

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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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 the
external signal "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. 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.)

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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

OFF
ON
OFF
ON

In speed control flag

OFF

Md.31 Status: b0

Fig. 9.18 Position-speed switching control operation timing

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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
Md.26

Axis operation status

Standing by

In position control

In speed control

Standing by

t4
Output pulse to an external source
(PULSE)
Position

Speed

control

Positioning operation

Position control carried out until position-speed switching
signal turns ON.

External position-speed switching
command
t6

Speed control command speed is from the input position of
the external position-speed switching signal.

Cd.25 Position-speed switching
control speed change register

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

Unit: ms

1.0 to 1.4

0 to 1.8

2.7 to 4.4

1.0

•

The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during position-speed switching control
The following table shows the " Md.20 Current feed value" during position-speed
switching control corresponding to the " Pr.21

Current feed value during speed

control" settings.
" Pr.21

Current feed value during

Md.20 Current feed value

speed control" setting
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

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 from 0 at a control start,
and the current feed value is cleared (to "0") as soon as
position control is switched to speed control.

Position control

Speed control

Speed

Position control

Speed control

Updated

Position control

Speed control

Maintained

(a) Current feed value not updated

Speed

Updated

Updated from 0

(b) Current feed value updated

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

ON
Position-speed switching latch flag

OFF

1ms

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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
value

Setting item

Pr.42

Cd.8

External
command
function
selection
External
command
valid

Setting details

Set the "2: speed-position and
position-speed switching
requests".

Set "1: Validate external
command".

Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
62

212

362

512

1505

1605

1705

1805

Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

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 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

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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) An axis error (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.) An axis error (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) An error (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) A warning (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,
an error (error code: 530) will occur.

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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.
Setting item

Setting example

Setting details

Da.1 Operation pattern

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.2 Control system

Axis 1 Positioning data No. 1

Da.3 Acceleration time No.

Forward run:
Set position-speed switching control.
position/speed
1

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.
Axis to be
Da.5
interpolated
Da.6

Positioning address/
movement amount

–
10000.0µm

Setting not required. (Setting value is ignored.)
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".)

Da.7 Arc address
Da.8 Command speed

Da.9 Dwell time

Da.10 M code

–

Setting not required. (Setting value is ignored.)

6000.00mm/min Set the speed to be controlled.

500ms

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.

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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

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]).
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(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 +, – (error code: 507 or 508)" will occur at the positioning start, and
the operation will not start.
(5) An error (error code: 507 or 508) will occur if the new current value is outside
the software stroke limit range.

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

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

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.

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[2] 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 +, (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"

Write "9003" in " Cd. 3 Positioning start No."

Turn ON the positioning start signal.

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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 µm" 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
value

Setting details

9003

Set the start No. "9003" for the new current value.

Positioning start No.
Current value changing

50000

Set the new " Md.20

Current feed value".

Buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
1500

1600

1700

1800

1506
1507

1606
1607

1706
1707

1806
1807

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

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(3) Add the following sequence program to the control program, and write it to the
PLC CPU.
á
—
Example

Current value changing

Store new current feed value in D106 and D107

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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.)

Da.10

M code

–

Setting not required (Setting value
is ignored.)

–
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

If there is a possibility of speed switching or temporary stop (automatic deceleration) at a point
between two points during positioning, that data can be reserved with the NOP instruction to change
the data merely by the replacement of the identifier.

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9.2.21 JUMP instruction
The JUMP instruction is used to control the operation so it jumps to a positioning data
No. set in the positioning data during "continuous positioning control" or "continuous
path control".
JUMP instruction include the following two types of JUMP.
(1) Unconditional JUMP
When no execution conditions are set for the JUMP instruction
(When "0" is set as the condition data No.)
(2) Conditional JUMP
When execution conditions are set for the JUMP instruction
(The conditions are set in the "condition data" used with "high-level positioning
control".)
Using the JUMP instruction enables repeating of the same positioning control, or
selection of positioning data by the execution conditions during "continuous positioning
control" or "continuous path control".

Operation
(1) Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the
positioning data No. set in " Da.9 Dwell time".
(2) Conditional JUMP
The block start condition data is used as the JUMP instruction execution
conditions.
• When block positioning data No. 7000 to 7004 is started:
Each block condition data is used.
• When positioning data No. 1 to 600 is started:
Start block 0 condition data is used.
• When the execution conditions set in " Da.10 M code" of the JUMP
instruction have been established:
the JUMP instruction is executed to jump the operation to the positioning
data No. set in " Da.9 Dwell time".
• When

the execution conditions set in " Da.10 M code" of the JUMP

instruction have not been established:
the JUMP instruction is ignored, and the next positioning data No.is
executed.

Restrictions
(1) When using a conditional JUMP instruction, establish the JUMP instruction
execution conditions by the 4th positioning data No. before the JUMP
instruction positioning data No.
If the JUMP instruction execution conditions are not established by the time
the 4th positioning control is carried out before the JUMP instruction
positioning data No., the operation will be processed as an operation without
established JUMP instruction execution conditions.
(During execution of continuous path control/continuous positioning control,
the QD75 calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)
9 - 111

9 MAJOR POSITIONING CONTROL

MELSEC-Q

(2) The operation pattern, if set, is ignored in the JUMP instruction.
(3) Positioning control such as loops cannot be executed by conditional JUMP
instructions alone until the conditions have been established.
As the target of the JUMP instruction, specify a positioning data that is
controlled by other than JUMP and NOP instructions.

Positioning data setting example
The following table shows setting examples when "JUMP instruction" is set in
positioning data No. 1 of axis 1.
Setting item

Setting example

Da.1 Operation pattern

–

Axis 1 Positioning data No. 1

Da.2 Control system

JUMP
instruction

Setting details
Setting not required. (Setting value is ignored.)
Set the JUMP instruction.

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

Da.10 M code

500

Set the positioning data No. 1 to 600 for the JUMP destination. (The
positioning data No. of the JUMP instruction cannot be set. Setting its
own positioning data No. will result in an error "Illegal data No." (error
code: 502).)

Set the JUMP instruction execution conditions with the condition data
No.
0
:
Unconditional JUMP
1 to 10 :
Condition data No.
("Simultaneous start" condition data cannot be set.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

9 - 112

9 MAJOR POSITIONING CONTROL

MELSEC-Q

9.2.22 LOOP
The LOOP is used for loop control by the repetition of LOOP to LEND.

Operation
The LOOP to LEND loop is repeated by set repeat cycles.

Positioning data setting examples
The following table shows the setting examples when "LOOP" is set in positioning
data No. 1 of axis 1.
Setting item

Setting example

Da.1 Operation pattern

–

Axis 1 Positioning data No. 1

Da.2 Control system

LOOP

Setting details
Setting not required. (Setting value is ignored.)
Set the LOOP.

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.)

Da.10 M code

Set the LOOP to LEND repeat cycles.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

Restrictions
(1) An error "Control system LOOP setting error (error code: 545)" will occur if a
"0" is set for the repeat cycles.
(2) Even if LEND is absent after LOOP, no error will occur, but repeat processing
will not be carried out.
(3) Nesting is not allowed between LOOP-LEND's. If such setting is made, only the
inner LOOP-LEND is processed repeatedly.

POINT
The setting by this control system is easier than that by the special start "FOR loop" of "High-level
Positioning Control" (refer to Chapter 10).

• For special start: Positioning start data, special start data, condition data, and positioning data
• For control system : Positioning data
For the special start FOR to NEXT, the positioning data is required for each of FOR and NEXT
points. For the control system, loop can be executed even only by one data.
Also, nesting is enabled by using the control system LOOP to LEND in combination with the special
start FOR to NEXT.
However LOOP to LEND cannot be set across block. Always set LOOP to LEND so that the
processing ends within one block.
(For details of the "block", refer to Section 10.1 "Outline of high-level positioning control".)
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9 MAJOR POSITIONING CONTROL

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9.2.23 LEND
The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.

Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is
terminated, and the next positioning data No. processing is started. (The operation
pattern, if set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning data
No.

Operation pattern

Control system

Continuous control

ABS2

Positioning
complete

LOOP

Continuous path
control

ABS2

Continuous control

ABS2

Positioning
complete

LEND

Positioning
complete

ABS2

Conditions

Number of loop
cycles: 2

Operation
Executed in the
order of the
positioning data
No. 1
2
3
4
5
2
3
4
5
6.
(The operation
patterns of the
positioning data
Nos. 2 and 5 are
ignored.)

Positioning data setting examples
The following table shows the setting examples when "LEND" is set in positioning
data No. 8 of axis 1.
Setting item

Setting example

Da.1 Operation pattern

–

Axis 1 Positioning data No. 8

Da.2 Control system

LEND

Setting details
Setting not required. (Setting value is ignored.)
Set the LEND.

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.)

Da.10 M code

–

Setting not required. (Setting value is ignored.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.

9 - 114

Chapter 10 High-level Positioning Control

The details and usage of high-level positioning control (control functions using the
"block start data") are explained in this chapter.
High-level positioning control is used to carry out applied control using the "positioning
data". Examples of applied control are using conditional judgment to control
"positioning data" set with the major positioning control, or simultaneously starting
"positioning data" for several different axes.
Read the execution procedures and settings for each control, and set as required.

10
10.1 Outline of high-level positioning control ..................................................................10- 2
10.1.1 Data required for high-level positioning control.........................................10- 3
10.1.2 " Block start data" and "condition data" configuration...............................10- 4
10.2 High-level positioning control execution procedure ...............................................10- 6
10.3 Setting the block start data ......................................................................................10- 7
10.3.1 Relation between various controls and block start data ...........................10- 7
10.3.2 Block start (normal start) ...........................................................................10- 8
10.3.3 Condition start ...........................................................................................10- 10
10.3.4 Wait start ...................................................................................................10- 11
10.3.5 Simultaneous start ...................................................................................10- 12
10.3.6 Repeated start (FOR loop) ......................................................................10- 13
10.3.7 Repeated start (FOR condition) ...............................................................10- 14
10.3.8 Restrictions when using the NEXT start...................................................10- 15
10.4 Setting the condition data .......................................................................................10- 16
10.4.1 Relation between various controls and the condition data ......................10- 16
10.4.2 Condition data setting examples ..............................................................10- 19
10.5 Multiple axes simultaneous start control................................................................10- 20
10.6 Start program for high-level positioning control .....................................................10- 23
10.6.1 Starting high-level positioning control.......................................................10- 23
10.6.2 Example of a start program for high-level positioning control .................10- 24

10 - 1

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.1 Outline of high-level positioning control
In "high-level positioning control" the execution order and execution conditions of the
"positioning data" are set to carry out more applied positioning. (The execution order
and execution conditions are set in the "block start data" and "condition data".)
The following applied positioning controls can be carried out with "high-level positioning
control".
High-level positioning
control

Details

Block 1 start
(Normal start)

With one start, executes the positioning data in a random block with the set order.

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.

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.)

Simultaneous start
2

Simultaneously executes the positioning data having the No. for the axis designated
with the "condition data". (Outputs pulses at the same timing.)

Repeated start (FOR Repeats the program from the " block start data" set with the "FOR loop" to the "
loop)
block start data" set in "NEXT" for the designated No. of times.
Repeats the program from the " block start data" set with the "FOR condition" to the "
Repeated start (FOR
block start data" set in "NEXT" until the conditions set in the "condition data" are
condition)
established.

High-level positioning control sub functions
"High-level positioning control" uses the "positioning data" set with the "major
positioning control". Refer to Section 3.2.4 "Combination of QD75 main functions
and sub functions" for details on sub functions that can be combined with the
major positioning control.
Note that the sub function Section 12.7.8 "Pre-reading start function" cannot be
used together with "high-level positioning control".

High-level positioning control from peripheral devices
"High-level positioning control" (start of the "block start data") can be executed
from GX Configurator-QP test mode.
Refer to GX Configurator-QP Operating Manual for details on starting of the "block
start data" from GX Configurator-QP.

REMARK
Block 1:
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the
operation pattern ( Da.1 ) to the positioning data in which "independent
positioning control (Positioning complete)" is set.
Simultaneous start 2:
Besides the simultaneous start of "block start data" system, the "simultaneous
starts" include the "multiple axes simultaneous start control" of control system.
Refer to Section 10.5 "Multiple axes simultaneous start control" for details.
10 - 2

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.1.1 Data required for high-level positioning control
"High-level positioning control" is executed by setting the required items in the "block
start data" and "condition data", then starting that "block start data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "block start data".
"Block start data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st block start data
item is called the "1st point block start data" or "point No. 1 block start data".)
"Condition data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 10 data items can be set for each axis.
The " block start data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the " block start data" and "condition data"
stored in the QD75.

Block start data

Setting item

Setting details

Da.11 Shape

Set whether to end the control after executing only the "block
start data" of the shape itself, or continue executing the "block
start data" set in the next point.

Da.12 Start data No.

Set the "positioning data No." to be executed.

Da.13 Special start
instruction

will be started.

Da.14 Parameter

Set the conditions by which the start will be executed
according to the commands set in Da.13 . (Designate the

Set the method by which the positioning data set in Da.12

"condition data No." and "No. of repetitions".)

Condition data

Setting item

Setting details

Da.15

Designate the "device", "buffer memory storage details", and
Condition target "positioning data No." elements for which the conditions are
set.

Da.16

Condition
operator

Set the judgment method carried out for the target set in
Da.15 .

Da.17

Address

Set the buffer memory address in which condition judgment is
carried out (only when the details set in Da.15 are "buffer
memory storage details").

Parameter 1

Set the required conditions according to the details set in
Da.15 and Da.16 .

Da.19 Parameter 2

Set the required conditions according to the details set in
Da.15 and Da.16 .

Da.18

10 - 3

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.1.2 "Block start data" and "condition data" configuration
The "block start data" and "condition data" corresponding to "block No. 7000" can be
stored in the buffer memory. (The following drawing shows an example for axis 1.)
50th point
Buffer memory
address

Setting item
2nd point
1st point

Setting item
Setting item
œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^

Axis 1 block start data

b15

Buffer memory
Buffer memoryaddress
address

26001

b8 b7

26049

26000
Da.12 Positioning data No.

26099

Da.11 Shape

b15

b8 b7

26051

b0
26050

Da.13 Special start Da.14 Parameter
instruction

No.10
Buffer memory
address

Setting item
No.2

Condition identifier

No.1

Setting item
Setting item

Axis 1 condition data

Condition identifier
b15 b12b11 b8 b7

Buffer memory
address
Buffer memory
address

26110

b0
26100

Da.16 Condition
operator

Da.15 Condition target

26101
26102
26103
26104
26105
26106
26107
26108
26109

Blank
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Blank

26111
26112
26113
26114
26115
26116
26117
26118
26119

26190

26191
26192
26193
26194
26195
26196
26197
26198
26199

Low-order buffer memory
High-order buffer memory

(Same for axis 2, axis 3 and axis 4.)

7000

Block No.

10 - 4

Set in the QD75 with a sequence program
or GX Configurator-QP.

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

Set in QD75 the " block start data" and "condition data" corresponding to the following
"block Nos. 7001 to 7004" using GX Configurator-QP or the sequence program. (The
following drawing shows an example for axis 1.)
50th point

50th point
Buffer memory
address

Setting item
2nd point

2nd point

Setting item
Setting item
œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^

b15

b8 b7

Buffer memory
address

1st point
26249

Axis 1 block start data

1st point

26201

26200
Da12 Positioning data No.

26299

Da11 Shape

b15

b8 b7

26251

26250
Da13 Special start
instruction

Setting item
Setting item
œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^

b15

b8 b7

26899

b15

b8 b7

26850

Buffer memory
address

26300
Da15 Condition target

Open
Da17 Address
Da18 Parameter 1
Da19 Parameter 2
Open

26301
26302
26303
26304
26305
26306
26307
26308
26309

Condition identifier

No.1

Setting item

26390

Buffer memory
address

Setting item
26310

26311
26312
26313
26314
26315
26316
26317
26318
26319

Buffer memory
address

Setting item
No.2

Axis 1 condition data

Setting item
Setting item

Axis 1 condition data

26851

Da14 Parameter

No.10

Condition identifier

Condition
Da16 operater

26801

Da11 Shape

Condition identifier

b8 b7

26849

26800

Da13 Special start
instruction

Setting item

b12 b11

Buffer memory
address

No.10

No.1

Buffer memory
address

Da12 Positioning data No.

Da14 Parameter

No.2

b15

Buffer memory
address

Setting item

26391
26392
26393
26394
26395
26396
26397
26398
26399

Condition identifier
b15

b12 b11

b8 b7

26900
Condition
Da16 operater

Da15 Condition target

Open
Da17 Address
Da18 Parameter 1
Da19 Parameter 2

7004

10 - 5

26910

Open

7001

Buffer memory
address

26901
26902
26903
26904
26905
26906
26907
26908
26909

26911
26912
26913
26914
26915
26916
26917
26918
26919

26990

26991
26992
26993
26994
26995
26996
26997
26998
26999

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.2 High-level positioning control execution procedure
High-level positioning control is carried out using the following procedure.
Preparation

STEP 1
Refer to Chapter 9

STEP 2
Refer to Section 10.3

STEP 3
Refer to Section 10.4

STEP 4
Refer to Section 10.6

Carry out the "major positioning control" setting.

Set the block start data corresponding to each control.
( Da. 11 to Da. 14 ) × required data amount.

"High-level positioning control" executes each control
("major positioning control") set in the positioning data
with the designated conditions,so first carry out
preparations so that "major positioning control" can be
executed.
The 50 "block start data" points from 1 to 50 points
can be set.

Set the "condition data"
( Da. 15 to Da. 19 ) × required data amount .

Set the "condition data" for designation with the
"block start data". Up to 10 condition data items
can be set.

Create a sequence program in which "7000"*is set in

The QD75 recognizes that the control is high-level

the " Cd. 3 Positioning start No". (Control data setting)

positioning control using " block start data" by the
"7000" designation.

Create a sequence program in which the "block start

Use GX Developer to create a sequence program

data point No. to be started" (1 to 50) is set in the

to execute the "high-level positioning control".

" Cd. 4 Positioning start point No". (Control data setting)

(Set the control data in the QD75 buffer memory using
a TO command.)

Create a sequence program in which the "positioning
start signal" is turned ON by a positioning start command.

Write the sequence programs to the PLC CPU.

Write the sequence program created in STEP 4 to the
PLC CPU using GX Developer.

Turn ON the "positioning start command" of
the axis to be started.

Same procedure as for the "major positioning control"
start.

STEP 5
Refer to Chapter 6

Starting the control

STEP 6
Refer to Section 6.5.3

Monitoring the control

Stopping the control

STEP 7
Monitor the high-level positioning control.

STEP 8
Stop when control is completed

Refer to Section 6.5.6

Use one of the following two methods.
Method (1): Monitor using GX Configurator-QP.
Method (2): Monitor using GX Developer.

Same procedure as for the "major positioning control" stop.

Control termination

REMARK
(1) Five sets of "block start data (50 points)" and "condition data (10 items)
corresponding to "7000" to "7004" are set with a sequence program.
(2) Five sets of data from "7000" to "7004" can be set when GX Configurator-QP
is used. If GX Configurator-QP is used to set the "block start data" and
"condition data" corresponding to "7001" to "7004" and write the data to the
QD75, "7001" to "7004" can be set in " Cd.3 Positioning start No." in STEP
4.

10 - 6

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.3 Setting the block start data
10.3.1 Relation between various controls and block start data
The " block start data" must be set to carry out "high-level positioning control". The
setting requirements and details of each " block start data" item to be set differ
according to the " Da.13 Special start instruction" setting.
The following shows the " block start data" setting items corresponding to various
control systems. The operation details of each control type are explained starting in
Section 10.3.2. Also refer to Section 10.4 "Setting the condition data for details on
"condition data" with which control execution is judged.
(The " block start data" settings in this chapter are assumed to be carried out using GX
Configurator-QP.)
High-level positioning
control Block start
(Normal
Block start data
start)
setting items

Condition
start

SimultaWait start
neous start

Repeated
start
(FOR loop)

Repeated
start
NEXT start
(FOR
condition)

0 : End

Da.11

Shape
1 : Continue

Da.12

Start data No.

