Type QD75P/QD75D Positioning Module User's Manual
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Type QD75P/QD75D Positioning Module User's Manual
SH-080058-U
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product ...
QD75P QD75D Positioning users manual
Cửa Hàng Vật Tư Tự Động Hóa HCM.Mô Đun Điều Khiển Vị Trí PLC MITSUBISHI QD75P1
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Type QD75P/QD75D Positioning Module User's Manual
-QD75P1N -QD75P2N -QD75P4N -QD75D1N -QD75D2N -QD75D4N -QD75P1 -QD75P2 -QD75P4 -QD75D1 -QD75D2 -QD75D4
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user's manual for the CPU module used. In this manual, the safety precautions are classified into two levels: " ! WARNING" and " ! CAUTION".
Under some circumstances, failure to observe the precautions given under " ! CAUTION" may lead to serious consequences. Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
[Design Precautions] ! WARNING
Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply error or programmable controller fault occurs. Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. (1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the programmable controller. (2) The machine OPR operation is controlled by the OPR direction and OPR speed data.
Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is incorrectly set, deceleration will not start and the machine will continue to travel. Configure an interlock circuit to prevent mechanical damage outside the programmable controller. (3) When the module detects an error, normally deceleration stop or sudden stop will take place according to the parameter stop group settings. Set the parameters to the positioning system specifications. Make sure that the OPR parameter and positioning data are within the parameter setting values.
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[Design Precautions] ! CAUTION
Do not bundle or adjacently lay the connection cable connected to the module external I/O signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.
[Mounting Precautions] ! CAUTION
Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Incorrect loading of the module can cause a malfunction, failure or drop. When using the programmable controller in the environment of much vibration, tighten the module with a screw. Tighten the screw in the specified torque range. Undertightening can cause a drop, short circuit or malfunction. Overtightening can cause a drop, short circuit or malfunction due to damage to the screw or module. Completely turn off the externally supplied power used in the system before mounting or removing the module. Not doing so may damage the product.
[Wiring Precautions] ! WARNING
Always confirm the terminal layout before connecting the wires to the module.
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[Wiring Precautions] ! CAUTION
Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure. Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction. Connectors for external devices must be crimped with the tool specified by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction. When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the module may result in malfunction or damage to the module or cable. Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.
[Startup/Maintenance Precautions] ! WARNING
Completely turn off the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.
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[Startup/Maintenance Precautions] ! CAUTION
Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not install/remove the module to/from the base unit, or the terminal block to/from the module more than 50 times after the first use of the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction. Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs. Always make sure to touch the grounded metal to discharge the electricity charged in the body, etc., before touching the module. Failure to do so may cause a failure or malfunctions of the module.
[Precautions for use] ! CAUTION
Note that when the reference axis speed is designated for interpolation operation, the speed of the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value).
[Disposal Precautions] ! CAUTION
When disposing of the product, handle it as industrial waste.
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CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in; Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT. Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User. Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.
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REVISIONS Print Date Dec., 1999 Oct., 2000 Jun., 2001
Apr., 2003
Oct., 2003
Feb., 2004
Manual Number SH (NA)-080058-A SH (NA)-080058-B SH (NA)-080058-C
SH (NA)-080058-D
SH (NA)-080058-E SH (NA)-080058-F
The manual number is given on the bottom left of the back cover.
Revision
First edition Addition of function version B (Overall revisions based on the Japanese Manual Version SH-080047-E)
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 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 Partial corrections and additions CONTENTS, Section 1.1.1, Section 1.4, Section 2.2, Section 2.4, Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.3.2, Section 3.4.3, Section 3.4.4, Section 5.1.1, Section 5.1.8, Section 5.7.1, Section 6.5.3, Section 6.5.6, Section 7.1.2, Section 9.1.2, Section 9.2.3 to Section 9.2.9, Section 11.2.1, Section 11.3.1, Section 11.4.1, Section 12.2.1, Section 12.7.10, Appendix 9.2, Appendix 12, INDEX Partial corrections and additions CONTENTS, Section 3.4.1, Section 3.4.3, Section 3.4.4, Section 5.2.1, Section 5.4, Section 5.5, Section 5.6.2, Section 8.2.6, Section 10.1.2, Section 10.3.3, Section 10.3.5, Section 10.3.7, Appendix 9.2, Appendix 12
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Print Date Nov., 2004
Jun., 2005
Manual Number SH (NA)-080058-G
SH (NA)-080058-H
The manual number is given on the bottom left of the back cover.
Revision
Partial corrections and additions SAFETY INSTRUCTIONS, Section 1.4, Section 2.3, Section 2.4, Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.7, Section 5.2.1, Section 5.2.6, Section 5.6.2, Section 6.1, Section 9.2.19, Section 12.2.1, Section 12.4.4, Section 12.7.4, Appendix 1.1, Appendix 9.1
Partial corrections and additions Section 5.1.2, Section 9.1.2, Section 9.2.10, Section 9.2.21, Section 10.3.8, Section 11.4.1, Section 12.5.2, Section 12.7.1, Section 12.7.6, Section 15.1, Section 15.2
Aug., 2006 Jul., 2008
Oct., 2010 Apr., 2011
Sep., 2011
SH (NA)-080058-I Partial corrections and additions Section 3.4.4, Section 5.2.1, Section 14.5 to 14.7, Appendix 6.1, INDEX
SH (NA)-080058-J
Partial corrections and additions SAFETY INSTRUCTIONS, ABOUT MANUALS, Compliance with the EMC and Low Voltage Directives, Section 1.3, Section 2.3, 2.4, Section 3.1, 3.4.1, Section 4.1.2, 4.2.1, 4.3.1, Section 5.1.2, 5.2.1, 5.2.4, 5.2.5, Section 6.2, Section 6.4, Section 9.2.16, 9.2.17, Section 12.6, Section 12.7.2, Section 14.3 to 14.7, Appendix 12,13
SH (NA)-080058-K Full revision
SH (NA)-080058-L
Partial corrections and additions
Section 3.4.1, Section 4.3.1, 4.3.2, Section 5.6.1, 5.7.2, Section 6.2, 6.4, Section 7.2, Section 8.2.7, 8.2.8, Section 9.2.3, 9.2.16, 9.2.18, Section 10.5, Section 11.2.1, Section 12.4.2, 12.6, 12.7.4, Section 13.2, 13.3, 13.5, Section 14.3, Appendix 3, Appendix 9.2, Appendix 10, 10.2, 10.3 Additions
Appendix 10.4 Changed item numbers Appendix 10.4 to 10.12 Appendix 10.5 to 10.13
SH (NA)-080058-M
Partial corrections and additions
Generic Terms and Abbreviations, Component List, Section 1.1.1, 1.2.1, Section 2.2, 2.3, 2.4, Section 3.1, 3.4.1 to 3.4.4, Section 4.1.2, 4.3.2, Section 5.1.1, 5.1.7, 5.2.1 to 5.2.4, 5.3, 5.4, 5.6.1, 5.6.2, 5.7.1, 5.7.2, Section 6.1, 6.4, 6.5.3, Section 7.1.1, 7.1.2, Section 8.2.2, 8.2.5, 8.3.1, Section 9.1.2, 9.1.4, 9.2.9, 9.2.16 to 9.2.18, Section 11.1.1, 11.2.1, 11.3.1, 11.3.4, 11.4.1, 11.4.4, Section 12.3.2, 12.7.5, 12.7.7, Section 13.5, Section 14.3, 14.6, Section 15.3, 15.4, Appendix 1.1, Appendix 2.2, Appendix 10.1 to 10.13, Appendix 12 to 14 Additions
Appendix 1.2 Addition model QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N, QD75D4N
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Print Date Dec., 2011 Mar., 2012
Jan., 2013 Jun., 2013 Jul., 2014 Feb., 2016
Jul., 2017 Dec., 2019
The manual number is given on the bottom left of the back cover.
Manual Number
Revision
SH (NA)-080058-N Partial corrections and additions COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES, Section 2.4, Section 3.4.2, Section 9.1.2, Appendix 2.2
SH (NA)-080058-O
Partial corrections and additions Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 5.7.1, Section 9.1.2, Chapter 12, Section 12.1.1, Section 12.3, Appendix 1.1, Appendix 13 Additions
Section 12.3.4
SH (NA)-080058-P
Partial corrections and additions Section 1.1.1, Section 1.2.3, Section 2.3, Section 3.4.1, Section 3.4.4, Section 5.2.1, Section 15.3, Appendix 3, Appendix 9.2, Appendix 10.14, Appendix 13
SH (NA)-080058-Q Partial corrections and additions Section 2.3, Section 12.3.2
SH (NA)-080058-R Partial corrections and additions Section 1.3, Section 5.6.2, Section 9.2.19, Section 9.2.21, Section 12.3.1
SH (NA)-080058-S
Partial corrections and additions
Section 1.1.1, Section 1.3, Section 3.1, Section 3.2.1, Section 3.2.2, Section 3.2.4, Section 5.1.1, Section 5.1.2, Section 5.1.4, Section 5.2.3, Section 5.3, Section 5.6.2, Section 7.1.1, Section 7.2, Section 9.1, Section 9.1.1, Section 9.1.5, Section 9.1.6, Section 9.2.1, Section 12.4.1 to 12.4.3, Section 12.7.1, Section 13.2, Section 13.3, Section 15.3, Appendix 1.1, Appendix 2.2, Appendix 3, Appendix 10.9, Appendix 13 Additions Section 9.2.12, Section 9.2.13 Changed item numbers Section 9.2.12 to Section 9.2.23 Section 9.2.14 to Section 9.2.25 Deletions
Appendix 2.3
SH (NA)-080058-T Partial corrections and additions Section 3.2.3, Section 4.3.1, Section 10.3.4, Section 12.1.1, Section
12.6, Section 14.3, Appendix 7.1, Appendix 12
SH (NA)-080058-U Partial corrections and additions Appendix 9.2
Japanese Manual Version SH-080047-AA 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
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INTRODUCTION
Thank you for purchasing the Mitsubishi Electric general-purpose programmable controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series programmable controller before starting use to ensure correct usage of this product.
CONTENTS
SAFETY PRECAUTIONS............................................................................................................................ A- 1 CONDITIONS OF USE FOR THE PRODUCT ........................................................................................... A- 5 REVISIONS .................................................................................................................................................. A- 6 INTRODUCTION ........................................................................................................................................ A- 9 CONTENTS.................................................................................................................................................. A- 9 ABOUT MANUALS .......................................................................................................................................A- 17 USING THIS MANUAL .................................................................................................................................A- 17 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES ..............................................................A- 18 GENERIC TERMS AND ABBREVIATIONS ................................................................................................A- 18 COMPONENT LIST ......................................................................................................................................A- 19
PART 1 PRODUCT SPECIFICATIONS AND HANDLING
1. PRODUCT OUTLINE
1- 1 to 1- 24
1.1 Positioning control .................................................................................................................................. 1- 2 1.1.1 Features of QD75............................................................................................................................ 1- 2 1.1.2 Purpose and applications of positioning control............................................................................. 1- 5 1.1.3 Mechanism of positioning control ................................................................................................... 1- 7 1.1.4 Outline design of positioning system .............................................................................................. 1- 9 1.1.5 Communicating signals between QD75 and each module............................................................. 1- 12
1.2 Flow of system operation ........................................................................................................................ 1- 15 1.2.1 Flow of all processes........................................................................................................................ 1- 15 1.2.2 Outline of starting ............................................................................................................................. 1- 18 1.2.3 Outline of stopping ........................................................................................................................... 1- 20 1.2.4 Outline of restarting .......................................................................................................................... 1- 22
1.3 Restrictions on using a stepping motor .................................................................................................. 1- 23 1.4 Function additions/modifications according to function version B......................................................... 1- 23
2. SYSTEM CONFIGURATION
2- 1 to 2- 10
2.1 General image of system....................................................................................................................... 2- 2 2.2 Configuration list..................................................................................................................................... 2- 4 2.3 Applicable system .................................................................................................................................. 2- 6 2.4 How to check the function version and SERIAL No. ........................................................................... 2- 8
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3. SPECIFICATIONS AND FUNCTIONS
3- 1 to 3- 30
3.1 Performance specifications.................................................................................................................... 3- 2 3.2 List of functions ..................................................................................................................................... 3- 6
3.2.1 QD75 control functions.................................................................................................................... 3- 6 3.2.2 QD75 main functions....................................................................................................................... 3- 8 3.2.3 QD75 sub functions and common functions ................................................................................... 3- 10 3.2.4 Combination of QD75 main functions and sub functions................................................................ 3- 14 3.3 Specifications of input/output signals with CPU module........................................................................ 3- 16 3.3.1 List of input/output signals with CPU module.................................................................................. 3- 16 3.3.2 Details of input signals (QD75 CPU module) ............................................................................ 3- 17 3.3.3 Details of output signals (CPU module QD75).......................................................................... 3- 18 3.4 Specifications of input/output interfaces with external devices ............................................................. 3- 19 3.4.1 Electrical specifications of input/output signals ............................................................................... 3- 19 3.4.2 Signal layout for external device connection connector.................................................................. 3- 25 3.4.3 List of input/output signal details...................................................................................................... 3- 26 3.4.4 Input/output interface internal circuit................................................................................................ 3- 28
4. INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4- 1 to 4- 16
4.1 Outline of installation, wiring and maintenance..................................................................................... 4- 2 4.1.1 Installation, wiring and maintenance procedures........................................................................... 4- 2 4.1.2 Names of each part ......................................................................................................................... 4- 3 4.1.3 Handling precautions ...................................................................................................................... 4- 5
4.2 Installation .............................................................................................................................................. 4- 7 4.2.1 Installation precautions ................................................................................................................... 4- 7
4.3 Wiring...................................................................................................................................................... 4- 8 4.3.1 Wiring precautions........................................................................................................................... 4- 8 4.3.2 Wiring of the differential driver common terminal............................................................................ 4- 14
4.4 Checking installation and wiring ............................................................................................................. 4- 15 4.4.1 Items to check when installation and wiring are completed............................................................ 4- 15
4.5 Maintenance............................................................................................................................................ 4- 16 4.5.1 Maintenance precautions................................................................................................................. 4- 16 4.5.2 Disposal precautions ........................................................................................................................ 4- 16
5. DATA USED FOR POSITIONING CONTROL
5- 1 to 5-134
5.1 Types of data.......................................................................................................................................... 5- 2 5.1.1 Parameters and data required for control....................................................................................... 5- 2 5.1.2 Setting items for positioning parameters ........................................................................................ 5- 5 5.1.3 Setting items for OPR parameters.................................................................................................. 5- 7 5.1.4 Setting items for positioning data.................................................................................................... 5- 8 5.1.5 Setting items for block start data ..................................................................................................... 5- 10 5.1.6 Setting items for condition data ....................................................................................................... 5- 11 5.1.7 Types and roles of monitor data ...................................................................................................... 5- 12 5.1.8 Types and roles of control data ....................................................................................................... 5- 15
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5.2 List of parameters ................................................................................................................................... 5- 18 5.2.1 Basic parameters 1 .......................................................................................................................... 5- 18 5.2.2 Basic parameters 2 .......................................................................................................................... 5- 24 5.2.3 Detailed parameters 1...................................................................................................................... 5- 26 5.2.4 Detailed parameters 2...................................................................................................................... 5- 36 5.2.5 OPR basic parameters..................................................................................................................... 5- 45 5.2.6 OPR detailed parameters ................................................................................................................ 5- 52
5.3 List of positioning data ............................................................................................................................ 5- 56 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 .............................................................................................................................. 5-114
6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6- 1 to 6- 46
6.1 Precautions for creating program .......................................................................................................... 6- 2 6.2 List of devices used................................................................................................................................ 6- 5 6.3 Creating a program ................................................................................................................................. 6- 11
6.3.1 General configuration of program .................................................................................................... 6- 11 6.3.2 Positioning control operation program............................................................................................. 6- 12 6.4 Positioning program examples ............................................................................................................... 6- 15 6.5 Program details ....................................................................................................................................... 6- 25 6.5.1 Initialization program ........................................................................................................................ 6- 25 6.5.2 Start details setting program ............................................................................................................ 6- 26 6.5.3 Start program.................................................................................................................................... 6- 28 6.5.4 Continuous operation interrupt program.......................................................................................... 6- 38 6.5.5 Restart program ............................................................................................................................... 6- 40 6.5.6 Stop program.................................................................................................................................... 6- 44
7. MEMORY CONFIGURATION AND DATA PROCESS
7- 1 to 7- 12
7.1 Configuration and roles of QD75 memory ............................................................................................ 7- 2 7.1.1 Configuration and roles of QD75 memory...................................................................................... 7- 2 7.1.2 Buffer memory area configuration .................................................................................................. 7- 5
7.2 Data transmission process .................................................................................................................... 7- 6
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PART 2 CONTROL DETAILS AND SETTING
8. OPR CONTROL
8- 1 to 8- 24
8.1 Outline of OPR control ........................................................................................................................... 8- 2 8.1.1 Two types of OPR control ............................................................................................................... 8- 2
8.2 Machine OPR ......................................................................................................................................... 8- 4 8.2.1 Outline of the machine OPR operation........................................................................................... 8- 4 8.2.2 Machine OPR method..................................................................................................................... 8- 5 8.2.3 OPR method (1): Near-point dog method ...................................................................................... 8- 7 8.2.4 OPR method (2): Stopper method 1) ............................................................................................. 8- 9 8.2.5 OPR method (3): Stopper method 2) .............................................................................................. 8- 12 8.2.6 OPR method (4): Stopper method 3) .............................................................................................. 8- 15 8.2.7 OPR method (5): Count method 1) ................................................................................................. 8- 17 8.2.8 OPR method (6): Count method 2) ................................................................................................. 8- 20
8.3 Fast OPR................................................................................................................................................. 8- 23 8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 23
9. MAJOR POSITIONING CONTROL
9- 1 to 9-140
9.1 Outline of major positioning controls ..................................................................................................... 9- 2 9.1.1 Data required for major positioning control .................................................................................... 9- 4 9.1.2 Operation patterns of major positioning controls ........................................................................... 9- 5 9.1.3 Designating the positioning address................................................................................................ 9- 16 9.1.4 Confirming the current value............................................................................................................ 9- 17 9.1.5 Control unit "degree" handling ......................................................................................................... 9- 19 9.1.6 Interpolation control.......................................................................................................................... 9- 23
9.2 Setting the positioning data ................................................................................................................... 9- 29 9.2.1 Relation between each control and positioning data ...................................................................... 9- 29 9.2.2 1-axis linear control .......................................................................................................................... 9- 31 9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 33 9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 37 9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -43 9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 47 9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 49 9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 52 9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 57 9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 60 9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 66 9.2.12 3-axis helical interpolation control with sub point designation ...................................................... 9- 74 9.2.13 3-axis helical interpolation control with center point designation.................................................. 9- 82 9.2.14 1-axis speed control ....................................................................................................................... 9- 91 9.2.15 2-axis speed control ....................................................................................................................... 9- 94 9.2.16 3-axis speed control ....................................................................................................................... 9- 97 9.2.17 4-axis speed control ...................................................................................................................... 9-101 9.2.18 Speed-position switching control (INC mode).............................................................................. 9-106 9.2.19 Speed-position switching control (ABS mode)............................................................................. 9-115
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9.2.20 Position-speed switching control .................................................................................................. 9-123 9.2.21 Current value changing ................................................................................................................. 9-130 9.2.22 NOP instruction ............................................................................................................................. 9-135 9.2.23 JUMP instruction ........................................................................................................................... 9-136 9.2.24 LOOP ............................................................................................................................................. 9-138 9.2.25 LEND ............................................................................................................................................. 9-139
10. HIGH-LEVEL POSITIONING CONTROL
10- 1 to 10- 28
10.1 Outline of high-level positioning control ............................................................................................ 10- 2 10.1.1 Data required for high-level positioning control.......................................................................... 10- 3 10.1.2 "Block start data" and "condition data" configuration ................................................................. 10- 4
10.2 High-level positioning control execution procedure ........................................................................ 10- 6 10.3 Setting the block start data ................................................................................................................ 10- 7
10.3.1 Relation between various controls and block start data ............................................................ 10- 7 10.3.2 Block start (normal start) ........................................................................................................... 10- 8 10.3.3 Condition start .............................................................................................................................. 10- 10 10.3.4 Wait start....................................................................................................................................... 10- 11 10.3.5 Simultaneous start ...................................................................................................................... 10- 12 10.3.6 Repeated start (FOR loop) ......................................................................................................... 10- 14 10.3.7 Repeated start (FOR condition) ................................................................................................. 10- 15 10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 16 10.4 Setting the condition data ................................................................................................................... 10- 17 10.4.1 Relation between various controls and the condition data ......................................................... 10- 17 10.4.2 Condition data setting examples ................................................................................................. 10- 20 10.5 Multiple axes simultaneous start control ............................................................................................ 10- 21 10.6 Start program for high-level positioning control ................................................................................. 10- 24 10.6.1 Starting high-level positioning control.......................................................................................... 10- 24 10.6.2 Example of a start program for high-level positioning control .................................................... 10- 25
11. MANUAL CONTROL
11- 1 to 11- 34
11.1 Outline of manual control ................................................................................................................. 11- 2 11.1.1 Three manual control methods ................................................................................................... 11- 2
11.2 JOG operation .................................................................................................................................... 11- 4 11.2.1 Outline of JOG operation ............................................................................................................ 11- 4 11.2.2 JOG operation execution procedure .......................................................................................... 11- 7 11.2.3 Setting the required parameters for JOG operation................................................................... 11- 8 11.2.4 Creating start programs for JOG operation................................................................................. 11- 10 11.2.5 JOG operation example ............................................................................................................... 11- 13
11.3 Inching operation................................................................................................................................. 11- 16 11.3.1 Outline of inching operation ......................................................................................................... 11- 16 11.3.2 Inching operation execution procedure ....................................................................................... 11- 19 11.3.3 Setting the required parameters for inching operation ............................................................... 11- 20 11.3.4 Creating a program to enable/disable the inching operation...................................................... 11- 21 11.3.5 Inching operation example........................................................................................................... 11- 24
11.4 Manual pulse generator operation...................................................................................................... 11- 26 11.4.1 Outline of manual pulse generator operation .............................................................................. 11- 26
A - 13
11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 30 11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 31 11.4.4 Creating a program to enable/disable the manual pulse generator operation ......................... 11- 32
12. CONTROL SUB FUNCTIONS
12- 1 to 12-110
12.1 Outline of sub functions ..................................................................................................................... 12- 2 12.1.1 Outline of sub functions .............................................................................................................. 12- 2
12.2 Sub functions specifically for machine OPR ..................................................................................... 12- 4 12.2.1 OPR retry function....................................................................................................................... 12- 4 12.2.2 OP shift function ........................................................................................................................ 12- 8
12.3 Functions for compensating the control ............................................................................................. 12- 12 12.3.1 Backlash compensation function ................................................................................................. 12- 12 12.3.2 Electronic gear function ............................................................................................................... 12- 14 12.3.3 Near pass function ....................................................................................................................... 12- 21 12.3.4 Output timing selection of near pass control ............................................................................... 12- 23
12.4 Functions to limit the control ............................................................................................................... 12- 27 12.4.1 Speed limit function ...................................................................................................................... 12- 27 12.4.2 Torque limit function ..................................................................................................................... 12- 29 12.4.3 Software stroke limit function ....................................................................................................... 12- 33 12.4.4 Hardware stroke limit function ..................................................................................................... 12- 39
12.5 Functions to change the control details.............................................................................................. 12- 41 12.5.1 Speed change function ................................................................................................................ 12- 41 12.5.2 Override function .......................................................................................................................... 12- 48 12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 51 12.5.4 Torque change function ............................................................................................................... 12- 56 12.5.5 Target position change function .................................................................................................. 12- 58
12.6 Absolute position restoration function ................................................................................................ 12- 62 12.7 Other functions .................................................................................................................................... 12- 73
12.7.1 Step function................................................................................................................................. 12- 73 12.7.2 Skip function ................................................................................................................................. 12- 78 12.7.3 M code output function................................................................................................................. 12- 81 12.7.4 Teaching function ......................................................................................................................... 12- 86 12.7.5 Command in-position function ..................................................................................................... 12- 93 12.7.6 Acceleration/deceleration processing function............................................................................ 12- 96 12.7.7 Pre-reading start function............................................................................................................. 12- 99 12.7.8 Deceleration start flag function ................................................................................................... 12-104 12.7.9 Stop command processing for deceleration stop function.........................................................12-108
13. COMMON FUNCTIONS
13- 1 to 13- 8
13.1 Outline of common functions ............................................................................................................. 13- 2 13.2 Parameter initialization function......................................................................................................... 13- 3 13.3 Execution data backup function ........................................................................................................ 13- 5 13.4 External I/O signal logic switching function ....................................................................................... 13- 7 13.5 External I/O signal monitor function .................................................................................................. 13- 8
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14. DEDICATED INSTRUCTIONS
14- 1 to 14- 24
14.1 List of dedicated instructions ............................................................................................................. 14- 2 14.2 Interlock during dedicated instruction is executed ............................................................................ 14- 2 14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4............................................................................... 14- 3 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4...................................................................... 14- 8 14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 ..................................................................... 14- 12 14.6 ZP.PFWRT .......................................................................................................................................... 14- 16 14.7 ZP.PINIT.............................................................................................................................................. 14- 20
15. TROUBLESHOOTING
15- 1 to 15- 50
15.1 Troubleshooting ................................................................................................................................. 15- 2 15.2 Error and warning details ................................................................................................................... 15- 6 15.3 List of errors ........................................................................................................................................ 15- 10 15.4 List of warnings ................................................................................................................................... 15- 42
APPENDICES
Appendix- 1 to Appendix-164
Appendix 1 Version up of the functions .......................................................................................... Appendix- 2 Appendix 1.1 Comparison of functions according to function versions..................................... Appendix- 2 Appendix 1.2 Precautions for the replacement of QD75P /QD75D with QD75P N/QD75D N ..................................................................................................................................................... Appendix- 3
Appendix 2 Format sheets .............................................................................................................. Appendix- 7 Appendix 2.1 Positioning Module operation chart .................................................................... Appendix- 7 Appendix 2.2 Parameter setting value entry table ......................................................................Appendix- 10
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses...............................Appendix- 16 Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
.......................................................................................................................................Appendix- 48 Appendix 4.1 Connection example of QD75D N and MR-J3- A (Differential driver)..........Appendix- 48 Appendix 4.2 Connection example of QD75D N and MR-H A (Differential driver) ............Appendix- 49 Appendix 4.3 Connection example of QD75D N and MR-J2/J2S- A (Differential driver) ..Appendix- 50 Appendix 4.4 Connection example of QD75D N and MR-C A (Differential driver) ............Appendix- 51 Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
.......................................................................................................................................Appendix- 52 Appendix 5.1 Connection example of QD75P N and VEXTA UPD (Open collector) ..............Appendix- 52 Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation
.......................................................................................................................................Appendix- 53 Appendix 6.1 Connection example of QD75D N and MINAS-A series (Differential driver) ....Appendix- 53 Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
.......................................................................................................................................Appendix- 54 Appendix 7.1 Connection example of QD75D N and PYO series (Differential driver) ............Appendix- 54 Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
.......................................................................................................................................Appendix- 55 Appendix 8.1 Connection example of QD75D N and - series (Differential driver)..............Appendix- 55 Appendix 9 Comparisons with conventional positioning modules..................................................Appendix- 56 Appendix 9.1 Comparisons with A1SD71S2 model....................................................................Appendix- 56
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Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 57 Appendix 10 When using GX Works2.............................................................................................Appendix- 80
Appendix 10.1 Adding a module..................................................................................................Appendix- 81 Appendix 10.2 Setting parameters ..............................................................................................Appendix- 82 Appendix 10.3 Setting auto refresh .............................................................................................Appendix- 87 Appendix 10.4 Positioning monitor ..............................................................................................Appendix- 88 Appendix 10.5 Positioning test.....................................................................................................Appendix- 98 Appendix 10.6 Wave trace ........................................................................................................Appendix-106 Appendix 10.7 Location trace .....................................................................................................Appendix-109 Appendix 10.8 Parameter initialization function .........................................................................Appendix-112 Appendix 10.9 Execution data backup function .........................................................................Appendix-114 Appendix 10.10 External I/O signal logic switching function......................................................Appendix-116 Appendix 10.11 External I/O signal monitor function .................................................................Appendix-117 Appendix 10.12 History monitor function....................................................................................Appendix-118 Appendix 10.13 Checking errors.................................................................................................Appendix-120 Appendix 11 MELSEC Explanation of positioning terms...............................................................Appendix-124 Appendix 12 Positioning control troubleshooting ...........................................................................Appendix-144 Appendix 13 List of buffer memory addresses...............................................................................Appendix-150 Appendix 14 External dimension drawing ......................................................................................Appendix-159
INDEX
Index- 1 to Index- 12
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ABOUT MANUALS
The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.