Da.13

Special start instruction

Da.14

Parameter

–

1 to 600
1

2
Condition data No.

No. of
repetitions

Condition
data No.

–

: One of the two setting items must be set.
: Set when required (Set to " – " when not used.)
: Setting not possible

– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
The "NEXT start" instruction is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.

REMARK
It is recommended that the "block start 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.

10 - 7

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.3.2 Block start (normal start)
In a "block start (normal start)", the positioning data groups of a block are continuously
executed in a set sequence starting from the positioning data set in " Da.12 Start data
No." by one start.
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Axis 1 block
start data
1st point
2nd point
3rd point
4th point
5th point

Da.11
Shape
1: Continue
1: Continue
1: Continue
1: Continue
0: End

Da.12
Start data No.
1
2
5
10
15

Da.13
Special start
instruction
0: Block start
0: Block start
0: Block start
0: Block start
0: Block start

Da.14
Parameter
–
–
–
–
–

•
•

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3
4
5
6

00: Positioning complete
11: Continuous path control
01: Continuous positioning control
00: Positioning complete
11: Continuous path control
00: Positioning complete

1 block

•

00: Positioning complete

•

00: Positioning complete

•

REMARK
Block :
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the operation
pattern ( Da.1 ) to the positioning data in which "independent positioning control
(Positioning complete)" is set.

10 - 8

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

[2] Control examples
The following shows the control executed when the "block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The positioning data is executed in the following order before stopping.
Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
Positioning
according to the 1st
point settings

Positioning
according to the 3rd
point settings

Positioning
according to the 2nd
point settings

Positioning
Positioning
according to the according to the 5th
4th point settings point settings

Operation pattern
Positioning data No.

Address(+)

3(01)
1(00) 2(11)

4(00)

10(00)
t

Address(-)

5(11)
6(00)
1

15(00)

ON
Positioning start signal
OFF
[Y10,Y11,Y12,Y13]
Start complete signal
OFF
[X10,X11,X12,X13]
BUSY signal

[XC,XD,XE,XF] OFF

ON
ON
ON

OFF
Positioning complete signal
[X14,X15,X16,X17]
1 Dwell

Fig. 10.1 Block start control example

10 - 9

time of corresponding positioning data

10 HIGH-LEVEL POSITIONING CONTROL

MELSEC-Q

10.3.3 Condition start
In a "condition start", the "condition data" conditional judgment designated in " Da.14
Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the
conditions have been established, the " block start data" set in "1: condition start" is
executed. If the conditions have not been established, that " block start data" will be
ignored, and the "block start data" of the next point will be executed.
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Axis 1 block
start data
1st point
2nd point
3rd point

Da.11
Shape
1: Continue
1: Continue
0: End

Da.12
Start data No.

Da.13
Special start
instruction

Da.14
Parameter

1
10
50

1: Condition start
1: Condition start
0: Block start

1
2
–

•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3

01: Continuous positioning control
01: Continuous positioning control
00: Positioning complete

•

10
11
12

11: Continuous path control
11: Continuous path control
00: Positioning complete

•

00: Positioning complete

•

[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The conditional judgment set in "condition data No. 1" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Go to <2>.
<2> The conditional judgment set in "condition data No. 2" is carried out before
execution of the axis 1 "positioning data No. 10".
Conditions established Execute positioning data No. 10, 11, and 12
Go to <3>.
Conditions not established Go to <3>.
<3> Execute axis 1 "positioning data No. 50" and stop the control.
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10.3.4 Wait start
In a "wait start", the "condition data" conditional judgment designated in " Da.14
Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the
conditions have been established, the " block start data" is executed. If the conditions
have not been established, the control stops (waits) until the conditions are
established.
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Da.11
Shape

Axis 1 block
start data
1st point
2nd point
3rd point

1: Continue
1: Continue
0: End

Da.13
Special start
instruction

Da.12
Start data No.
1
10
50

2: Wait start
0: Block start
0: Block start

Da.14
Parameter
3
–
–

•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3

01: Continuous positioning control
01: Continuous positioning control
00: Positioning complete

•

10
11
12

11: Continuous path control
11: Continuous path control
00: Positioning complete

•

00: Positioning complete

•

[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The conditional judgment set in "condition data No. 3" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Control stops (waits) until conditions are
established Go to <1>.
<2> Execute the axis 1 "positioning data No. 10, 11, 12, and 50" and stop the
control.

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10.3.5 Simultaneous start
In a "simultaneous start", the positioning data set in the " Da.12 Start data No." and
positioning data of other axes set in the "condition data" are simultaneously executed
(pulses are output with the same timing).
(The "condition data" is designated with " Da.14 Parameter".)
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Da.11
Shape

Axis 1 block
start data
1st point
2nd point
3rd point

1: Continue
1: Continue
0: End

Da.12
Start data No.

Da.13
Special start
instruction

Da.14
Parameter

1
10
50

3: Simultaneous start
3: Simultaneous start
3: Simultaneous start

4
5
6

•
•

It is assumed that the "axis 2 positioning data" for simultaneous starting is set in the
"condition data" designated with " Da.14 Parameter".

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3

01: Continuous positioning control
01: Continuous positioning control
00: Positioning complete

•

10
11
12

11: Continuous path control
11: Continuous path control
00: Positioning complete

•

00: Positioning complete

•

[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Simultaneously start the axis 1 "positioning data No. 1" and axis 2
positioning data set in "condition data No. 4". After the execution of axis 1
"positioning data No. 1, 2, and 3" is completed, go to <2>.
<2> Simultaneously start the axis 1 "positioning data No. 10" and axis 2
positioning data set in "condition data No. 5".
Standing by after completion of axis 2 positioning data simultaneously
started in <1>. Go to <3>.
Executing axis 2 positioning data simultaneously started in <1>.
"Error".
<3> Simultaneously start the axis 1 "positioning data No. 50" and the axis 2
positioning data set in "condition data No. 6" after the completion of the
execution of axis 1 "positioning data No. 10, 11, and 12".
Standing by after completion of axis 2 positioning data simultaneously
started in <2>. Go to <4>.
Executing axis 2 positioning data simultaneously started in <2>.
"Error".
<4> After the execution of the axis 1 "positioning data No. 50" is completed, stop
the control.
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10.3.6 Repeated start (FOR loop)
In a "repeated start (FOR loop)", the data between the " block start data" in which "4:
FOR loop" is set in " Da.13 Special start instruction" and the "block start data" in
which "6: NEXT start" is set in " Da.13 Special start instruction " is repeatedly
executed for the No. of times set in " Da.14 Parameter". An endless loop will result if
the No. of repetitions is set to "0".
(The No. of repetitions is set in " Da.14 Parameter" of the " block start data" in which
"4: FOR loop" is set in " Da.13 Special start instruction".)
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Da.11
Shape

Axis 1 block
start data
1st point
2nd point
3rd point

1: Continue
1: Continue
0: End

Da.13
Special start
instruction

Da.12
Start data No.
1
10
50

4: FOR loop
0: Block start
6: NEXT start

Da.14
Parameter
2
–
–

•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3

01: Continuous positioning control
01: Continuous positioning control
00: Positioning complete

•

10
11

11: Continuous path control
00: Positioning complete

•

50
51

01: Continuous positioning control
00: Positioning complete

•

[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Execute the axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51".
<2> Return to the axis 1 "1st point block start data". Again execute the axis 1
"positioning data No. 1, 2, 3, 10, 11, 50 and 51", and then stop the control.
(Repeat for the No. of times (2 times) set in Da.14 .)

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10.3.7 Repeated start (FOR condition)
In a "repeated start (FOR condition)", the data between the " block start data" in which
"5: FOR condition" is set in " Da.13 Special start instruction" and the " block start
data" in which "6: NEXT start" is set in " Da.13 Special start instruction" is repeatedly
executed until the establishment of the conditions set in the "condition data".
(The "condition data" designation is set in " Da.14 Parameter" of the " block start
data" in which "5: FOR condition" is set in " Da.13 Special start instruction".)
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples
(1) Block start data setting example
Da.11
Shape

Axis 1 block
start data
1st point
2nd point
3rd point

1: Continue
1: Continue
0: End

Da.12
Start data No.

Da.13
Special start
instruction

Da.14
Parameter

1
10
50

5: FOR condition
0: Block start
6: NEXT start

5
–
–

•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example
Axis 1 positioning data No.

Da.1
Operation pattern

1
2
3

01: Continuous positioning control
01: Continuous positioning control
00: Positioning complete

•

10
11

11: Continuous path control
00: Positioning complete

•

50
51

01: Continuous positioning control
00: Positioning complete

•

[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Carry out the conditional judgment set in "condition data No. 5" for the axis 1
"positioning data No. 1".
Conditions not established Go to <2>.
Conditions established Go to <3>.
<2> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then go to
<1>.
<3> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then stop
the control.

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10.3.8 Restrictions when using the NEXT start
The "NEXT start" is a instruction indicating the end of the repetitions when executing
Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR
condition)".
The following shows the restrictions when setting "6: NEXT start" in the " block start
data".
(1) The processing when "6: NEXT start" is set before execution of "4: FOR loop" or
"5: FOR condition" is the same as that for a "0: block start".
(2) Repeated processing will not be carried out if there is no "6: NEXT start"
instruction after the "4: FOR loop" or "5: FOR condition" instruction. (Note that an
"error" will not occur.)
(3) Nesting is not possible between "4: FOR loop" and "6: NEXT start", or between
"5: FOR condition" and "6: NEXT start". A warning "FOR to NEXT nest
construction (warning code: 506)" will occur if nesting is attempted.
[Operating examples without nesting structure]
Start block data
1st point

Da.12 Special start
command
Normal start

[Operating examples with nesting structure]
Start block data
1st point

Da.12 Special start
command
Normal start

2nd point

FOR

2nd point

FOR

3rd point

Normal start

3rd point

Normal start

4th point

FOR

5th point

Normal start

5th point

Normal start

6th point

Normal start

6th point

Normal start

7th point

FOR

7th point

8th point

Normal start

8th point

Normal start

9th point

•

A warning will occur when starting the 4th
point "FOR".
The JUMP destination of the 7th point "NEXT"
is the 4th point. The 9th point "NEXT" is
processed as normal start.

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10.4 Setting the condition data
10.4.1 Relation between various controls and the condition data
"Condition data" is set in the following cases.
(1) When setting conditions during execution of Section 9.2.21 "JUMP instruction"
(major positioning control)
(2) When setting conditions during execution of "high-level positioning control"
The "condition data" to be set includes the 5 setting items from Da.15 to Da.19 , but
the setting requirements and details differ according to the control system and setting
conditions.
The following shows the "condition data" " Da.15 Condition target" corresponding to
the different types of control.
(The "condition data" settings in this chapter are assumed to be carried out using GX
Configurator-QP.)
Control type

Da.15
Setting item

High-level positioning control
Block
start

Wait
start

Simultaneous Repeated start
start
(For condition)

Major positioning
control
JUMP instruction

01: Device X
02: Device Y
03: Buffer memory
(1 word)
04: Buffer memory
(2 words)
05: Positioning data
No.
: One of the setting items must be set.
: Setting not possible

REMARK
It is recommended that the "condition 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.

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The setting requirements and details of the following "condition data" Da.16 to
Da.19 setting items differ according to the " Da.15 Condition target" setting.

The following shows the Da.16 to Da.19 setting items corresponding to the
" Da.15 Condition target".
Other setting
item

Da.15

Da.16

Da.17

Da.18

Da.19

Condition operator

Address

Parameter 1

Parameter 2

Setting item
01H: Device X
02H: Device Y
03H: Buffer memory
(1 word)
04H: Buffer memory
(2 words)

05H: Positioning data
No.

–

07H : DEV=ON
08H : DEV=OFF
=P1
01H :
≠ P1
02H :
≤P1
03H :
≥P1
04H :
≤P 2
05H : P1 ≤
≤P 1 , P 2 ≤
06H :
10H : Axis 1 designation
20H : Axis 2 designation
30H : Axis 1 and axis 2
designation
40H : Axis 3 designation
50H : Axis 1 and axis 3
designation
60H : Axis 2 and axis 3
designation
70H : Axis 1, axis 2 and
axis 3 designation
80H : Axis 4 designation
90H : Axis 1 and axis 4
designation
A0H : Axis 2 and axis 4
designation
B0H : Axis 1, axis 2 and
axis 4 designation
C0H : Axis 3 and axis 4
designation
D0H : Axis 1, axis 3 and
axis 4 designation
E0H : Axis 2, axis 3 and
axis 4 designation

0 to 1FH (bit No.)

–

0 to 1FH (bit No.)

–

P2 (numeric value)

Buffer
memory
address

P1 (numeric value)

(Set only when Da.16 is
[05H] or [06H].)

Axis 1
Low-order 16
positioning
bits
data No.

Axis 3
Low-order 16
positioning
bits
data No.

Axis 2
High-order 16
positioning
bits
data No.

Axis 4
High-order 16
positioning
bits
data No.

—

: Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
: Value stored in buffer memory designated in Da.17 .
: Refer to Section 5.5 "List of condition data" for the setting contents.

Judgment whether the condition operator is "=" or "=” at the start of wait.
Judgment on data is carried out for each control cycle of the QD75. Thus, in the
judgment on the data such as current feed value which varies continuously, the
operator "=" may not be detected. If this occurs, use a range operator.

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REMARK
The "PLC CPU memory area" can be designated as the buffer memory address to
be designated in Da.17 . (Refer to Section 7.1.1 "Configuration and roles of QD75
memory".)
QD75 buffer memory
Address

30000
30001

30099

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10.4.2 Condition data setting examples
The following shows setting examples for "condition data".

(1) Setting the device ON/OFF as a condition
[Condition] Device "X0" (=QD75 READY) is OFF
Da.15
Condition target

Da.16
Condition
operator

Da.17
Address

Da.18
Parameter 1

Da.19
Parameter 2

01H: Device X

08H: DEV=OFF

–

(2) Setting the numeric value stored in the "buffer memory" as a
condition
[Condition]
The value stored in buffer memory addresses "800, 801" (= " Md.20 Current
feed value") is "1000" or larger.
Da.15
Condition target

Da.16
Condition
operator

04H: Buffer memory
04H:
(2 words)

≥ P1

Da.17
Address

Da.18
Parameter 1

Da.19
Parameter 2

800

1000

–

(3) Designating the axis and positioning data No. to be simultaneously
started in "simultaneous start"
[Condition]
Simultaneously starting "axis 2 positioning data No.3".
Da.15
Condition target

Da.16
Condition
operator

05H: Positioning 20H: Axis 2
data No.
designation

10 - 19

Da.17
Address

Da.18
Parameter 1

Da.19
Parameter 2

–

High-order 16
bits "0003H"

–

10 HIGH-LEVEL POSITIONING CONTROL

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10.5 Multiple axes simultaneous start control
The "multiple axes simultaneous start control" starts and controls the multiple axes
simultaneously by outputting pulses to the axis to be started at the same timing as the
start axis.
The maximum of four axes can be started simultaneously.

[1] Control details
The multiple axes simultaneous start control is carried out by setting the
simultaneous start an object axis start data No. (positioning data No. to start
simultaneously for each axis) to the multiple axes simultaneous start control
buffer memory " Cd.30 to Cd.33 Simultaneous starting axis start data No. (1 to
4 axis start data No.)" of the axis control data, and the "9004" to
" Cd.3 positioning start No." of the start axis, and then turning ON the positioning
start signal.

[2] Restrictions
(1) An error will occur and all simultaneously started axes will not start (error
code: 501) if the simultaneously started axis start data No. is not set to the
axis control data on the start axis or set outside the setting range.
(2) An error will occur and all simultaneously started axes will not start (error
code: 501) if either of the simultaneously started axes is BUSY.
(3) An error will occur and all simultaneously started axes will not start (error
code: 501) if an error occurs during the analysis of the positioning data on the
simultaneously started axes.
(4) No error or warning will occur if only the start axis is the simultaneously
started axis.
(5) This function cannot be used with the sub function Section 12.7.8 "Prereading start function".

[3] Multiple axes simultaneous start control procedure
The procedure for multiple axes simultaneous start control is as follows.
1)

Set " Cd. 30 to Cd. 33 Simultaneously
started data No.".

Write [9004] to " Cd. 3 Positioning start No.".

Turn ON the positioning start signal to be
started.

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[4] Multiple axes simultaneous start control function setting method
The following shows the setting of the data used to execute the multiple axes
simultaneous start control with positioning start signals (The axis control data on
the start axis is set).
Buffer memory address
Setting
value

Setting item

Cd.3

Positioning start
No.

Cd.30

Simultaneous
starting axis start
data No. (Axis 1
start data No.)

Cd.31

Cd.32

Cd.33

9004

Setting details

Axis Axis Axis Axis
1
2
4
3

Set the multiple axes simultaneous start control
1500 1600 1700 1800
start No. "9004".
1540 1640 1740 1840

Simultaneous
starting axis start
1541 1641 1741 1841
data No. (Axis 2
Set the simultaneously started axis start data No.
start data No.)
Set a "0" for the axis other than the simultaneously started
Simultaneous
axes.
starting axis start
1542 1642 1742 1842
data No. (Axis 3
start data No.)
Simultaneous
starting axis start
data No. (Axis 4
start data No.)

1543 1643 1743 1843

Refer to Section 5.7 "List of control data" for information on setting details.

[5] Setting examples
The following shows the setting examples in which the axis 1 is used as the start
axis and the simultaneously started axes are used as the axes 2 and 4.

Setting item

Setting
value

Setting details

Buffer memory address
(Axis 1)

Cd.3

Positioning start
No.

9004

Set the multiple axes simultaneous start control
start No. "9004".

1500

Cd.30

Simultaneous
starting axis start
data No. (Axis 1
start data No.)

100

The axis 1 starts the positioning data No.
100.

1540

Simultaneous
Cd.31 starting axis start
data No. (Axis 2
start data No.)

200

Immediately after the start of the axis 1,
the axis 2 starts the axis 2 positioning data
No. 200.

1541

Will not start simultaneously.

1542

Immediately after the start of the axis 1,
the axis 4 starts the axis 4 positioning data
No. 300.

1543

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.)

300

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POINTS
(1) The "multiple axes simultaneous start control" carries out an operation equivalent to the
"simultaneous start" using the "block start data".
(2) The setting of the "multiple axes simultaneous start control" is easier than that of the
"simultaneous start" using the "block start data".
• Setting items for "simultaneous start" using "block start data"
Positioning start data, block start data, condition data, and positioning data
• Setting items for "multiple axes simultaneous start control"
Positioning data and axis control data

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10.6 Start program for high-level positioning control
10.6.1 Starting high-level positioning control
To execute high-level positioning control, a sequence program must be created to start
the control in the same method as for major positioning control.
The following shows the procedure for starting the "1st point block start data"
(regarded as block No. 7000) set in axis 1.
QD75
Buffer memory

Drive unit
4)
Control by designated
positioning data

1)
7000
2)
PLC CPU

1
3)

1500
1501

ON
Input/output signal
When carrying out a positioning start with the
next scan after a positioning operation is
completed, input signal X10 as an interlock so
that the start is carried out once the X10 signal
turns OFF after the Y10 signal turns OFF.

Y10

1) Set "7000" in " Cd. 3 Positioning start No.".
(This establishes that the control as "high-level positioning control" using block start data.)
2) Set the point No. of the "block start data" to be started. (In this case "1".)
3) Turn ON the start signal.
4) The positioning data set in the "1st point block start data" is started.

Fig. 10.2 High-level positioning control start procedure

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10.6.2 Example of a start program for high-level positioning control
The following shows an example of a start program for high-level positioning control in
which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as
"7000".)

Control data that require setting
The following control data must be set to execute high-level positioning control.
The setting is carried out using a sequence program.
Buffer memory address

Setting
value

Setting item
Cd.3 Positioning start
No.
Cd.4 Positioning starting
point No.

Setting details

Axis Axis Axis Axis
1
2
3
4

7000

Set "7000" to indicate control using " block start
1500 1600 1700 1800
data".

Set the point No. of the " block start data" to be
1501 1601 1701 1801
started.

Refer to Section 5.7 "List of control data" for details on the setting details.

Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Device
Signal name

Signal state

Axis Axis Axis Axis
1
2
3
4

PLC READY signal

ON PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

QD75 buffer memory
ON
The access is possible.