Related Manuals
Manual Name
GX Configurator-QP Version 2 Operating Manual Data creation (such as parameters and positioning data) and operations of transferring data to modules, positioning monitor, and tests using GX Configurator-QP.......................................... (sold separately)*1
Manual Number (Model Code)
SH-080172 (13JU19)
GX Developer Version 8 Operating Manual Operating methods of GX Developer, such as programming, printing, monitoring, and debugging (sold separately)
SH-080373E (13JU41)
GX Works2 Version1 Operating Manual (Common)
System configuration, parameter settings, and online operations (common to Simple project and Structured project) of GX Works2................................................................................. (sold separately)
SH-080779ENG (13JU63)
GX Works2 Version1 Operating Manual (Intelligent Function Module)
Parameter settings, monitoring, and operations of the pre-defined protocol support function of intelligent function modules, using GX Works2 ............................................................................ (sold separately)
SH-080921ENG (13JU69)
1: The manual is included in the CD-ROM of the software package in a PDF-format file. For users interested in buying the manual separately, a printed version is available. Please contact us with the manual number (model code) in the list above.
USING THIS MANUAL
The symbols used in this manual are shown below.
Pr. ......... Symbol indicating positioning parameter and OPR parameter item. Da. ........ Symbol indicating positioning data, block start data and condition
data item. Md. ........ Symbol indicating monitor data item. Cd. ........ Symbol indicating control data item.
(A serial No. is inserted in the mark.) Representation of numerical values used in this manual.
Buffer memory addresses, error codes and warning codes are represented in decimal. X/Y devices are represented in hexadecimal. Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" are represented in hexadecimal.
(Example) 10.........Decimal 10H ......Hexadecimal
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COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES
(1) Method of ensuring compliance
To ensure that Mitsubishi Electric programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. � QCPU User's Manual (Hardware Design, Maintenance and Inspection) � Safety Guidelines (this manual is included with the CPU module or base unit)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.
(2) Additional measures
To ensure that this product maintains EMC and Low Voltage Directives, please refer to Section 4.3.1.
GENERIC TERMS AND ABBREVIATIONS
Unless specially noted, the following generic terms and abbreviations are used in this manual.
Generic term/abbreviation
Details of generic term/abbreviation
CPU module
Generic term for CPU module on which QD75 can be mounted.
QD75
Generic term for positioning module QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N,
QD75D4N, QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4.
The module type is described to indicate a specific module.
QD75P N
Generic term for positioning module QD75P1N, QD75P2N, QD75P4N.
QD75D N
Generic term for positioning module QD75D1N, QD75D2N, QD75D4N.
QD75P
Generic term for positioning module QD75P1, QD75P2, QD75P4.
QD75D
Generic term for positioning module QD75D1, QD75D2, QD75D4.
Peripheral device
Generic term for DOS/V personal computer that can run the following "GX Developer" and
"GX Configurator-QP".
GX Configurator-QP
Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later).
GX Developer
Abbreviation for GX Developer (SW4D5C-GPPW-E or later).
GX Works2
Product name of the software package for the MELSEC programmable controllers.
Drive unit (servo amplifier) Abbreviation for pulse input compatible drive unit (servo amplifier).
Manual pulse generator DOS/V personal computer Personal computer
Abbreviation for manual pulse generator (prepared by user). IBM PC/AT� and compatible DOS/V compliant personal computer.
Generic term for personal computer which supports Windows�.
Workpiece
Generic term for moving body such as workpiece and tool, and for various control targets.
Axis 1, axis 2, axis 3, axis 4 Indicates each axis connected to QD75.
1-axis, 2-axis, 3-axis, 4-axis Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis
2, axis 2 and axis 3, and axis 3 and axis 1.)
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COMPONENT LIST
Module name QD75P1N QD75P2N QD75P4N QD75D1N
QD75D2N
QD75D4N QD75P1 QD75P2 QD75P4 QD75D1
QD75D2
QD75D4
The table below shows the component included in respective positioning modules:
Description QD75P1N Positioning Module(1-axis open collector output system) QD75P2N Positioning Module(2-axes open collector output system) QD75P4N Positioning Module(4-axes open collector output system) QD75D1N Positioning Module(1-axis differential driver output system) Differential driver common terminal QD75D2N Positioning Module(2-axes differential driver output system) Differential driver common terminal QD75D4N Positioning Module(4-axes differential driver output system) Differential driver common terminal QD75P1 Positioning Module(1-axis open collector output system) QD75P2 Positioning Module(2-axes open collector output system) 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
Quantity 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
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MEMO
A - 20
PART 1
PART 1 PRODUCT SPECIFICATIONS AND HANDLING
PART 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the QD75 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process
Read PART 2 for details on each control.
CHAPTER 1 PRODUCT OUTLINE ................................................................................. 1- 1 to 1- 24 CHAPTER 2 SYSTEM CONFIGURATION ..................................................................... 2- 1 to 2- 10 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS ...................................................... 3- 1 to 3- 30 CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT ... 4- 1 to 4- 16 CHAPTER 5 DATA USED FOR POSITIONING CONTROL.......................................... 5- 1 to 5-134 CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... 6- 1 to 6- 46 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS ............................ 7- 1 to 7- 12
MEMO
1
CHAPTER 1 PRODUCT OUTLINE
The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly.
1.1 Positioning control ...................................................................................................... 1- 2 1.1.1 Features of QD75 ......................................................................................... 1- 2 1.1.2 Purpose and applications of positioning control .......................................... 1- 5 1.1.3 Mechanism of positioning control ................................................................. 1- 7 1.1.4 Outline design of positioning system............................................................ 1- 9 1.1.5 Communicating signals between QD75 and each module ..........................1- 12
1.2 Flow of system operation ............................................................................................1- 15 1.2.1 Flow of all processes .....................................................................................1- 15 1.2.2 Outline of starting...........................................................................................1- 18 1.2.3 Outline of stopping .........................................................................................1- 20 1.2.4 Outline of restarting........................................................................................1- 22
1.3 Restrictions on using a stepping motor ......................................................................1- 23 1.4 Function additions/modifications according to function version B .............................1- 23
1 - 1
1 PRODUCT OUTLINE
MELSEC-Q
1.1 Positioning control
1.1.1 Features of QD75
The features of the QD75 are shown below.
(1) Availability of one, two, and four axis modules
(a) The pulse output types of the available modules are either the open collector output system or the differential driver output system. A module can be selected from the following depending on the drive unit type and the number of axes. (Refer to Section 2.2.) � Open collector output system: QD75P1N/QD75P2N/QD75P4N (QD75P1/QD75P2/QD75P4) � Differential driver output system: QD75D1N/QD75D2N/QD75D4N (QD75D1/QD75D2/QD75D4)
(b) For connecting any of the QD75 modules to the base unit, a single slot and 32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the CPU module, up to 64 modules can be used. (Refer to Section 3.1.)
(2) Wide variety of positioning control functions
(a) A wide variety of positioning control functions essential to any positioning system are supported: positioning to an arbitrary position, fixed-feed control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.) 1) Up to 600 positioning data items, including such information as positioning addresses, control systems, and operation patterns, can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible.) 2) Independent control of each axis can be achieved in linear control mode (executable simultaneously over four axes). Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data. 3) Coordinated control over multiple axes can take the form of either the linear interpolation through the speed or position control of two to four axes or the circular interpolation involving two axes. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.
(b) For each positioning data, the user can specify any of the following control systems: position control, speed control, speed-position switching control, position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.)
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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: trapezoidal acceleration/deceleration and S-curve acceleration/deceleration. (Refer to Section 12.7.6.) (Note that there is a restriction on executing the S-curve acceleration/deceleration for the system using stepping motors. Refer to Section 1.3.)
(3) Quick startup (Refer to Section 3.1.)
The processing time to start the positioning operation is shortened.
QD75P N/QD75D N: 1.5ms (QD75P /QD75D : 6ms)
When operation using simultaneous start function or interpolation operation is
executed, the axes start without delay.
(Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and
simultaneous start function
Axis 3 start
Axis 2 and Axis 4 are started by the : No delay in Axis 2 and
interpolation operation
Axis 4 start
(4) Faster pulse output and allowance of longer distance to drive unit (Refer to Section 3.1.)
The modules with a differential driver (QD75D N (QD75D )) incorporate the improvements in pulse output speed and maximum distance to the drive unit. � QD75D N: 4Mpulse/s, 10m max. (QD75D : 1Mpulse/s, 10m max.) � QD75P N: 200kpulse/s, 2m max. (QD75P : 200kpulse/s, 2m max.)
(5) Easy maintenance
Each QD75 positioning module incorporates the following improvements in maintainability: (a) Data such as the positioning data and parameters can be stored on a flash
ROM inside the QD75, eliminating the need of a battery for retaining data. (Refer to Section 7.1.1.)
(b) Error messages are classified in more detail to facilitate the initial troubleshooting procedure. (Refer to Section 15.1.)
(c) The module retains 16 error messages and 16 warning messages recently output, offering more complete error and warning histories. (Refer to Section 5.6.1.)
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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.
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1 PRODUCT OUTLINE
MELSEC-Q
1.1.2 Purpose and applications of positioning control
"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.
Punch press (X, Y feed positioning)
Y axis
Gear and ball screw
servomotor
X axis Y axis
Y axis
320mm 160mm
Press punching 12s
15m/min (2000r/min)
15m/min (1875r/min)
Servo amplifier
Press head
X axis Gear and rack & pinion
X axis servomotor
QD75
Servo amplifier
X axis Y axis
To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos.
After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is then punched with the press.
When the material type or shape changes, the press head die is changed, and the positioning pattern is changed.
Palletizer
Conveyor control
Servomotor (with brakes)
Conveyor
Servo amplifier
Reduction gears
Ball screw (From QD75)
Position detector
Palletizer Unloader control
Using the servo for one axis, the palletizer is positioned at a high accuracy.
The amount to lower the palletizer according to the material thickness is saved.
QD75
Compact machining center (ATC magazine positioning)
Servo amplifier
QD75
Servomotor Coupling
Reduction gears
ATC tool magazine
Positioning pin
Tool (12 pcs., 20 pcs.)
Rotation direction for calling 11, 12, 1, 2 or 3
Current value retrieval position
Rotation direction for calling 17 to 20, 1 to 5
Current value retrieval position
Rotation direction
Rotation direction
for calling
for calling 7 to 16
5, 6, 7, 8, 9 or 10
<No. of tools: 12>
<No. of tools: 20>
The ATC tool magazine for a compact machining center is positioned.
The relation of the magazine's current value and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time.
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1 PRODUCT OUTLINE
Lifter (Storage of Braun tubes onto aging rack)
Unloader Loader/unloader
B conveyor
Lifter Counterweight
C conveyor A conveyor
Aging rack Servo amplifier
Reduction gears
Loader
Servomotor (with brakes)
Servomotor
Servo amplifier
QD75
Index table (High-accuracy indexing of angle)
QD75
Digital switch Index table
Servo amplifier
MELSEC-Q
During the aging process of braun tubes, storage onto the rack is carried out by positioning with the AC servo.
The up/down positioning of the lifter is carried out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.
The index table is positioned at a high accuracy using the 1-axis servo.
Worm gears
Detector Servomotor
Inner surface grinder
Servomotor Inverter
Motor
Workpiece Grinding stone
Motor
220VAC 60Hz
QD75
Servo amplifier
Inverter
Fix the grinding stone, feed the workpiece, and grind.
Operation panel
a. Total feed amount ( m)
b. Finishing feed amount ( m)
c. Compensation amount ( m)
d. Rough grinding speed ( m/s)
e. Fine grinding speed ( m/s)
The grinding of the workpiece's inner surface is controlled with the servo and inverter.
The rotation of the workpiece is controlled with 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.
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1 PRODUCT OUTLINE
MELSEC-Q
1.1.3 Mechanism of positioning control
Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a module that generates pulses). In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the CPU module.
Creates control order and conditions as a sequence program.
Stores the created program.
The QD75 outputs the start signal and stop signal following the stored program.
QD75 errors, etc., are detected.
GX Developer
CPU module
Outputs signals such as the start signal, stop signal, limit signal and control changeover signal to the QD75.
GX Configurator -QP
QD75 positioning module
External signal Issues commands by transmitting pulses.
Manual pulse generator
Sets the parameters and positioning data for control.
Outputs the start command for JOG operation, etc., during test operation with the test mode.
Monitors the positioning operation.
Servo amplifier
Stores the parameter and data. Outputs pulses to the servo according to the instructions from the CPU module, GX Configurator-QP, external signals and manual pulse generator.
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
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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.
Total No. of pulses
Designated distance
required to move = Movement amount of machine (load)
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
[pps]
This area is the total
No. of commanded
pulses. A
ta
td (s)
0.4
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".
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1.1.4 Outline design of positioning system
The outline of the positioning system operation and design, using the QD75, is shown below.
(1) Positioning system using QD75
CPU module
Positioning module QD75 Forward run
pulse train
Program
Read, write, etc.
Reverse run Setting pulse train
data
Peripheral devices interface
Read, write, etc.
Deviation counter
Read, write, etc. GX Configurator-QP
Drive unit
Speed
D/A
command Servo
converter
amplifier
Interface Feedback pulse
Servomotor M
PLG
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).
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(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.
Speed V
Pulse droop amount
Pulse distribution
Servomotor speed
Acceleration
Pulse train Rough
Dense
Deceleration
Time t
Stop settling time
Rough
Fig. 1.3 QD75 output pulses
(2) Movement amount and speed in a system using worm gears
Pulse encoder (PLG)
Servomotor
A : Movement amount per pulse (mm/pulse)
V
Workpiece Worm gear
Vs : Command pulse frequency (pulse/s) n : Pulse encoder resolution (pulse/rev) L : Worm gear lead (mm/rev) R : Deceleration ratio
R
Table L
V : Movable section speed (mm/s) N : Motor speed (r/min)
K : Position loop gain (1/s)
P0
P
: Deviation counter droop pulse amount
P0 : OP (pulse)
P : Address (pulse)
Fig. 1.4 System using worm gears
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1 PRODUCT OUTLINE
MELSEC-Q
(a) In the system shown in Fig. 1.4, the movement amount per pulse,
command pulse frequency, and the deviation counter droop pulse amount
are determined as follows:
1) Movement amount per pulse
The movement amount per pulse is determined by the worm gear lead,
deceleration ratio, and the pulse encoder resolution.
The movement amount, therefore, is given as follows: (Number of
pulses output) � (Movement amount per pulse).
A =
L R n
[mm/pulse]
2) Command pulse frequency
The command pulse frequency is determined by the speed of the
moving part and movement amount per pulse:
Vs =
V A
[pulse/s]
3) Deviation counter droop pulse amount.
The deviation counter droop pulse amount is determined by the
command pulse frequency and position loop gain.
=
Vs K
[pulse]
(b) The QD75 allows the user to select from the following four units as the unit used by positioning commands to any of the axes (1 to 4, if the module supports four axes): mm, inch, degree, and pulse. The unit selected for one axis may differ from the unit selected for another axis. When such data as the acceleration/deceleration time, positioning speed, and positioning address are correctly set in consideration of the chosen unit, the QD75 can calculate the number of pulses required for a movement amount to the target positioning address and execute the positioning by outputting a pulse train that includes the calculated number of pulses.
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1.1.5 Communicating signals between QD75 and each module
The outline of the signal communication between the QD75 and CPU module, peripheral device and drive unit, etc., is shown below. (A peripheral device communicates with the QD75 via the CPU module to which it is connected)
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QD75 CPU module
The QD75 and CPU module communicate the following data via the base unit.
Direction Communication
QD75 CPU module
Control signal
Signal indicating QD75 state, such as QD75 READY signal, BUSY signal.
Data (read/write)
� Parameter � Positioning data � Block start data � Control data � Monitor data
CPU module QD75
Signal related to commands such as PLC READY signal, various start signals, stop signals
� Parameter � Positioning data � Block start data � Control data
Refer to Section 3.3 "Specifications of input/output signals with CPU module " for details.
QD75 Peripheral device
The QD75 and peripheral device communicate the following data via the CPU module:
Direction Communication
QD75 Peripheral device
Data (read/write)
� Parameter � Positioning data � Block start data
Test operation
�
Operation monitor
� Monitor data
Peripheral device QD75
� Parameter � Positioning data � Block start data � OPR control start command � Positioning control start command � JOG/Inching operation start command � Teaching start command � Manual pulse generator operation
enable/disable command �
QD75 Drive unit
The QD75 and drive unit communicate the following data via the external device connection connector.
Direction Communication
QD75 Drive unit
Control signal
Signals related to commands such as deviation counter clear signal
Pulse train
� Pulse train output
Drive unit QD75
Signals indicating drive unit state such as drive unit READY signal
�
QD75 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
QD75
Pulse signal
Manual pulse generator
Manual pulse generator QD75
�
Manual pulse generator A-phase, manual pulse generator B-phase
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QD75 External signal
The QD75 and external signal communicate the following data via the external device connection connector.