Interface
Axis stop signal
signal
Start complete signal
BUSY signal

OFF Axis stop signal is OFF

OFF Start complete signal is OFF

X10 X11 X12 X13

OFF BUSY signal is OFF

Error detection signal

OFF There is no error

M code ON signal

OFF M code ON signal is OFF

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

–

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Start time chart
The following chart shows a time chart in which the positioning data No. 1, 2, 10,
11, and 12 of axis 1 are continuously executed as an example.
(1) Block start data setting example
Da.11
Shape

Axis 1 block
start data

Da.12
Start data No.

Da.13
Special start
instruction

Da.14
Parameter

1st point

1: Continue

0: Block start

–

2nd point

0: End

0: Block start

–

•
•

(2) Positioning data setting example
Da.1
Operation pattern

Axis 1 positioning data No.
1

11: Continuous path control

00: Positioning complete

•

11: Continuous path control

00: Positioning complete

•

(3) Start time chart
V
Positioning data No.

Dwell time

Operation pattern
1(11)

10(11)
11(11)
12(00)

2(00)

Positioning start signal

[Y10]

PLC READY signal

[Y0]

QD75 READY signal

[X0]

Start complete signal

[X10]
[XC]

BUSY signal

Positioning complete signal [X14]
Error detection signal

[X8]
7000

Cd.3 Positioning start No.
Cd.4 Positioning start point No.
1st point [buffer memory address 26000]
2nd point [buffer memory address 26001]

1
-32767 (8001H)
10 (000AH)

Fig. 10.3 Start time chart for high-level positioning control (block start)

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Creating the program
Example
Set the block start data beforehand.

Positioning
start
command

PLS M104

M104

Y10

X10
TO

K1500 K7000 K1

K1501 K1

SET Y10

Y10: Positioning start signal
X10: Start complete signal
M104: Positioning start command pulse

10 - 26

Chapter 11 Manual Control

The details and usage of manual control are explained in this chapter.
In manual control, pulse output commands are issued during a JOG operation and an
inching operation executed by the turning ON of the JOG START signal, or from a manual
pulse generator connected to the QD75.
Manual control using a sequence program from the PLC CPU is explained in this chapter.
Refer to GX Configurator-QP Operating Manual for an explanation of manual
control (JOG operation, inching operation and manual pulse generator operation) using the
peripheral devices.

11.1 Outline of manual control ........................................................................................11- 2
11.1.1 Three manual control methods..................................................................11- 2
11.2 JOG operation..........................................................................................................11- 4
11.2.1 Outline of JOG operation ...........................................................................11- 4
11.2.2 JOG operation execution procedure .........................................................11- 7
11.2.3 Setting the required parameters for JOG operation..................................11- 8
11.2.4 Creating start programs for JOG operation..............................................11- 10
11.2.5 JOG operation example............................................................................11- 13
11.3 Inching operation ....................................................................................................11- 17
11.3.1 Outline of inching operation ......................................................................11- 17
11.3.2 Inching operation execution procedure ....................................................11- 20
11.3.3 Setting the required parameters for inching operation ............................11- 21
11.3.4 Creating a program to enable/disable the inching operation...................11- 22
11.3.5 Inching operation example........................................................................11- 25
11.4 Manual pulse generator operation .........................................................................11- 27
11.4.1 Outline of manual pulse generator operation...........................................11- 27
11.4.2 Manual pulse generator operation execution procedure .........................11- 31
11.4.3 Setting the required parameters for manual pulse generator operation .11- 32
11.4.4 Creating a program to enable/disable the manual pulse generator
operation ...................................................................................................11- 33

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11.1 Outline of manual control
11.1.1 Three manual control methods
"Manual control" refers to control in which positioning data is not used, and a
positioning operation is carried out in response to signal input from an external source.
The three types of this "manual control" are explained below.

[1] JOG operation
"JOG operation" is a control method in which the machine is moved by only a
movement amount (pulses are continuously transmitted while the JOG START
signal is ON). This operation is used to move the workpiece in the direction in
which the limit signal is ON, when the operation is stopped by turning the limit
signal OFF to confirm the positioning system connection and obtain the
positioning data address (Refer to Section 12.7.4 "Teaching function").
Movement continues while
the JOG START signal is ON.

M
ON
JOG start signal OFF

Fig. 11.1 JOG operation

[2] Inching operation
"Inching operation" is a control method in which a minute movement amount of
pulses is output manually in one control cycle.
When the "inching movement amount" of the axis control data is set by JOG
operation, the workpiece is moved by a set movement amount. (When the
"inching movement amount" is set to "0", the machine functions as JOG
operation.)
JOG start signal is turned
ON to move the workpiece
by the movement amount
of pulses which is output in
one control cycle.

M
ON
JOG start signal OFF

Fig. 11.2 Inching operation

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[3] Manual pulse generator operation
"Manual pulse generator operation" is a control method in which positioning is
carried out in response to the No. of pulses input from a manual pulse generator
(the No. of input pulses is output). This operation is used for manual fine
adjustment, etc., when carrying out accurate positioning to obtain the positioning
address.
Movement in response
to the command pulses
Output pulses
QD75

Pulse input
Manual pulse generator

Fig. 11.3 Manual pulse generator control

Manual 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 manual control. Also refer
to Chapter 12 "Control sub functions" for details on each sub function.

Carrying out manual control from peripheral devices
"JOG operation", "Inching operation" and enabling/disabling of the "manual pulse
generator operation" can be executed from GX Configurator-QP test mode.
Refer to GX Configurator-QP Operating Manual for details on manual control from
GX Configurator-QP.

Monitoring manual control
Refer to Section 5.6 "List of monitor data" when directly monitoring the buffer
memory using GX Developer.
Also refer to GX Configurator-QP Operating Manual when monitoring with the
monitor functions of GX Configurator-QP.

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11.2 JOG operation
11.2.1 Outline of JOG operation
Important
Use the hardware stroke limit function when carrying out JOG operation near the
upper or lower limits. (Refer to Section 12.4.4).
* If the hardware stroke limit function is not used, the workpiece may exceed the
moving range, causing an accident.

JOG operation
In JOG operation, the FORWARD run JOG start signal (Y8, YA, YC, YE) or
REVERSE run JOG start signal (Y9, YB, YD, YF) turns ON, causing pulses to be
output to the drive unit from the QD75 while the signal is ON. The workpiece is
then moved in the designated direction.
The following shows examples of JOG operation.

When the START signal turns ON, acceleration begins in the direction designated by the
START signal, and continues for the acceleration time designated in " Pr.32 JOG
operation acceleration time selection". At this time, the BUSY signal changes from OFF to
ON.

When the workpiece being accelerated reaches the speed set in " Cd.17 JOG speed",
2) the movement continues at this speed.
The constant speed movement takes place at 2) and 3).
When the START signal is turned OFF, deceleration begins from the speed set in
3) " Cd.17 JOG speed", and continues for the deceleration time designated in " Pr.33
JOG operation deceleration time selection".
The operation stops when the speed becomes "0". At this time, the BUSY signal changes
4)
from ON to OFF.

Cd. 17 JOG speed
Acceleration for the acceleration
time selected in Pr. 32

Deceleration for the deceleration
time selected in Pr. 33

Forward JOG run
1)

4)
Reverse JOG run

ON
OFF

PLC READY signal

[Y0]

QD75 READY signal

[X0]

OFF

Forward run JOG start signal
[Y8, YA, YC, YE]

OFF

ON
Reverse run JOG start signal
[Y9, YB, YD, YF]

OFF

BUSY signal[XC, XD, XE, XF]

OFF

Fig. 11.4 JOG operation
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Precautions during operation
The following details must be understood before carrying out JOG operation.
(1) For safety, first set " Cd.17 JOG speed" to a smaller value and check the
movement. Then gradually increase the value.
(2) An axis error will occur and the operation will not start (error code: 300) if the
"JOG speed" is outside the setting range at the JOG start.
(3) An axis error will occur and the operation will not start (error code: 956) if
" Pr.31 JOG speed limit value" is set to a value larger than " Pr.8 speed limit
value".
(4) If " Cd.17 JOG speed" exceeds the speed set in " Pr.31 JOG speed limit
value", the workpiece will move at the " Pr.31 JOG speed limit value" and an
"Axis warning" will occur in the QD75 (warning code: 301).
(5) The JOG operation can be continued even if an "Axis warning" has occurred.
(6) A JOG start signal OFF ON immediately after the stop signal ON OFF
(within 100ms) will be ignored. (The operation will not start.)
(7) Set a "0" in " Cd.16 inching movement amount". If a value other than "0" is
set, the operation will become an inching operation (Refer to Section 11.3
"Inching operation").

Errors during operation
When the operation is stopped by the stroke limit (limit signal OFF), JOG operation
can be performed in the direction in which the limit signal turns ON after an error
reset. (An error will occur again if the JOG start signal in the direction in which the
limit signal turns OFF is turned ON.)
V
JOG operation

JOG operation possible

JOG operation not possible

Upper/lower
limit signal

OFF

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JOG operation timing and processing time
The following drawing shows details of the JOG operation timing and processing
time.
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]

Reverse run JOG start signal OFF
[Y9, YB, YD, YF]

BUSY signal [XC, XD, XE, XF] OFF

t1
t4
Md. 26 Axis operation status

Standing by

In JOG operation

Standing by

Pulse output to an
external source (PULSE)

Positioning operation
Positioning complete signal OFF
[X14, X15, X16, X17]

Fig. 11.5 JOG operation timing and processing times
Normal timing times

•

Unit: ms

1.0 to 3.0

0 to 1.8

2.7 to 4.4

0 to 1.8

Delays may occur in the t1 timing time due to the operation status of other axes.

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11.2.2 JOG operation execution procedure
The JOG operation is carried out by the following procedure.
STEP 1

Set the parameters
)

Preparation

Refer to Chapter 5
and Section 11.2.3.

Pr.1 to Pr.39 )

One of the following two methods can be used.

Directly set (write) the parameters in the QD75 using GX
Configurator-QP.

Set (write) the parameters from the PLC CPU to the QD75 using
the sequence program (TO command).

STEP 2
Refer to Section
11.2.4.

Set a "0" in " Cd. 16 Inching movement
amount".
Set the " Cd. 17 JOG speed".
(Control data setting)

Using GX Developer, set the control data and create a
sequence program for executing the JOG operation.
(Set the control data in the QD75 buffer memory using the TO
command.)

Create a sequence program in which the "JOG start
signal" is turned ON by a JOG operation start command.

STEP 3

Write the sequence program to the PLC CPU.

Write the sequence program created in STEP 1 and
STEP 2 to the PLC CPU using GX Developer.

Refer to Chapter 6.

JOG operation
start

Monitoring of the
JOG operation

Turn ON the JOG start signal.

STEP 4
Turn ON the JOG start signal of the axis to be started.

STEP 5

Axis 1 Axis 2 Axis 3 Axis 4
Forward run JOG start signal

Reverse run JOG start signal

One of the following two methods can be used.

Monitor the JOG operation status.

Monitor using GX Configurator-QP.

Monitor using GX Developer.

JOG operation
stop

STEP 6

Turn OFF the JOG operation start signal that is ON.

Stop the JOG operation when the JOG start signal is turned
OFF using the sequence program in STEP 2.

End of control

REMARK
•
•

Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the QD75.

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11.2.3 Setting the required parameters for JOG operation
The "Parameters" must be set to carry out JOG operation.
The following table shows the setting items of the required parameters for carrying out
JOG operation. When only JOG operation will be carried out, no parameters other than
those shown below need to be set. (Use the initial values or setting values within a
range where no error occurs for trouble-free operation.)

Parameters

Setting item

Setting requirement

Factory-set initial value
(setting details)

Pr.1

Unit setting

Pr.2

No. of pulses per rotation (Ap) (Unit: pulse)

20000

Pr.3

Movement amount per rotation (Al) (Unit: pulse)

20000

Pr.4

Unit magnification (Am)

Pr.5

Pulse output mode

Pr.6

Rotation direction setting

Pr.7

Bias speed at start (Unit: pulse/s)

Pr.8

Speed limit value (Unit: pulse/s)

20000

Pr.9

Acceleration time 0 (Unit: pulse/s)

1000

Pr.10

Deceleration time 0 (Unit: pulse/s)

1000

Pr.11

Backlash compensation amount (Unit: pulse)

Pr.12

Software stroke limit upper limit value (Unit: pulse)

2147483647

Pr.13

Software stroke limit lower limit value (Unit: pulse)

–2147483648

Pr.14

Software stroke limit selection

Pr.15

Software stroke limit valid/invalid setting

Pr.17

Torque limit setting value (Unit: %)

Pr.23

Output signal logic selection

3 (pulse)

1 (1-fold)
1 (CW/CCW mode)
0 (current value increases by
forward run pulse output)
0

0 (current feed value)
0 (valid)
300
0 (Pulse output to drive unit is
negative logic.)

: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

REMARK
•

Parameter settings work in common for all control using the QD75. When carrying
out other control ("major positioning control", "high-level positioning control", "OPR
positioning control"), the respective setting items must also be matched and set.
• Parameters are set for each axis.
• Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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Parameters

Setting item

Setting requirement

Factory-set initial value
(setting details)

Pr.25

Acceleration time 1 (Unit: pulse)

1000

Pr.26

Acceleration time 2 (Unit: pulse)

1000

Pr.27

Acceleration time 3 (Unit: pulse)

1000

Pr.28

Deceleration time 1 (Unit: pulse)

1000

Pr.29

Deceleration time 2 (Unit: pulse)

1000

Pr.30

Deceleration time 3 (Unit: pulse)

1000

Pr.31

JOG speed limit value (Unit: pulse/s)

20000

Pr.32

JOG operation acceleration time selection

0 (acceleration time 0)

Pr.33

JOG operation deceleration time selection

0 (deceleration time 0)

Pr.34

Acceleration/deceleration process selection

Pr.35

S-pattern proportion (Unit: %)

100

Pr.36

Sudden stop deceleration time (Unit: ms)

1000

Pr.37

Stop group 1 sudden stop selection

0 (deceleration stop)

Pr.38

Stop group 2 sudden stop selection

0 (deceleration stop)

Pr.39

Stop group 3 sudden stop selection

0 (deceleration stop)

: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

11 - 9

0 (trapezoidal acceleration/
deceleration processing)

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11.2.4 Creating start programs for JOG operation
A sequence program must be created to execute a JOG operation. Consider the
"required control data setting", "start conditions" and "start time chart" when creating
the program.
The following shows an example when a JOG operation is started for axis 1.
(" Cd.17 JOG speed" is set to "100.00mm/min" in the example shown.)

Required control data setting
The control data shown below must be set to execute a JOG operation. The
setting is carried out with the sequence program.
Setting item

Setting
value

Cd.16 Inching movement
amount

Buffer memory address
Setting details

Set “0”.

1517 1617 1717 1817

Set a value equal to or above the " Pr.7 Bias

Cd.17 JOG speed

10000

Axis Axis Axis Axis
1
2
3
4

speed at start" and equal to or below the
" Pr.31 JOG speed limit value".

1518 1618 1718 1818
1519 1619 1719 1819

Refer to Section 5.7 "List of control data" for details on the setting details.

Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name

Signal state

Axis Axis Axis Axis
1
2
3
4

PLC READY signal

ON PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

QD75 buffer memory
ON
The access is possible.

Interface
Axis stop signal
signal
Start complete signal
BUSY signal

OFF Axis stop signal is OFF

OFF Start complete signal is OFF

X10 X11 X12 X13

OFF QD75 is not operating

Error detection signal

OFF There is no error

M code ON signal

OFF M code ON signal is OFF

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

–

If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.

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Start time chart

Forward
JOG run

t
Reverse JOG run

ON
Forward run JOG start signal [Y8]

OFF
ON

Reverse run JOG start signal [Y9]

OFF

PLC READY signal

[Y0]

OFF

QD75 READY signal

[X0]

ON
ON
OFF
ON
BUSY signal

[XC]

Error detection signal

[X8]

OFF
OFF

Fig. 11.6 JOG operation start time chart

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Creating the program
Example
á
—
No. 10 JOG operation setting program

No.12 JOG operation/inching operation execution program

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11.2.5 JOG operation example
When the "stop signal" is turned ON during JOG operation
When the "stop signal" is turned ON during JOG operation, the JOG operation will
stop by the "deceleration stop" method.
JOG start signals will be ignored while the stop signal is ON.
The operation can be started by turning the stop signal OFF, and turning the JOG
start signal from OFF to ON again.
A JOG start signal OFF
ON
while the stop signal is ON will be ignored.

ON
PLC READY signal

[Y0] OFF

QD75 READY signal

[X0]OFF

ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]

ON
Axis stop signal
OFF
[Y4, Y5, Y6, Y7]

ON
BUSY signal[XC, XD, XE, XF] OFF

Fig. 11.7 Operation when the stop signal is turned ON during JOG operation

POINT
The QD75 will not receive a "JOG start signal" while the "stop signal" is ON.

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When both the "forward run JOG start signal" and "reverse run JOG start
signal" are turned ON simultaneously for one axis
When both the "forward run JOG start signal" and "reverse run JOG start signal"
are turned ON simultaneously for one axis, the "forward run JOG start signal" is
given priority. In this case, the "reverse run JOG start signal" is validated when the
QD75 BUSY signal is turned OFF.
If the forward run JOG operation is stopped due to stop or axis error by a stop
signal, the reverse run JOG operation will not be executed even if the "reverse run
JOG start signal" turns ON.
Forward run JOG operation

Reverse run JOG operation
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Reverse run JOG start signal
[Y9, YB, YD, YF]

OFF

The reverse run JOG
start signal is ignored.

ON
BUSY signal[XC, XD, XE, XF]

OFF

Fig. 11.8 Operation when both the forward run JOG start signal and reverse run JOG start signal are
turned ON simultaneously

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When the "JOG start signal" is turned ON again during deceleration caused
by the ON OFF of the "JOG start signal"
When the "JOG start signal" is turned ON again during deceleration caused by the
ON OFF of the "JOG start signal", the JOG operation will be carried out from the
time the "JOG start signal" is turned ON.
Forward run JOG operation

ON
Forward run JOG start
signal [Y8, YA, YC, YE]

OFF

BUSY signal
[XC, XD, XE, XF]

OFF

Fig. 11.9 Operation when the JOG start signal is turned ON during deceleration

When the "JOG start signal" is turned ON during a peripheral device test
mode
When the "JOG start signal" is turned ON during a peripheral device test mode, it
will be ignored and the JOG operation will not be carried out.

JOG operation not
possible because
the operation is
in the test mode

JOG operation not possible
because this is not the
rising edge of the JOG
start signal

Forward run JOG
operation execution

ON
OFF

In test mode
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]

Fig. 11.10 Operation when the JOG start signal is turned ON during a test mode

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When the "JOG start signal" is turned ON immediately after the stop signal
OFF (within 100ms)
When the "JOG start signal" is turned ON immediately after the stop signal OFF
(within 100ms), it will be ignored and the JOG operation will not be carried out.
Forward run JOG operation

ON
OFF

Forward run JOG start signal
[Y8, YA, YC, YE]
ON
Axis stop signal
[Y4, Y5, Y6, Y7]

OFF
100ms
A rise of JOG start signal is ignored.

Fig. 11.11 Operation when the JOG start signal is turned ON immediately after the stop signal OFF

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11.3 Inching operation
11.3.1 Outline of inching operation
Important
When the inching operation is carried out near the upper or lower limit, use the
hardware stroke limit function (Refer to Section 12.4.4).
If the hardware stroke limit function is not used, the workpiece may exceed the
movement range, and an accident may result.

Inching operation
In inching operation, pulses are input to the drive unit at the first control cycle (1.8
ms) to move the workpiece by a designated movement amount after the forward
run JOG start signal [Y8, YA, YC, YE] or reverse JOG start signal [Y9, YB, YD, YF]
is turned ON.
The following shows the example of inching operation.
1)
2)

When the start signal is turned ON, inching operation is carried out in the direction
designated by the start signal. In this case, BUSY signal is turned from OFF to ON.
The workpiece is moved by a movement amount set in " Cd.16 Inching movement
amount".

The workpiece movement stops when the speed becomes "0". In this case, BUSY signal
is turned from ON to OFF. The positioning complete signal is turned from OFF to ON.