Direction Communication
Control signal
QD75 External signal �
External signal QD75
Signals from detector such as near-point dog signal, upper/lower limit signal, zero signal
Control signals from external device such as stop signal, external command signal
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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.
CPU module
GX Developer
Design
1) Understand the functions and performance, and determine the positioning operation method
(system design)
2) Installation, wiring
Preparation
3) Setting of the: � Parameters � Positioning data � Block start data � Condition data
Writing of setting data
7)
Monitoring with test operation, and debugging of setting data
4) Creation of sequence program for operation
Refer to (Note)
5)
6)
Writing of program
Connection confirmation Test operation
8)
Monitoring and debugging of operation program
9)
Operation
Monitor
Actual operation
Maintenance
10)
Maintenance
11)
Disposal
1 - 15
Monitor
(Note) 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
1)
Understand the product functions and usage methods, the configuration devices and specifications required for positioning control, and design the system.
CHAPTER 1 CHAPTER 2 CHAPTER 3 CHAPTER 8 to CHAPTER 13
2)
Install the QD75 onto the base unit, wire the QD75 and external connection devices (drive unit, etc.).
CHAPTER 4
3)
Using GX Configurator-QP, set the parameters, positioning data, block start data and condition data required for the positioning control to be executed. 1
CHAPTER 5
CHAPTER 8 to CHAPTER 13
GX Configurator-QP Operating Manual
Using GX Developer, create the sequence program required for positioning 4) operation. (When not using GX Configurator-QP, also create the sequence
program for setting data.)
CHAPTER 6
GX Developer Operating Manual
5)
Write the parameters and positioning data, etc., created with GX Configurator-QP into the QD75.
CHAPTER 7
GX Configurator-QP Operating Manual
Using GX Developer, write the created sequence program into the CPU module.
6) (When not using GX Configurator-QP, also write in the sequence program for setting data.)
CHAPTER 7
GX Developer Operating Manual
7)
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 positioning operation is executed correctly. (Debug the set "parameters" and
GX Configurator-QP Operating Manual
CHAPTER 13
"positioning data", etc.)
GX Developer Operating
Manual
8)
Carry out test operation and adjustment to confirm that the designated positioning operation is executed correctly. (Debug the created sequence program. When not using GX Configurator-QP, also debug the set data.)
GX Developer Operating Manual
CHAPTER 5
CHAPTER 15
9)
Actually operate the positioning operation. At this time, monitor the operation state GX Configurator-QP
as required. If an error or warning occurs, remedy.
Operating Manual
GX Developer Operating Manual
10) Service the QD75 as required.
CHAPTER 4
11) Dispose of the QD75.
CHAPTER 4
1: When setting the QD75P N/QD75D N using GX Configurator-QP, there are restrictions on the setting ranges of some items. (Refer to Appendix 1.2.)
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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.
Preparation
Flow of starting Installation and connection of module Setting of hardware
Control functions
Major positioning control
�Position control �Speed control �Speed-position switching control �Position-speed switching control �Other control
High-level positioning control
OPR control
Manual control
�Block start (Normal start) �Condition start �Wait start �Simultaneous start �Repeated start
�Machine OPR control �Fast OPR control
�JOG operation �Inching operation �Manual pulse generator operation
Positioning parameters
OPR parameters
Positioning data
Block start data
) )
Set the positioning parameters. 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 )
) )
Control data
Start signal Control start Control end
) )
Set the positioning start No. Cd.3 )
Set the positioning starting point No.
Cd.4 )
)
) )
Set the JOG speed. Cd.17 )
Set the manual pulse generator enable flag to "1".
Cd.21 )
Set the inching movement amount to other than 0.
Cd.16 )
)
Set the inching movement amount to 0.
Cd.16 )
)
Set the manual pulse generator 1 pulse input magnification.
Cd.20 )
Input the start signal. Method (1) Turn ON the QD75 start signal from the
CPU module Method (2) Issue the Z.PSTRT instruction from the CPU module Method (3) Turn the QD75 external start signal ON
Turn the QD75 JOG start signal ON from the CPU module
Operate the manual pulse generator
Operation Stop
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Setting method
: Indicates the sequence program that must be created.
<GX Configurator-QP>
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.
<GX Developer>
Create sequence program for setting data
Write
CPU module
When set with "GX Configurator-QP", this does not need to be created.
QD75 Write
<GX Developer> Create sequence program for executing main function
Create sequence program for outputting control signals, such as start signal, to QD75.
Write Operation sequence program
CPU module
<GX Developer>
� Speed change � Current value changing � Torque limit � Restart, etc.
Create a sequence program for the sub functions.
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1.2.3 Outline of stopping
Each control is stopped in the following cases.
(1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When a CPU module error occurs (4) When the PLC READY signal is turned OFF. (5) When an error occurs in the QD75. (6) When control is intentionally stopped (Stop signal from CPU module turned ON,
stop signal from an external device, etc.)
The outline for the stopping process in these cases is shown below. (Excluding (1) for normal stopping.)
Stop cause
Axis
Stop process
Stop axis
M code ON signal after stop
operation status after
stopping
( Md.26 )
OPR control
Machine Fast OPR OPR control control
Manual control
Major positioning control
High-level positioning control
JOG/ Inching operation
Manual
pulse generator operation
Forced stop
Drive unit READY signal OFF
Each No axis change
Error
Immediate stop
Deceleration stop
Hardware
Fatal stop (Stop group 1)
stroke limit upper/lower limit error
occurrence
Each No axis change
Error
Deceleration stop/sudden stop (Select with " Pr.37 Stop group 1 sudden stop selection")
Deceleration stop
Emergency stop (Stop group 2)
CPU module error occurrence
PLC READY signal OFF
No change
All axes
Turns OFF
Error in test mode
No change
Error
Deceleration stop/sudden stop (Select with " Pr.38 Stop group 2 sudden stop selection")
Deceleration stop
Axis error
Relatively safe stop (Stop group 3)
detection (Error other
than stop group 1 or 2)
Each No axis change
1
Error
"Stop signal" ON from external source
"Axis stop
Intentional stop signal" ON (Stop group 3) from CPU
module
Each No axis change
Stopped (Standby)
Deceleration stop/sudden stop (Select with " Pr.39 Stop group 3 sudden stop selection")
Deceleration stop
"Stop signal"
input from peripheral device 2
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1: When multiple positioning data is executed by the continuous positioning control and there is invalid setting value in a positioning data, an error occurs and deceleration is performed at the previous positioning data. In this case, sudden stop is not performed even when it is set for the stop group 3. If any of the following error occurs, the operation is immediately stopped after executing up to previous positioning data of the positioning data where an error occurred.
� No command speed (error code: 503) � Outside linear movement amount range (error code: 504) � Large arc error deviation (error code: 506) � Software stroke limit + (error code: 507) � Software stroke limit - (error code: 508) � Sub point setting error (error code: 525) � End point setting error (error code: 526) � Center point setting error (error code: 527) � Outside radius range (error code: 544) � Illegal setting of ABS direction in unit of degree (error code: 546)
2: This means the stop using a stop button on the test dialog box when using the positioning test function of GX Works2 or test function of GX Configurator-QP.
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1.2.4 Outline of restarting
When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.6 Restart command".
If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No. associated with the moment when the movement was interrupted) as the start point.
When " Cd.6 Restart command" is ON
(1) If the " Md.26 Axis operation status" is "Stopped", positioning to the end point of the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system.
(2) When " Md.26 Axis operation status" is not "Stopped", the warning "Restart not possible" (warning code: 104) will be applied, and the restart command will be ignored.
[Example for incremental system]
(a) The restart operation when the axis 1 movement amount is 300, and the
axis 2 movement amount is 600 is shown below.
Axis 1
Axis 1
Stop position due to stop cause
400 Start point
address 200
Designated end point position
Restart
100
100 300
700
Axis 2
Stop position due to stop cause
400
Stop position
after restart
200 100
100 300
Operation during restart
700
Axis 2
Reference
If the positioning start signal [Y10 to Y13]/external command signal is turned ON
while the " Md.26 Axis operation status" is "Standby" or "Stopped", positioning
will be restarted from the start of the positioning start data regardless of the absolute system or incremental system. ( : When the external command signal is set to "External positioning start") (Same as normal positioning.)
[Example for incremental system] (a) The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below.
Axis 1
Stop position due to stop cause
400 Start point
address 200
Designated end point position
Axis 1 Stop position due to stop cause
500 Positioning start
200
100
100
Stop position after restart
Operation during positioning start
100 300
700
Axis 2
100 300
900 Axis 2
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1.3 Restrictions on using a stepping motor
Note the following restrictions on using a stepping motor:
(1) For an axis where a stepping motor is connected, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur.
(2) The circular interpolation control and 3-axis helical interpolation control cannot be used for an axis where a stepping motor is connected. Although setting the bias speed at start is required by the characteristics of the stepping motor, the setting of the bias speed at start is disabled for circular interpolation control. Ensure to use a servomotor for all axes where interpolation controls are carried out when the circular interpolation control or 3-axis helical interpolation control is carried out.
(3) The backlash compensation function cannot be used for an axis where a stepping motor is connected. If the function is used, the motor may lose steps.
1.4 Function additions/modifications according to function version B
POINT
When it is desired to check the following items, refer to the corresponding explanation sections. How to check the function version and SERIAL No. (Refer to Section 2.4)
The following function additions/modifications according to the function version B of the QD75:
Function
Outline
Reference
Multiple CPU compatible function
Refer to QCPU User's Manual (Multiple CPU System).
Speed-position switching control (ABS mode)
Function which starts the axis under speed control, switches to position control at the external command
signal input, then positions the axis to a stop at the designated address.
Section 9.2.19
Pre-reading start function
Function which shortens virtual start time.
Section 12.7.7
External I/O signal monitor function
Function which monitors the external I/O signal monitor
information in the module's detailed information which can be displayed on the system monitor of GX
Section 13.5
Developer 1.
Deceleration start flag function 2
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".
Section 12.7.8
Stop command processing for deceleration stop function 3
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to Section 12.7.9 speed 0.
1: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual. For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common).
2: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "03042" or later.
3: For the QD75P /QD75D , this function is available for modules whose serial No. (first five digits) is "05072" or later.
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1 - 24
CHAPTER 2 SYSTEM CONFIGURATION
2
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 Configuration list ......................................................................................................... 2- 4 2.3 Applicable system....................................................................................................... 2- 6 2.4 How to check the function version and SERIAL No.................................................. 2- 8
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2 SYSTEM CONFIGURATION
MELSEC-Q
2.1 General image of system
The general image of the system, including the QD75, CPU module and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".
Extension cable
Main base unit 2
Positioning module
1
CPU module 1
I/O module
Extension system
USB cable 5
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.
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2 SYSTEM CONFIGURATION
MELSEC-Q
Cable 8
6
Drive unit
Motor
Manual pulse generator 7
Machine system inputs (switches)
Near point dog Limit switch External command signal Stop signal
Peripheral device
Personal computer
3
2 - 3
GX Configurator 2 -QP
SWnD5C -QD75P-E
(For details, refer to GX Configurator -QP Operating Manual.)
2 SYSTEM CONFIGURATION
MELSEC-Q
2.2 Configuration list
The positioning system using the QD75 is configured of the following devices.
No.
Part name
Type
QD75P1N
QD75P2N
QD75P4N
QD75D1N
QD75D2N
1
Positioning module
QD75D4N QD75P1
QD75P2
QD75P4
QD75D1
QD75D2
QD75D4
2
GX Configurator-QP
SW D5CQD75P-E
Personal
3
Personal computer
computer which supports
Windows�.
4 RS-232 cable
QC30R2
5 USB cable
�
6 Drive unit
�
7
Manual pulse generator
�
Connection cable
8
(For connecting between the QD75
�
and the drive unit)
Remarks
QD75
No. of control axes
P: Open collector output system D: Differential driver output system
Refer to Appendix 1.2 for differences between QD75P N/QD75D N and QD75P /QD75D .
Refer to GX Configurator-QP Operating Manual for details.
(Prepared by user) Refer to GX Configurator-QP Operating Manual for details.
(Prepared by user) An RS-232 cable is needed for connecting the CPU module with a personal computer. For details, refer to GX Configurator-QP Operating Manual. (Prepared by user) A USB cable is needed for connecting the CPU module with a personal computer. For details, refer to GX Configurator-QP Operating Manual. (Prepared by user) (Prepared by user) Recommended: MR-HDP01 (Mitsubishi Electric) (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.)
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2 SYSTEM CONFIGURATION
MELSEC-Q
Specifications of recommended manual pulse generator
Item
Specifications
Model name
MR-HDP01
Pulse resolution
25pulse/rev (100 pulse/rev after magnification by 4)
Output method Power supply voltage
Voltage-output (power supply voltage -1V or more), Output current Max. 20mA 4.5 to 13.2VDC*1
Current consumption Output level
60mA "H" level: power supply voltage*1 -1V or more (in no-load)
"L" level: 0.5V or less (with maximum leading-in)
Life time
100 revolutions (at 200r/min)
Permitted axial loads
Radial load: Max. 19.6N Thrust load: Max. 9.8N
Operation temperature
-10 to 60 (14 to 140 )
Weight
0.4 (0.88) [kg(lb)]
Number of max. revolution
Instantaneous Max. 600r/min. normal 200r/min
Pulse signal status
2 signals: A phase, B phase, 90 phase difference
Start friction torque
0.06N�m (at 20 (68 ))
1: Use the stabilized power supply of 4.5 to 6.1 VDC for the power supply of the manual pulse generator.
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2 SYSTEM CONFIGURATION
MELSEC-Q
2.3 Applicable system
The QD75 can be used in the following system.
(1) Applicable modules and base units, and No. of modules (a) When mounted with a CPU module
For the CPU modules, the number of modules, and base units applicable to the QD75, refer to the user's manual for the CPU modules used.
Check the following when the QD75 is mounted with the CPU module. Depending on the combination with other modules or the number of
mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the modules. Mount a module within the number of I/O points for the CPU module. If the number of slots is within the available range, the module can be mounted on any slot.
REMARK
To use a C Controller module with the QD75, refer to C Controller Module User's Manual.
(b) Mounting to a MELSECNET/H remote I/O station
For the MELSECNET/H remote I/O station, the number of modules, and base units applicable to the QD75, refer to the Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network).
(2) Compatibility with multiple CPU system
When using the QD75 in a multiple CPU system, refer to the QCPU User's Manual (Multiple CPU System).
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2 SYSTEM CONFIGURATION
MELSEC-Q
(3) Supported software packages
The following table lists the compatibility between the systems using the QD75 and the software packages. GX Developer or GX Works2 is required for use of the QD75.
Q00J/Q00/Q01CPU
Q02/Q02H/Q06H/ Q12H/Q25HCPU
Q02PH/Q06PHCPU
Q12PH/Q25PHCPU
Q02U/Q03UD/ Q04UDH/
Q06UDHCPU Q13UDH/Q26UDH/ Q03UDE/Q04UDEH/ Q06UDEH/Q13UDEH/
Q26UDEHCPU Q00U/Q00UJ/Q01U/Q
10UDH/Q20UDH/ Q10UDEH/
Q20UDEHCPU
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
Single CPU system
Multiple CPU system
GX Developer Version 7 or later Version 8 or later Version 4 or later Version 6 or later
Software version GX Configurator-QP*1 Version 2.10L or later
Version 2.00A or later
Version 8.68W or later
Version 2.29F or later
Version 7.10L or later
Version 2.13P or later
Version 8.48A or later
Version 2.25B or later
Version 8.68W or later
Version 2.29F or later
Version 8.76E or later
Version 2.32J or later
GX Works2
Refer to GX Works2 Version 1 Operating Manual (Common).
CPU modules other than above
Not supported
Not supported
For use on MELSECNET/H remote I/O station
Version 6 or later Version 2.00A or later
1: To use the QD75P N/QD75D N with GX Configurator-QP, select the
QD75P /QD75D as the model name. The QD75P N/QD75D N can be used in the same manner as the QD75P /QD75D ; the setting ranges are the same. Therefore, a speed exceeding 1000000pulse/s cannot be set in some items. (Refer to Appendix 1.2)
POINT
When using GX Works2, refer to the following: GX Works2 Version 1 Operating Manual (Common) GX Works2 Version 1 Operating Manual (Intelligent Function Module)
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2 SYSTEM CONFIGURATION
MELSEC-Q
2.4 How to check the function version and SERIAL No.
(1) Confirming the serial number on the rating plate
The rating plate is situated on the side face of the QD75.
100113
Serial number (The first six digits) Function version
Relevant regulation standards
(2) Checking on the front of the module
The serial No. on the rating plate is also indicated on the front of the module (lower part).
100113000000000-B
Function version
Serial No.
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2 SYSTEM CONFIGURATION
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(3) Confirming the serial number with software
Check the function version and SERIAL No. in "Product information" displayed on System monitor "Module's Detailed Information" of GX Developer or on "OS information" of GX Configurator-QP *1
(a) Checking on the System monitor (Product Information List) screen To open the screen, select [Diagnostics] [System monitor] and click the Product Information List button in GX Developer.
<GX Developer display screen>
Serial Function Product number version number
[Production No. display] Since the QD75 does not support the production number display, "-" is displayed.
POINT
The serial No. on the rating plate may be different from the serial No. displayed on the product information screen of GX Developer. The serial No. on the rating plate indicates the management information of the
product. The serial No. displayed on the product information screen of GX Developer
indicates the function information of the product. The function information of the product is updated when a new function is added.
(b) Checking with GX Configurator-QP <GX Configurator-QP display screen>
100113000000000
SERIAL No. Function version
1: For details, refer to GX Configurator-QP Operating Manual.
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CHAPTER 3 SPECIFICATIONS AND
FUNCTIONS
3
The various specifications of the QD75 are explained in this chapter.
The "Performance specifications", "List of functions", "Specifications of input/output signals with CPU module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system.
3.1 Performance specifications ........................................................................................ 3- 2 3.2 List of functions ......................................................................................................... 3- 6
3.2.1 QD75 control functions ................................................................................. 3- 6 3.2.2 QD75 main functions .................................................................................... 3- 8 3.2.3 QD75 sub functions and common functions.................................................3- 10 3.2.4 Combination of QD75 main functions and sub functions .............................3- 14 3.3 Specifications of input/output signals with CPU module............................................3- 16 3.3.1 List of input/output signals with CPU module ...............................................3- 16 3.3.2 Details of input signals (QD75 CPU module) .........................................3- 17 3.3.3 Details of output signals (CPU module QD75) .......................................3- 18 3.4 Specifications of input/output interfaces with external devices..................................3- 19 3.4.1 Electrical specifications of input/output signals.............................................3- 19 3.4.2 Signal layout for external device connection connector ...............................3- 25 3.4.3 List of input/output signal details ...................................................................3- 26 3.4.4 Input/output interface internal circuit .............................................................3- 28
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3.1 Performance specifications
QD75P N/QD75D N
Model
QD75P1N 1
QD75P2N 1
QD75P4N 1
Item
QD75D1N
QD75D2N
QD75D4N
No. of control axes
1 axis
2 axes
4 axes
Interpolation function
None
2-axis linear interpolation 2-axis circular interpolation
2-, 3-, or 4-axis linear interpolation
2-axis circular interpolation 3-axis helical interpolation
Control system
PTP (Point To Point) control, path control (all of linear, circular, and helical can be set), speed control, speed-position switching control, position-speed switching control
Control unit
mm, inch, degree, pulse
Positioning data
600 data /axis (Can be set with peripheral device or sequence program.)
Backup
Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)
Positioning system
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
Positioning
In absolute system
� �214748364.8 to 214748364.7 (�m)
� �21474.83648 to 21474.83647 (inch)
� 0 to 359.99999 (degree)
� �2147483648 to 2147483647 (pulse)
In incremental system
� �214748364.8 to 214748364.7 (�m)
Positioning range
� �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 (�m)
� 0 to 21474.83647 (inch)
� 0 to 21474.83647 (degree)
� 0 to 2147483647 (pulse)
In speed-position switching control (ABS mode) 2
� 0 to 359.99999 (degree)
0.01 to 20000000.00 (mm/min)
Speed command
0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min)
1 to 4000000 (pulse/s)
Acceleration/ deceleration process
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Acceleration/
1 to 8388608 (ms)
deceleration time Four patterns can be set for each of acceleration time and deceleration time
Sudden stop deceleration time
1 to 8388608 (ms)
1: QD75P N represents the open collector output system, and QD75D N represents the differential driver output system.
2: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to Section 9.2.19 "Speed-
position switching control (ABS mode)".)
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Model
QD75P1N 1
QD75P2N
Item
QD75D1N
QD75D2N
1-axis linear control
1-axis speed control
2-axis linear interpolation control (Composite speed)
2-axis linear interpolation control (Reference axis speed)
2-axis circular interpolation control
Starting time 3
2-axis speed control 3-axis linear interpolation control (Composite speed)
3-axis linear interpolation control (Reference axis speed)
3-axis helical interpolation control
3-axis speed control
4-axis linear interpolation control
4-axis speed control
External wiring connection system 40-pin connector
1
QD75P4N 1
QD75D4N
1.5ms
1.5ms Factors in starting time extension 1.5ms The following times will be added to
1.5ms
2.0ms 1.5ms 1.7ms
1.7ms
2.6ms 1.7ms 1.8ms
the starting time in the described
conditions:
� S-curve acceleration/
deceleration is selected: 0.1ms
� Other axis is in
operation:
0.5ms
� During continuous
positioning control:
0.3ms
� During continuous path
control:
0.3ms
1.8ms
Applicable wire size
0.3mm2 (22AWG) (for A6CON1 or A6CON4), 0.088 to 0.24mm2 (28 to 24AWG) (for A6CON2)
Applicable connector for external device
A6CON1, A6CON2, A6CON4 (sold separately)
Max. output pulse
QD75P1N, QD75P2N, QD75P4N: 200kpps QD75D1N, QD75D2N, QD75D4N: 4Mpps
Max. connection distance between QD75P1N, QD75P2N, QD75P4N: 2m
servos
QD75D1N, QD75D2N, QD75D4N: 10m
Internal current consumption (5VDC)
QD75P1N: 0.29A QD75D1N: 0.43A
QD75P2N: 0.30A QD75D2N: 0.45A
QD75P4N: 0.36A QD75D4N: 0.66A
Flash ROM write count No. of occupied I/O points Outline dimensions
Weight
Max. 100000 times
32 points (I/O assignment: intelligent 32 points)
98 (H) 27.4 (W) 90 (D) mm
QD75P1N: 0.14kg QD75D1N: 0.15kg
QD75P2N: 0.14kg QD75D2N: 0.15kg
QD75P4N: 0.16kg QD75D4N: 0.16kg
1: QD75P N represents the open collector output system, and QD75D N represents the differential driver output system. 3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.7 "Pre-reading start
function".