The positioning complete signal is turned from ON to OFF after a time set in
4) " Pr.40 Positioning complete signal output time" has been elapsed.

Forward run inching operation
1)

PLC READY signal [Y0]
OFF

ON
QD75 READY signal
[X0]

OFF
ON

Forward run JOG start
OFF
signal
[Y8,YA,YC,YE]
BUSY signal
[XC,XD,XE,XF]

OFF

Positioning complete
signal
[X14,X15,X16,X17]

OFF

ON
Pr.40 Positioning complete signal
output time

Fig. 11.12 Inching operation

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Precautions during operation
The following details must be understood before inching operation is carried out.
(1) Acceleration/deceleration processing is not carried out during inching
operation.
(Pulses corresponding to the designated inching movement amount are output
at the first control cycle of the QD75 (1.8 ms). The movement direction of
inching operation is reversed and, when a backlash compensation is carried
out, first pulses corresponding to the backlash amount are output in the first
control cycle of the QD75 and then pulses corresponding to the designated
inching movement amount are output in the subsequent control cycles.)
The " Cd.17 JOG speed" is ignored even if it is set. An error will occur in the
following cases (error code: 301).
( Cd.16 Inching movement amount) x (A) > ( Pr.31 JOG speed limit value)
Where (A) is as follows.
• When the unit is pulse: 562.5
• When the unit is other than pulse: 337.5
(2) JOG start signal OFF ON immediately after stop signal ON
100 ms) is ignored.
(Operation will not start.)

OFF (within

(3) Set a value other than a "0" in " Cd.16 Inching movement amount".
If a "0" is set, the operation will become JOG operation (Refer to Section 11.2
"JOG operation".
Errors during operation
When the operation is stopped by the stroke limit (limit signal OFF), inching
operation can be performed in the direction in which the limit signal turns ON after
an error reset. (An error will occur again if the JOG start signal in the direction in
which the limit signal turns OFF is turned ON.)
V
Inching operation

Inching operation possible

Inching operation not possible

ON
Upper/lower
limit signal

OFF

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Inching operation timing and processing times
The following drawing shows the details of the inching operation timing and
processing time.
ON
Forward run JOG start signal
OFF
[Y8,YA,YC,YE]
Reverse run JOG start signal
OFF
[Y9,YB,YD,YF]
ON
BUSY signal
[XC,XD,XE,XF]

OFF
t1

Md.26 Axis operation
status

Standing by

Inching operation
t2

Pulse output to an external
source
(PULSE)

Positioning operation
Positioning complete
signal
[X14,X15,X16,X17]

ON
OFF

Fig. 11.13 Inching operation timing and processing times
Normal timing times

•

Unit : ms

1.0 to 3.0

2.7 to 4.4

0 to 1.8

Depending on
parameters

Depending on the operating statuses of the other axes, delay may occur in the
t1 timing time.

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11.3.2 Inching operation execution procedure
The inching operation is carried out by the following procedure.
STEP 1

Set the parameters.
)

Preparation

Refer to Chapter 5
and Section 11.3.3.

One of the following two methods can be used.

Pr.1 to Pr.31 )

Directly set (write) the parameters in the QD75 using GX
Configurator-QP.

Set (write) the parameters from the PLC CPU to the QD75 using
the sequence program (TO command).

STEP 2
Set the " Cd.16 inching movement amount".
(Control data setting)

Refer to Section
11.3.4.

Using GX Developer, set the control data and create a
sequence program for executing the inching
operation.
(Set the control data in the QD75 buffer memory using the TO
command.)

Create a sequence program in which the "JOG start
signal" is turned ON by an inching operation start
command.

STEP 3

Write the sequence program to the PLC CPU.

Write the sequence program created in STEP 1 and
STEP 2 to the PLC CPU using GX Developer.

Refer to Chapter 6.

Inching operation
start

Monitoring of the
inching operation

Turn ON the JOG start signal.

STEP 4
Turn ON the JOG start signal of the axis to be started.

Axis 1 Axis 2 Axis 3 Axis 4
Forward run JOG start signal

Reverse run JOG start signal

One of the following two methods can be used.

STEP 5

Monitor the inching operation status.

Monitor using GX Configurator-QP.

Monitor using GX Developer.

Inching operation
stop

STEP 6

Turn OFF the JOG operation start signal that is ON.

End the inching operation after moving a workpiece
by an inching movement amount with the sequence
program created in STEP 2.

End of control

REMARK
•
•

Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the QD75.

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11.3.3 Setting the required parameters for inching operation
The "Parameters" must be set to carry out inching operation.
The following table shows the setting items of the required parameters for carrying out
inching operation. When only inching operation will be carried out, no parameters
other than those shown below need to be set. (Use the initial values or setting values
within a range where no error occurs for trouble-free operation.)

Parameters

Setting item

Setting requirement

Factory-set initial value
(setting details)

Pr.1

Unit setting

Pr.2

No. of pulses per rotation (Ap) (Unit: pulse)

20000

Pr.3

Movement amount per rotation (Al) (Unit: pulse)

20000

Pr.4

Unit magnification (Am)

Pr.5

Pulse output mode

Pr.6

Rotation direction setting

Pr.11

Backlash compensation amount (Unit: pulse)

Pr.12

Software stroke limit upper limit value (Unit: pulse)

2147483647

Pr.13

Software stroke limit lower limit value (Unit: pulse)

–2147483648

Pr.14

Software stroke limit selection

Pr.15

Software stroke limit valid/invalid setting

Pr.17

Torque limit setting value (Unit: %)

Pr.23

Output signal logic selection

Pr.31

JOG speed limit value (Unit: pulse/s)

3 (pulse)

1 (1-fold)
1 (CW/CCW mode)
0 (current value increases by
forward run pulse output)
0

0 (current feed value)
0 (valid)
300
0 (Pulse output to the drive
unit is negative logic)
20000

: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

REMARK
•

Parameter settings work in common for all control using the QD75. When carrying
out other controls ("major positioning control", "high-level positioning control", and
“OPR positioning control"), the respective setting items must also be set.
• Parameters are set for each axis.
• Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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11.3.4 Creating a program to enable/disable the inching operation
A sequence program must be created to execute an inching operation. Consider the
"required control data setting", "start conditions", and "start time chart" when creating
the program.
The following shows an example when an inching operation is started for axis 1. (The
example shows the inching operation when a "10.0 µm" is set in " Cd.16 Inching
movement amount".)

Required control data setting
The control data shown below must be set to execute an inching operation. The
setting is carried out with the sequence program.
Buffer memory address

Setting
value

Setting item

Cd.16 Inching movement
amount

100

Setting details

Axis Axis Axis Axis
1
2
3
4

Set the setting value so that the command
pulse is not increased larger than the maximum
output pulse. (The maximum output pulse is 1
1517 1617 1717 1817
Mpps for QD75D : differential drive output
system), or 200 kpps for QD75P : open
collector output system.)

Refer to Section 5.7 "List of control data" for information on setting details.
Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name

Signal state

Axis Axis Axis Axis
1
2
3
4

PLC READY signal

ON PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

Accessible to QD75 buffer
ON
memory

Axis stop signal
Interface
Start complete signal
signal
BUSY signal
Positioning complete
signal

OFF Axis stop signal is OFF

OFF Start complete signal is OFF

X10 X11 X12 X13

OFF QD75 is not operating

OFF

Positioning complete signal is
OFF

Y7
XF

X14 X15 X16 X17

Error detection signal

OFF There is no error

M code ON signal

OFF M code ON signal is OFF

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

–

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Start time chart

Forward run inching operation
t
Reverse run inching operation

Forward run JOG start signal [Y8]
OFF

Reverse run JOG start signal [Y9]
OFF
ON
PLC READY signal [Y0]

OFF
ON

QD75 READY signal [X0]
OFF

ON
BUSY signal [XC]
Error detection signal [X8]

OFF
OFF
ON

Positioning complete signal [X14]
OFF

Fig. 11.14 Inching operation start time chart

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Creating the program
Example
á
—
No.11 Inching operation setting program

No.12 JOG operation/inching operation execution program

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11.3.5 Inching operation example
When "stop signal" is turned ON during inching operation:
If "stop signal" is turned ON during inching operation, the inching operation will be
stopped.
While the stop signal is turned ON, the JOG start signal is ignored.
The inching operation can be re-started when the stop signal is turned OFF and
then re-turned ON.
A JOG start signal OFF

while the stop signal is ON will be ignored.

PLC READY
OFF

signal [Y0]

ON
QD75 READY
signal
[X0]

OFF

Forward run JOG
start signal
[Y8,YA,YC,YE]

OFF

Axis stop signal
[Y4,Y5,Y6,Y7]

OFF

ON
BUSY signal
[XC,XD,XE,XF]

OFF

Fig. 11.15 Operation when stop signal is turned ON during inching operation

POINT
The QD75 will not accept "JOG start signal" while "stop signal" is turned ON.

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When "JOG start signal" is turned ON when peripheral devices are in the
test mode:
If "JOG star signal" is turned ON when peripheral devices are in the test mode, the
"JOG start signal" will be ignored and inching operation will not be carried out.
Inching operation not
possible because JOG
Inching operation not possible start signal does not rise
because the operation is in the
test mode.

Forward run inching
operation executed

ON
OFF

In test mode
Forward run JOG start signal
[Y8,YA,YC,YE]
OFF

Fig. 11.16 Operation when JOG start signal is turned ON in test mode

When "JOG start signal" is turned ON immediately after stop signal OFF
(within 100 ms):
If "JOG start signal" is turned ON immediately after the stop signal is turned OFF
(within 100 ms), the "JOG start signal" will be ignored and inching operation will
not be carried out.
Forward run inching operation

ON
OFF

Forward run JOG start signal
[Y8,YA,YC,YE]
ON
Axis stop signal
[Y4,Y5,Y6,Y7]

OFF
100ms
A rise of JOG start signal
is ignored.

Fig. 11.17 Operation when JOG start signal is turned ON immediately after stop signal is turned OFF

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11.4 Manual pulse generator operation
11.4.1 Outline of manual pulse generator operation
Important
Create the sequence program so that " Cd.21 Manual pulse generator enable
flag" is always set to "0" (disabled) when a manual pulse generator operation is not
carried out.
Mistakenly touching the manual pulse generator when the manual pulse
generator enable flag is set to "1" (enable) can cause accidents or incorrect
positioning.

Manual pulse generator operation
In manual pulse generator operations, pulses are input to the QD75 from the
manual pulse generator. This causes the same No. of input pulses to be output
from the QD75 to the servo amplifier, and the workpiece is moved in the
designated direction.
The following shows and example of manual pulse generator operation.
1)

When the " Cd.21 Manual pulse generator enable flag" is set to "1", the BUSY signal
turns ON and the manual pulse generator operation is enabled.

The workpiece is moved corresponding to the No. of pulses input from the manual pulse
generator.

The workpiece movement stops when no more pulses are input from the manual pulse
generator.

When the " Cd.21 Manual pulse generator enable flag" is set to "0", the BUSY signal
turns OFF and the manual pulse generator operation is disabled.

Manual pulse
generator
operation stops
1) 2)
Cd. 21 Manual pulse
generator enable flag

1
ON

BUSY signal [XC, XD, YE, XF] OFF

Manual pulse
generator input

Start complete signal
[X10, X11, X12, X13]

OFF
Manual pulse generator operation enabled

[Precautions]
1 If the input from the manual pulse generator stops, the machine will decelerate to a stop within
90 ms.
2 The start complete signal does not turn ON in manual pulse generator operation.
Fig. 11.18 Manual pulse generator operation
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Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.

Precautions during operation
The following details must be understood before carrying out manual pulse
generator operation.
(1) The speed during manual pulse generator operation is not limited by the
" Pr.8 Speed limit value".
(2) If the " Cd.21 Manual pulse generator enable flag" is turned ON while the
QD75 is BUSY (BUSY signal ON), a warning will occur (warning code 100:
start during operation).
(3) If a stop factor occurs during manual pulse generator operation, the operation
will stop, and the BUSY signal will turn OFF.
At this time, the " Cd.21 Manual pulse generator enable flag" will be left ON,
but manual pulse generator operation will not be possible. To carry out manual
pulse generator operation again, measures must be carried out to eliminate
the stop factor. Once eliminated, the operation can be carried out again by
turning the " Cd.21 Manual pulse generator enable flag" ON OFF ON.
(4) Pulses will not be output if an error occurs when the manual pulse generator
operation starts.

REMARK
•
•

One QD75 module can be connected to one manual pulse generator.
The QD75 module can simultaneously output pulses to the axis 1 to axis 4 drive
units by one manual pulse generator.
(1-axis to 4-axis simultaneous operation is possible.)

Errors during operation
When the operation is stopped by the stroke limit (limit signal OFF), manual pulse
generator operation can be performed in the direction in which the limit signal turns
ON after an error reset. (An error will occur again if pulse input is provided in the
direction in which the limit signal turns OFF is turned ON.)
V
Manual pulse
generator operation

Manual pulse generator
operation possible

Manual pulse generator
operation not possible

Upper/lower
limit signal

OFF

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Manual pulse generator operation timing and processing time
The following drawing shows details of the manual pulse generator operation
timing and processing time.
Cd. 21 Manual pulse generator
enable flag (axis control data)

0
t3

Manual pulse generator input
pulses

BUSY signal

[XC,XD,XE,XF]

Start complete signal
[X10, X11, X12, X13]
Md. 26 Axis operation status

The start complete signal does not turn ON in manual pulse generator operation.

Standing by

In manual pulse generator operation

Standing by

t2
Pulse output to an external
source (PULSE)
Positioning operation

Fig. 11.19 Manual pulse generator operation timing and processing times
Normal timing times

•

Unit : ms

0 to 2.6

6.2 to 32

64 to 90

28.4 to 57.6

Delays may occur in the t1 timing time due to the operation status of other axes.

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Position control by manual pulse generator operation
In manual pulse generator operation, the position is moved by a "manual pulse
generator 1 pulse movement amount" per pulse.
The current feed value in the positioning control by manual pulse generator
operation can be calculated using the expression shown below.
Current feed value = Number of input pulses × Cd.20 Manual pulse generator 1
pulse input magnification × Manual pulse generator 1 pulse
movement amount
Pr.1 Unit setting

Manual pulse
generator 1 pulse
movement amount

inch

degree

pulse

0.1µm

0.00001inch

0.00001degree

1pulse

For example, when " Pr.1 Unit setting" is mm and " Cd.20 Manual pulse
generator 1 pulse input magnification" is 2, and 100 pulses are input from the
manual pulse generator, the current feed value is as follows.
100 × 2 × 0.1 = 20 [µm]
The number of pulses output actually to the drive unit is "Manual pulse generator 1
pulse movement amount/movement amount per pulse ". For example, when
" Pr.1 Unit setting" is mm and the movement amount per pulse is 1 µm, 0.1/1 =
1/10, i.e., the output to the drive unit per pulse from the manual pulse generator is
1/10 pulse. Thus, the QD75 outputs 1 pulse to the drive unit after receiving 10
pulses from the manual pulse generator.
Pr.3 Movement amount per rotation
Pr.4 Unit magnification

Movement amount per pulse =
Pr.2 No. of pulses per rotation

Speed control by manual pulse generation operation
The speed during positioning control by manual pulse generator operation is a
speed corresponding to the No. of input pulses per unit time, and can be obtained
using the following equation.
Output command frequency = Input frequency × Cd.20 Manual pulse generator
1 pulse input magnification

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11.4.2 Manual pulse generator operation execution procedure
The manual pulse generator operation is carried out by the following procedure.
STEP 1

Set the parameters
)

Preparation

Refer to Chapter 5
and Section 11.4.3.

Pr.1 to Pr.24 )

One of the following two methods can be used.

Directly set (write) the parameters in the QD75 using
GX Configurator-QP.

Set (write) the parameters from the PLC CPU to the QD75
using the sequence program (TO command).

Using GX Developer, set the control data and create a
STEP 2
Refer to Section
11.4.4.

Set " Cd. 20 Manual pulse generator 1 pulse input

sequence program to enable/disable the manual pulse

magnification". (control data setting)

generator operation. (Set the control data in the QD75
buffer memory using the TO command.)

Create a sequence program in which the enable/disable is
set for the manual pulse generator operation.
(" Cd. 21 Manual pulse generator enable flag" setting.)

STEP 3

Manual pulse
generator operation
start

STEP 4

Monitoring of the
manual pulse
generator operation

STEP 5

Write the sequence program created in STEP 1 and
Write the sequence program to the PLC CPU.

Issue a command to enable the manual pulse generator
operation, and input the signals from the manual pulse
generator.

STEP 2 to the PLC CPU using GX Developer.

Write "1" in " Cd.21 Manual pulse generator enable
flag", and operate the manual pulse generator.

One of the following two methods can be used.
Monitor the manual pulse generator operation.

Monitor using GX Configurator-QP.

Monitor using GX Developer.

STEP 6

Manual pulse
generator operation
stop

End the input from the manual pulse generator,
and issue a command to disable the manual pulse

Stop operating the manual pulse generator, and write "0"
in " Cd. 21 Manual pulse generator enable flag".

End of control

REMARK
•
•

Mechanical elements such as limit switches are considered as already installed.
Parameter settings work in common for all control using the QD75.

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11.4.3 Setting the required parameters for manual pulse generator operation
The "Parameters" must be set to carry out manual pulse generator operation.
The following table shows the setting items of the required parameters for carrying out
manual pulse generator operation. When only manual pulse generator operation will
be carried out, no parameters other than those shown below need to be set. (Use the
initial values or setting values within a range where no error occurs for trouble-free
operation.)

Parameters

Setting item

Setting requirement

Factory-set initial value
(setting details)

Pr.1

Unit setting

Pr.2

No. of pulses per rotation (Ap) (Unit: pulse)

20000

Pr.3

Movement amount per rotation (Al) (Unit: pulse)

20000

Pr.4

Unit magnification (Am)

Pr.5

Pulse output mode

Pr.6

Rotation direction setting

Pr.11

Backlash compensation amount (Unit: pulse)

Pr.12

Software stroke limit upper limit value (Unit: pulse)

2147483647

Pr.13

Software stroke limit lower limit value (Unit: pulse)

–2147483648

Pr.14

Software stroke limit selection

Pr.15

Software stroke limit valid/invalid setting

Pr.17

Torque limit setting value (Unit: %)

Pr.22

Input signal logic selection

Pr.23

Output signal logic selection

Pr.24

Manual pulse generator input selection

3 (pulse)

1 (1-fold)
1 (CW/CCW mode)
0 (current value increases by
forward run pulse output)
0

0 (current feed value)
0 (valid)
300
0 (Manual pulse generator
input is negative logic.)
0 (Pulse output to drive unit is
negative logic.)
0 (4 times multiplication of A
phase/B phase)

: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

REMARK
•

Parameter settings work in common for all control using the QD75. When carrying
out other control ("major positioning control", "high-level positioning control", "OPR
positioning control"), the respective setting items must also be matched and set.
• Parameters are set for each axis. But Pr.22 Manual pulse generator input logic
(b8), Pr.24 is set only for axis 1. (The setting for axes 2,3, and 4 is ignored.)
•

Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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11.4.4 Creating a program to enable/disable the manual pulse generator operation
A sequence program must be created to execute a manual pulse generator operation.
Consider the "required control data setting", "start conditions" and "start time chart"
when creating the program.
The following shows an example when a manual pulse generator operation is started
for axis 1.

Required control data setting
The control data shown below must be set to execute a manual pulse generator
operation. The setting is carried out with the sequence program.
Setting item

Setting
value

Manual pulse
Cd.20 generator 1 pulse
input magnification

Manual pulse
Cd.21 generator enable
flag

1 (0)

Buffer memory address
Setting details

Axis Axis Axis Axis
1
2
3
4

Set the manual pulse generator 1 pulse input
magnification.

1522 1622 1722 1822
1523 1623 1723 1823

Set "1: Enable manual pulse generator
operation". (Set "0: Disable manual pulse
generator operation" when finished with the
manual pulse generator operation.)

1524 1624 1724 1824

Refer to Section 5.7 "List of control data" for details on the setting details.

Signal state

Axis Axis Axis Axis
1
2
3
4

PLC READY signal

ON PLC CPU preparation completed

QD75 READY signal

ON QD75 preparation completed

Synchronization flag

QD75 buffer memory
The access is possible.