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QD75P /QD75D
Model
QD75P1 1
QD75P2 1
QD75P4 1
Item
QD75D1
QD75D2
QD75D4
No. of control axes
1 axis
2 axes
4 axes
Interpolation function
None
2-axis linear interpolation 2-axis circular interpolation
2-, 3-, or 4-axis linear interpolation
2-axis circular interpolation
Control system
PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speedposition switching control, position-speed switching control
Control unit
mm, inch, degree, pulse
Positioning data
600 data /axis (Can be set with peripheral device or sequence program.)
Backup
Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)
Positioning system
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
Positioning
In absolute system
� �214748364.8 to 214748364.7 (�m)
� �21474.83648 to 21474.83647 (inch)
� 0 to 359.99999 (degree)
� �2147483648 to 2147483647 (pulse)
In incremental system
� �214748364.8 to 214748364.7 (�m)
Positioning range
� �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 (�m)
� 0 to 21474.83647 (inch)
� 0 to 21474.83647 (degree)
� 0 to 2147483647 (pulse)
In speed-position switching control (ABS mode) 2
� 0 to 359.99999 (degree)
0.01 to 20000000.00 (mm/min)
Speed command
0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min)
1 to 1000000 (pulse/s)
Acceleration/ deceleration process
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Acceleration/
1 to 8388608 (ms)
deceleration time Four patterns can be set for each of acceleration time and deceleration time
Sudden stop 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 9.2.19 "Speed-
position switching control (ABS mode)".)
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Model
QD75P1 1
QD75P2 1
QD75P4 1
Item
QD75D1
QD75D2
QD75D4
1-axis linear control
6ms Factors in starting time extension
Starting time 3
1-axis speed control
6ms
2-axis linear interpolation control (Composite speed)
7ms
2-axis linear interpolation control (Reference axis speed) 7ms
2-axis circular interpolation control
7ms
2-axis speed control
6ms
3-axis linear interpolation control (Composite speed)
7ms
3-axis linear interpolation control (Reference axis speed) 7ms
3-axis speed control
6ms
4-axis linear interpolation control
7ms
4-axis speed control
7ms
The following times will be added to
the starting time in the described
conditions:
� S-curve acceleration/
deceleration is selected: 0.5ms
� Other axis is in
operation:
1.5ms
� During continuous
positioning control:
0.2ms
� During continuous path
control:
1.0ms
External wiring connection system 40-pin connector
Applicable wire size
0.3mm2 (22AWG) (for A6CON1 or A6CON4), 0.088 to 0.24mm2 (28 to 24AWG) (for A6CON2)
Applicable connector for external device
A6CON1, A6CON2, A6CON4 (sold separately)
Max. output pulse
QD75P1, QD75P2, QD75P4 : 200kpps QD75D1, QD75D2, QD75D4 : 1Mpps
Max. connection distance between QD75P1, QD75P2, QD75P4 : 2m
servos
QD75D1, QD75D2, QD75D4 : 10m
Internal current consumption
QD75P1 : 0.40A
QD75P2 : 0.46A
(5VDC)
QD75D1 : 0.52A
QD75D2 : 0.56A
Flash ROM write count
Max. 100000 times
No. of occupied I/O points
32 points (I/O assignment: intelligent 32 points)
Outline dimensions
98 (H) 27.4 (W) 90 (D) mm
Weight
0.15 kg
0.15 kg
QD75P4 : 0.58A QD75D4 : 0.82A
0.16 kg
1: QD75P represents the open collector output system, and QD75D represents the differential driver output system.
3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.7 "Pre-reading start function".
Differential driver common terminal specifications(QD75D N/QD75D only)
Applicable wire size
Applicable sizes of two wires inserted into same spot of terminal
Screw tightening torque
0.24 to 2.5mm2 (24 to 12AWG) Solid wire: 0.2 to 0.8mm2 2 pcs. Stranded wire: 0.2 to 0.8mm2 2 pcs.
0.5 to 0.6N � m
Fig. 3.1 Two wires inserted into same spot of terminal
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3 SPECIFICATIONS AND FUNCTIONS
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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".)
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3.2.2 QD75 main functions
OPR control
The outline of the main functions for positioning control with the QD75 is described below. (Refer to PART 2 for details on each function.)
Main functions Machine OPR control
Details
Reference section
Mechanically establishes the positioning start point using a near-point dog or stopper. (Positioning start No. 9001)
8.2
Fast OPR control
Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)
Fixed-feed control (1-axis fixed-feed control) Position (2-axis fixed-feed control) control (3-axis fixed-feed control) (4-axis fixed-feed control)
2-axis circular interpolation control
3-axis helical interpolation control
Speed control
Linear control (1-axis speed control) (2-axis speed control) (3-axis speed control) (4-axis speed control)
Speed-position switching control
Position-speed switching control
Current value changing
Other control NOP instruction
JUMP instruction LOOP LEND
Positions a target to the OP address ( Md.21 Machine feed value) stored in the QD75 using machine OPR. (Positioning start No. 9002)
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. Positions a target using a helical path to a position specified with the address, movement amount, sub point, or center point set in the positioning data.
Continuously outputs the pulses corresponding to the command speed set in the positioning data.
First, carries out speed control, and then carries out position control (positioning with designated address or movement amount) by turning the "speed-position switching signal" ON. First, carries out position control, and then carries out speed control (continuous output of the pulses corresponding to the designated command speed) by turning the "position-speed switching signal" ON.
Changes the Current feed value ( Md.20 ) to the address set in the positioning data. The following two methods can be used. (The machine feed value cannot be changed.)
� Current value changing using positioning data � Current value changing using current value changing
start No. (No. 9003) No execution control system. When NOP instruction is set, this instruction is not executed and the operation of the next data is started. Unconditionally or conditionally jumps to designated positioning data No. Carries out loop control with repeated LOOP to LEND. Returns to the beginning of the loop control with repeated LOOP to LEND.
8.3
9.2.2 9.2.3 9.2.4 9.2.5
9.2.6 9.2.7 9.2.8 9.2.9
9.2.10 9.2.11 9.2.12 9.2.13 9.2.14 9.2.15 9.2.16 9.2.17
9.2.18 9.2.19
9.2.20
9.2.21
9.2.22
9.2.23 9.2.24 9.2.25
Major positioning control
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High-level positioning control
Main functions Block start (Normal start)
Condition start
Wait start
Simultaneous start Repeated start (FOR loop) Repeated start (FOR condition) Multiple axes simultaneous start control JOG operation Inching operation Manual pulse generator operation
Details
Reference section
With one start, executes the positioning data in a random block with the set order.
10.3.2
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
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
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
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
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
Starts the operation of multiple axes simultaneously according
to the pulse output level. (Positioning start No. 9004, same as the "simultaneous start"
10.5
above)
Outputs a pulse to drive unit while the JOG start signal is ON.
11.2
Outputs pulses corresponding to minute movement amount by
manual operation to drive unit.
11.3
(Performs fine adjustment with the JOG start signal.)
Outputs pulses commanded with the manual pulse generator to drive unit. (Carry out fine adjustment, etc., at the pulse level.)
11.4
Manual control
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 Independent positioning control (Positioning complete)
Continuous positioning control
Continuous path control
Details
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.
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.
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.
Reference section
9.1.2
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3 SPECIFICATIONS AND FUNCTIONS
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3.2.3 QD75 sub functions and common functions
Sub functions
The functions that assist positioning control using the QD75 are described below. (Refer to PART 2 for details on each function.
Sub function
Functions characteristic to machine
OPR
OPR retry function OP shift function
Backlash compensation function
Electronic gear function
Functions that
compensate
control
Near pass function 1
Output timing selection of near pass control
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 compensates the position by the designated distance from the machine OP position and sets that position as the OP address.
This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes.
By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. A flexible positioning system that matches the machine system can be structured with this function.
This function suppresses the machine vibration when the positioning data is switched during continuous path control in the interpolation control.
This function allows the user to select the timing to output the difference ( ) between the actual and the set positioning end addresses in continuous path control, in which the difference ( ) is output during the execution of the next positioning data.
Reference section 12.2.1 12.2.2 12.3.1
12.3.2
12.3.3
12.3.4
Speed limit function
Functions that Torque limit function 2 limit control
Software stroke limit function Hardware stroke limit function
Speed change function
Functions that Override function
change control
details
Acceleration/deceleration
time change function
Torque change function
Target position change function
If the command speed exceeds " Pr.8 Speed limit value" during control, this function limits the commanded speed to within the " Pr.8 Speed limit value" setting range.
If the torque generated by the servomotor exceeds " Pr.17 Torque limit setting value" during control, this function limits the generated torque to within the " Pr.17 Torque limit setting value" setting range.
If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.
This function carries out deceleration stop with the limit switch connected to the QD75 external device connector. This function changes the speed during positioning. Set the new speed in the speed change buffer memory ( Cd.14 New speed value), and change the speed with the Speed change request ( Cd.15 ).
This function changes the speed within a percentage of 1 to 300% during positioning. This is executed using " Cd.13 Positioning operation speed override".
This function changes the acceleration/deceleration time during speed change. (Functions added to the speed change function and override function)
This function changes the "torque limit value" during control.
This function changes the target position during positioning. Position and speed can be changed simultaneously.
12.4.1
12.4.2
12.4.3 12.4.4 12.5.1
12.5.2 12.5.3 12.5.4 12.5.5
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3 SPECIFICATIONS AND FUNCTIONS
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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".
Sub function
Details
Reference section
This function restores the absolute position of designated axis.
Absolute position restoration function
3
By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation
12.6
is started.
3: To execute the "absolute position restoration function", the following are required: "16-point input module"; "16-point output module"; and "drive unit capable of configuring an absolute position detection system, which is a Mitsubishi Electric General-Purpose AC Servo having an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3- A".
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3 SPECIFICATIONS AND FUNCTIONS
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Sub function
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
Other
functions
Command function
in-position
At each automatic deceleration, this function calculates the remaining distance for the QD75 to reach the positioning stop position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work.
12.7.5
Acceleration/deceleration This function adjusts the control acceleration/deceleration.
process function
(acceleration/deceleration time and curve).
12.7.6
Continuous operation interrupt function
This function interrupts continuous operation. When this request is accepted, the operation stops when the execution of the current positioning data is completed.
6.5.4
Pre-reading start function This function shortens the virtual start time.
12.7.7
Deceleration start flag function
Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control, whose operation pattern is "Positioning complete", to make the stop timing known.
12.7.8
Stop command processing for deceleration stop function
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.
12.7.9
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Common functions
The outline of the functions executed as necessary are described below. (Refer to PART 2 for details on each function.)
Common functions
Details
Reference section
Parameter initialization function
This function returns the "parameters" stored in the QD75
buffer memory and flash ROM to the default values.
The following two methods can be used.
13.2
1) Method using sequence program
2) Method using GX Configurator-QP
This functions stores the "setting data", currently being
Execution data backup function
executed, into the flash ROM. 1) Method using sequence program
13.3
2) Method using GX Configurator-QP
This function switches I/O signal logic according to externally connected devices.
External I/O signal logic switching function This function enables the use of the system that does not use b 13.4 (N.C.)-contact signals, such as Drive unit READY or Upper/lower limit signal, by setting parameters to positive logic.
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
13.5
displayed on the system monitor of GX Developer*4.
4: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2.
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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.
Sub functions
Functions characteristic
to machine OPR
OPR retry function OP shift function
Main functions
Combination with operation pattern. 1
OPR control
Machine OPR control Fast OPR control
1-axis linear control
2-, 3-, or 4-axis linear interpolation control
1-axis fixed-feed control
(Continuous path control cannot be set)
Position control 2-, 3-, or 4-axis fixed-feed control (interpolation)
Major positioning control
Manual control
2-axis circular interpolation control
3-axis helical interpolation control
Speed control (1- to 4-axis)
Speed-position switching control
Position-speed switching control
Current value changing
Other control
NOP instruction JUMP instruction
LOOP to LEND
JOG operation, inching operation
Manual pulse generator operation
(Continuous path control cannot be set)
(Only independent positioning control can be set) (Continuous path control cannot be set) (Only independent positioning control can be set) (Continuous path control cannot be set)
: Always combine, : Combination possible, : Combination limited, : Combination not possible 1 The operation pattern is one of the "positioning data" setting items. 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control. 3 Invalid during creep speed. 4 Invalid during continuous path control. 5 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration
processing.) 6 Valid for the reference axis only. 7 Valid for only the case where a deceleration start is made during position control. 8 Valid when using the positioning data but invalid when using the positioning start No. 9003.
3 - 14
3 SPECIFICATIONS AND FUNCTIONS
Functions that compensate control
Functions that limit control
Functions that change control details
3
3
3
2
7 8
5
5
3 - 15
Backlash compensation function Electronic gear function
Near pass function Output timing selection of near pass control Speed limit function Torque limit function
Software stroke limit function
Hardware stroke limit function
Speed change function
Override function
Acceleration/ deceleration time change function Torque change function Target position change function Step function Skip function
M code output function
Teaching function
Command in-position function
Acceleration/deceleration process function Pre-reading start function Deceleration start flag function
Stop command processing for deceleration stop function
5
Other functions
4 6
MELSEC-Q
5
6
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
3.3 Specifications of input/output signals with CPU module 3.3.1 List of input/output signals with CPU module
The QD75 uses 32 input points and 32 output points for exchanging data with the CPU module. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75 to the CPU module, and device Y refers to the signals output from the CPU module to the QD75.
Signal direction: QD75 CPU module
Device No.
Signal name
X0
QD75 READY
X1
Synchronization flag
X2 X3
Use prohibited
X4
Axis 1
X5
Axis 2
X6
Axis 3
M code ON
X7
Axis 4
X8
Axis 1
X9
Axis 2
XA
Axis 3
Error detection
XB
Axis 4
XC
Axis 1
XD
Axis 2
XE
Axis 3
BUSY
XF
Axis 4
X10
Axis 1
X11
Axis 2
X12
Axis 3
Start complete
X13
Axis 4
X14
Axis 1
X15 X16
Axis 2 Axis 3
Positioning complete
X17
Axis 4
X18
X19
X1A
X1B X1C
Use prohibited
X1D
X1E
X1F
Signal direction: CPU module QD75
Device No.
Signal name
Y0
PLC READY
Y1
Y2
Use prohibited
Y3
Y4
Axis 1
Y5
Axis 2
Y6
Axis 3
Axis stop
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
Y12
Axis 3
Positioning start
Y13
Axis 4
Y14
Axis 1
Y15 Y16
Axis 2 Axis 3
Execution prohibition flag
Y17
Axis 4
Y18
Y19
Y1A
Y1B Y1C
Use prohibited
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.
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
3.3.2 Details of input signals (QD75 CPU module)
The ON/OFF timing and conditions of the input signals are shown below.
Device No.
Signal name
Details
X0 QD75 READY
ON: READY � When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting OFF: Not READY/ range is checked. If no error is found, this signal turns ON.
Watch dog � When the PLC READY signal [Y0] turns OFF, this signal turns OFF. timer error � When watch dog timer error occurs, this signal turns OFF.
� This signal is used for interlock in a sequence program, etc.
ON
PLC READY signal [Y0] OFF
ON
QD75 READY signal [X0] OFF
X1 Synchronization flag
OFF: Module access disabled
ON: Module access enabled
� After the programmable controller is turned ON or the CPU module is reset, this signal turns ON if the access from the CPU module to the QD75 is possible.
� When "Asynchronous" is selected in the module synchronization setting of the CPU module, this signal can be used as interlock for the access from a sequence program to the QD75.
X4 Axis 1 M code ON OFF: M code is � In the WITH mode, this signal turns ON when the positioning data operation is
X5 Axis 2
not set
started. In the AFTER mode, this signal turns ON when the positioning data
X6 Axis 3
ON: M code is
operation is completed.
X7 Axis 4
set
� This signal turns OFF with the " Cd.7 M code OFF request".
� When M code is not designated (when " Da.10 M code" is "0"), this signal will
remain OFF.
� With using continuous path control for the positioning operation, the positioning will continue even when this signal does not turn OFF. However, the warning "M CODE
ON SIGNAL START" (warning code: 503) will occur.
� When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF.
� If the operation is started while the M code is ON, the error "M CODE ON SIGNAL START" (error code: 536) will occur.
X8 Axis 1 Error X9 Axis 2 detection
XA Axis 3
OFF: No error � This signal turns ON when an error listed in Section 15.2 occurs, and turns OFF
ON: Error
when the error is reset on " Cd.5 Axis error rest".
occurrence
XB Axis 4
XC Axis 1 BUSY 1 OFF: Not BUSY � This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF
XD Axis 2
ON: BUSY
when the " Da.9 Dwell time" has passed after positioning stops. (This signal
XE Axis 3 XF Axis 4
remains ON during positioning.) This signal turns OFF when the positioning is stopped with step operation.
� During manual pulse generator operation, this signal turns ON while the " Cd.21
Manual pulse generator enable flag" is ON.
� This signal turns OFF at error completion or positioning stop.
X10 Axis 1 Start X11 Axis 2 complete
X12 Axis 3 X13 Axis 4
OFF: Start incomplete
ON: Start complete
� 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
ON
Start complete signal [X10] OFF
X14 Axis 1 Positioning OFF: Positioning � This signal turns ON for the time set in " Pr.40 Positioning complete signal output
X15 Axis 2 complete
incomplete time" from the instant when the positioning control for each positioning data No. is
X16 Axis 3 2
ON: Positioning completed. For the interpolation control, the positioning completed signal of
X17 Axis 4
complete
interpolation axis turns ON during the time set to the reference axis.
(It does not turn ON when " Pr.40 Positioning complete signal output time" is "0".)
� If positioning (including OPR), JOG/Inching operation, or manual pulse generator
operation is started while this signal is ON, the signal will turn OFF.
� This signal will not turn ON when speed control or positioning is canceled midway.
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
Important
1: The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program.
2: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is completed. Thus, even if the QD75's positioning complete signal turns ON, the system may continue operation.
3.3.3 Detail of output signals (CPU module QD75)
The ON/OFF timing and conditions of the output signals are shown below.
Device No.
Signal name
Details
Y0 PLC READY
OFF:
(a) This signal notifies the QD75 that the CPU module is normal.
PLC READY OFF
� It is turned ON/OFF with the sequence program.
ON:
� The PLC READY signal is turned ON during positioning
PLC READY ON
control, OPR control, JOG operation, inching operation, and
manual pulse generator operation, unless the system is in the
peripheral device test mode.
(b) When parameters are changed, the PLC READY signal is turned
OFF depending on the parameter (Refer to CHAPTER 7.).
(c) The following processes are carried out when the PLC READY
signal turns from OFF to ON.
� The parameter setting range is checked.
� The QD75 READY signal [X0] turns ON.
(d) The following processes are carried out when the PLC READY
signal turns from ON to OFF.
In these cases, the OFF time should be set to 100ms or more.
� The QD75 READY signal [X0] turns OFF.
� The operating axis stops.
� The M code ON signal [X4 to X7] for each axis turns OFF, and
"0" is stored in " Md.25 Valid M code".
(e) When parameters or positioning data (No. 1 to 600) are written
from the peripheral device or CPU module to the flash ROM, the
PLC READY signal will turn OFF.
Y4 Axis 1 Axis stop
OFF:
� When the axis stop signal turns ON, the OPR control, positioning
Y5 Axis 2
Axis stop not
control, JOG operation, inching operation and manual pulse
Y6 Axis 3
requested
generator operation will stop.
Y7 Axis 4
ON:
� By turning the axis stop signal ON during positioning operation, the
Axis stop requested positioning operation will be "stopped".
� Whether to decelerate or suddenly stop can be selected with "
Pr.39 Stop group 3 sudden stop selection".
� During interpolation control of the positioning operation, if the axis
stop signal of any axis turns ON, all axes in the interpolation
control will decelerate and stop.
Y8 Axis 1 Forward run JOG start OFF:
� When the JOG start signal is ON, JOG operation will be carried
Y9 Axis 1 Reverse run JOG start JOG not started YA Axis 2 Forward run JOG start ON: YB Axis 2 Reverse run JOG start JOG started YC Axis 3 Forward run JOG start YD Axis 3 Reverse run JOG start YE Axis 4 Forward run JOG start
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.
YF Axis 4 Reverse run JOG start
Y10 Axis 1 Positioning start
OFF:
� OPR operation or positioning operation is started.
Y11 Axis 2
Positioning start not � The positioning start signal is valid at the rising edge, and the
Y12 Axis 3
requested
operation is started.
Y13 Axis 4
ON:
� When the positioning start signal turns ON during BUSY, the
Positioning start
warning "Start during operation" (warning code: 100) will occur.
requested
Y14 Axis 1 Execution prohibition OFF:
� If the execution prohibition flag is ON when the positioning start
Y15 Axis 2 flag
Not during execution signal turns ON, positioning control does not start until the
Y16 Axis 3
prohibition
execution prohibition flag turns OFF. (Pulse output not provided)
Y17 Axis 4
ON:
Used with the "Pre-reading start function". (Refer to Section
During execution
12.7.7)
prohibition
3 - 18
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
3.4 Specifications of input/output interfaces with external devices
3.4.1 Electrical specifications of input/output signals
QD75P N/QD75D N
Signal name Drive unit READY (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS)
Zero signal (PG05/PG024)
(1) Input specifications
Rated input
Working
ON
voltage/current voltage range voltage/current
OFF voltage/current
Input resistance
Response time
24VDC/5mA
19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
7VDC or less/ 1.7mA or less
Approx. 4.7k
4ms or less
5VDC/5mA 24VDC/5mA
4.5 to 6.1VDC
2VDC or more/ 2mA or more
12 to 26.4VDC
10VDC or more/ 3mA or more
0.5VDC or less/ 0.5mA or less
Approx. 620
3VDC or less/ 0.2mA or less
Approx. 4.7k
1ms or less 1ms or less
ON 3 s or less
OFF
1ms or more
3 s or less
Manual pulse generator A phase (PULSE GENERATOR A)
Manual pulse generator B phase (PULSE GENERATOR B)
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/ 0.1mA or less
1 Pulse width
4ms or more
Approx. 1.1k
1ms or less
2ms or more
2ms or more (Duty ratio: 50%)
2 Phase difference
A phase B phase
1ms or more
When the A phase leads the B phase, the positioning address (current value) increases.
Near-point dog signal (DOG)
External command signal (CHG)
24VDC/5mA 24VDC/5mA
19.2 to 26.4VDC
19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
19VDC or more/ 2.7mA or more
7VDC or less/ 1.7mA or less
7VDC or less/ 0.8mA or less
Approx. 4.3k Approx. 7.7k
1ms or less 1ms or less
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
(2) Output specifications
Signal name
Rated load Operating load voltage voltage range
Max. load current/inrush
current
Max. voltage drop at ON
Leakage current at
OFF
Response time
Deviation counter clear (CLEAR)
5 to 24VDC 4.75 to 30VDC
0.1A/1 point/0.4A 10ms or less
1VDC (TYP) 2.5VDC (MAX)
0.1mA or less
2ms or less (resistance
load)
QD75P N Pulse output F (PULSE F) Pulse output R (PULSE R)
5 to 24VDC
4.75 to 30VDC
50mA/1 point/ 200mA 10ms or less
0.5VDC (TYP)
0.1mA or less
--
QD75D N
Pulse output F (+/-) (PULSE F+/-) Differential driver equivalent to AM26C31
Pulse output R (+/-) (PULSE R+/-)
Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to
the drive unit specifications.
The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection" is shown below:
Pr.5 Pulse output mode*1
Terminal name
Pr.23 Output signal logic selection (bit0)
Positive logic
Forward run
Reverse run
Negative logic
Forward run
Reverse run
Open collector connection (QD75P N) The voltage of a terminal having the PULSE COM terminal as a reference is shown. (Refer to Section 3.4.4, (2).)
(The transistor output becomes OFF to High and ON to Low.)
PULSE
PULSE F
High Low
High Low
SIGN
PULSE R
High Low
High Low
CW
PULSE F
High Low
High Low
CCW
PULSE R
High Low
High Low
A phase
PULSE F
High Low
High Low
B phase
PULSE R
High Low
High Low
Differential driver connection ( QD75D N )
The voltage of a terminal having the differential driver common terminal as a reference is shown. (Refer to Section 3.4.4, (3).)
For the differential driver common terminal, refer to "Section 4.3.2, Wiring of the differential driver common terminal".
High
High
PULSE
PULSE F+
Low
PULSE F-
High
Low High
Low
Low
High
High
SIGN
PULSE R+
Low
PULSE R-
High
Low High
Low
Low
High
CW
PULSE F+
Low
PULSE F-
High
Low
High Low High Low
High
High
CCW
PULSE R+
Low
PULSE R-
High
Low High
Low
Low
High
High
A phase
PULSE F+
Low
PULSE F-
High Low
Low High Low
High
High
B phase
PULSE R+
Low
PULSE R-
High Low
Low High Low
1: For details on " Pr.5 Pulse output mode", refer to "Section 5.2.1, Basic parameters 1".
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
POINT Set the parameters, " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all.
Connection examples with a MELSERVO-J3 series servo amplifier are shown below.
Open collector connection (QD75P N)
Pr.5 Pulse output mode
QD75P N ( Pr.23 Output
signal logic selection (bit0))
Logic of MR-J3- A servo amplifier
CW/CCW
Negative logic Positive logic
Negative logic Positive logic
PULSE/SIGN
Negative logic Positive logic
Negative logic Positive logic
Negative logic
Negative logic
A phase/ B phase
Negative logic Positive logic
Positive logic Negative logic
Positive logic
Positive logic
QD75P N PULSE F PULSE COM PULSE R PULSE COM
MR-J3- A servo amplifier 24VDC OPC DOCOM PP
NP
SD
Differential driver connection (QD75D N)
Pr.5 Pulse output mode
QD75D N ( Pr.23 Output
signal logic selection (bit0))
Logic of MR-J3- A servo amplifier
CW/CCW
Negative logic Positive logic
Positive logic Negative logic
PULSE/SIGN
Negative logic Positive logic
Positive logic Negative logic
Negative logic
Negative logic
A phase/ B phase
Negative logic Positive logic
Positive logic Negative logic
Positive logic
Positive logic
QD75D N PULSE F+ PULSE FPULSE R+ PULSE R-
MR-J3- A servo amplifier
PP PG
NP NG SD
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
QD75P /QD75D
Signal name Drive unit READY (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS)
Zero signal (PG05/PG024)
(1) Input specifications
Rated input
Working
ON
voltage/current voltage range voltage/current
OFF voltage/current
Input resistance
Response time
24VDC/5mA
19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
7VDC or less/ 1.7mA or less
Approx. 4.7k
4ms or less
5VDC/5mA 24VDC/5mA
4.5 to 6.1VDC
2VDC or more/ 2mA or more
12 to 26.4VDC
10VDC or more/ 3mA or more
0.5VDC or less/ 0.5mA or less
Approx. 0.3k
3VDC or less/ 0.2mA or less
Approx. 4.7k
1ms or less 1ms or less
ON 3 s or less
OFF
1ms or more
3 s or less
Manual pulse generator A phase (PULSE GENERATOR A)
Manual pulse generator B phase (PULSE GENERATOR B)
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/ 0.1mA or less
1 Pulse width
4ms or more
Approx. 1.5k
1ms or less
2ms or more
2ms or more (Duty ratio: 50%)
2 Phase difference
A phase B phase
1ms or more
When the A phase leads the B phase, the positioning address (current value) increases.
Near-point dog signal (DOG)
External command signal (CHG)
24VDC/5mA
19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
7VDC or less/ 1.7mA or less
Approx. 4.3k
1ms or less
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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
(2) Output specifications
Signal name
Rated load voltage
Operating load voltage
range
Max. load current/inrush
current
Max. voltage drop at ON
Leakage current at
OFF
Response time
Deviation counter clear (CLEAR)
5 to 24VDC 4.75 to 30VDC
0.1A/1 point/0.4A 10ms or less
1VDC (TYP) 2.5VDC (MAX)
0.1mA or less
2ms or less (resistance
load)
QD75P Pulse output F (PULSE F) Pulse output R (PULSE R)
5 to 24VDC 4.75 to 30VDC
50mA/1 point/ 200mA 10ms or less
0.5VDC (TYP) 0.1mA or less
--
QD75D
Pulse output F (+/-) (PULSE F+/-) Differential driver equivalent to AM26C31
Pulse output R (+/-) (PULSE R+/-)
Select the PULSE/SIGN type, CW/CCW type, and A phase/B phase type using the parameter ( Pr.5 Pulse output mode) according to
the drive unit specifications.
The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection" is shown below:
Pr.5 Pulse output mode*1
Terminal name
Pr.23 Output signal logic selection (bit0)
Positive logic
Forward run
Reverse run
Negative logic
Forward run
Reverse run
Open collector connection ( QD75P ) The voltage of a terminal having the PULSE COM terminal as a reference is shown. (Refer to Section 3.4.4, (2).) (The transistor output becomes OFF to High and ON to Low.)
PULSE
PULSE F
High Low
High Low
SIGN
PULSE R
High Low
High Low
CW
PULSE F
High Low
High Low
CCW
PULSE R
High Low
High Low
A phase
PULSE F
High Low
High Low
B phase
PULSE R
High Low
High Low
Differential driver connection (QD75P )
The voltage of a terminal having the differential driver common terminal as a reference is shown. (Refer to Section 3.4.4, (3).)
For the differential driver common terminal, refer to "Section 4.3.2, Wiring of the differential driver common terminal".
High
High
PULSE
PULSE F+
Low
PULSE F-
High Low
Low High Low
High
High
SIGN
PULSE R+
Low
PULSE R-
High Low
Low High Low
High
High
CW
PULSE F+
Low
PULSE F-
High
Low High
Low
Low
High
High
CCW
PULSE R+
Low
PULSE R-
High
Low High
Low
Low
High
High
A phase
PULSE F+
Low
PULSE F-
High
Low High
Low
Low
High
High
B phase
PULSE R+
Low
PULSE R-
High
Low High
Low
Low
1: For details on " Pr.5 Pulse output mode", refer to "Section 5.2.1, Basic parameters 1".
3 - 23
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
POINT
Set the parameters, " Pr.5 Pulse output mode" and " Pr.23 Output signal logic selection", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all.
Connection examples with a MELSERVO-J3 series servo amplifier are shown below.
Open collector connection (QD75P )
Pr.5 Pulse output mode
QD75P ( Pr.23 Output
signal logic selection (bit0))
Logic of MR-J3- A servo amplifier
CW/CCW
Negative logic Positive logic
Negative logic Positive logic
PULSE/SIGN
Negative logic Positive logic
Negative logic Positive logic
Negative logic
Negative logic
A phase/ B phase
Negative logic Positive logic
Positive logic Negative logic
Positive logic
Positive logic
QD75P PULSE F PULSE COM PULSE R PULSE COM
MR-J3- A servo amplifier 24VDC OPC DOCOM PP
NP
SD
Differential driver connection (QD75D )
Pr.5 Pulse output mode
QD75D ( Pr.23 Output
signal logic selection (bit0))
Logic of MR-J3- A servo amplifier
CW/CCW
Negative logic Positive logic
Positive logic Negative logic
PULSE/SIGN
Negative logic Positive logic
Positive logic Negative logic
Negative logic
Negative logic
A phase/ B phase
Negative logic Positive logic
Positive logic Negative logic
Positive logic
Positive logic
QD75D PULSE F+ PULSE FPULSE R+ PULSE R-
MR-J3- A servo amplifier
PP PG
NP NG SD
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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.
Pin layout
B20
A20
B19
A19
B18
A18
B17
A17
B16
A16
B15
A15
B14
A14
B13
A13
B12
A12
B11
A11
B10
A10
B9
A9
B8
A8
B7
A7
B6
A6
B5
A5
B4
A4
B3
A3
B2
A2
B1
A1
Front view of the module
Axis 4(AX4)
Pin No. Signal name
2B20 2B19 2B18
3 2B17
3 2B16
3 2B15
3 2B14 2B13 2B12 2B11 2B10 2B9 2B8 2B7 2B6 2B5 2B4 2B3 2B2
Vacant Vacant PULSE COM PULSE R� PULSE R PULSE R+ PULSE COM PULSE F� PULSE F PULSE F+ CLRCOM CLEAR RDYCOM READY PG0COM PG05 PG024 COM COM CHG STOP DOG
RLS
Axis 3(AX3)
Pin No. Signal name
2A20 2A19 2A18
3 2A17
3 2A16
3 2A15
3 2A14 2A13 2A12 2A11 2A10 2A9 2A8 2A7 2A6 2A5 2A4 2A3 2A2
Vacant Vacant PULSE COM PULSE R� PULSE R PULSE R+ PULSE COM PULSE F� PULSE F PULSE F+ CLRCOM CLEAR RDYCOM READY PG0COM PG05 PG024 COM COM CHG STOP DOG
RLS
Axis 2(AX2)
Pin No. 2
Signal name
1B20 PULSER B�
1B19 PULSER A�
1B18 PULSE COM
3
PULSE R�
1B17 3
PULSE R PULSE R+
1B16 PULSE COM
3
PULSE F�
1B15 3
PULSE F PULSE F+
1B14 CLRCOM
1B13
CLEAR
1B12 RDYCOM
1B11
READY
1B10 PG0COM
1B9
PG05
1B8
PG024
1B7
COM
1B6
COM
1B5
CHG
1B4
STOP
1B3
DOG
1B2
RLS
Axis 1(AX1)
Pin No. Signal name
1A20 1A19 1A18
3 1A17
3 1A16
3 1A15
3 1A14 1A13 1A12 1A11 1A10 1A9 1A8 1A7 1A6 1A5 1A4 1A3 1A2
PULSER B+ PULSER A+ PULSE COM PULSE R�
PULSE R PULSE R+ PULSE COM PULSE F� PULSE F PULSE F+ CLRCOM
CLEAR RDYCOM READY PG0COM
PG05 PG024 COM COM CHG STOP DOG
RLS
2B1
FLS
2A1
FLS
1B1
FLS
1A1
FLS
1: Pin No. "1
" indicates the pin No. for the right connector. Pin No. "2
" indicates the pin No. for the left connector.
2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant".
3: The upper line indicates the signal name for the QD75P N/QD75P , and the lower line indicates the signal name for the
QD75D N/QD75D .
3 - 25
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
3.4.3 List of input/output signal details
Signal name
Manual pulse generator A phase (PULSER A+) Manual pulse generator B phase (PULSER B+)
The details of each QD75 external device connection connector are shown below:
Pin No.
Signal details
AX1 AX2 AX3 AX4
(Negative logic is selected by external I/O signal logic selection)
1A19 1A20
� 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]
[When decreased]
Manual pulse generator A common (PULSER A-) Manual pulse generator B common (PULSER B-)
Zero signal (+24V) (PG024)
Zero signal (+5V) (PG05) Zero signal common (PG0COM) Pulse output F (+) (PULSE F+) Pulse output F (�) (PULSE F-) Pulse output R (+) (PULSE R+) Pulse output R (�) (PULSE R-) Pulse output F (PULSE F) Pulse output F common (PULSE COM) Pulse output R (PULSE R) Pulse output R common (PULSE COM)
Upper limit signal (FLS)
Lower limit signal (RLS)
1B19 1B20
A phase
--
B phase
A phase B phase
Positioning address +1+1+1+1+1+1+1+1
Positioning address -1 -1 -1 -1 -1 -1 -1 -1
� Input the zero signal for machine OPR. 1A8 1B8 2A8 2B8 Use the pulse encoder's zero signal and so on.
� Also use this signal when the machine OPR method is the stopper method 1A9 1B9 2A9 2B9 and the OPR complete is input from an external source.
� The zero signal is detected at turning from OFF to ON.
1A10 1B10 2A10 2B10 � Common for zero signal (+5V) and zero signal (+24V).
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 N/QD75D only)
1A18 1B18 2A18 2B18
1A15 1B15 2A15 2B15
1A16 1B16 2A16 2B16 � Output the positioning pulses and pulse sign for the open collector output
1A17 1B17 2A17 2B17
system compatible drive unit. (QD75P N/QD75P only)
1A18 1B18 2A18 2B18
� This signal is input from the limit switch installed at the upper limit position of the stroke.
1A1 1B1 2A1 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. � This signal is input from the limit switch installed at the lower limit position of the stroke.
1A2 1B2 2A2 2B2 � Positioning will stop when this signal turns OFF. � When OPR retry function is valid, this will be the lower limit for finding the near-point dog signal.
3 - 26
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
Signal name Near-point dog signal (DOG) Stop signal (STOP)
External command signal (CHG) Common (COM)
Drive unit READY (READY)
Drive unit READY common (RDYCOM)
Pin No.
Signal details
AX1 AX2 AX3 AX4
(Negative logic is selected by external I/O signal logic selection)
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.
� Input this signal to stop positioning.
� When this signal turns ON, the QD75 will stop the positioning being
1A4 1B4 2A4 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.
1A5
1B5
2A5
2B5
� Use this signal as the input signal of positioning start, speed change request, and skip request from an external source.
Set the function to use this signal in " Pr.42 External command function
selection".
1A6 1B6 2A6 2B6 � Common for upper/lower limit, near-point dog, stop, and external command
1A7 1B7 2A7 2B7 signals.
� 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.
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 (CLEAR)
1A13 1B13 2A13 2B13
Zero signal Pr.55 Deviation counter clear signal output time
OFF ON
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 (CLRCOM)
1A14
1B14
2A14
2B14
� Common for deviation counter clear signal
3 - 27
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
3.4.4 Input/output interface internal circuit
The outline diagrams of the internal circuits for the QD75P1N/QD75D1N/QD75P1/QD75D1 external device connection interface are shown below.
External wiring
(1) Input (Common to QD75P1N, QD75D1N, QD75P1, and QD75D1)
Pin No.
Internal circuit
Signal name
Need for wiring 1
When upper limit switch is not used
When lower limit switch is not used
1A3 1A1 1A2
Near-point dog signal Upper limit signal Lower limit signal
DOG FLS RLS
1A4
Stop signal
STOP
1A5
24VDC*2
5V A
5VDC B
0V Manual pulse generator (MR-HDP01)
1A6
1A7
(+) 1A19
(�) 1B19
(+) 1A20
(�) 1B20
External command signal
Common
CHG COM
PULSER A+ Manual pulse generator A phase
PULSER A�
PULSER B+ Manual pulse generator B phase
PULSER B�
1A11
Drive unit READY
READY
1A12
1A8 1A9
Drive unit READY common
Zero signal
RDY COM
PG024 PG05
1A10
Zero signal common
PG0 COM
1: The symbols in Need for wiring column indicate the following meanings: � : Wiring is necessary for positioning. � : Wiring is necessary depending on the situation.
2: Either polarity can be connected to the common (COM).
3 - 28
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 4
ON/OFF status of near-point dog signal (DOG) as seen from QD75
(Voltage not applied)
Negative logic (Initial value)
24VDC (Voltage applied)
DOG COM
OFF
DOG
24VDC
ON
COM
Positive logic
(Voltage not applied) 24VDC
(Voltage applied) 24VDC
DOG COM
DOG COM
ON OFF
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".
<Photocoupler ON/OFF status> When voltage is not applied : Photocoupler OFF When voltage is applied : Photocoupler ON
3 - 29
3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q
(2) Output (For QD75P1N and QD75P1)
External wiring
Load
5 to 24VDC
Load
Load
5 to 24VDC
Pin No.
1A13 1A14 1A15 1A16 1A17 1A18
Internal circuit
Signal name
Need for wiring*1
Deviation counter clear
CLEAR
Common CLEAR COM
CW A phase PULSE
PULSE F PULSE COM
CCW B phase
SIGN
PULSE R PULSE COM
(3) Output (For QD75D1N and QD75D1)
External wiring
Pin No.
Internal circuit
Signal name
Need for wiring*1
Load
5 to 24VDC
1A13 1A14
Deviation counter clear
CLEAR
Common CLEAR COM
1A15 1A16
CW A phase PULSE
PULSE F+ PULSE F-
1A17 1A18
CCW B phase
SIGN
PULSE R+ PULSE R-
*2
Differential driver
common
PULSE COM
*2
terminal
1: The symbols in Need for wiring column indicate the following meanings: � : Wiring is necessary for positioning. � : Wiring is necessary depending on the situation.
2: A terminal block at the bottom of the module. (Refer to Section 4.1.2)
3 - 30
CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4
The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.
4.1 Outline of installation, wiring and maintenance ......................................................... 4- 2 4.1.1 Installation, wiring and maintenance procedures ........................................ 4- 2 4.1.2 Names of each part ...................................................................................... 4- 3 4.1.3 Handling precautions .................................................................................... 4- 5
4.2 Installation................................................................................................................... 4- 7 4.2.1 Installation precautions ................................................................................. 4- 7
4.3 Wiring ....................................................................................................................... 4- 8 4.3.1 Wiring precautions ........................................................................................ 4- 8 4.3.2 Wiring of the differential driver common terminal .........................................4- 14
4.4 Checking the installation and wiring ...........................................................................4- 15 4.4.1 Items to check when installation and wiring are completed .........................4- 15
4.5 Maintenance ................................................................................................................4- 16 4.5.1 Maintenance precautions ..............................................................................4- 16 4.5.2 Disposal precautions .....................................................................................4- 16
4 - 1
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.1 Outline of installation, wiring and maintenance
4.1.1 Installation, wiring and maintenance procedures
The outline and procedures for QD75 installation, wiring and maintenance are shown below.
Preparation
STEP 1
Refer to Section 4.1
Understand the "Handling precautions" and "Names of each part" of the module (QD75)
Installing the module
STEP 2
Refer to Section 4.2
Install the module (QD75) on the base unit.
Wiring the module
STEP 3
Refer to Section 4.3
STEP 4
Refer to Section 4.3
Wire the external device connection connector pins, and assemble the connector.
Connect the cable to the module (QD75)
Checking installation and wiring
STEP 5
Refer to Section 4.4
Check the connection
Operation of the positioning system.
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.
Check the connection using GX Configurator-QP.
Servicing the module
STEP 6
Refer to Section 4.5
STEP 7
Refer to Section 4.5
Carry out maintenance Dispose of the QD75
Carry out maintenance as necessary.
When the QD75 is no longer necessary, dispose of it with the specified methods.
4 - 2
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.1.2 Names of each part
(1) The part names of the QD75 are described with the QD75P N/QD75D N as an example. The QD75P N/QD75D N and QD75P /QD75D are different in the indication of their model names and serial numbers
QD75P4N 1)
QD75D4N 1)
2)
2)
3)
3)
5)
No.
Name
1) RUN indicator LED, ERR indicator LED
2) Axis display LED (AX1 to AX4)
3) External device connector
Differential driver common terminal 4) (Differential driver output system (the
QD75D N/QD75D ) only)
5) Serial number plate
5)
4)
Details
Refer to the next page.
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". 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". Indicates the serial number of the QD75
4 - 3
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
(2) The LED display indicates the following operation statuses of the QD75 and axes.
Display
RUN
AX1
AX2
AX3
ERR
AX4
Attention point RUN is OFF.
Description
Hardware failure, watch dog timer error
Display
RUN
AX1
AX2
AX3
ERR
AX4
Attention point
AX1 (or other axis) illuminates.
Description
The corresponding axis is in operation.
RUN
ERR RUN
ERR
AX1 AX2 AX3 AX4
AX1 AX2 AX3 AX4
RUN illuminates. ERR is OFF.
ERR illuminates.
The module operates normally.
System error
RUN
ERR RUN
ERR
AX1 AX2 AX3 AX4
AX1 AX2 AX3 AX4
ERR flashes. AX1 (or other axis) flashes.
All LEDs illuminate.
An error occurs on the corresponding axis.
Hardware failure
RUN ERR
AX1 AX2 AX1 to AX4 are AX3 OFF. AX4
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.
QD75P1N
QD75P2N
QD75P4N
QD75D1N
QD75D2N
QD75D4N
4 - 4
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.1.3 Handling precautions
Handle the QD75 and cable while observing the following precautions.
[1] Handling precautions
! CAUTION
Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. Do not directly touch the conductive section and electronic parts of the module. Failure to observe this could lead to module malfunctioning or trouble. Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module. Failure to observe this could lead to fires, trouble or malfunctioning. Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
4 - 5
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
[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 MELSEC-Q
4.2 Installation
4.2.1 Installation precautions
The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.
Installation precautions
! WARNING
Completely turn off the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not install/remove the module to/from the base unit, or the terminal block to/from the module more than 50 times after the first use of the product (IEC 61131-2 compliant). Failure to do so may cause the module to malfunction due to poor contact of connector. Use the programmable controller in an environment that meets the general specifications contained in QCPU User's Manual(Hardware Design, Maintenance and Inspection) to use. Using this programmable controller in an environment outside the range of the general specifications may cause electric shock, fire, malfunction, and damage to or deterioration of the product. Hold down the module mounting lever at the bottom of the module and securely insert the module fixing projection into the fixing holes of the base module. Improper mounting of the module may lead to malfunctioning, faults, or dropping. When using the module in the environment subject to much vibration, secure the module with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning.
4 - 7
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.3 Wiring
The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.
4.3.1 Wiring precautions
(1) 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) Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.
(6) When disconnecting the cable from the QD75 or the drive unit, do not pull the cable by the cable part. Hold the connector part of the cable. Pulling the cable connected to the QD75 or the drive unit may result in malfunction or damage to the module, drive unit, or cable.
(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 programmable controller. 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
[Applicable connectors]
The table below shows applicable connectors for external devices. When wiring, use applicable wires and an appropriate tightening torque.
Mitsubishi Electric 40-pin connector
Model
Tightening torque
A6CON1
A6CON2
0.20 to 0.29N � m
A6CON4
Diameter
0.3mm2(22AWG) 0.088 to 0.24mm2
(28 to 24AWG) 0.3mm2(22AWG)
Wire
Type
Material
Stranded Copper
Temperature rating
75C or more
[Wiring example of shielded cable]
The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.