Interface
Axis stop signal
signal
Start complete signal

OFF Axis stop signal is OFF

OFF Start complete signal is OFF

X10 X11 X12 X13

BUSY signal

OFF QD75 is not operating

Error detection signal

OFF There is no error

M code ON signal

OFF M code ON signal is OFF

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

–

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Start time chart

Forward run
t
Reverse run

Pulse input A phase
Pulse input B phase
ON
[Y0]

PLC READY signal

OFF
ON
OFF

QD75 READY signal

[X0]

Start complete signal

[X10] OFF

BUSY signal

[XC] OFF

Error detection signal

[X8] OFF

Cd. 21 Manual pulse generator
enable flag
Cd. 20 Manual pulse generator
1 pulse input magnification

Fig. 11.20 Manual pulse generator operation start time chart

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11 MANUAL CONTROL

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Creating the program
Example
á
—
No.13 Manual pulse generator operation program

11 - 35

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MEMO

11 - 36

Chapter 12 Control Sub Functions

The details and usage of the "sub functions" added and used in combination with
the main functions are explained in this chapter.
A variety of sub functions are available, including functions specifically for machine
OPR and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these sub functions.
Each sub function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each sub function, and set as required.
12.1 Outline of sub functions ...........................................................................................12- 2
12.1.1 Outline of sub functions .............................................................................12- 2
12.2 Sub functions specifically for machine OPR...........................................................12- 4
12.2.1 OPR retry function......................................................................................12- 4
12.2.2 OP shift function ........................................................................................12- 8
12.3 Functions for compensating the control.................................................................12- 11
12.3.1 Backlash compensation function..............................................................12- 11
12.3.2 Electronic gear function ............................................................................12- 13
12.3.3 Near pass function ....................................................................................12- 18
12.4 Functions to limit the control...................................................................................12- 21
12.4.1 Speed limit function...................................................................................12- 21
12.4.2 Torque limit function..................................................................................12- 23
12.4.3 Software stroke limit function....................................................................12- 26
12.4.4 Hardware stroke limit function ..................................................................12- 32
12.5 Functions to change the control details .................................................................12- 34
12.5.1 Speed change function .............................................................................12- 34
12.5.2 Override function.......................................................................................12- 41
12.5.3 Acceleration/deceleration time change function ......................................12- 44
12.5.4 Torque change function ............................................................................12- 48
12.6 Absolute position restoration function ....................................................................12- 50
12.7 Other functions........................................................................................................12- 58
12.7.1 Step function .............................................................................................12- 58
12.7.2 Skip function..............................................................................................12- 63
12.7.3 M code output function..............................................................................12- 66
12.7.4 Teaching function......................................................................................12- 70
12.7.5 Target position change function ...............................................................12- 77
12.7.6 Command in-position function ..................................................................12- 81
12.7.7 Acceleration/deceleration processing function.........................................12- 84
12.7.8 Pre-reading start function..........................................................................12- 87
12.7.9 Deceleration start flag function .................................................................12- 92
12.7.10 Stop command processing for deceleration stop function.......................12- 96
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12.1 Outline of sub functions
"Sub functions" are functions that compensate, limit, add functions, etc., to the control
when the main functions are executed. These sub functions are executed by
parameter settings, commands from GX Configurator-QP, sub function sequence
programs, etc.

12.1.1 Outline of sub functions
The following table shows the types of sub functions available.
Sub function
Functions
characteristic
to machine
OPR

OPR retry function

OP shift function
Backlash compensation
function

Functions that
compensate
Electronic gear function
control
Near pass function

Details
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 offsets the position by the
designated distance from the machine OP position and sets that position as
the OP address.
This function compensates the mechanical backlash. Feed pulses equivalent
to the set backlash amount are output each time the movement direction
changes.
By setting the movement amount per pulse, this function can freely change
the machine movement amount per commanded pulse.
When the movement amount per pulse is set, a flexible positioning system
that matches the machine system can be structured.
This function suppresses the machine vibration when the speed changes
during continuous path control in the interpolation control.
If the command speed exceeds " Pr.8 Speed limit value" during control,

Speed limit function

this function limits the commanded speed to within the " Pr.8 Speed limit
value" setting range.
If the torque generated by the servomotor exceeds " Pr.17

Functions that Torque limit function
limit control

Software stroke limit
function
Hardware stroke limit
function

Speed change function
Functions that
change control
details
Override function
Acceleration/deceleration
time change function
Torque change function

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 changed speed in the speed change buffer memory ( Cd.14 New
speed value), and change the speed with the speed change request
( Cd.15 Speed change request).
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.
This function changes the "torque limit value" during control.

1 The near pass function is validated only when the machine of the standard specification carries out the position control
with the continuous path control mode.

It cannot be invalidated with parameters.
2 To carry out "torque limit", the "D/A conversion module" and a "drive unit capable of the torque limit command with an
analog voltage" must be prepared.

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12 CONTROL SUB FUNCTIONS

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Sub function
Absolute position
restoration function

Details
3

This function restores the absolute position of the designated axis.

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".

Skip function

This function stops the positioning being executed (decelerates to a stop)
when the skip signal is input, and carries out the next positioning.

M code output function

This function issues a sub work (clamp or drill stop, tool change, etc.)
according to the code No. (0 to 65535) set for each positioning data.

Teaching function

This function stores the address positioned with manual control into the
positioning address ( Da.6 Positioning address/movement amount) having
the designated positioning data No.

Target position change
Other functions function

This function changes the target position during the execution of positioning.
At the same time, this also can change the speed.

Command in-position
function

At each automatic deceleration, this function calculates the remaining
distance for the QD75 to reach the positioning stop position, and when the
value is less than the set value, sets the "command in-position flag".
When using another sub work before ending the control, use this function as
a trigger for the sub work.

Acceleration/deceleration
process function

This function adjusts the control acceleration/deceleration.

Pre-reading start function

This function shortens the virtual start time.

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.

Stop command processing
Function that selects a deceleration curve when a stop cause occurs during
for deceleration stop
deceleration stop processing to speed 0.
function
3 "The 16-point input module", "16-point output module", and "the drive unit capable of configuring an

absolute position detection system" are required to execute the "absolute position restoration function".

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12.2 Sub functions specifically for machine OPR
The sub functions specifically for machine OPR include the "OPR retry function" and
"OP shift function". Each function is executed by parameter setting.

12.2.1 OPR retry function
When the workpiece goes past the OP without stopping during positioning control, it
may not move back in the direction of the OP although a machine OPR is commanded,
depending on the workpiece position. This normally means the workpiece has to be
moved to a position before the near-point dog by a JOG operation, etc., to start the
machine OPR again. However, by using the OPR retry function, a machine OPR can
be carried out regardless of the workpiece position.
The details shown below explain about the "OPR retry function".
[1] Control details
[2] Precautions during control
[3] Setting the OPR retry function

[1] Control details
The following drawing shows the operation of the OPR retry function.
(1) OPR retry point return retry operation when the workpiece is within the range
between the upper and lower limits.
1) The movement starts in the " Pr.44

OPR direction" by a machine OPR start.

2) The operation decelerates when the limit signal OFF is detected.
3) After stopping at detection of the limit signal OFF, the operation moves at the " Pr.46
direction opposite to the " Pr.44

OPR speed" in the

OPR direction".

4) The operation decelerates when the near-point dog turns OFF.
5) After stopping due to the near-point dog OFF, a machine OPR is carried out in the " Pr.44
direction".
6) Machine OPR completion
2)

4)
Limit signal OFF

ON
Near-point dog

Zero signal

Fig. 12.1 OPR retry operation by limit signal detection

12 - 4

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12 CONTROL SUB FUNCTIONS

MELSEC-Q

(2) OPR retry operation when the workpiece is outside the range between the
upper and lower limits.
1) When the direction from the workpiece to the OP is the same as the " Pr.44 OPR direction", a
normal machine OPR is carried out.

Machine OPR start

Pr. 44 OPR direction
Upper limit

Lower limit
Near-point dog

Zero signal

Movement range

2) When the direction from the workpiece to the OP is the opposite direction from the " Pr.44 OPR
direction", the operation carries out a deceleration stop when the near-point dog turns OFF, and
then carries out a machine OPR in the direction set in " Pr.44 OPR direction".
Machine OPR start
OP
Pr. 44 OPR direction
Upper limit

Lower limit
Near-point dog

Zero signal
Movement range

Note) The above figures (a) and (b) are examples where " Pr.44 OPR direction" is set to "0: Positive
direction". When "0: Positive direction" is set in Pr.44 , check that the limit switch placed in the
OPR direction acts as the upper limit. When "1: Negative direction" is set in Pr.44 , check that
the limit switch placed in the OPR direction acts as the lower limit. Incorrect wiring of these limit
switches may cause improper OPR retry operation. If any malfunction is identified, check and
correct " Pr.6 Rotation direction setting" and the wiring.
Fig. 12.2 OPR retry operation from on limit (limit switch OFF)

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(3) Setting the dwell time during an OPR retry
The OPR retry function can perform such function as the dwell time using
" Pr.57 Dwell time at OPR retry" when the reverse run operation is carried
out due to detection by the limit signal for upper and lower limits and when
the machine OPR is executed after the near point dog is turned OFF to stop
the operation.
" Pr.57 Dwell time during OPR" is validated when the operation stops at
the "A" and "B" positions in the following drawing. (The dwell time is the
same value at both positions "A" and "B".)
Pr. 44 OPR direction
Machine OPR
executed again
OP

A
Machine OPR start

Stop by near-point
dog OFF

Stop by limit
signal detection

Reverse run operation
after limit signal detection

Near-point dog

Limit signal OFF

Zero signal

Fig. 12.3 Setting the dwell time during an OPR retry

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[2] Precaution during control
(1) The following table shows whether the OPR retry function may be executed
by the " Pr.43 OPR method".
Pr.43 OPR method

Execution status of OPR retry function

Near-point dog method

: Execution possible

Stopper method 1)

: Execution not possible

Stopper method 2)

: Execution not possible

Stopper method 3)

: Execution not possible

Count method 1)

: Execution possible

Count method 2)

: Execution possible

(2) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine, and connect an QD75 module. If the OPR retry function is
used without hardware stroke limit switches, the motor will continue rotation
until a hardware stroke limit signal is detected.
(3) Always wire QD75 upper/lower limit switches even when the OPR function
is invalidated. Control cannot be carried out with the QD75 unless the wiring
is carried out.
(4) Do not carry out settings so that the drive unit power turns OFF by the
upper/lower limit switches connected to the QD75. If the drive unit power is
turned OFF, the OPR retry cannot be carried out.

[3] Setting the OPR retry function
To use the "OPR retry function", set the required details in the parameters shown
in the following table, and write them to the QD75.
When the parameters are set, the OPR retry function will be added to the
machine OPR control. The set details are validated at the rising edge (OFF
ON) of the PLC READY signal (Y0). Set " Pr.57 Dwell time during OPR retry"
according to the user's requirements.
Setting item

Setting
value

Pr.48

OPR retry

Pr.57

Dwell time during
OPR retry

Setting details

Factory-set
initial value

Set "1: Carry out OPR retry by limit switch".

Set the deceleration stop time during OPR retry.
(Random value between 0 and 65535 (ms))

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
•

Parameters are set for each axis.
• It is recommended that the parameters 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.

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12.2.2 OP shift function
When a machine OPR is carried out, the OP is normally established using the nearpoint dog, stopper, and zero signal. However, by using the OP shift function, the
machine can be moved a designated movement amount from the position where the
zero signal was detected. A mechanically established OP can then be interpreted at
that point.
The OP shift function can be used without relation to " Pr.43 OPR method".
The details shown below explain about the "OP shift function".
[1] Control details
[2] Setting range for the OP shift amount
[3] Movement speed during OP shift
[4] Precautions during control
[5] Setting the OP shift function

[1] Control details
The following drawing shows the operation of the OP shift function.
Pr. 44 OPR direction
Pr. 46 OPR speed

Speed selected by the " Pr. 56
Speed designation during OP
shift"

Machine OPR start

Pr.47 Creep speed

Pr.53 OP shift amount
Shift operation carried out after
the deviation counter clear and reset.

Near-point dog
Zero signal

Fig. 12.4 OP shift operation

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[2] Setting range for the OP shift amount
Set the OP shift amount within the range from the detected zero signal to the
upper/lower limit switches.
Setting range of the
negative OP
shift amount

Setting range of the positive OP shift amount

Address decrease
direction

Address increase
direction

Near-point dog
Upper limit

Lower limit
Pr. 44 OPR direction
Zero signal

Fig. 12.5 Setting range for the OP shift amount

[3] Movement speed during OP shift
When using the OP shift function, the movement speed during the OP shift is set
in " Pr.56 Speed designation during OP shift". The movement speed during the
OP shift is selected from either the " Pr.46 OPR speed" or the " Pr.47 Creep
speed".
The following drawings show the movement speed during the OP shift when a
mechanical OPR is carried out by the near-point dog method.
(1) OP shift operation at the " Pr.46 OPR speed"
(When " Pr.56 speed designation during OP shift" is 0)

Pr. 44 OPR
direction

Pr. 46 OPR
speed
When the " Pr. 53 OP
shift amount" is positive

OP
Machine OPR start
When the " Pr. 53 OP
shift amount" is negative

Near-point dog

Zero signal

Fig. 12.6 OP shift operation at the OPR speed

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(2) OP shift operation at the " Pr.47 Creep speed"
(When " Pr.56 Speed designation during OP shift" is 1)
Pr. 44 OPR
direction
Pr. 47 Creep
speed

When the " Pr. 53 OP
shift amount" is positive

Zero point
OP
Machine OPR start

When the " Pr. 53 OP
shift amount" is negative

Near-point dog

Zero signal

Fig. 12.7 OP shift operation at the creep speed

[4] Precautions during control
The following data are set after the OP shift amount is complete.
• OPR complete flag (" Md.31 Status: b4)
•

Md.20 Current feed value

•

Md.21 Machine feed value

•

Md.26 Axis operation status

•

Md.34 Movement amount after near-point dog ON (" Pr.53 OP shift

•

amount" is not added.)
OPR request flag ( Md.31 Status: b3) is reset after completion of the OP
shift.

[5] Setting the OP shift function
To use the "OP shift function", set the required details in the parameters shown in
the following table, and write them to the QD75.
When the parameters are set, the OP shift function will be added to the machine
OPR control. The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y0).
Setting
value

Setting item
Pr.53

Pr.56

OP shift amount
Speed
designation
during OP shift

Setting details

Factory-set
initial value

Set the shift amount during the OP shift.

Select the speed during the OP shift
0: Pr.46 OPR speed

1: Pr.47 Creep speed

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
•
•

Parameters are set for each axis.
It is recommended that the parameters 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.
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12.3 Functions for compensating the control
The sub functions for compensating the control include the "backlash compensation
function", "electronic gear function", and "near pass function". Each function is
executed by parameter setting or sequence program creation and writing.

12.3.1 Backlash compensation function
The "backlash compensation function" compensates the backlash amount in the
mechanical system. When the backlash compensation amount is set, an extra amount
of pulses equivalent to the set backlash amount is output every time the movement
direction changes.
The details shown below explain about the "backlash compensation function".
[1] Control details
[2] Precautions during control
[3] Setting the backlash compensation function

[1] Control details
The following drawing shows the operation of the backlash compensation
function.

Worm gear
Workpiece

Pr.11 Backlash compensation amount

Fig. 12.8 Backlash compensation amount

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[2] Precautions during control
(1) The feed pulses of the backlash compensation amount are not added to the
" Md.20 Current feed value" or " Md.21 Machine feed value".
(2) Always carry out a machine OPR before starting the control when using the
backlash compensation function (when " Pr.11 Backlash compensation
amount" is set). The backlash in the mechanical system cannot be correctly
compensated if a machine OPR is not carried out.
(3) Set the No. of pulses output in one backlash compensation (value in which
the " Pr.11 Backlash compensation amount" is divided by the "movement
amount per pulse") to a value of 255 or lower. A "Backlash amount
compensation error (error code: 920)" will occur if a value over 255 is set.
(Depending on the connected servo, tracking may not be possible if a large
amount of pulses is output at once.)
0≤

Backlash compensation amount
Movement amount per pulse

≤ 255
(Omit values after the decimal point.)

(4) Backlash compensation, which includes the movement amount and
" Pr.11 Backlash compensation amount", is output the moment at the
moving direction changes.
(5) Backlash compensation cannot be made when the stepping motor is used.

[3] Setting the backlash compensation function
To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
Setting
value

Setting item

Pr.11

Backlash
compensation
amount

Setting details
Set the backlash compensation amount.

Factory-set
initial value
0

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
•
•

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12.3.2 Electronic gear function
The "electronic gear function" adjusts the pulses calculated and output according to the
parameters set in the QD75 with the actual machine movement amount.
The "electronic gear function" has the following three functions.
[A] During machine movement, the function increments in the QD75 values less
than one pulse that could not be pulse output, and outputs the incremented
amount of pulses when the total incremented value reached one pulse or
more.
[B] When machine OPR is completed, current value changing is completed,
speed control is started (except when current feed value change is present), or
fixed-feed control is started, the function clears to "0" the cumulative values of
less than one pulse which could not be output. (If the cumulative value is
cleared, an error will occur by a cleared amount in the feed machine value.
Control can be constantly carried out at the same machine movement amount,
even when the fixed-feed control is continued.)
[C] The function compensates the mechanical system error of the command
movement amount and actual movement amount by adjusting the "movement
amount per pulse".
(The "movement amount per pulse" value is defined by " Pr.2 No. of pulses
per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4
Unit magnification (Am)".)
The QD75 automatically carries out the processing for [A] and [B].
The details shown below explain about the "electronic gear function", including the
method for compensating the error in [C] above, etc.
[1] Error compensation method
[2] Relation between the movement amount per pulse and speed
[3] Precautions during control

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[1] Error compensation method
When position control is carried out by the "movement amount per pulse" set in
the QD75 parameters, an error sometimes occurs between the command
movement amount (L) and the actual movement amount (L').
That error is compensated in the QD75 by adjusting the values in " Pr.2 No. of
pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and
" Pr.4 Unit magnification (Am)". (When " Pr.1 Unit setting" is "0: mm")

(1) Definition
The "error compensation amount" used to carry out the error compensation
is defined as follows.
Error compensation amount =

Actual movement amount (L')
Designated movement amount (L)

The QD75 "movement amount per pulse" is calculated with the following
equation.
Movement amount per pulse is "A", " Pr.2 No. of pulses per rotation" is
(Ap), " Pr.3 Movement amount per rotation" is (Al), and " Pr.4 Unit
magnification" is (Am).
A=

Al
Ap

× Am

(2) Procedure
(a) Set the "command movement amount (L)", and carry out positioning.
(Set the "movement amount per pulse (A)" according to Section 5.2
"List of parameters".)
(b) After positioning, measure the "actual movement amount (L')".
(c) Calculate the "error compensation amount".
Error compensation amount =

L'
L

(d) Calculate the post-compensation " Pr.2 No. of pulses per rotation
(Ap')", " Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" from the "post-compensation movement amount
per pulse (A')".
A=
=

× Error compensation amount

× Am ×

Ap
Al'
Ap'

L'
L

× Am'

(Adjust with Am' so that Al' and Ap' do not exceed the setting range.)

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Calculation example
(Conditions)
: 500 (µm/rev)
: 12000 (pulse/rev)
:1

Movement amount per pulse
No. of pulses per rotation
Unit magnification
(Positioning results)
Command movement amount
Actual movement amount

: 100mm
: 101mm

(Compensation amount)
AL'
AP'

3
5× 10

12000

3
101× 10

101× 10

Movement amount per pulse
No. of pulses per rotation
Unit magnification

5050
12000

101
240

: 101 (µm/rev)
: 240 (pulse/rev)
:1

[Set in Pr.3 ]
[Set in Pr.2 ]
[Set in Pr.4 ]

(e) Set the post-compensation " Pr.2 No. of pulses per rotation (Ap')",
" Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" in the parameters, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y0).
Setting item

Setting
value

Setting details

Pre-compensation
value

Pr.2

No. of pulses per
rotation

Ap'

Set the post-compensation value.

Pr.3

Movement amount
per rotation

Al'

Set the post-compensation value.

Pr.4

Unit magnification

Am'

Set the post-compensation value.

Refer to Section 5.2 "List of parameters" for setting details.

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[2] Relation between the movement amount per pulse and speed
The following shows the relation of the "movement amount per pulse (A)" to the
command speed and actual speed. The command speed is the speed
commanded by each control, and the actual speed is the actual feedrate.
Command speed = V (The command frequency at that time is represented by "f")
Actual speed = V' (The command frequency at that time is represented by " f' ")
Relation of the command speed and actual speed
1) Movement amount per pulse < 1

V < V' (f < f')

The actual speed becomes faster than the
command speed.

2) Movement amount per pulse = 1

V = V' (f = f')

The actual speed is the same as the command
speed.

3) Movement amount per pulse > 1

V > V' (f > f')

The actual speed becomes slower than the
command speed.

Actual speed V'
1)

Command speed V

Fig. 12.9 Relation of the movement amount per pulse to the command speed and actual speed

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[3] Precautions during control
It is recommended that the "movement amount per pulse (A)" be set to a value
close to "1" for the following reasons. The "movement amount per pulse" of "1"
means the minimum value in each " Pr.1 Unit setting". (0.1 [µm] for the unit
[mm])
(1) If the setting of the movement amount per pulse is less than 1, the
command frequency may increase, causing the actual speed to exceed the
speed limit value (" Pr.8 Speed limit value", " Pr.31 JOG speed limit
value") and the servomotor to result in overspeed.
(2) If the setting of the movement amount per pulse is less than 1, the
mechanical system may oscillate. If the movement amount per pulse
becomes less than 1, use the electronic gear function of the drive unit and
make setting so that the movement amount per pulse is 1 or greater.
(3) Set the movement amount per pulse so that the pulse output frequency to
the drive unit becomes a value of 200kpps/1Mpps or less.
If a value is set so that the pulse output frequency to the drive unit exceeds
200kpps/1Mpps , the QD75 may not operate correctly.
They indicate the values of QD75P / QD75D.
(4) When using a hundred-thirty thousand pulses encoder, use the electronic
gear function of a drive unit.
(5) Use the electronic gear function among the range indicated below.
1
Movement amount per pulse (A) >
500

REMARK
In the QD75, the general term for the functions in items [1] to [3] above is defined as
the "electronic gear function". Refer to the User's Manual for the servomotor for the
definition of the "electronic gear" on the servomotor side.

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12.3.3 Near pass function
When continuous pass control is carried out using interpolation control, the near pass
function is carried out.
The "near pass function" is a function to suppress the mechanical vibration occurring at
the time of switching the positioning data when continuous pass control is carried out
using interpolation control.
[Near pass function]
The extra movement amount occurring at the end of each positioning data unit being
continuously executed is carried over to the next positioning data unit. Alignment is not
carried out, and thus the output speed drops are eliminated, and the mechanical
vibration occurring during speed changes can be suppressed. Because alignment is
not carried out, the operation is controlled on a path that passes near the position set
in " Da.6 Positioning address/movement amount".
The details shown below explain about the "near pass function".
[1] Control details
[2] Precautions during control

[1] Control details
The following drawing shows the path of the continuous path control.
[The path of the near pass]
Da. 6 Positioning address

Path of positioning data No.3

Path of positioning data No. 4

Speed dropping does not occur.

t
Positioning data No. 3 Positioning data No. 4

Fig. 12.10 The path of the continuous path control

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Precautions during control
(1) If the movement amount designated by the positioning data is small when
the continuous path control is executed, the output speed may not reach the
designated speed.
(2) If continuous path control is carried out, the output will suddenly reverse
when the reference axis movement direction changes from the positioning
data No. currently being executed to the next positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.

[Path during continuous path control]
Axis 2

Positioning data No.2

Positioning data No.1

Axis 1 (reference axis)

[Axis 1 output speed]
V

Output suddenly reverses.

Positioning data
No. 1

t
Positioning data No.2

[Axis 2 output speed]
V

Positioning data
No. 1

Positioning data No.2
t

Fig. 12.11 Path and output speed of various axes when movement direction varies during continuous
path control

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(3) When continuous path control of a circular interpolation is being carried out in
the near pass, an address in which the extra movement amount is subtracted
from the positioning address of the positioning data currently being executed is
replaced by the starting point address of the next positioning data No.
Because the starting point address will be replaced, an error "Large arc error
deviation" (error code: 506) may occur.
In this case, adjust the " Pr.41 Allowable circular interpolation error width".
Positioning data No.2
starting point address
during the near pass

Address designated by positioning data No.1

Positioning data No.2

Positioning data No.1

Path of positioning
address pass

Path of near pass

Fig. 12.12 Arc error during the near pass
(4) When a circle center is designated to continuously designate the circular
interpolation control by a continuous path designation in the near pass, and
the positioning address and starting point address of that arc are the same
address, the path will make one circle using the two data items. This is
because the 2nd data starting point address is shifted by the extra amount of
the movement amount occurring from the 1st data.
Example

[Near pass]
Starting point address of positioning data No.1

Path of positioning data No.2
Starting point address of
positioning data No.2

Path of positioning data No.1

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12.4 Functions to limit the control
Functions to limit the control include the "speed limit function", "torque limit function",
"software stroke limit", and "hardware stroke limit". Each function is executed by
parameter setting or sequence program creation and writing.

12.4.1 Speed limit function
The speed limit function limits the command speed to a value within the "speed limit
value" setting range when the command speed during control exceeds the "speed limit
value".
The details shown below explain about the "speed limit function".
[1] Relation between the speed limit function and various controls
[2] Precautions during control
[3] Setting the speed limit function

[1] Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various
controls.
Control type
OPR
control

Speed limit function

Speed limit value

Machine OPR control
Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control 2 to 4-axes fixed-feed
control (interpolation)

Pr.8 Speed limit

value

2-axis circular interpolation
Major
control
positioning
control
1 to 4-axes Speed control
Speed-position switching control,
Position-speed switching control
Other
control

Manual
control

Current value changing

–

JUMP instruction, NOP
instruction, LOOP to
LEND

–

JOG operation, Inching operation

Setting value invalid

Pr.31 JOG speed

limit value
Manual pulse generator operation

Setting is invalid

: Always set
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)

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[2] Precautions during control
If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis speed control,
the axis in excess of the speed limit value is controlled at the speed limit value.
The speeds of the other axes interpolated are suppressed depending on their
command speed ratios.
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] Setting the speed limit function
To use the "speed limit function", set the "speed limit value" in the parameters
shown in the following table, and write them to the QD75.
The set details are validated after they are written to the QD75.
Setting
value

Setting item
Pr.8

Pr.31

Speed limit value

JOG speed limit
value

Setting details
Set the speed limit value (max. speed during control).

Factory-set
initial value
200000

Set the speed limit value during JOG operation (max.
speed during control). (Note that " Pr.31 JOG speed
limit value" shall be less than or equal to " Pr.8

20000

Speed limit value".)
Refer to Section 5.2 "List of parameters" for setting details.

REMARK
•
•

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12.4.2 Torque limit function
The "torque limit function" limits the generated torque to a value within the "torque limit
value" setting range when the torque generated in the servomotor exceeds the "torque
limit value".
The "torque limit function" protects the deceleration function, limits the power of the
operation pressing against the stopper, etc. It controls the operation so that
unnecessary force is not applied to the load and machine.
The details shown below explain about the "torque limit function".
[1] Relation between the torque limit function and various controls
[2] Control details
[3] Precautions during control
[4] Setting the torque limit function

[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Torque limit
function

Control type

Torque limit value
Pr.17 Torque limit setting value

OPR
control

After the " Pr.47

Machine OPR control

Creep

speed" is reached, this value
becomes the " Pr.54 OPR
torque limit value".

Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control 2 to 4-axes fixed-feed
control (interpolation)

Pr.17 Torque limit setting value

2-axis circular interpolation
Major
control
positioning
control
1 to 4-axes Speed control
Speed-position switching control
Position-speed switching control
Other
control

Manual
control

Current value changing

–

JUMP instruction, NOP
instruction, LOOP to
LEND

–

Setting value is invalid.

JOG operation, Inching operation

Pr.17 Torque limit setting value

Manual pulse generator operation

Pr.17 Torque limit setting value

: Set when required (Set to " – " when not used.)
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
: Shows the torque limit value when " Cd.22 New torque value" is set to "0".
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[2] Control details
The following drawing shows the operation of the torque limit function.

Various operations

PLC READY signal [Y0]

Pr.17 Torque limit setting value
Cd.22 New torque value

50%

100%

0%
Torque limited at the parameter
torque limit setting value (100%)

Md.35 Torque limit stored value

100%

Torque limited at the parameter
torque limit setting value (50%)

50%

Fig. 12.13 Torque limit function operation

[3] Precautions during control
(1) When limiting the torque at the " Pr.17 Torque limit setting value", confirm
that " Cd.22 New torque value" is set to "0". If this parameter is set to a
value besides "0", the " Cd.22 New torque value" will be validated, and the
torque will be limited at that value. (Refer to Section 12.5.4 "Torque change
function" for details about the "new torque value".)
(2) When the “ Pr.54 OPR torque limit value “exceeds the “ Pr.17 Torque
limit setting value”, an error occurs. (Error code: 995)
(3) When limiting the torque, a D/A converter module and drive unit in which
torque limit commands by analog voltage are possible.
(4) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If a "deviation counter clear" is carried out by
issuing an external signal at this time, positional deviation will occur when
the operation is continued. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out.

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[4] Setting the torque limit function
(1) To use the "torque limit function", set the "torque limit value" in the
parameters shown in the following table, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC
READY signal (Y0).
Setting
value

Setting item

Pr.17

Torque limit
setting value

Pr.54

OPR torque limit
value

Factory-set
initial value

Setting details
Set the torque limit value as a percentage.
Set the torque limit value after the " Pr.47

300
Creep

300

speed" is reached. Set as a percentage.

Refer to Section 5.2 "List of parameters" for setting details.

(2) The "torque limit value" set in the QD75 is set in the " Md.35 Torque limit
stored value". The " Md.35 Torque limit stored value" in the sequence
program is transferred to the "D/A converter module", and the torque is
limited.
QD75
Buffer memory

PLC CPU

Reading by a

Drive unit

Positioning control

FROM command

826

Stored torque
limit value

D/A convertor module
Writing by a
TO command

Torque limiting

Fig. 12.14 Limiting the torque to the drive unit (Axis 1)
The following table shows the " Md.35 Torque limit stored value" of the
buffer memory address.
Monitor
value

Monitor item
Md.35

Torque limit stored
value

Storage details
The "torque limit value" valid at that time is
stored. ( Pr.17 , Pr.54 , or Cd.22 )

Buffer memory address
Axis Axis Axis Axis
1
2
3
4
826

926 1026 1126

Refer to Section 5.6 "List of monitor data" for information on the setting details.

REMARK
•
•

12 CONTROL SUB FUNCTIONS

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12.4.3 Software stroke limit function
In the "software stroke limit function" the address established by a machine OPR is
used to set the upper and lower limits of the moveable range of the workpiece.
Movement commands issued to addresses outside that setting range will not be
executed.
In the QD75, the "current feed value" and "machine feed value" are used as the
addresses indicating the current position. However, in the "software stroke limit
function", the address used to carry out the limit check is designated in the " Pr.14
Software stroke limit selection". (Refer to Section 9.1.4 "Confirming the current value"
or details on the "current feed value" and "machine feed value".)
The upper and lower limits of the moveable range of the workpiece are set in " Pr.12
Software stroke limit upper limit value"/ " Pr.13 Software stroke limit lower limit
value".
The details shown below explain about the "software stroke limit function".
[1] Differences in the moveable range when "current feed value" and "machine feed
value" are selected.
[2] Software stroke limit check details
[3] Relation between the software stroke limit function and various controls
[4] Precautions during software stroke limit check
[5] Setting the software stroke limit function
[6] Invalidating the software stroke limit
[7] Setting when the control unit is "degree"

[1] Differences in the moveable range when "current feed value" and
"machine feed value" are selected.
The following drawing shows the moveable range of the workpiece when the
software stroke limit function is used.

RLS

Workpiece moveable range

FLS
Software stroke limit (upper limit)

Software stroke limit (lower limit)

Fig. 12.15 Workpiece moveable range

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The following drawing shows the differences in the operation when " Md.20
Current feed value" and " Md.21 Machine feed value" are used in the moveable
range limit check.
[Conditions]
Assume the current stop position is 2000, and the upper stroke limit is set to 5000.
Moveable range

Md. 20 Current feed value
Md. 21 Machine feed value

2000
2000
Stop position

5000
5000
Upper stroke limit

[Current value changing]
When the current value is changed by a new current value command from 2000 to 1000, the
current value will change to 1000, but the machine feed value will stay the same at 2000.
1) When the machine feed value is set at the limit
The machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
Moveable range

Md. 20 Current feed value
Md. 21 Machine feed value

1000
2000

4000
5000

5000
6000

Upper stroke limit

2) When the current feed value is set at the limit
The current feed value of 5000 (machine feed value: 6000) becomes the upper stroke limit.
Moveable range

Md. 20 Current feed value
Md. 21 Machine feed value

1000
2000

4000
5000

5000
6000

Upper stroke limit

Fig. 12.16 Software stroke limits of the current feed value and machine feed value

POINT
When "machine feed value" is set in " Pr.14 Software stroke limit selection", the
moveable range becomes an absolute range referenced on the OP. When "current
feed value" is set, the moveable range is the relative range from the "current feed
value".

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[2] Software stroke limit check details
Processing when
an error occurs

Check details

An error shall occur if the current value 1 is outside the software
1) stroke limit range 2.
(Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error" will
occur (error code:
An error shall occur if the command address is outside the software
507, 508)
2) stroke limit range.
(Check " Da.6 Positioning address/movement amount".)
1Check whether the " Md.20 Current feed value" or " Md.21 Machine feed value" is set in
" Pr.14

Software stroke limit selection".

2Moveable range from the " Pr.12

Software stroke limit upper limit value" to the " Pr.13

Software stroke limit lower limit value".

[3] Relation between the software stroke limit function and various
controls
Control type
OPR control

Major
positioning
control

Machine OPR control
Fast OPR control
1-axis linear control
2 to 4-axes axis linear
interpolation control
Position 1-axis fixed-feed control
control
2 to 4-axes fixed-feed control
(interpolation)
2-axis circular interpolation
control
1 to 4-axes speed control
Speed-position switching control
Position-speed switching control
Other
control

Current value changing

JUMP instruction, NOP
instruction, LOOP to LEND
JOG operation, Inching operation

Manual
control

Manual pulse generator operation

Limit
Processing at check
check
–
Check not carried out.
–

Checks 1) and 2) in the previous section [2] are carried
out.
For speed control: The axis decelerates to a stop when
it exceeds the software stroke limit
range.
For position control: The axis comes to an immediate
stop when it exceeds the software
stroke limit range.
3, 4
3, 4
–

The current value will not be changed if the new current
value is outside the software stroke limit range.

–

Check not carried out.
5 Check 1) in the previous section [2] is carried out.
The machine will carry out a deceleration stop when the
software stroke limit range is exceeded. If the address
5 falls out of the software stroke limit range, the operation
can be started only toward the movable range after an
error reset.

: Check valid
: Check is not made when the current feed value is not updated (Refer to Pr.21 ) at the setting of " current feed
value" in " Pr.14
–

Software stroke limit selection" during speed control.

: Check not carried out (check invalid).
: Valid only when "1:valid" is set in the " Pr.15

Software stroke limit valid/invalid setting".

3 : The value in " Md.20 Current feed value" will differ according to the " Pr.21
control" setting.
4: When the unit is "degree", check is not made during speed control.
5: When the unit is "degree", check is not carried out.

12 - 28

Current feed value during speed

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[4] Precautions during software stroke limit check
(1) A machine OPR must be executed beforehand for the "software stroke limit
function" to function properly.
(2) During interpolation control, a stroke limit check is carried out for the every
current value of both the reference axis and the interpolation axis. Every
axis will not start if an error occurs, even if it only occurs in one axis.
(3) During circular interpolation control, the " Pr.12 Software stroke limit upper
limit value"/" Pr.13 Software stroke limit lower limit value" may be
exceeded.
In this case, a deceleration stop will not be carried out even if the stroke limit
is exceeded. Always install an external limit switch if there is a possibility the
stroke limit will be exceeded.
Example
Axis 1
Deceleration stop not carried out
Axis 1 stroke limit
Arc address ( Da. 7 )
Starting address

End point address ( Da. 6 )
Axis 2

The software stroke limit check is carried out for the following addresses
during circular interpolation control. (Note that " Da. 7 Arc address" is carried
out only for circular interpolation control with sub point designation.
Current value/end point address ( Da. 6 )/arc address ( Da. 7 )

(4) If an error is detected during continuous path control, the axis stops
immediately on completion of execution of the positioning data located right
before the positioning data in error.
Example
• If the positioning address of positioning data No. 13 is outside the software stroke limit range,
the operation immediately stops after positioning data No. 12 has been executed.
Positioning data
Immediate stop at
error detection

No.10

No.11

No.12

No.13

No.10
P11
No.11
P11
No.12
P11

Md. 26
Axis operation status

No.13
P11
Controlling position

12 - 29

Error occurring

No.14
P01

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(5) During simultaneous start, a stroke limit check is carried out for the current
values of every axis to be started. Every axis will not start if an error occurs,
even if it only occurs in one axis.

[5] Setting the software stroke limit function
To use the "software stroke limit function", set the required values in the
parameters shown in the following table, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
Setting
value

Setting item

Factory-set
initial value

Setting details

Pr.12

Software stroke
limit upper limit
value

Set the upper limit value of the moveable range.

2147483647

Pr.13

Software stroke
limit lower limit
value

Set the lower limit value of the moveable range.

–2147483648

Pr.14

Software stroke
limit selection

Set whether to use the " Md.20 Current feed value" or 0: Current feed
value
" Md.21 Machine feed value" as the "current value".

Pr.15

Software stroke
limit valid/invalid
setting

Set whether the software stroke limit is validated or
0 : V a l i d invalidated during manual control (JOG operation,
Inching operation, manual pulse generator operation).

0: valid

Refer to Section 5.2 "List of parameters" for setting details.

[6] Invalidating the software stroke limit
To invalidate the software stroke limit, set the following parameters as shown,
and write them to the QD75.
Pr.12

Software stroke limit
upper limit value

Pr.13

Software stroke limit
lower limit value

(For manual operation, set "0: software stroke limit invalid" in the " Pr.15
Software stroke limit valid/invalid setting".)
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
When the unit is "degree", the software stroke limit check is not performed during
speed control (including speed control in speed-position switching control or
position-speed switching control) or during manual control, independently of the
values set in Pr.12 , Pr.13 and Pr.15 .

REMARK
•
•

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[7] Setting when the control unit is "degree"
Current value address
The " Md.20 Current feed value" address is a ring address between 0 and
359.99999° .
359.99999°

0°

359.99999°

0°

Fig. 12.17 Current value address when the control unit is "degree".

Setting the software stroke limit
The upper limit value/lower limit value of the software stroke limit is a value
between 0 and 359.99999° .
(1) Setting when the software stroke limit is to be validated.
When the software stroke limit is to be validated, set the upper limit value in a
clockwise direction from the lower limit value.

Lower limit
Set in a clockwise direction

315º
Section A

Upper limit
90º

Section B

(a) Set the movement range of section A as follows.
• Software stroke limit lower limit value ................ 315.00000°.
• Software stroke limit upper limit value................ 90.00000°.
(b) Set the movement range of section B as follows.
• Software stroke limit lower limit value ................ 90.00000°.
• Software stroke limit upper limit value................ 315.00000°.
Fig. 12.18 Software stroke limit when the control unit is "degree"

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12.4.4 Hardware stroke limit function
!