Connector (A6CON1)
To external devices (for two drive units)
Connector
Shielded cable
Drive unit
To external device
To QD75
The length between the connector and the shielded cables should be the shortest possible.
To drive unit
Use the shortest possible length to ground the 2mm2 or more FG wire. (The shield must be grounded on the QD75 side.)
4 - 9
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
[Processing example of shielded cables]
Connect a cable with the FG wire and bind all shielded cables as shown below.
4 - 10
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
Assembling of connector (A6CON1)
Wrap the coated parts with a heat contractile tube.
4 - 11
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
(10) For compliance with the EMC and Low Voltage Directives, satisfy the following requirements. The cable connecting the drive unit and the QD75 must be the length below. QD75P N/QD75P : 2m or shorter QD75D N/QD75D : 10m or shorter The cables connected to the external device for the QD75 must be 30m or shorter. (except the one for pulse output) Use shielded twisted pair cables and an AD75CK type cable clamp (manufactured by Mitsubishi Electric) to ground the cables to the control box. Even when compliance with the EMC Directive is not required, attaching an AD75CK type cable clamp to the cable connected to the QD75 may reduce the influence of external noise.
Inside control box
QD75
20cm(7.88inch) to 30cm(11.82inch)
AD75CK
For details on AD75CK, refer to the following. AD75CK-type Cable Clamping Instruction Manual
4 - 12
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
[Wiring examples using duct (incorrect example and corrected example)]
Relay
Relay
Wiring duct
Control panel
Drive unit
Drive unit
Noise source (power system, etc.)
Relay
Programmable QD
controller
75
The drive units are placed near the noise source. The connection cable between the QD75 and drive units is too long.
Relay
Changed Relay
Wiring duct
Control panel
Noise source (power system, etc.)
Relay
Programmable QD
controller
75
Drive unit
Drive unit
The QD75 and drive units are placed closely. The connection cable between the QD75 and drive units is separately laid from the power line (in this example, the cable is outside of the duct) and is as short as possible.
(11) The influence of noise may be reduced by installing ferrite cores to the cable connected to the QD75 as a noise reduction technique. For the noise reduction techniques related to connection with the servo amplifier, also refer to the instruction manual of the servo amplifier.
4 - 13
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.3.2 Wiring of the differential driver common terminal
When the differential driver output system (QD75D N/QD75D ) is used, a potential difference between commons may occur between the differential driver common terminal and the differential receiver common terminal of the drive unit. To remove the potential difference between commons, connect the differential driver common terminal of the QD75D N/QD75D and the differential receiver common terminal of the drive unit. When the common terminal of the drive unit is photocoupler-connected, the wiring to the differential driver common terminal of the QD75D N/QD75D is not needed since a potential difference between commons does not exist. (For the drive unit specifications, refer to the manual of the used drive unit.)
Applicable connectors
To wire the differential driver common terminal, use the wire applied to the following
table.
Wire diameter
Type
Material
Temperature rating
0.24 to 2.5mm2 (24 to 12AWG)
Stranded wire/single wire
Copper
75�C or more
Wiring example
The following shows an example of wiring to the differential driver common terminal of the QD75D N/QD75D . Up to two cables can be connected to one differential driver common terminal. (For details, refer to Section 3.1 "Performance specifications".
Module bottom
Module front
Differential driver common terminal To differential receiver common terminal of drive unit
Module front
Insert until hook catches.
Module bottom
Module side
4 - 14
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.4 Checking installation and wiring 4.4.1 Items to check when installation and wiring are completed
Check the following points when completed with the QD75 installation and wiring. Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function. (GX Configurator-QP is required for this "connection confirmation".) Are the QD75 and servo amplifier correctly connected? Are the servo amplifier and servomotor correctly connected? Are the QD75 and external device (input/output signal) correctly connected? With this "connection confirmation", "whether the direction that the QD75 recognizes as forward run matches the address increment direction in the actual positioning work", and "whether the QD75 recognizes the external input/output signals such as the near-point dog signal and stop signal" can be checked.
Refer to GX Configurator-QP Operating Manual for details on "Connection confirmation".
Note that GX Developer (SW6D5C-GPPW-E or later) 1 may also be used to "confirm the connection between the QD75 and external device (I/O signals). For details, refer to Section 13.5 "External I/O signal monitor function" and GX Developer Operating Manual.
1: For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common).
Important
If the QD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur. The "connection confirmation" must be carried out not only when structuring the positioning system, but also when the system has been changed with module replacement or rewiring, etc.
4 - 15
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q
4.5 Maintenance 4.5.1 Maintenance precautions
The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.
! WARNING
Always turn all phases of the power supply OFF externally before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.
! CAUTION
Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning.
4.5.2 Disposal precautions
! CAUTION
When disposing of the product, handle it as industrial waste.
4 - 16
CHAPTER 5 DATA USED FOR POSITIONING CONTROL
5
The parameters and data used to carry out positioning control with the QD75 are explained in this chapter.
With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control. Read this chapter thoroughly and make settings according to each control or application.
Read PART 2 for details on each control.
5.1 Types of data .............................................................................................................. 5- 2 5.1.1 Parameters and data required for control .................................................... 5- 2 5.1.2 Setting items for positioning parameters...................................................... 5- 5 5.1.3 Setting items for OPR parameters ............................................................... 5- 7 5.1.4 Setting items for positioning data ................................................................. 5- 8 5.1.5 Setting items for block start data ...................................................................5- 10 5.1.6 Setting items for condition data .....................................................................5- 11 5.1.7 Types and roles of monitor data....................................................................5- 12 5.1.8 Types and roles of control data .....................................................................5- 15
5.2 List of parameters........................................................................................................5- 18 5.2.1 Basic parameters 1........................................................................................5- 18 5.2.2 Basic parameters 2........................................................................................5- 24 5.2.3 Detailed parameters 1 ...................................................................................5- 26 5.2.4 Detailed parameters 2 ...................................................................................5- 36 5.2.5 OPR basic parameters ..................................................................................5- 45 5.2.6 OPR detailed parameters ..............................................................................5- 52
5.3 List of positioning data.................................................................................................5- 56 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 ...........................................................................................5-114
5 - 1
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1 Types of data 5.1.1 Parameters and data required for control
The parameters and data required to carry out control with the QD75 include the "setting data", "monitor data" and "control data" shown below.
The data is set with the sequence program or peripheral device. In this chapter, the method using the peripheral device will be explained. (Refer to "Point" on the next page.) The basic parameters 1, detailed parameters 1, and OPR parameters become valid when the PLC READY signal [Y0] turns from OFF to ON. Note, however, that the only valid value of the " Pr.5 Pulse output mode" is the value at the moment when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the CPU module is reset. Once the PLC READY signal [Y0] has been turned ON, the value will not be reset even if another value is set to the parameter and the PLC READY signal [Y0] is turned from OFF to ON. Even when the PLC READY signal [Y0] is ON, the values or contents of the following can be changed: basic parameters 2, detailed parameters 2, positioning data, and block start data.
5 - 2
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Monitor data
The only valid data assigned to basic parameters 2, detailed parameters 2, positioning data, or block start data are the data read at the moment when a positioning or JOG operation is started. Once the operation has started, any modification to the data is ignored. Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command.
� Acceleration time 0 to 3 and deceleration time 0 to 3: Positioning data are pre-read and pre-analyzed. Modifications to the data four or more steps after the current step are valid.
� External command function selection: The value at the time of detection is valid.
(Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
: Md.1 to Md.48 , Md.50 to Md.52 *1
System monitor data
Monitors the QD75 specifications and the operation history.
( Md.1 to Md.19 , Md.50 to Md.52 *1)
Axis monitor data ( Md.20 to Md.48 )
Monitors the data related to the operating axis, such as the current position and speed.
*1: Md.50 to Md.52 are only for the QD75P N/QD75D N.
The data is monitored with the sequence program or peripheral device. In this chapter, the method using the peripheral device will be explained.
Control using the control data is carried out with the sequence program. " Cd.41 Deceleration start flag valid" is valid for only the value at the time when the PLC READY signal [Y0] turns from OFF to ON.
5 - 3
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
POINT
(1) The "setting data" is created for each axis. (2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to axes that are not used are left at the default value.) (3) The "setting data" can be initialized with GX Configurator-QP or the sequence program. (4) It is recommended to set the "setting data" with GX Configurator-QP. When executed with the sequence program, many sequence programs and devices must be used. This will not only complicate the program, but will also increase the scan time.
5 - 4
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.2 Setting items for positioning parameters
The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to PART 2. For details of setting items, refer to Section 5.2 "List of parameters".
Control
Major positioning control
Manual control
Position control
Other control
OPR control 1-axis linear control 2/3/4-axis linear interpolation control 1-axis fixed-feed control 2/3/4-axis fixed-feed control 2-axis circular interpolation control 3-axis helical interpolation control 1 to 4 axis speed control Speed-position or position-speed control Current value changing JUMP instruction, NOP instruction, LOOP to LEND Manual pulse generator operation JOG operation Inching operation Related sub function
Positioning parameter
Basic parameters 1
Pr.1 Unit setting
Pr.2
No. of pulses per rotation (Ap) (Unit: pulse)
Pr.3 Movement amount per rotation (Al)
Pr.4 Unit magnification (Am)
Pr.5 Pulse output mode
Pr.6 Rotation direction setting
Pr.7 Bias speed at start
Pr.8 Speed limit value
�
�
�
�
�
�
�
12.3.2
� � � 12.4.1
Basic parameters 2
Detailed parameters 1
Pr.9 Acceleration time 0 Pr.10 Deceleration time 0
�
�
�
�
�
�
12.7.6
Pr.11 Backlash compensation amount
�
�
12.3.1
Pr.12 Software stroke limit upper limit value
�
�
�
Pr.13 Software stroke limit lower limit value
�
Pr.14 Software stroke limit selection
�
�
�
�
�
12.4.3
Pr.15 Software stroke limit valid/invalid setting
�
�
�
�
�
�
Pr.16 Command in-position width
�
�
�
�
�
� 12.7.5
Pr.17 Torque limit setting value
�
�
12.4.2
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
�
�
�
�
�
�
�
�
�
�
Pr.150 Speed-position function selection
�
�
�
�
�
�
�
�
�
�
Pr.70 Positioning option valid/invalid setting
�
�
�
�
�
: Always set, : Set as required, : Setting not possible, : Setting restricted �: Setting not required (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no
problem.)
5 - 5
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Control
Major positioning control Position control
Manual control Other control
Detailed parameters 2 OPR control 1-axis linear control 2/3/4-axis linear interpolation control 1-axis fixed-feed control 2/3/4-axis fixed-feed control 2-axis circular interpolation control 3-axis helical interpolation control 1 to 4 axis speed control Speed-position or position-speed control Current value changing JUMP instruction, NOP instruction, LOOP to LEND Manual pulse generator operation JOG operation Inching operation Related sub function
Positioning parameter
Pr.25 Acceleration time 1
�
�
�
Pr.26 Acceleration time 2
�
�
�
Pr.27 Acceleration time 3 Pr.28 Deceleration time 1
�
�
�
�
�
�
12.7.6
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 Pr.35
Acceleration/deceleration process selection
S-curve ratio
�
�
�
�
�
�
12.7.6
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
: Always set
: Set as required � : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there
is no problem.)
Checking the positioning parameters
Pr.1 to Pr.42 are checked with the following timing.
(1) When the "PLC READY signal [Y0]" output from the CPU module to the QD75 changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX Configurator-QP
(3) When an error check is carried out with GX Configurator-QP
REMARK
"High-level positioning control" is carried out in combination with the "major positioning control". Refer to the "major positioning control" parameter settings for details on the parameters required for "high-level positioning control".
5 - 6
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.3 Setting items for OPR parameters
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
Machine OPR control
Fast OPR control
Pr.43 OPR method
Near-point dog method Stopper method 1 ) Stopper method 2 ) Stopper method 3 ) Count method 1) Count method 2)
OPR basic parameters
OPR detailed parameters
Pr.44 OPR direction
Pr.45 OP address
Pr.46 OPR speed
Pr.47 Creep speed
Pr.48 OPR retry
R
R
R
�
R
R
Pr.49 OPR dwell time
�
�
�
�
�
Pr.50
Setting for the movement amount after nearpoint dog ON
�
�
�
�
Pr.51 OPR acceleration time selection
Pr.52 OPR deceleration time selection
Pr.53 OP shift amount
S
S
S
S
S
S
Pr.54 OPR torque limit value
�
�
�
Pr.55 Deviation counter clear signal output time
C
C
C
C
C
�
Pr.56 Speed designation during OP shift
S
S
S
S
S
S
Pr.57 Dwell time during OPR retry
R
R
R
�
R
R
: Always set
: Preset parameters are used for machine OPR control. � : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or
within the setting range, there is no problem.) R : Set when using the "12.2.1 OPR retry function". S : Set when using the "12.2.2 OP shift function". C : Set the deviation counter clear signal output time.
Checking the OPR parameters.
Pr.43 to Pr.57 are checked with the following timing.
(1) When the "PLC READY signal [Y0]" output from the CPU module to the QD75 changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX Configurator-QP
(3) When an error check is carried out with GX Configurator-QP
5 - 7
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.4 Setting items for positioning data
Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to CHAPTER 9 "MAJOR POSITIONING CONTROL". For details of the individual setting items, refer to Section 5.3 "List of positioning data".
Major positioning control
Position control
Other control
1-axis linear control 2/3/4-axis linear interpolation control 1-axis fixed-feed control 2/3/4-axis fixed-feed control 2-axis circular interpolation control 3-axis helical interpolation control 1 to 4 axis speed control Speed-position switching control Position-speed switching control NOP instruction Current value changing JUMP instruction LOOP LEND
Positioning data
Independent
positioning
�
�
control
Da.1
Operation Continuous pattern positioning
�
�
control
Continuous path control
�
�
Forward
run speed 1
Reverse
Da.2 Control system
Linear 1
Linear 2
Linear 3
Linear 4
1
Fixedfeed 1 Fixedfeed 2 Fixedfeed 3 Fixedfeed 4
Circular sub
Circular right
Circular left
1
run speed 1
Helical sub
Helical right
Helical left
1
Forward run speed 2
Reverse run speed 2
Forward run speed 3
Reverse run speed 3
Forward run
speed/ position Reverse
run speed/ position
Forward run position/speed Reverse run position/speed
NOP instruction
Forward
Current value changing
JUMP instruction
run speed 4
Reverse
run speed 4
Da.3 Acceleration time No.
�
�
�
� � �
LOOP
�
� � �
LEND
�
Da.4 Deceleration time No.
: 2-axis interpolation control, 3-axis helical
Da.5 Axis to be interpolated
interpolation control �: 1-axis control, 3-axis interpolation control,
�
�
4-axis interpolation control
Da.6
Positioning address/ movement amount
�
Da.7 Arc address
�
�
�
�
�
�
�
�
�
�
�
�
New address
�
�
�
�
�
�
�
�
�
�
�
�
Da.8 Command speed Da.9 Dwell time
Da.10 M code 2
Da.27
M code ON signal output timing
Da.28
ABS direction in degrees
�: 1-axis control
Da.29
Interpolation speed designation method
: 2-axis interpolation control, 3-axis interpolation control, 4-axis interpolation
�
�
control
�
�
�
�
�
JUMP
�
�
destination positioning
�
�
data No.
�
JUMP condition data No.
No. of repetitions
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
5 - 8
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
: Always set, : Set as required, : Setting not possible �: Setting not required (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no
problem.) 1: Two control systems are available: the absolute (ABS) system and incremental (INC) system. 2: Set the M code for the reference axis and the number of pitch for the linear interpolation axis.
Checking the positioning data
The items Da.1 to Da.10 are checked at the following timings:
(1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP
5 - 9
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.5 Setting items for block start data
The "block start data" must be set when carrying out "high-level positioning control". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to CHAPTER 10 "HIGH-LEVEL POSITIONING CONTROL" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item.
High-level positioning control Block start (Normal start)
Block start data
Condition start
Wait start
Simultaneous start
Repeated start
(FOR loop)
Repeated
start (FOR condition)
Da.11 Shape (end/continue)
Da.12 Start data No.
Da.13 Special start instruction
�
Da.14 Parameter
�
: Set as required
� : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.)
Checking the block start data
Da.11 to Da.14 are checked with the following timing.
(1) When the "Block start data" starts (2) When an error check is carried out with GX Configurator-QP
5 - 10
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.6 Setting items for condition data
When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. For the "high-level positioning control", JUMP instruction, and setting items, refer to the following. "High-level positioning control" Refer to CHAPTER 10 "HIGH-LEVEL
POSITIONING CONTROL" JUMP instruction.........................Refer to Section 9.2.23 "JUMP instruction". Setting items ...............................Refer to Section 5.5 "List of condition data".
Condition data
Control Major positioning control
High-level positioning control
Other than JUMP
instruction
JUMP instruction
Block start (Normal start )
Condition start
Wait start
Simultaneous
start
Repeated Repeated
start
start
(FOR
(FOR
loop) condition)
Da.15 Condition target
�
�
�
Da.16 Condition operator
�
�
�
Da.17 Address
�
�
�
�
Da.18 Parameter 1
�
�
�
Da.19 Parameter 2
�
�
�
: Set as required
: Setting limited � : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
Checking the condition data
Da.15 to Da.19 are checked with the following timing.
(1) When the " Block start data" starts (2) When "JUMP instruction" starts (3) When an error check is carried out with GX Configurator-QP
5 - 11
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.7 Types and roles of monitor data
The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring.
System monitoring:
Monitoring of the QD75 configuration and operation history (through the system monitor data Md.1 through, Md.19 Md.50 through Md.52 1)
1: Md.50 through Md.52 are for the QD75P N/QD75D N only.
Axis operation monitoring:
Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data Md.20 through Md.48 2)
2: The axis monitor data are refreshed every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ). Note that " Md.21 Machine feed value", " Md.22 Feedrate", " Md.28 Axis feedrate" and " Md.30 External input/output signal" of QD75P /QD75D are refreshed every 56.8ms. Also, " Md.23 Valid M code", is updated when the "M code ON signal [X4, X5, X6, X7]" turns ON.
[1] Monitoring the system Monitoring the positioning system operation history
Monitoring details Whether the system is in the test mode or not
Corresponding item Md.1 In test mode flag
Start information
Md.3 Start information
History of data that started an operation
Start No. Start
Year:month (QD75P N/QD75D N Day:hour (QD75P N/QD75D N Hour (QD75P /QD75D )
Minute:second
Md.4 Start No. Md.50 Start (Year:month)
Md.5 Start (Day:hour) Md.6 Start (Minute:second)
Error upon starting
Pointer No. next to the pointer No. where the latest history is stored
Axis in which the error occurred
Md.7 Error judgment Md.8 Start history pointer Md.9 Axis in which the error occurred
History of all errors
Axis error No.
Year:month (QD75P N/QD75D N Day:hour Axis error (QD75P N/QD75D N occurrence Hour (QD75P /QD75D )
Minute:second
Pointer No. next to the pointer No. where the latest history is stored
Md.10 Axis error No. Md.51 Axis error occurrence
(Year:month)
Md.11 Axis error occurrence (Day:hour)
Md.12 Axis error occurrence Md.13 Error history pointer
(Minute:second)
5 - 12
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
History of all warnings
Monitoring details
Axis in which the warning occurred
Axis warning No.
Year:month (QD75P N/QD75D N
Day:hour Axis warning (QD75P N/QD75D N occurrence Hour
(QD75P /QD75D )
Minute:second
Number of write accesses Pointer No. next to the pointer No.
to the flash ROM after the where the latest history is stored
power is switched ON
Number of write accesses to flash ROM
Corresponding item Md.14 Axis in which the warning occurred Md.15 Axis warning No.
Md.52 Axis warning occurrence (Year:month)
Md.16 Axis warning occurrence (Day:hour)
Md.17
Axis warning occurrence (Minute:second)
Md.18 Warning history pointer
Md.19 No. of write accesses to flash ROM
[2] Monitoring the axis operation state
Monitoring the position
Monitor details Monitor the current machine feed value Monitor the current "current feed value" Monitor the current target value
Corresponding item Md.21 Machine feed value Md.20 Current feed value Md.32 Target value
Monitoring the speed
Monitor the current speed
Monitor details
Indicates the During independent axis control speed of each
axis
When "0:
Composite speed" Indicates the
is set for " Pr.20 composite
During Interpolation speed speed interpola- designation method"
tion control
When "1: Reference axis speed" Indicates the
is set for " Pr.20 reference axis
Interpolation speed speed
designation method"
Constantly indicates the speed of each axis
Monitor the current target speed
Corresponding item
Md.22 Feedrate
Md.28 Axis feedrate Md.33 Target speed
5 - 13
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Monitoring the state
Monitor details Monitor the axis operation state Monitor the latest error code that occurred with the axis Monitor the latest warning code that occurred with the axis
Corresponding item Md.26 Axis operation status Md.23 Axis error No. Md.24 Axis warning No.
Monitor the external input/output signal and flag
Md.30 External input/output signal Md.31 Status
Monitor the valid M codes
Monitor whether the speed is being limited
Monitor whether the speed is being changed
Monitor the "start data" point currently being executed
Monitor the "positioning data No." currently being executed
Monitor the remaining No. of repetitions (special start)
Monitor the remaining No. of repetitions (control system)
Monitor the block No.
Monitor the current torque limit value
Monitor the "instruction code" of the special start data when using special start Monitor the "instruction parameter" of the special start data when using special start Monitor the "start data No." of the special start data when using special start
Monitor the "positioning data No." executed last
Monitor the positioning data currently being executed
Monitor the movement amount after the current position control switching when using "speed-position switching control (INC mode)" Monitor switching from the constant speed status or acceleration status to the deceleration status during position control whose operation pattern is "Positioning complete"
Md.25 Valid M code
Md.39 In speed limit flag
Md.40 In speed change processing flag
Md.43 Start data pointer being executed
Md.44 Positioning data No. being executed
Md.41 Special start repetition counter
Md.42 Control system repetition counter
Md.45 Block No. being executed
Md.35 Torque limit stored value
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
Md.46 Last executed positioning data No.
Md.47 Positioning data being executed
Md.29
Speed-position switching control positioning amount
Md.48 Deceleration start flag
5 - 14
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.1.8 Types and roles of control data
Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.
Controlling the system data :
Performs write/initialization, etc. of the QD75 "setting data". (the system control data Cd.1 and Cd.2 )
Controlling the operation :
Setting operation parameters, changing speed during operation, interrupting or restarting operation (the system control data Cd.41 and Cd.42 , and the axis control data Cd.3 to Cd.40 )
[1] Controlling the system data
Setting and resetting the setting data
Control details Write setting data from buffer memory to flash ROM Reset (initialize) parameters
Cd.1 Cd.2
Controlled data item Flash ROM write request Parameter initialization request
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[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 Continuous operation interrupt request
Cd.30
Simultaneous starting axis start data No. (axis 1 start data No.)