DANGER

When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact.
If it is set in positive logic using a-contact, a serious accident may occur.
In the "hardware stroke limit function", limit switches are set at the upper/lower limit of
the physical moveable range, and the control is stopped (by deceleration stop) by the
input of a signal from the limit switch. Damage to the machine can be prevented by
stopping the control before the upper/lower limit of the physical moveable range is
reached.
Hardware stroke limit switches are normally installed inside the stroke limit/stroke end
on the drive unit side, and the control is stopped before the stroke limit/stoke end on
the drive unit side is reached.
The details shown below explain about the "hardware stroke limit function".
[1] Control details
[2] Wiring the hardware stroke limit
[3] Precautions during control
[4] When the hardware stroke limit is not used

[1] Control details
The following drawing shows the operation of the hardware stroke limit function.
Lower limit

Upper limit
QD75 control moveable range

Mechanical stopper
Movement direction

Start

Deceleration stop at
upper limit switch detection

Drive unit
stroke limit

Lower limit switch

Start

Mechanical stopper
Movement direction

Deceleration stop at
lower limit switch detection

Upper limit switch

QD75

Drive unit
stroke limit

Drive unit

Fig. 12.19 Hardware stroke limit function operation

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[2] Wiring the hardware stroke limit
When using the hardware stroke limit function, wire the terminals of the QD75
upper/lower limit stroke limit as shown in the following drawing.
(When " Pr.22 Input signal logic selection" is set to the initial value)
QD75

FLS
RLS

COM
24VDC

Note) Connect the upper and lower limit switches to the directions of increasing and decreasing
current feed values respectively. When these switches are connected in wrong directions, the
hardware stroke limit function does not operate properly and the motor does not stop.
For " Pr.6 Rotation direction setting", refer to "5.2.1 Basic parameters 1".
Fig. 12.20 Wiring when using the hardware stroke limit

[3] Precautions during control
(1) If the machine is stopped outside the QD75 control range (outside the
upper/lower limit switches), or if stopped by hardware stroke limit detection,
the "OPR control", "major positioning control", and "high-level positioning
control" cannot start. To carry out these types of control again, return the
workpiece to the QD75 control range by a "JOG operation", "inching
operation" or "manual pulse generator operation".
(2) When " Pr.22 Input signal logic selection" is set to the initial value, the
QD75 cannot carry out the positioning control if FLS (upper limit signal) is
separated from COM or RLS (lower limit signal) is separated from COM
(including when wiring is not carried out).

[4] When the hardware stroke limit function is not used
When not using the hardware stroke limit function, wire the terminals of the QD75
upper/lower limit stroke limit as shown in the following drawing.
When the logic of FLS and RLS is set to "positive logic" using " Pr.22 Input
signal logic selection", positioning control can be carried out even if FLS and RLS
are not wired.
(For details, refer to Section 13.4 "External I/O signal logic switching function".)
QD75

FLS
RLS

COM
24VDC

Fig. 12.21 Wiring when not using the hardware stroke limit function
(When " Pr.22 Input signal logic selection" is the initial value)

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12.5 Functions to change the control details
Functions to change the control details include the "speed change function", "override
function", "acceleration/deceleration time change function" and "torque change
function". Each function is executed by parameter setting or sequence program
creation and writing.
Both the "speed change function" or "override function" change the speed, but the
differences between the functions are shown below. Use the function that corresponds
to the application.
"Speed change function"
• The speed is changed at any time, only in the control being executed.
• The new speed is directly set.
"Override function"
• The speed is changed for all control to be executed. (Note that this excludes
manual pulse generator operation.)
• The new speed is set as a percent (%) of the command speed.

12.5.1 Speed change function
The speed control function is used to change the speed during control to a newly
designated speed at any time.
The new speed is directly set in the buffer memory, and the speed is changed by a
speed change command ( Cd.15 Speed change request) or external command signal.
During the machine OPR, a speed change to the creep speed cannot be carried out
after deceleration start because the near point dog ON is detected.
The details shown below explain about the "speed change function".
[1] Control details
[2] Precautions during control
[3] Setting the speed change function from the PLC CPU
[4] Setting the speed change function using an external command signal

[1] Control details
The following drawing shows the operation during a speed change.
V

Speed changes to V2.
Speed changes to V3.
V1
Operation during
positioning by V1.
V2
V3
t

Md. 40 In speed change processing flag

Fig. 12.22 Speed change operation
12 - 34

12 CONTROL SUB FUNCTIONS

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[2] Precautions during control
(1) Control is carried out as follows at the speed change during continuous path
control.
a) When no speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at the " Cd.14 New speed
value".
b) When a speed designation is provided in the next positioning data:
The next positioning data is controlled at its command speed
( Da.8 ).

Next control
P2

Positioning control
P1

[a] When no speed designation
(current speed) is provided.
[b] When a speed designation
is provided.

Cd. 14 New speed value
Designated speed in P2
Designated speed in P1
Speed change
command

Fig. 12.23 Speed change during continuous path control
(2) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends
on the function version.
Function version

Restarting speed

Da.8 Command speed

B or later

Cd.14 New speed value

Refer to Section 2.4 for the way to check the function version.
V
Da. 8 Command speed
Speed change
command

Restarting
Stop command command

Cd. 14 New speed value
t

Fig. 12.24 Restarting speed after speed change made during position control (Function version B)

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(4) When the speed is changed by setting " Cd.14 New speed value" to "0",
the operation is carried out as follows.
• A deceleration stop is carried out, and the speed change 0 flag
( Md.31 Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)
• The axis stops, but " Md.26 Axis operation status" does not change, and
the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and " Md.26 Axis operation status" will change to
"stopped".)
In this case, setting the " Cd.14 New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ( Md.31 Status: b10), and enable
continued operation.
Positioning start signal

[Y10, Y11, Y12, Y13] OFF
ON
BUSY signal [XC,XD,XE,XF] OFF
0

Cd. 14 New speed value

1000
ON

Cd. 15 Speed change request

OFF

Positioning operation
ON
Speed change 0 flag
Md. 31 status: b10

OFF

Fig. 12.25 Speed change at new speed value "0"
(5) A warning "Deceleration/stop speed change (warning code: 500)" occurs
and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(6) A warning "Speed limit value over (warning code: 501)" occurs and the
speed is controlled at the " Pr.8 Speed limit value" when the value set in
" Cd.14 New speed value" is equal to or larger than the " Pr.8 Speed limit
value".
(7) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(8) When carrying out consecutive speed changes, be sure there is an interval
between the speed changes of 100ms or more.
(If the interval between speed changes is short, the QD75 will not be able to
track, and it may become impossible to carry out commands correctly.)
(9) When a speed change is requested simultaneously for multiple axes,
change the speed in the ascending axis number order.
(10) Speed change cannot be carried out during the machine OPR. A request
for speed change is ignored.
(11) When deceleration is started by the speed change function, the deceleration
start flag does not turn ON.
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[3] Setting the speed change function from the PLC CPU
The following shows the data settings and sequence program example for
changing the control speed of axis 1 from the PLC CPU. (In this example, the
control speed is changed to "20.00mm/min".)
(1) Set the following data.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Buffer memory address

Setting
value

Setting item

Cd.14

New speed value

Cd.15

Speed change
request

2000
1

Setting details

Axis Axis Axis Axis
1
2
3
4

Set the new speed.

1514 1614 1714 1814
1515 1615 1715 1815

Set "1: Change the speed".

1516 1616 1716 1816

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows the speed change time chart.
V
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]

Md. 40 In speed change
processing flag

Cd. 14 New speed value

0
2000

Cd. 15 Speed change request

Fig. 12.26 Time chart for changing the speed from the PLC CPU

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
—
á

No.14 Speed change program

12 - 38

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[4] Setting the speed change function using an external command
signal
The speed can also be changed using an "external command signal".
The following shows the data settings and sequence program example for
changing the control speed of axis 1 using an "external command signal". (In this
example, the control speed is changed to "10000.00mm/min".)
(1) Set the following data to change the speed using an external command
signal.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Buffer memory address

Setting
value

Setting item

Setting details

Axis Axis Axis Axis
1
2
3
4

Pr.42

External command
function selection

Set "1: External speed change request".

Cd.8

External command
valid

Set "1: Validate the external command".

Cd.14 New speed value

212

362

512

1505 1605 1705 1805
1514 1614 1714 1814
1515 1615 1715 1815

1000000 Set the new speed.

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows the speed change time chart.
V
Dwell time

t
Positioning start signal

[Y10]
[Y0]

PLC READY signal
QD75 READY signal

[X0]

Start complete signal

[X10]
[XC]

BUSY signal
Positioning complete signal
Error detection signal

[X14]
[X8]

External command signal
1

Pr. 42 External command function selection
Md.40 In speed change processing flag

Cd. 8 External command valid

Cd. 14 New speed value

0
0

1000000

Fig. 12.27 Time chart for changing the speed using an external command signal

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
Write 1000000 to D108 and D109.

External command
valid signal

DTOP H0 K1514 D108 K1

[Speed change processing]

TOP H0 K1505 K1

Input the external command signal.

12 - 40

(QD75 starts speed change processing.)

12 CONTROL SUB FUNCTIONS

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12.5.2 Override function
The override function changes the command speed by a designated percentage (1 to
300%) for all control to be executed.
The speed can be changed by setting the percentage (%) by which the speed is
changed in " Cd.13 Positioning operation speed override".
However, when a machine OPR is performed, an override cannot be made after a
deceleration start to the creep speed following the detection of near-point dog ON.
[1] Control details
[2] Precautions during control
[3] Setting the override function

[1] Control details
The following shows that operation of the override function.
1) A value changed by the override function is monitored by " Md.22
Feedrate". (When Md.22 " becomes "0", the warning "Less than minimum
speed" (warning code: 110) is generated and the axis is controlled in the
then speed unit of "1".)
2) If " Cd.13 Positioning operation speed override" is set to 100%, the speed
will not change.
3) If " Cd.13 Positioning operation speed override" is set a value less than
100%, control will be carried out at speed unit "1" at the time " Md.22
Feedrate" becomes a value of "1" or less. (When Md.22 becomes "0", the
warning "Less than minimum speed (warning code: 110)" is generated and
the axis is controlled in the then speed unit of "1".)
4) If there is not enough remaining distance to change the speed when the
speed is changed during the position control of speed-position switching
control or position-speed switching control, the operation will be carried out
at the speed that could be changed.
5) If the speed changed by the "override function" is greater than the " Pr.8
Speed limit value", a warning "Speed limit value over (warning code: 501)"
will occur and the speed will be controlled at the " Pr.8 Speed limit value".
The " Md.39 Speed limit flag" will turn ON.
Da. 8 Command speed

Cd. 13 Positioning operation
speed override

100

150

Md. 22 Feedrate

200

100
50

V
Not affected by the override value
during deceleration

75
Not enough remaining
distance could be secured,
so operation is carried out
at an increased speed.

Fig. 12.28 Override function operation

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[2] Precaution during control
(1) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(2) A warning "Deceleration/stop speed change (warning code: 500)" occurs
and the speed cannot be changed in the following cases.
(The value set in " Cd.13 Positioning operation speed override" is validated
after a deceleration stop.)
• During deceleration by a stop command
• During automatic deceleration during positioning control
(3) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(4) When deceleration is started by the override function, the deceleration start
flag does not turn ON.

[3] Setting the override function
The following shows the data settings and sequence program example for setting
the override value of axis 1 to "200%".
(1) Set the following data. (Use the start time chart shown in section (2) below
as a reference, and set using the sequence program shown in section (3).)

Cd.13

Buffer memory address

Setting
value

Setting item
Positioning
operation speed
override

200

Setting details

Set the new speed as a percentage (%).

Axis Axis Axis Axis
1
2
3
4
1513 1613 1713 1813

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows a time chart for changing the speed using the override
function.

V
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 [X14]
Error detection signal

[X8]
Cd. 13 Positioning operation
speed override

200

Fig. 12.29 Time chart for changing the speed using the override function

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
á
—
No.15 Override program

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12.5.3 Acceleration/deceleration time change function
The "acceleration/deceleration time change function" is used to change the
acceleration/deceleration time during a speed change to a random value when
carrying out the speed change indicated in Section 12.5.1 "Speed change function".
In a normal speed change (when the acceleration/deceleration time is not changed),
the acceleration/deceleration time previously set in the parameters ( Pr.9 , Pr.10 ,
and Pr.25 to Pr.30 values) is set in the positioning parameter data items Da.3
and Da.4 , and control is carried out with that acceleration/deceleration time.
However, by setting the new acceleration/deceleration time ( Cd.10 , Cd.11 ) in the
control data, and issuing an acceleration/deceleration time change enable command
( Cd.12 Acceleration/deceleration time change during speed change, enable/disable
selection) to change the speed when the acceleration/deceleration time change is
enabled, the speed will be changed with the new acceleration/deceleration time
( Cd.10 , Cd.11 ).
The details shown below explain about the "acceleration/deceleration time change
function".
[1] Control details
[2] Precautions during control
[3] Setting the acceleration/deceleration time change function

[1] Control details
The following drawing shows the operation during an acceleration/deceleration
time change.
[For an acceleration/deceleration time change disable setting]
V
Operation with the acceleration/deceleration
time set in Da. 3 and Da. 4 .
Cd.15 Speed
change request

Cd.12 Acceleration/deceleration
time change during
speed change, enable/
disable selection

Disabled

[For an acceleration/deceleration time change enable setting]
V
Operation with the acceleration/deceleration
time ( Cd. 10 and Cd. 11 ) set in the buffer memory.
Cd.15 Speed
change request

t
Cd.12 Acceleration/deceleration
time change during
speed change, enable/
disable selection

Disabled

Enabled

Fig. 12.30 Operation during an acceleration/deceleration time change
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[2] Precautions during control
(1) When "0" is set in " Cd.10 New acceleration time value" and " Cd.11 New
deceleration time value", the acceleration/deceleration time will not be
changed even if the speed is changed. In this case, the operation will be
controlled at the acceleration/deceleration time previously set in the
parameters.
(2) The "new acceleration/deceleration time" is valid during execution of the
positioning data for which the speed was changed. In continuous positioning
control and continuous path control, the speed is changed and control is
carried out with the previously set acceleration/deceleration time at the
changeover to the next positioning data, even if the
acceleration/deceleration time is changed to the "new
acceleration/deceleration time ( Cd.10 , Cd.11 )".
(3) Even if the acceleration/deceleration time change is set to disable after the
"new acceleration/deceleration time" is validated, the positioning data for
which the "new acceleration/deceleration time" was validated will continue to
be controlled with that value. (The next positioning data will be controlled
with the previously set acceleration/deceleration time.)
Example

Speed change

V
Speed change

Positioning start

New acceleration/deceleration
time ( Cd. 10 , Cd. 11 )

Cd.12 Acceleration/deceleration time
change during speed change,
enable/disable selection

Disabled

Enabled

12 - 45

Disabled

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(4) If the "new acceleration/deceleration time" is set to "0" and the speed is
changed after the "new acceleration/deceleration time" is validated, the
operation will be controlled with the previous "new acceleration/deceleration
time".
Example
New acceleration/deceleration
time ( Cd. 10 , Cd. 11 )
Speed change

V
Speed change
Speed change

Controlled with the acceleration/
deceleration time in the parameter.

Cd.12 Acceleration/deceleration time
change during speed change,
enable/disable selection

Disabled

Enabled

Cd.10 New acceleration time value

1000

Cd.11 New deceleration time value

(5) The acceleration/deceleration time change function is disabled for JOG
operation and inching operation.

POINT
If the speed is changed when an acceleration/deceleration change is enabled, the
"new acceleration/deceleration time" will become the acceleration/deceleration time
of the positioning data being executed. The "new acceleration/deceleration time"
remains valid until the changeover to the next positioning data. (The automatic
deceleration processing at the completion of the positioning will also be controlled
by the "new acceleration/deceleration time".)

[3] Setting the acceleration/deceleration time change function
To use the "acceleration/deceleration time change function", write the data
shown in the following table to the QD75 using the sequence program.
The set details are validated when a speed change is executed after the details
are written to the QD75.
Setting item

Cd.10 New acceleration
time value
Cd.11 New deceleration
time value
Acceleration/
deceleration time
Cd.12 change during
speed change,
enable/disable
selection

Setting
value

Setting details
Set the new acceleration time.
Set the new deceleration time.

Set "1: Acceleration/deceleration time change
enable".

Refer to Section 5.7 "List of control data" for details on the setting details.

12 - 46

Buffer memory address
Axis Axis Axis Axis
1
2
3
4
1508 1608 1708 1808
1509 1609 1709 1809
1510 1610 1710 1810
1511 1611 1711 1811

1512 1612 1712 1812

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Example
No.16 Acceleration/deceleration time change program

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12.5.4 Torque change function
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value during torque limiting is normally the value set in the " Pr.17
Torque limit setting value" that was previously set in the parameters. However, by
setting the new torque limit value in the axis control data " Cd.22 New torque value",
and writing it to the QD75, the torque generated by the servomotor during control can
be limited with the new torque value.
(The " Cd.22 New torque value" is validated when written to the QD75.)
The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal

[1] Control details
The torque value of the axis control data can be changed at all times. The torque
can be limited with a new torque value from the time the new torque value has
been written to the QD75. (a torque change is made only during operation.) The
toque limiting is not carried out from the time the power supply is turned ON to
the time the PLC READY signal (Y0) is turned ON.
The torque setting range is from 0 to " Pr.17 Torque limit setting value".
When the new torque value is 0, a torque change is considered not to be carried
out.
The torque change range is 1 to " Pr.17 Torque limit setting value".
The following drawing shows the torque change operation.
V

Various operations
t
ON
PLC READY signal

[Y0]

OFF

Pr.17 Torque limit setting value 100%
Cd.22 New torque value

50%

25%
Torque is limited by the torque
limit setting value (50%) of the
parameters.

Md.35 Torque limit stored value 100%

torque value (25%) of the
axis control data.

25%

50%

Fig. 12.31 Torque change operation

12 - 48

Torque is limited by the new

Ignores the new torque.

25%

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[2] Precautions during control
(1) If a value besides "0" is set in the " Cd.22 New torque value", the torque
generated by the servomotor will be limited by that value. To limit the torque
with the value set in " Pr.17 Torque limit setting value", set the " Cd.22
New torque value" to "0".
(2) The " Cd.22 New torque value" is validated when written to the QD75.
(Note that it is not validated from the time the power supply is turned ON to
the time the PLC READY signal (Y0) is turned ON.)
(3) If the setting value is outside the setting range, an axis warning "Outside
new torque value range" (warning code: 113) will occur and the torque will
not be changed.
(4) If the time to hold the new torque value is not more than 100ms, a torque
change may not be executed.

[3] Setting the torque change function start signal
To use the "torque change function", write the data shown in the following table
to the QD75 using the sequence program.
The set details are validated when written to the QD75.
Setting item

Cd.22 New torque value

Buffer memory address

Setting
value

Setting details

Set the new torque limit value.

Refer to Section 5.7 "List of control data" for details on the setting details.

12 - 49

Axis Axis Axis Axis
1
2
3
4
1525 1625 1725 1825

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12.6 Absolute position restoration function
!

CAUTION

When the absolute position restoration is carried out, the servo ON signal may be turned OFF (servo OFF)
for about 20 ms, and the motor may operate. If this is not desired, install an electromagnetic brake
separately and lock the motor by that brake during the absolute position restoration.
The "absolute position restoration function" is a function to restore the absolute
position of the designated axis by the absolute position detection system. By this
function, the OPR after power OFF such as instantaneous power interruption and
emergency stop is not required, and the restoration operation at site can be carried out
easily.
The details of the "absolute position restoration function" are described below.
[1] Configuration and preparation of absolute position detection system
[2] Outline of absolute position detection data communication
[3] Absolute position signal transmission procedure
[4] Precautions during control

[1] Configuration and preparation of absolute position detection system
(1) Configuration
The following drawing shows the configuration of the absolute position
detection system.
1)

Power
supply

Absolute position holding battery

Servo
amplifier
4)
PLC system

QCPU
QD75

3)
Control signal connector

Detector cable

Operation
panel

Servomotor with absolute position detector

Fig. 12.32 Configuration of absolute position detection system

12 - 50

I/O
module

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(2) Preparation
Prepare the absolute position detection system taking care of the following.
Component

Details

1) Servo amplifier

• Install the battery to the servo amplifier.
• Validate the absolute position detection function of the
servo amplifier.
Refer to the servo amplifier manual for details.
• Use a servomotor with absolute position detector.
Refer to the servomotor manual for details.
• Add a battery power connection cable (BAT/LG signal) for
wiring the incremental detector cable.
Refer to the cable operation manual for details.
• Carry out the transmission and receiving of the absolute
position detection data by the I/O modules (input 3
points/output 3 points).
• Use the "16 point input module" and "16 point output
module".

2) Servomotor
3) Detector cable

4) PLC system

[2] Outline of absolute position detection data communication
As shown in Fig. 12.33 System block diagram, the detector comprises an
encoder for detecting its position in one rotation in addition to the A, B, Z phase
signal for position control in normal operation and a cumulative rotation counter
for detecting the number of rotations.
The absolute position detection system detects the absolute position of the
machine constantly and stores it with the backup of the battery irrespective of
whether the PLC system power is turned ON/OFF. Thus, once the OP initial
setting is carried out at the time of installation of the machine, the OPR is not
required even when the power is later turned ON. The restoration can be carried
out easily when an instantaneous power interruption or emergency stop occurs.
In addition, because the absolute position data is backed up by a super
condenser built in the detector, the absolute position data will be stored for a
specified time even if the cable is disconnected or broken.
PLC system
QCPU

Pulse train
command

QD75
Current feed value
Machine feed value

Servo amplifier
OP data
E2PROM memory

Backup at
power OFF

I/O module
Input

LS
Speed
detection

Current
position
change

Output

Position
control/
speed
control

Current
position

LS0
1X0

1X
Detection of
position in one
rotation

Battery

Servomotor
1 pulse/rev cumulative rotation
counter
Super condenser
Counter in one rotation
A.B.Z phase signal
Detector

Fig. 12.33 System block diagram
12 - 51

High-speed serial
communication

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[3] Absolute position signal transmission procedure
(1) Figure 12.34 shows the outline of the absolute position signal transmission
procedure between the servo amplifier and the PLC system (PLC CPU,
QD75, I/O module).
Refer to the operation manual of the servo amplifier for details on the
communication between the servo amplifier and the PLC system.
(2) Errors during communication
(a) If the system expires during communication, an error "ABS transmission
timeout" (error code: 213) will occur.
(b) If the transmission data causes a sum error, an error "ABS transmission
SUM" (error code: 214) will occur.
Refer to Section 15.2 "List of errors" for the remedial method to be taken
when an error occurs.
Servo amplifier

I/O module

Servo ON signal
ABS transmission
mode

[Dedicated
instruction]

ABS request

ABRST1
ABRST2

Current position
data

Data transmission

QD75

PLC CPU

Transmission data

ABRST3

preparation completed

ABRST4

Md.20
Current feed value
Md.21
Machine feed value

ABS bit0
ABS bit1

Fig. 12.34 Absolute position signal transmission procedure
Refer to Chapter 14 "Dedicated instructions" for details of the dedicated instructions.

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(3) Connection example
The following diagram shows the example of connection between the PLC
system and the Mitsubishi Electric servo amplifier (MR-H-A).

MR-H-A

QCPU

QD75

ABS bit0

24(PF)

0(X47)

ABS bit1

23(ZSP)

1(X48)

Transmission data preparation completed

25(TLC)

Servo ON

12(SON)

16 points output module

1(Y51)

ABS request

45(DI4)

2(X49)

0(Y50)

ABS transmission mode

44(DI3)

16 points input module

2(Y52)

: The X and Y devices can be set arbitrarily with the sequence program.
Details of servo amplifier connector pins
The following table shows the pins for setting the "absolute position detection
system". Refer to the MR-H operation manual for the details when the ABS
transmission mode is turned OFF.
Signal name

Abbreviation

Pin No.

Function and application

ABS transmission
mode

DI3

ABS transmission mode terminal. While this is turned ON,
the servo amplifier is in the ABS transmission mode, and
the DI4/PF/ZSP/TLC functions are as shown in this table.

ABS request

DI4

This is turned ON when ABS data is requested in the ABS
transmission mode.

ABS bit 0

This indicates the lower order bit among 2 bits of ABS data
to be transferred from the servo amplifier to the PLC system
in the ABS transmission mode.

ABS bit 1

ZSP

This indicates the upper order bit among 2 bits of ABS data
to be transferred from the servo amplifier to the PLC system
in the ABS transmission mode.

Transmission data
preparation
completed

TLC

This indicates the transmission data preparation completed
in the ABS transfer mode. When the preparation is
completed, the signal is turned ON.

Refer to the MR-H operation manual for the I/O interface.

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[4] Controlling instructions
(1) When an absolute position detection system is constructed, absolute position
restoration must be made at least once after power supply on or resetting.
Also, the servo amplifier does not switch on unless the absolute position
restoration is completed.
(2) For use of positioning in an absolute position detection system, the following
controls cannot be carried out:
• Limitless-feed control which exercises control only in the fixed direction,
e.g. turntable
• Control where the movement amount from the OP address exceeds the
range of the following conditions 1 and 2
When performing positioning in an absolute position detection system, use it
in the range which satisfies Conditions 1 and 2 given below.
In the range which does not satisfy Conditions 1 and 2, positioning cannot be
used in the absolute position detection system since the normal current value
cannot be provided during absolute position restoration.

Condition 1. Number of output pulses
a) Indicates the number of pulses that may be output to a servo amplifier
when an axis is to be positioned from the OP in an absolute position
detection system. In the absolute position detection system, pulses within
the range of the following expression can be output to the servo amplifier.
[-32768 (number of feedback pulses)]≤[number of output pulses]≤[32768 (number of feedback pulses)-1]
b) Pulses are positive in the address increasing direction from the OP, and
negative in the address decreasing direction from the OP.
Unit: µm
OP
0

-214748364.8

Negative pulse outputs

214748364.7

Positive pulse outputs

c) The number of output pulses varies with the number of feedback pulses as
indicated below:
• When the number of feedback pulses is 8192 (pulse):
-268435456 (pulse) to 268435455 (pulse)
• When the number of feedback pulses is 16384 (pulse):
-536870912 (pulse) to 536870911 (pulse)

Condition 2. Positioning address
a) The following positioning addresses can be specified on the QD75:
•

When the unit is mm: -214748364.8 (µm) to 214748364.7 (µm)
When the unit is inch: -21474.83648 (inch) to 21474.83647 (inch)
• When the unit is pulse: -2147483648 (pulse) to 2147483647 (pulse)
• When the unit is degree: 0° to 359.99999°
•

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[Calculation of positioning address and concept of absolute position
detection system]
Use the following expression to calculate the positioning address.
(Positioning address) = (movement amount per pulse) (number of output pulses)
+ (OP address).............................................. Expression 1

1. Concept for the unit of mm, inch or pulse
The range which satisfies Conditions 1 and 2 can be used as the positioning
address of the absolute position detection system.
The range which does not satisfy Conditions 1 and 2 cannot be used as the
positioning address of the absolute position detection system.
The concepts of the positioning addresses in mm, inch and pulse are identical,
the following examples provide those of the mm unit.

Example 1.
(1) There are the following conditions to calculate the positioning address:
• Movement amount per pulse: 0.1 (µm)
• OP address: 0.0 (µm)
• Feedback pulses = 8192 (pulse)
(2) Calculate the upper and lower limit values of the positioning address which
can be specified from the output pulse count using range in Condition 1 and
the positioning address calculation expression (Expression 1).
• Lower limit value of positioning address (the number of negative pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
=0.1 (-268435456) + 0.0
=-26843545.5 (µm)
•

Upper limit value of positioning address (the number of positive pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
=0.1 (-268435456) + 0.0
=-26843545.5 (µm)

(3) The upper and lower limit values of the positioning address calculated are
within the range of Condition 2.
Hence, the positioning range [-26843545.6 (µm) to 26843545.5 (µm)]
calculated in Condition 1 can be used in the absolute position detection system.
Positioning outside of the range -26843545.6 (µm) to 26843545.5 (µm)
cannot be used in the absolute position detection system.
Unit: µm
-214748364.8

-26843545.6

Unusable range in
absolute position
detection system

OP
0

Usable range in absolute
position detection system

12 - 55

26843545.5

214748364.7

Unusable range in
absolute position
detection system

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Example 2.
(1) Using Expression 1, calculate the positioning address which can be specified
in the system where the OP address in Example 1 is 214740000.0 (µm).
•

Lower limit value of positioning address
(Positioning address) =0.1 (-268435456) + 214740000.0
=187896454.4 (µm)

•

Upper limit value of positioning address
(Positioning address) =0.1 268435456 + 214740000.0
=241583545.5 (µm)

(2) Since the lower limit value of the positioning address calculated is within the
range of Condition 2, the calculated address 187896454.4 (µm) is the lower
limit for positioning in the absolute position detection system.
Since the upper limit of the positioning address calculated is outside of the
range of Condition 2, the upper limit value 214748364.7 (µm) is the upper
limit for positioning in the absolute position detection system.
In the absolute position detection system, use the positioning address within
the range 187896454.4 (µm) to 214748364.7 (µm).
Positioning in excess of 187896454.4 (µm) cannot be used in the absolute
position detection system.
Unit: µm
-214748364.8

Positioning address specifying range

187896454.4
Unusable range in absolute
position detection system

214748364.7

(OP)
214740000.0

Usable range in absolute
position detection system

241583545.5

Setting disallowed

Example 3.
(1) There are the following conditions to calculate the positioning address:
• Movement amount per pulse: 0.9 (µm)
• OP address: 0.0 (µm)
• Feedback pulses = 8192 (pulse)
(2) Calculate the positioning address from the output pulse count using range in
Condition 1 and the positioning address calculation expression (Expression
1).
• Lower limit value of positioning address (the number of negative pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
= 0.9 (-268435456) + 0.0
= -241591910.4 (µm)
•

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(3) Since the upper and lower limit values of the positioning address calculated
are outside of the range of Condition 2, use the positioning address within the
positioning range of Condition 2 (-2147483648 (µm) to 2147483647 (µm)).
Unit: µm
-241591910.4

OP
0

-214748364.8

Usable range in absolute
position detection system

Setting disallowed

214748364.7

241591909.5

Setting disallowed

2. Concept for the unit of degree
•

The positioning address is within the range 0° to 359.99999° at the position
to which a machine OPR was made.
When the OP position is not 0°, the range is also 0° to 359.99999°.

•

For positioning in the same direction, control from maximum to minimum
(for address increase: 359.99999° to 0°/for address decrease: 0° to
359.99999°) cannot be exercised. (See below)
OP
359.99999

359.99999

Unusable in absolute position detection
system.
Current value cannot be restored
properly at power supply on or resetting
•

Unusable in absolute position
detection system.
Current value cannot be restored
properly at power-on or reset.

Usable range in absolute position detection system
(0 ~ 359.99999 )

When positioning is to be used in the absolute position detection system,
set the upper and lower limit values of the software stroke limit within the
range 0° to 359.99999°.

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12.7 Other functions
Other functions include the "step function", "skip function", "M code output function",
"teaching function", "target position change function", "command in-position function",
"acceleration/deceleration processing function", "pre-reading start function",
"deceleration start flag function" and "stop command processing for deceleration stop
function". Each function is executed by parameter setting or sequence program
creation and writing.

12.7.1 Step function
The "step function" is used to confirm each operation of the positioning control one by
one.
It is used in debugging work for major positioning control, etc.
A positioning operation in which a "step function" is used is called a "step operation".
In step operations, the timing for stopping the control can be set. (This is called the
"step mode".) Control stopped by a step operation can be continued by setting "step
continue" (to continue the control)" or restarted by setting "restart" in the "step start
information".
The details shown below explain about the "step function".
[1] Relation between the step function and various controls
[2] Step mode
[3] Step start information
[4] Using the step operation
[5] Control details
[6] Precautions during control
[7] Step function settings

[1] Relation between the step function and various controls
The following table shows the relation between the "step function" and various
controls.
OPR control

Major
positioning
control

Manual
control

Control type
Machine OPR control
Fast OPR control
1-axis linear control
2 to 4-axes linear interpolation control
Position 1-axis fixed-feed control
control 2 to 4- axes fixed-feed control
(interpolation)
2-axis circular interpolation control
1 to 4- axes Speed control
Speed-position switching control
Position-speed switching control
Current value changing
Other
JUMP instruction, NOP instruction,
control
LOOP to LEND
JOG operation, Inching operation
Manual pulse generator operation

: Set when required.

: Setting not possible

12 - 58

Step function

Step applicability
Step operation not possible

Step operation possible

Step operation not possible
Step operation possible
Step operation not possible
Step operation not possible

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[2] Step mode
In step operations, the timing for stopping the control can be set. This is called
the "step mode". (The "step mode" is set in the control data " Cd.34 Step
mode".)
The following shows the two types of "step mode" functions.

(1) Deceleration unit step
The operation stops at positioning data requiring automatic deceleration. (A
normal operation will be carried out until the positioning data requiring
automatic deceleration is found. Once found, that positioning data will be
executed, and the operation will then automatically decelerate and stop.)

(2) Data No. unit step
The operation automatically decelerates and stops for each positioning
data. (Even in continuous path control, an automatic deceleration and stop
will be forcibly carried out.)

[3] Step start information
Control stopped by a step operation can be continued by setting "step continue"
(to continue the control) in the "step start information". (The "step start
information" is set in the control data " Cd.36 Step start information".)
The following table shows the results of starts using the "step start information"
during step operation.
Stop status in the step
operation
1 step of positioning
stopped normally

Md.26 Axis operation

Cd.36 Step start

Step standing by

Step start results

information

status

1: Step continue

The next positioning data is executed.

The warnings "Step not possible (warning code: 511)" will occur if the " Md.26
Axis operation status" is as shown below or the step valid flag is OFF when step
start information is set.
Md.26 Axis operation status

Standing by
Stopped
In interpolation
In JOG operation
In manual pulse generator operation
Analyzing
Waiting for special start
In OPR
In position control
In speed control
In speed control of speed-position switching control
In position control of speed-position switching control
In speed control of position-speed switching control
In position control of position-speed switching control

12 - 59

Step start results

Step not continued by warning

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[4] Using the step operation
The following shows the procedure for checking positioning data using the step
operation.

(1) Turn ON the step valid flag before starting the positioning data.
(Write "1" (carry out step operation) in " Cd.35 Step valid flag".)

(2) Set the step mode before starting the positioning data.
(Set in " Cd.34 Step mode".)

(3) Turn ON the positioning start signal, and check that the
positioning control starts normally.
(4) The control will stop for the following reasons.
a) One step of positioning stopped normally. (Go to step (6))
b) Control stopped by a stop signal (Take appropriate measures, go to
step (5))
c) An error occurred and the control stopped. (Take appropriate
measures, go to step (3))

(5) Write "1" (restart) to " Cd.6 Restart command", and check that
the positioning data where the control stopped operates
normally. (Go to (4)).
(6) Write "1" (step continue) to " Cd.36 Step start information", and
check that the next positioning data operates normally.
a) One step of positioning stopped normally. (Go to step (6))
b) Control stopped by a stop signal (Take appropriate measures, go to
step (5))
c) An error occurred and the control stopped. (Take appropriate
measures, go to step (3))
d) All positioning data operated normally (Go to step (7))

(7) Turn OFF the step valid flag, and quit the "step function".
(Write "0" (do not carry out step operation) in " Cd.35 Step valid flag".)

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[5] Control details
(1) The following drawing shows a step operation during a "deceleration unit
step".
ON
Cd. 35 Step valid flag

OFF
ON

Positioning start signal
OFF
[Y10, Y11, Y12, Y13]

OFF
BUSY signal
[XC, XD, XE, XF]

Positioning complete signal OFF
[X14, X15, X16, X17] V
Positioning
t
Positioning data No.

No.10

No.11

Da. 1 Operation pattern

No positioning data No. unit, so operation pattern
becomes one step of unit for carrying out automatic
deceleration.

Fig. 12.35 Operation during step execution by deceleration unit step
(2) The following drawing shows a step operation during a "data No. unit step".
Cd. 26 Step valid flag

ON
OFF

Positioning start signal
[RY(n+1)0, RY(n+1)1] OFF

ON
ON

BUSY signal [RXn4, RXn5] OFF
ON
Positioning complete signal
[RXn7, RXn8]

OFF
V

Positioning
t
Cd. 28 Step start information
Positioning data No.
Da. 1 Operation pattern

00H

01H

No.10

No.11

Operation pattern becomes one step of positioning data No. unit,
regardless of continuous path control (11).

Fig. 12.36 Operation during step execution positioning data No. unit step

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[6] Precautions during control
(1) When step operation is carried out using interpolation control positioning
data, the step function settings are carried out for the reference axis.
(2) When the step valid flag is ON, the step operation will start from the
beginning if the positioning start signal is turned ON while " Md.26 Axis
operation status" is "step standing by". (The step operation will be carried
out from the positioning data set in " Cd.3 Positioning start No.".)

[7] Step function settings
To use the "step function", write the data shown in the following table to the
QD75 using the sequence program. Refer to section [4] "Using the step
operation" for the timing of the settings.
The set details are validated when written to the QD75.
Setting item

Cd.34 Step mode
Cd.35 Step valid flag
Cd.36 Step start
information

Buffer memory address

Setting
value

Setting details

Axis Axis Axis Axis
1
2
3
4

Set "0: Deceleration unit step" or "1: Data No.
unit step".

1544 1644 1744 1844

Set "1: Carry out step operation".

1545 1645 1745 1845

Set "1: Step continue", depending on the stop
status.

1546 1646 1746 1846

Refer to Section 5.7 "List of control data" for details on the setting details.

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12.7.2 Skip function
The "skip function" is used to stop (deceleration stop) the control of the positioning
data being executed at the time of the skip signal input, and execute the next
positioning data.
A skip is executed by a skip command ( Cd.37 Skip command) or external command
signal.
The "skip function" can be used during control in which positioning data is used.
The details shown below explain about the "skip function".
[1] Control details
[2] Precautions during control
[3] Setting the skip function from the PLC CPU
[4] Setting the skip function using an external command signal

[1] Control details
The following drawing shows the skip function operation.
ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
BUSYsignal
OFF
[XC, XD, XE, XF]

ON
ON

Positioning complete signal OFF
[X14, X15, X16, X17] V
Positioning

t
Deceleration by
skip signal

Skip signal

Start of the
next positioning

OFF

Fig. 12.37 Operation when a skip signal is input during positioning control

[2] Precautions during control
(1) If the skip signal is turned ON at the last of an operation, a deceleration stop
will occur and the operation will be terminated.
(2) When a control is skipped (when the skip signal is turned ON during a
control), the positioning complete signals (X14, X15, X16, X17) will not turn
ON.
(3) When the skip signal is turned ON during the dwell time, the remaining dwell
time will be ignored, and the next positioning data will be executed.
(4) When a control is skipped during interpolation control, the reference axis
skip signal is turned ON. When the reference axis skip signal is turned ON,
a deceleration stop will be carried out for every axis, and the next reference
axis positioning data will be executed.
(5) The M code ON signals (X4, X5, X6, X7) will not turn ON when the M code
output is set to the AFTER mode (when "1: AFTER mode" is set in " Pr.18
M code ON signal output timing").
(In this case, the M code will not be stored in " Md.25 Valid M code".)
(6) The skip cannot be carried out by the speed-position and position-speed
switching control. It is processed in the same manner as in the speed
control.
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[3] Setting the skip function from the PLC CPU
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 with a command from the PLC CPU.
(1) Set the following data.
(The setting is carried out using the sequence program shown below in
section (2)).

Cd.37

Buffer memory address

Setting
value

Setting item

Skip command

Setting details

Set "1: Skip request".

Axis Axis Axis Axis
1
2
3
4
1547 1647 1747 1847

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
1) When the "skip command" is input, the value "1" (skip request) set in
" Cd.37 Skip command" is written to the QD75 buffer memory (1547).
Example
No.19 Skip program

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[4] Setting the skip function using an external command signal
The skip function can also be executed using an "external command signal".
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 using an "external command signal".
(1) Set the following data to execute the skip function using an external
command signal.
(The setting is carried out using the sequence program shown below in
section (2)).
Buffer memory address

Setting
value

Setting item

Setting details

Axis Axis Axis Axis
1
2
3
4

Pr.42

External command
function selection

Set "3: Skip request".

Cd.8

External command
valid

Set "1: Validate external command".

212

362

512

1505 1605 1705 1805

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example
Skip function
selection command

TOP H0

K62