Set start data Nos. for axes that start up simultaneously
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.
Controlling operation per step
Control details Stop positioning operation after each operation Set unit to carry out step Issue instruction to continue operation after a step is finished
Corresponding item Cd.35 Step valid flag Cd.34 Step mode Cd.36 Step start information
Controlling the speed
Control details 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) Change positioning operation speed between 1 and 300% range Set inching movement amount Set JOG speed When changing acceleration time during speed change, set new acceleration time When changing deceleration time during speed change, set new deceleration time
Set acceleration/deceleration time validity during speed change
Corresponding item Cd.14 New speed value
Cd.15 Speed change request
Cd.13 Positioning operation speed override Cd.16 Inching movement amount Cd.17 JOG speed Cd.10 New acceleration time value
Cd.11 New deceleration time value Acceleration/deceleration time change
Cd.12 during speed change, enable/disable selection
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Making settings related to operation
Control details
Corresponding item
Turn M code ON signal OFF Set new value when changing current value Validate speed-position switching signal from external source
Cd.7 M code OFF request Cd.9 New current value Cd.24 Speed-position switching enable flag
Change movement amount for position control during speed-position switching control (INC mode)
Cd.23
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
Set new speed when changing target position during positioning
Cd.27
Target position change value(new address)
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" Validate external command signal
Cd.19 OPR request flag OFF request 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
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5.2 List of parameters 5.2.1 Basic parameters 1
Item Pr.1 Unit setting
Setting value, setting range
Value set with peripheral device
0 : mm 1 : inch 2 : degree
Value set with sequence program 0 1 2
Pr.2
No. of pulses per rotation (Ap) (Unit : pulse)
3 : pulse 1 to 65535
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 Unit
Pr.3
setting". Here, the value within the [Table 1] range is set.
Movement amount per
rotation (Al)
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
3
0 150 300 450
20000 1 151 301 451
20000 2 152 302 452
Movement amount per pulse
Pr.4 Unit magnification (Am)
1 : 1-fold 10 : 10-fold 100 : 100-fold 1000 : 1000-fold
1 10 100 1000
1
3 153 303 453
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).
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Pr.2 to Pr.4 Movement amount per pulse
These parameters define the amount of movement achieved by each single pulse within a pulse train output by the QD75. The following paragraphs explain how to set the individual parameters Pr.2 , Pr.3 , and Pr.4 assuming that the unit "mm" is selected with Pr.1 . The movement amount per pulse is given by the following expression:
Movement amount per pulse = Movement amount per rotation (Al) No. of pulses per rotation (Ap)
Due to the mechanical tolerance, the actual movement amount may differ slightly from the instructed movement amount. The error can be compensated by adjusting the movement amount per pulse defined here. (Refer to Section 12.3.2 "Electronic gear function".)
POINT
If the movement amount per pulse is less than 1, command frequency variations will occur. Smaller setting will increase variations and may cause machine vibration. If the movement amount per pulse becomes less than 1, also use the electronic gear function of the drive unit and make setting so that the movement amount per pulse is 1 or greater.
[Table 1]
Pr.1 setting value
0 : mm 1 : inch 2 : degree 3 : pulse
Value set with peripheral device Value set with sequence program
(unit)
(unit)
0.1 to 6553.5 (m)
1 to 65535 (10-1m)
0.00001 to 0.65535 (inch)
1 to 65535 (10-5inch)
0.00001 to 0.65535 (degree)
1 to 65535 (10-5degree)
1 to 65535 (pulse)
1 to 65535 (pulse)
1 to 32767
: Set as a decimal
32768 to 65535 : Convert into hexadecimal and set
Pr.2 No. of pulses per rotation (Ap)
Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.
No. of pulses per rotation (Ap) = Resolution per servomotor rotation When the "Resolution per servomotor revolution" of Mitsubishi servo amplifier exceeds 65535 pulses, make setting after referring to the Servo Amplifier Instruction Manual.
Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am)
The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB 1/n
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However, the maximum value that can be set for this "movement amount per rotation (Al)" parameter is 6553.5m (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 6553.5m, adjust with the unit magnification so that the "movement amount per rotation (Al) " does not exceed 6553.5m.
Example 1)
When movement amount per rotation (AL) = PB 1/n = 6000.0m (= 6mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) Unit magnification (Am)
=
6000.0m
1 time
Example 2)
When movement amount per rotation (AL) = PB 1/n = 60000.0m (= 60mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) Unit magnification (Am)
=
6000.0m
10 times
Programmable controller
CPU module
QD75
Servo amplifier Servomotor
Workpiece
M
G
1 Reduction gears
n
Encoder
PB
Movement amount per pulse PB 1 [mm/pulse] Pf n
Pf
PB: Worm gear lead (mm/rev) 1/n: Deceleration ratio Pf: Number of pulses from encoder (pulse/rev)
Item
Pr.5 Pulse output mode
Pr.6 Rotation direction setting
Setting value, setting range
Value set with peripheral device
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
3
0
1
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
1
4 154 304 454
0
5 155 305 455
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Pr.5 Pulse output mode
Set the pulse output mode to match the servo amplifier being used.
IMPORTANT
The only valid value of the " Pr.5 Pulse output mode" is the value at the moment
when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the CPU module is reset. Once the PLC READY signal [Y0] has been turned ON, the value will not be reset even if another value is set to the parameter and the PLC READY signal [Y0] is turned from OFF to ON.
Use " Pr.23 Output signal logic selection" to choose between the positive logic (pulse rising edge detection) and negative logic (pulse falling edge detection). For the output specifications of each pulse output mode, refer to Section 3.4.1, (2) "Output specifications". An example of the pulse output mode for positive and negative logic is shown below.
(1) PULSE/SIGN mode
Positive logic
Negative logic
Forward run and reverse run are controlled with the ON/OFF Forward run and reverse run are controlled with the ON/OFF
of the direction sign (SIGN).
of the direction sign (SIGN).
The motor will forward run when the direction sign is HIGH. The motor will forward run when the direction sign is LOW.
The motor will reverse run when the direction sign is LOW. The motor will reverse run when the direction sign is HIGH.
PULSE
PULSE
SIGN
Forward run
Move in + direction
Reverse run
Move in direction
SIGN
Forward run
Move in + direction
Reverse run
move in direction
(2) CW/CCW mode
During forward run, the forward run feed pulse (PULSE F) will be output. During reverse run, the reverse run feed pulse (PULSE R) will be output.
Positive logic
Negative logic
CW
CW
CCW
Forward run
Reverse run
CCW
Forward run
Reverse run
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(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.
1) For multiple of 1 setting
Positive logic
Negative logic
Forward run Command 1 pulse output
A phase (A )
B phase (B )
Reverse run Command 1 pulse output
Forward run Command 1 pulse output A phase (A )
B phase (B )
Reverse run Command 1 pulse output
When B phase is 90� behind A phase
When B phase is 90� ahead of A phase
When B phase is 90� behind A phase
When B phase is 90� ahead of A phase
Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by four times per second.
2) For multiple of 4 setting
Positive logic
Negative logic
Forward run Command 1 pulse output
A phase (A )
B phase (B )
Reverse run Command 1 pulse output
Forward run Command 1 pulse output
A phase (A )
B phase (B )
Reverse run Command 1 pulse output
When B phase is 90� behind A phase
When B phase is 90� ahead of A phase
When B phase is 90� behind A phase
When B phase is 90� ahead of A phase
Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by one times per second.
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Pr.6 Rotation direction setting
Set the relation of the positioning direction ( Md.20 Current feed value increment direction/decrement direction) and the pulse output. For the relation of "Forward run pulse output, Reverse run pulse output" and "CW/A phase/PULSE signal, CCW/B phase/SIGN signal", refer to " Pr.5 Pulse output mode".
[Example] The following figure shows the pulse outputs of when " Pr.5 Pulse output mode" is set to CW/CCW mode and the positioning with current feed value (increment direction)/(decrement direction) is executed.
Md.20
Current feed value
Positioning with the current feed value (increment direction)
Positioning with the current feed value (decrement direction)
0 01234
4
43210 0
When "0: Current value increment with forward run pulse output" is set
cw
ccw Forward run pulse output
Reverse run pulse output
When "1: Current value increment with reverse run pulse output" is set
cw
ccw Reverse run pulse output
Forward run pulse output
POINT
When Pr.6 has been changed from "0" to "1", check that the upper and lower limit switches operate properly by JOG operation. If any malfunction is identified, check and correct the wiring.
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Item
Pr.7 Bias speed at start
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting range differs depending on the " Pr.1 Unit setting".
Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
6 156 306 456 7 157 307 457
Pr.7 Bias speed at start
Set the bias speed (minimum speed) upon starting. The bias speed has to be defined to allow the motor to start smoothly especially when a stepping motor is used. (A stepping motor will not start smoothly if a low rotation speed is instructed at the beginning.) The specified "bias speed at start" will be valid during the following operations:
� Positioning operation � OPR operation � JOG operation
Note that the bias speed should not exceed " Pr.8 Speed limit value".
Precautions for using a stepping motor
(1) For the system that uses a stepping motor, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur.
(2) In the system that uses a stepping motor, the circular interpolation control cannot be carried out. Although setting the bias speed at start is required by the characteristics of the stepping motor, the setting of the bias speed at start is disabled for circular interpolation control. Ensure to use a servomotor for both 2 axes when the circular interpolation control is carried out.
5.2.2 Basic parameters 2
Item
Pr.8 Speed limit value
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
200000
10 11
160 310 460 161 311 461
Pr.9 Acceleration time 0
Pr.10 Deceleration time 0
1 to 8388608 (ms) 1 to 8388608 (ms)
1 to 8388608 (ms) 1 to 8388608 (ms)
1000 1000
12 162 312 462 13 163 313 463
14 164 314 464 15 165 315 465
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[Table 1]
Pr.1 setting value
0 : mm 1 : inch 2 : degree
Value set with peripheral device (unit)
0 to 20000000.00 (mm/min) 0 to 2000000.000 (inch/min) 0 to 2000000.000 (degree/min)
3 : pulse
0 to 1000000 (pulse/s) 1
[Table 2]
Value set with sequence program (unit)
0 to 2000000000 (�10-2mm/min)
0 to 2000000000 (�10-3inch/min)
0 to 2000000000 (�10-3degree/min)
[QD75P N/QD75D N] 0 to 4000000 (pulse/s) [QD75P /QD75D ] 0 to 1000000 (pulse/s)
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
[Select type 2 is QD75P ] 1 to 200000 (pulse/s) 1 [Select type 2 is QD75D ] 1 to 1000000 (pulse/s) 1
[QD75P N/QD75D N] 1 to 4000000 (pulse/s) [QD75P /QD75D ] 1 to 1000000 (pulse/s)
1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2)
2: For Select type, refer to GX Configurator-QP Operating Manual.
Pr.8 Speed limit value
Set the maximum speed during positioning and OPR operations. If the specified speed exceeds speed limit value, positioning will be limited at the speed limit value. Set the speed limit value within the range of the following formula. If the speed limit value exceeds the range, the error "Out of speed limit value range" (error code: 910) will occur.
The command pulse frequency converted from the speed limit value Max. output pulse 1
1: QD75P N/QD75P : 200kpulse/s QD75D N: 4Mpulse/s QD75D : 1Mpulse/s
Pr.9 Acceleration time 0, Pr.10 Deceleration time 0
" Pr.9 Acceleration time 0" specifies the time for the speed to increase from zero
to " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG
operation).
" Pr.10 Deceleration time 0" specifies the time for the speed to decrease from
" Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG
operation) to zero.
Speed
Pr.8 Speed limit value
Positioning speed
Time
Actual
acceleration
Actual deceleration time
Pr.9
time Pr.10 Deceleration time 0
Acceleration time 0
1) If the positioning speed is set lower than the parameter-defined speed limit value, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed equal to or only a little lower than the parameter-defined speed limit value.
2) These settings are valid for OPR, positioning and JOG operations. 3) When the positioning involves interpolation, the acceleration/deceleration time
defined for the reference axis is valid.
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5.2.3 Detailed parameters 1
Item
Pr.11 Backlash compensation amount
Setting value, setting range
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
setting".
Here, the value within the [Table 1] range is set.
0
17 167 317 467
Pr.12 Software stroke limit upper limit value
The setting value range differs according to the " Pr.1 Unit
setting". Here, the value within the [Table 2] range is set.
2147483647
18 19
Pr.13 Software stroke limit lower limit value
�2147483648
20 21
Pr.14 Software stroke limit selection
0 : Apply software stroke limit on current feed value
1 : Apply software stroke limit on machine feed value
0 1
0
22
0 : Software stroke limit valid during JOG
Pr.15 Software stroke limit valid/invalid setting
operation, inching operation and manual pulse generator operation 1 : Software stroke limit invalid during JOG operation ,inching operation and
0 1
0
23
manual pulse generator operation
168 318 468 169 319 469 170 320 470 171 321 471
172 322 472
173 323 473
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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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.
0
Backlash compensation amount Movement amount per pulse
255
[Table 1]
Pr.1 setting value 0 : mm
1 : inch
Value set with peripheral device Value set with sequence program
(unit)
(unit)
0 to 6553.5 (m)
0 to 65535 (10-1m)
0 to 0.65535 (inch)
0 to 65535 (10-5inch)
2 : degree 3 : pulse
0 to 0.65535 (degree) 0 to 65535 (pulse)
0 to 65535 (10-5degree) 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
0 : mm
1 : inch
2 : degree 3 : pulse
Value set with peripheral device (unit)
-214748364.8 to 214748364.7 (m) -21474.83648 to 21474.83647(inch)
0 to 359.99999 (degree) -2147483648 to 2147483647(pulse)
Value set with sequence program (unit)
-2147483648 to 2147483647 (10-1m) -2147483648 to 2147483647 (10-5inch)
0 to 35999999 (10-5degree) -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
Software stroke limit upper limit
Emergency stop limit switch
OP
(Machine movement range)
Emergency stop limit switch
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1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range. 3) To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (The setting value can be anything in the setting range.) 4) When the unit is "degree", the software stroke limit check is invalid during speed control (including speed-position switching control, position-speed switching control) or during manual control.
Pr.14 Software stroke limit selection
Set whether to apply the software stroke limit on the "current feed value" or the "machine feed value". The software stroke limit will be validated according to the set value.
Pr.15 Software stroke limit valid/invalid setting
Set whether to validate the software stroke limit during JOG/Inching operation and manual pulse generator operation.
Item
Setting value, setting range
Value set with peripheral device
Value set with sequence program
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
The setting value range differs depending on the " Pr.1 Unit
setting".
Pr.16
Here, the value within the [Table 1] range is set.
Command in-position width
100
24 174 324 474 25 175 325 475
Pr.17 Torque limit setting value
Pr.18 M code ON signal output timing
1 to 500 (%) 0 : WITH mode 1 : AFTER mode
1 to 500 (%) 0 1
300 26 176 326 476
0
27 177 327 477
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
Command in-position flag
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Pr.16 Command in-position width ON OFF
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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]
Pr.1 setting value 0 : mm 1 : inch 2 : degree 3 : pulse
Value set with peripheral device (unit)
0.1 to 214748364.7 (�m)
0.00001 to 21474.83647 (inch)
0.00001 to 21474.83647 (degree) 1 to 2147483647 (pulse)
Value set with sequence program (unit)
1 to 2147483647 (�10�1�m)
1 to 2147483647 (�10�5inch)
1 to 2147483647 (�10�5degree)
1 to 2147483647 (pulse)
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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 start signal [Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
Positioning complete signal [X14,X15,X16,X17]
BUSY signal [XC,XD,XE,XF]
M code ON signal [X4,X5,X6,X7]
Cd.7 M code OFF request [1504,1604,1704,1804]
Md.25 Valid M code
m1
m2
M code ON signal [X4,X5,X6,X7]
Cd.7 M code OFF request [1504,1604,1704,1804]
Md.25 Valid M code
m1
m2
Positioning
Da.1 Operation pattern
01 (continuous)
: m1 and m2 indicate set M codes.
00 (end)
Positioning
Da.1 Operation pattern
01 (continuous)
: m1 and m2 indicate set M codes.
00 (end)
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.
An M code ( Da.10 ) is a number between 0 and 65535 that can be assigned to each
positioning data. The sequence program can be coded to read an M code from the buffer memory address specified by " Md.25 Valid M code" whenever the M code ON signal [X4,
X5, X6, X7] turns ON so that a command for the sub work (e.g. clamping, drilling, tool change) associated with the M code can be issued. The M code ON signal output timing can be set for each positioning data with the positioning option (" Da.27 M code ON signal output timing") of the positioning data.
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Item
Pr.19 Speed switching mode
Pr.20 Interpolation speed designation method
Setting value, setting range
Value set with peripheral device
0 : Standard speed switching mode 1 : Front-loading speed switching
mode
Value set with sequence program 0
1
0 : Composite speed
0
1 : Reference axis speed
1
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
28 178 328 478
0
29 179 329 479
0 : Do not update current feed value
0
Pr.21
Current feed value during 1 : Update current feed value
1
0
speed control
2 : Clear current feed value to zero
2
b0 Lower limit
b1 Upper limit
b2
Drive unit READY
b3 Stop signal
b4
External command
0: Negative
151413121110 9 8 7 6 5 4 3 2 1 b0
Pr.22 Input signal logic selection
b5 Zero signal
logic
b6
Near-point dog 1: Positive
signal
logic
b7 Not used
0
Always "0" is set to the part not used.
b8
Manual pulse generator input
b9
to Not used
b15
b0
Command pulse signal
b1 Not used b2 Not used
0: Negative
151413121110 9 8 7 6 5 4 3 2 1 b0
Pr.23
b3
Output signal logic selection b4
b5
Not used Deviation counter clear
logic 1: Positive
logic
0
Always "0" is set to the part not used.
to Not used
b15
Pr.24
Manual pulse generator input selection
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
0 1 2 3
0
Pr.150
Speed-position function selection
0: Speed-position switching control (INC mode)
2: Speed-position switching control (ABS mode)
0 2
0
Pr.70
0: Invalid
0
Positioning option valid/invalid setting
1: Valid
1
0
30 180 330 480 31 181 331 481
32 182 332 482
33 �
�
�
34 184 334 484
140 �
�
�
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5 DATA USED FOR POSITIONING CONTROL
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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
n+1
<For standard switching>
t
n
n+1
<For front-loading switching>
Pr.20 Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is designated, and the speed for each axis is calculated by the QD75.
1: Reference axis speed ........... The axis speed set for the reference axis is designated, and the speed for the other axis carrying out interpolation is calculated by the QD75.
X axis Designate composite speed
X axis
Designate speed for reference axis
Y axis
Calculated by QD75
<When composite speed is designated>
Y axis Calculated by QD75 <When reference axis speed is designated>
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis speed control has to be performed. If you specify the composite speed for a positioning operation that involves the 4-axis linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error" (error code 523) will be output when the positioning operation is attempted. For a positioning operation that involves the circular interpolation or 3-axis helical interpolation control, specify the composite speed. The interpolation speed designation method can be set for each positioning data with
the positioning option (" Da.29 Interpolation speed designation method") of the
positioning data.
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5 DATA USED FOR POSITIONING CONTROL
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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.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.70 Positioning option valid/invalid setting
Enable or disable the data set in the positioning option (" Da.27 M code ON signal output timing", " Da.28 ABS direction in degrees", and " Da.29 Interpolation speed designation method") of the positioning data. Setting this parameter to "1: Valid" carries out a positioning control according to the data set in the positioning option.
0: Invalid 1: Valid Note 1: If a value other than 0 and 1 is set, the set value is regarded as 0 and the
data is disabled. Note 2: If "0: Invalid" is set, the setting is ignored even though the positioning
option of the positioning data is set. Note 3: Pr.70 Positioning option valid/invalid setting can be set only with GX
Works2 (Version 1.540N or later) or sequence programs.
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5 DATA USED FOR POSITIONING CONTROL
MEMO
MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.2.4 Detailed parameters 2
Item
Pr.25 Acceleration time 1 Pr.26 Acceleration time 2 Pr.27 Acceleration time 3 Pr.28 Deceleration time 1 Pr.29 Deceleration time 2 Pr.30 Deceleration time 3
Pr.31 JOG speed limit value
Setting value, setting range
Value set with peripheral device
Value set with sequence program
1 to 8388608 (ms)
1 to 8388608 (ms)
The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
1000
36 186 336 486 37 187 337 487
38 188 338 488 39 189 339 489
40 190 340 490 41 191 341 491
42 192 342 492 43 193 343 493
44 194 344 494 45 195 345 495
46 196 346 496 47 197 347 497
20000
48 49
198 348 498 199 349 499
0: Pr.9 Acceleration time 0
Pr.32
1: Pr.25 Acceleration time 1
JOG operation acceleration
time selection
2: Pr.26 Acceleration time 2
3: Pr.27 Acceleration time 3
0: Pr.10 Deceleration time 0
Pr.33
1: Pr.28 Deceleration time 1
JOG operation deceleration
time selection
2: Pr.29 Deceleration time 2
3: Pr.30 Deceleration time 3
0
1
0
50 200 350 500
2
3
0
1
0
51 201 351 501
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 " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) during a positioning operation.
Pr.28 Deceleration time 1 to Pr.30 Deceleration time 3
These parameters set the time for the speed to decrease from " Pr.8 Speed limit value" (or " Pr.31 JOG speed limit value" during JOG operation) to zero during a positioning operation.
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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 ]
[QD75P N/QD75D N]
3 : pulse
1 to 200000 (pulse/s) 2 [Select type 1 is QD75D ]
1 to 4000000 (pulse/s) [QD75P /QD75D ]
1 to 1000000 (pulse/s) 2
1 to 1000000 (pulse/s)
1: For Select type, refer to GX Configurator-QP Operating Manual. 2: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D .
Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2)
Pr.31 JOG speed limit value
Set the maximum speed for JOG operation.
Note) Set the "JOG speed limit value" to less than " Pr.8 Speed limit value". If the "speed limit value" is exceeded, the error "JOG speed limit value error" (error code: 956) will occur.
Pr.32 JOG operation acceleration time selection
Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation.
0 : Use value set in " 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".
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Item
Pr.34 Acceleration/deceleration process selection
Pr.35 S-curve ratio
Pr.36 Sudden stop deceleration time
Pr.37 Stop group 1 sudden stop selection
Pr.38 Stop group 2 sudden stop selection
Pr.39 Stop group 3 sudden stop selection
Setting value, setting range
Value set with peripheral device
0 : Trapezoid acceleration/deceleration process 1 : S-curve acceleration/deceleration process
Value set with sequence program 0
1
1 to 100 (%)
1 to 100 (%)
1 to 8388608 (ms)
1 to 8388608 (ms)
0 : Normal deceleration stop
0
1 : Sudden stop
1
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
52 202 352 502
100 53 203 353 503
1000
54 204 354 504 55 205 355 505
56 206 356 506
0
57 207 357 507
58 208 358 508
Pr.34 Acceleration/deceleration process selection
Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/deceleration for the acceleration/deceleration process.
Note) Refer to Section 12.7.6 "Acceleration/deceleration process function" for details.
Speed
The acceleration and deceleration are linear.
Speed
The acceleration and deceleration follow a sine curve.
Time <Trapezoid acceleration/deceleration>
Time <S-curve acceleration/deceleration>
For the system that uses a stepping motor, executing the S-curve acceleration/deceleration may cause step-out. Before using the S-curve acceleration/deceleration, confirm that step-out does not occur.
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5 DATA USED FOR POSITIONING CONTROL
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Pr.35 S-curve ratio
Set the S-curve ratio (1 to 100%) for carrying out the S-curve acceleration/deceleration process. The S-curve ratio indicates where to draw the acceleration/deceleration curve using the sine curve as shown below.
A
B
B/2
B/2
(Example) V
Positioning speed
sine curve S-curve ratio = B/A 100%
t When S-curve ratio is 100%
V
Positioning speed
b a
b/a = 0.7
t When S-curve ratio is 70%
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Pr.36 Sudden stop deceleration time
Set the time to reach speed 0 from " Pr.8 Speed limit value" (or " Pr.31 speed limit value" during JOG operation) during the sudden stop. The illustration below shows the relationships with other parameters.
JOG
Pr.8
Speed limit value
Da.8
Command speed
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".
3) Positioning stop
When a "sudden stop cause" does not occur, the deceleration starts toward the stop position following the "deceleration time".
Actual acceleration time
Acceleration time
Actual sudden stop deceleration time
Pr.36
Sudden stop deceleration time
Pr.9 Acceleration time 0 Pr.25 Acceleration time 1 Pr.26 Acceleration time 2 Pr.27 Acceleration time 3
Actual deceleration time
Deceleration time Pr.10 Deceleration time 0 Pr.28 Deceleration time 1 Pr.29 Deceleration time 2 Pr.30 Deceleration time 3
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Pr.37 Stop group 1 sudden stop selection to Pr.39 Stop group 3 sudden
stop selection
Set the method to stop when the stop causes in the following stop groups occur. Stop group 1 ............. Stop with hardware stroke limit Stop group 2 ............. CPU module error occurrence, PLC READY signal [Y0]
OFF, Fault in test mode Stop group 3 ............. External stop signal
Stop signal from CPU module Stop signal from peripheral device Error occurrence (excludes errors in stop groups 1 and 2: includes only the software stroke limit errors during JOG operation, speed control, speed-position switching control, and position-speed switching control)
The methods of stopping include "0: Normal deceleration stop" and "1: Sudden stop". If "1: Sudden stop" is selected, the axis will suddenly decelerate to a stop when the stop cause occurs.
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Item
Pr.40 Positioning complete signal output time
Pr.41 Allowable circular interpolation error width
Setting value, setting range
Value set with peripheral device
Value set with sequence program
0 to 65535 (ms)
0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535: Convert into hexadecimal and set
The setting value range differs depending on the " Pr.1 Unit
setting". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
300 59 209 359 509
100
60 210 360 510 61 211 361 511
0: External positioning start
0
Pr.42 External command function selection
1: External speed change request
2: Speed-position, positionspeed switching request
1 2
0
62 212 362 512
3: Skip request
3
Pr.40 Positioning complete signal output time
Set the output time of the positioning complete signal [X14, X15, X16, X17] output from the QD75. A positioning completes when the specified dwell time has passed after the QD75 had terminated the output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
Programmable controller
CPU
QD75
module Positioning start signal
[Y10, Y11, Y12, Y13]
M
Positioning complete signal
[X14,X15,X16,X17]
Positioning
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal
Positioning complete signal (after dwell time has passed)
Output time
Positioning complete signal output time
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
[Table 1]
Pr.1 setting value 0 : mm 1 : inch 2 : degree 3 : pulse
Value set with peripheral device Value set with sequence program
(unit)
(unit)
0 to 10000.0 (m)
0 to 100000 (10-1m)
0 to 1.00000 (inch)
0 to 100000 (10-5inch)
0 to 1.00000 (degree)
0 to 100000 (10-5degree)
0 to 100000 (pulse)
0 to 100000 (pulse)
Pr.41 Allowable circular interpolation error width
With the "allowable circular interpolation error width", the allowable error range of the calculated arc path and end point address is set. 1 If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation. The allowable circular interpolation error width is set in the following axis buffer memory addresses.
If axis 1 is the reference axis, set in the axis 1 buffer memory address [60, 61].
If axis 2 is the reference axis, set in the axis 2 buffer memory address [210, 211].
If axis 3 is the reference axis, set in the axis 3 buffer memory address [360, 361].
If axis 4 is the reference axis, set in the axis 4 buffer memory address [510, 511].
Path with spiral interpolation
Error
End point address with calculation
End point address
Start point address Center point address
1: With circular interpolation control using the center point designation, the arc path calculated with the start point address and center point address and the end point address may deviate.
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Pr.42 External command function selection
Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation. The new speed should be set in the " Cd.14 New speed value" 2: Speed-position, position-speed switching request The external command signal input is used to switch from the speed control to the position control while in the speed-position switching control mode, or from the position control to the speed control while in the position-speed switching control mode. To enable the speed-position switching control, set the " Cd.24 Speed-position switching enable flag" to "1". To enable the position-speed switching control, set the " Cd.26 Position-speed switching enable flag" to "1". 3: Skip request The external command signal input is used skip the current positioning operation.
POINT
To enable the external command signal, set the " Cd.8 External command
enable" to "1".
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
5.2.5 OPR basic parameters
Item
Pr.43 OPR method
Setting value, setting range
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)
Value set with sequence program 0 1 2 3 4 5
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
70 220 370 520
Pr.43 OPR method
Set the "OPR method" for carrying out machine OPR. 0 : Near-point dog method ........ After decelerating at the near-point dog ON, stop
at the zero signal and complete the machine OPR. 1 : Stopper method 1) ............... After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR after the dwell time has passed. 2 : Stopper method 2) ............... After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR with the zero signal. 3 : Stopper method 3) ............... After starting with the creep speed, stop with the stopper, and complete the machine OPR with the zero signal. 4 : Count method 1) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR with the zero signal. 5 : Count method 2) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR.
Note) Refer to Section 8.2.2 "Machine OPR method" for details on the OPR methods.
OPR method
0 : Near-point dog method
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time, the near-point dog must be ON. If the nearpoint dog is OFF, the axis will decelerate to a stop.)
(4) At the first zero signal (one pulse output at one motor revolution) after the near-point dog OFF, the pulse output from the QD75 stops, and the machine OPR is completed.
V
Pr.46 OPR speed
(2)
(3) (1)
ON Near-point dog OFF
Pr.47
Creep speed
(4) t
Zero signal
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
1 : Stopper method 1)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (4).)
(4) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops.
(5) When the near-point dog turns ON and the " Pr.49 OPR dwell time" is passed, the pulse output from the QD75 stops, and the machine OPR is completed.
V
Pr.46 OPR speed
(2)
Pr.47 Creep speed
(3) (4)
(5)
(1)
t
Range to forcibly stop
the servomotor
rotation with the stopper.
ON Near-point dog OFF
Dwell time counting
Dwell time up
2 : Stopper method 2)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (4).)
(4) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops.
(5) After stopping, the pulse output from the QD75 stops with the zero signal (signal that is output on detection of contact with the stopper. Input externally), and the machine OPR is completed.
V
Pr.46 OPR speed
(2)
Pr.47
Creep speed
Stop with stopper
(1)
(3) (4) (5)
t
Zero signal
ON Near-point dog OFF
3 : Stopper method 3)
(1) Start machine OPR. (Start movement at the " Pr.47 Creep speed" in the " Pr.44 OPR direction". At this time " Pr.54 OPR torque limit value" is required. If the torque is not limited, the servomotor could be damaged in step (2).)
(2) The axis contacts against the stopper at " Pr.47 Creep speed", and then stops.
(3) After stopping, the pulse output from the QD75 stops with the zero signal (signal that is output on detection of contact with the stopper. Input externally), and the machine OPR is completed.
V
(1) Zero signal
Pr.47 Creep speed Stop with stopper
(2)
t (3)
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5 DATA USED FOR POSITIONING CONTROL
4 : Count method 1)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " Pr.47 Creep speed", and move with the
creep speed. (4) After the near-point dog turns ON and the movement
amount set in " Pr.50 Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD75 stops with the first zero signal (one pulse output at one motor revolution), and the machine OPR is completed.
MELSEC-Q
5 : Count method 2)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the creep speed.
(4) After the near-point dog turns ON and the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD75 stops with the first zero signal, and the machine OPR is completed.
Item
Pr.44 OPR direction
Pr.45 OP address
Setting value, setting range
Value set with peripheral device
0 : Positive direction (address increment direction)
1 : Negative direction (address decrement direction)
Value set with sequence program 0
1
The setting value range differs depending on the " Pr.1 Unit
setting". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
71 221 371 521
0
72 222 372 522 73 223 373 523
Pr.46 OPR speed
The setting value range differs depending on the " Pr.1 Unit
setting". Here, the value within the [Table 2] range is set.
1
74 224 374 524 75 225 375 525
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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.
Lower limit
Address decrement
OP
direction
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 .
Upper limit 1)
Address increment direction
Lower limit
Address decrement direction
2)
Upper limit
Address increment
OP
direction
When the OP is set at the upper limit side, the OPR direction is in the direction of arrow 2). Set "0" for Pr.44 .
[Table 1]
Pr.1 setting value
0 : mm 1 : inch 2 : degree 3 : pulse
[Table 2]
Value set with peripheral device (unit)
-214748364.8 to 214748364.7 (m) -21474.83648 to 21474.83647 (inch)
0 to 359.99999 (degree) -2147483648 to 2147483647 (pulse)
Value set with sequence program(unit)
-2147483648 to 2147483647 (10-1m) -2147483648 to 2147483647 (10-5inch) 0 to 35999999 (10-5degree) -2147483648 to 2147483647 (pulse)
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 3 : pulse
0.001 to 2000000.000 (degree/min) 1 to 1000000 (pulse/s) 1
1 to 2000000000 (10-3degree/min)
[QD75P N/QD75D N] 1 to 4000000 (pulse/s) [QD75P /QD75D ] 1 to 1000000 (pulse/s)
1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2)
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Item
Pr.47 Creep speed
Pr.45 OP address
Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in " Pr.45 OP address". At the same time, the " Pr.45 OP address" is stored in " Md.20 Current feed value" and " Md.21 Machine feed value".)
Pr.46 OPR speed
Set the speed for OPR.
Note) Set the "OPR speed" to less than " Pr.8 Speed limit value". If the "speed limit value" is exceeded, the error "Out of speed limit value range" (error code: 910) occurs and OPR is not performed. The "OPR speed" should be equal to or faster than the " Pr.7 Bias speed at start" and " Pr.47 Creep speed".
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting value range differs depending on the " Pr.1 Unit
setting". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
1
76 226 376 526 77 227 377 527
Pr.48 OPR retry
0 : Do not retry OPR with limit switch
1 : Retry OPR with limit switch
0 1
0
78 228 378 528
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Pr.47 Creep speed
Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range.
( Pr.46 OPR speed ) ( Pr.47 Creep speed) ( Pr.7 Bias speed at start)
Note) The creep speed is related to the detection error when using the OPR method with zero signal, and the size of the collision if a collision occurs during OPR method using the stopper method.
V Pr.46 OPR speed
Machine OPR start
Pr.47 Creep speed
ON
Near-point
dog signal
OFF
Zero signal
[Table 1]
Pr.1 setting value
Value set with peripheral device (unit)
Value set with sequence program (unit)
0 : mm
0.01 to 20000000.00 (mm/min)
1 to 2000000000 (10-2mm/min)
1 : inch
0.001 to 2000000.000 (inch/min) 1 to 2000000000 (10-3inch/min)
2 : degree
0.001 to 2000000.000 (degree/min) 1 to 2000000000 (10-3degree/min)
[QD75P N/QD75D N]
3 : pulse
1 to 1000000 (pulse/s) 1
1 to 4000000 (pulse/s) [QD75P /QD75D ]
1 to 1000000 (pulse/s)
1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2)
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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)).
5)
1)
2)
6)
Start position 4)
3)
ON Near-point dog signal
Limit signal OFF state
Zero signal
[Operation for OPR retry function]
1) Movement in the OPR direction starts with the machine OPR start.
2) The axis decelerates when the limit signal OFF is detected.
3) After stopping at detection of the limit switch signal OFF, the axis moves at the OPR speed in the direction opposite to the specified OPR direction.
4) The axis decelerates when the near-point dog signal turns OFF.
5) After stopping with the near-point dog signal OFF, start machine OPR in the OPR direction.
6) The machine begins decelerating when the near-point dog ON is detected and completes machine ORR.
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Item
Pr.49 OPR dwell time
Setting value, setting range
Value set with peripheral device 0 to 65535 (ms)
Value set with sequence program
0 to 65535 (ms) 0 to 32767 :
Set as a decimal 32768 to 65535 :
Convert into hexadecimal and set
The setting value range differs depending on the " Pr.1 Unit
Pr.50
setting".
Setting for the movement Here, the value within the [Table 1] range is set.
amount after near-point dog
ON
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
79 229 379 529
0
80 230 380 530 81 231 381 531
Pr.51 OPR acceleration time selection
Pr.52 OPR deceleration time selection
0 : Pr.9 Acceleration time 0 1 : Pr.25 Acceleration time 1 2 : Pr.26 Acceleration time 2 3 : Pr.27 Acceleration time 3 0 : Pr.10 Deceleration time 0 1 : Pr.28 Deceleration time 1 2 : Pr.29 Deceleration time 2 3 : Pr.30 Deceleration time 3
0
1
0
82 232 382 532
2
3
0
1
0
83 233 383 533
2
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 10ms at the OPR speed".)
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[Table 1]
Pr.1 setting value 0 : mm 1 : inch 2 : degree 3 : pulse
Value set with peripheral device Value set with sequence program
(unit)
(unit)
0 to 214748364.7 (m)
0 to 2147483647 (10-1m)
0 to 21474.83647 (inch)
0 to 2147483647 (10-5inch)
0 to 21474.83647 (degree)
0 to 2147483647 (10-5degree)
0 to 2147483647 (pulse)
0 to 2147483647 (pulse)
Example of setting for " Pr. 50 Setting for the movement amount after near-point dog ON"
Assuming that the " Pr. 8 Speed limit value" is set to 200 kpulse/s, " Pr. 46 OPR speed" to 10 kpulse/s, " Pr. 47 Creep speed" to 1 kpulse/s, and deceleration time to 300 ms, the minimum value of " Pr. 50 Setting for the movement amount after near-point dog ON" is calculated as follows:
[Machine OPR operation]
Pr.8 Speed limit value: Vp=200kpulse/s
Pr.46 OPR speed: Vz=10kpulse/s
1 [Deceleration distance] = 2
Vz 1000
t + 0.01 Vz Movement amount for 10ms at OPR speed
Vz = 2000
TbVpVz+ 0.01
Vz
10 103 = 2000
300 10 103 200 103
+
0.01
10
103
= 75 + 100 = 175
Actual deceleration time:t = Tb
Vz Vp
Pr.47 Creep speed: Vc=1kpulse/s
t Deceleration time: Tb=300ms
Setting for the movement amount after near-point dog ON ( Pr. 50 ) should be equal to or larger than 175.
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".
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Item
Pr.53 OP shift amount
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
84 234 384 534 85 235 385 535
Pr.54 OPR torque limit value
1 to 300 (%)
Pr.55 Deviation counter clear signal output time
Pr.56 Speed designation during OP shift
1 to 65535 (ms)
0 : OPR speed 1 : Creep speed
Pr.57
Dwell time during OPR retry
0 to 65535 (ms)
1 to 300 (%)
1 to 65535 (ms) 1 to 32767: Set the decimal value as it is. 32768 to 65535: Convert into hexadecimal and set.
0
1
0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set
300 86 236 386 536
11
87 237 387 537
0
88 238 388 538
0
89 239 389 539
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
Start point
Shift point
Shift point
When " Pr.53 OP shift amount" is negative
Shift after deviation counter clear is canceled
Near-point dog signal Zero signal
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[Table 1]
Pr.1 setting value
0 : mm 1 : inch 2 : degree 3 : pulse
Value set with peripheral device (unit)
-214748364.8 to 214748364.7 (m) -21474.83648 to 21474.83647 (inch)
-21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (pulse)
Value set with sequence program (unit)
-2147483648 to 2147483647 (10-1m)
-2147483648 to 2147483647 (10-5inch)
-2147483648 to 2147483647 (10-5degree) -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
5)
the time set in Pr. 57
4)
1) 6)
Start position
Temporarily stop for
2)
the time set in Pr. 57
3)
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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. Before the explanation on the positioning data setting items Da.1 to Da.10 and Da.27 to Da.29 , 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.
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The descriptions that follow relate to the positioning data set items ( Da.1 to Da.10 , Da.27 to Da.29 ). (The buffer memory addresses shown are those of the "positioning data No. 1" for the axes 1 to 4.)
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Positioning identifier configuration
The positioning identifier consists of " Da.1 Operation pattern" to " Da.5 Axis to be
interpolated". The set values of those data are stored in one buffer memory address. Consider the positioning identifier configuration in the figure below when setting " Da.1 Operation pattern" to " Da.5 Axis to be interpolated".
Positioning identifier configuration
Assignment
(1) Da.1 Operation pattern (2) Da.5 Axis to be interpolated (3) Da.3 Acceleration time No. (4) Da.4 Deceleration time No. (5) Da.2 Control system
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Positioning identifier
The following table lists the setting range and default value of each buffer memory area of the positioning identifier.
Setting value
Item
Value set with peripheral device
Da.1 Operation pattern
00:Positioning complete 01:Continuous positioning control 11:Continuous path control
Value set with sequence program 00
01
11
Setting value buffer memory address
Default value Axis 1 Axis 2 Axis 3 Axis 4
ABS1 : 1-axis linear control (ABS)
01H
INC1 : 1-axis linear control (INC)
02H
FEED1 : 1-axis fixed-feed control
03H
VF1 : 1-axis speed control (forward run)
04H
VR1 : 1-axis speed control (reverse run)
05H
VPF : Speed-position switching control (forward run)
06H
VPR : Speed-position switching control (reverse run)
07H
PVF : Position-speed switching control (forward run)
08H
PVR : Position-speed switching control (reverse run)
09H
ABS2 : 2-axis linear interpolation control (ABS)
0AH
INC2 : 2-axis linear interpolation control (INC)
0BH
FEED2 : Fixed-feed control by 2-axis linear interpolation
0CH
((
ABS :Circular interpolation control with sub point specified (ABS)
0DH
INC : Circular interpolation control with sub point specified (INC)
0EH
ABS . : Circular interpolation control with center point specified (ABS, CW)
0FH
ABS . : Circular interpolation control with center point specified (ABS, CCW)
10H
INC . : Circular interpolation control with center point specified (INC, CW)
11H
INC . : Circular interpolation control with center point specified (INC, CCW)
12H
VF2 : 2-axis speed control (forward run)
13H
VR2 : 2-axis speed control (reverse run)
14H
Da.2
ABS3 : 3-axis linear interpolation control (ABS)
15H
Control system
INC3 : 3-axis linear interpolation control (INC)
16H
FEED3 : Fixed-feed control by 3-axis linear interpolation control
17H
VF3 : 3-axis speed control (forward run)
18H
VR3 : 3-axis speed control (reverse run)
19H
((
ABSH : Helical interpolation control with sub point designation (ABS)
20H
INCH : Helical interpolation control with sub point designation (INC)
21H
ABSH .: Helical interpolation control with center point designation (ABS, CW)
22H
ABSH .: Helical interpolation control with center point designation (ABS, CCW)
23H
INCH .: Helical interpolation control with center point designation (INC, CW)
24H
INCH .: Helical interpolation control with center point designation (INC, CCW)
25H
ABS4 : 4-axis linear interpolation control (ABS)
1AH
INC4 : 4-axis linear interpolation control (INC)
1BH
FEED4 : Fixed-feed control by 4-axis linear interpolation control
1CH
VF4 : 4-axis speed control (forward run)
1DH
VR4 : 4-axis speed control (reverse run)
1EH
NOP : NOP instruction
80H
POS : Current value changing
81H
JUMP : JUMP instruction
82H
LOOP : Declares the beginning of LOOP to LEND section
83H
LEND : Declares the end of LOOP to LEND section
84H
0000H 2000 8000 14000 20000
0: Pr.9 Acceleration time 0
00
Da.3
1: Pr.25 Acceleration time 1
01
Acceleration
time No. 2: Pr.26 Acceleration time 2
10
3: Pr.27 Acceleration time 3
11
0: Pr.10 Deceleration time 0
00
Da.4
1: Pr.28 Deceleration time 1
01
Deceleration
time No. 2: Pr.29 Deceleration time 2
10
3: Pr.30 Deceleration time 3
11
0: Axis 1
00
Da.5
1: Axis 2
01
Axis to be
interpolated 2: Axis 3
10
3: Axis 4
11
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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)
Positioning continued
Continuous positioning with one start signal .......... Continuous positioning control 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
or 3-axis helical interpolation control cannot be carried out. The error "Circular interpolation not possible" (error code: 535) will occur when executed. The 3-axis helical interpolation control can be set only for the QD75N with a serial number (first five digits) of "17102" or later. If the 3-axis helical interpolation control is set for the QD75N with a serial number (first five digits) earlier than "17102", the error "Control system setting error" (error code: 524) will occur.
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".
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".
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Da.5 Axis to be interpolated
Set the target axis (partner axis) for operations under the 2-axis interpolation control, and the circular interpolation axis for operations under the 3-axis helical 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). Note) Do not specify the own axis number or any number except the above.
(If you do, the error "Illegal interpolation description command" (error code: 521) will occur during the program execution.) For 3-axis interpolation other than 3-axis helical interpolation control or 4-axis interpolation, this item does not need to be set. The following table lists the target axes for the 3-axis helical interpolation control.
Reference axis
Circular interpolation axis
Linear interpolation axis
Axis 1
Axis 2 Axis 3
Axis 3 Axis 2
Axis 2
Axis 3 Axis 4
Axis 4 Axis 3
Axis 3
Axis 4 Axis 1
Axis 1 Axis 4
Axis 4
Axis 1 Axis 2
Axis 2 Axis 1
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Item
Da.6 Positioning address/ movement amount
Setting value, setting range
Value set with peripheral device
Value set with sequence program
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
The setting value range differs according to the " Da.2 Control
system".
Here, the value within the following range of [Table 1] range is set.
0
2006 8006 14006 20006 2007 8007 14007 20007
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
3000
Movement
Movement
amount : 2000 amount : 2000
(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
(Movement amount) 30000
Moves in
Moves in
negative direction positive direction
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[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.)
Da.2 setting value
Value set with peripheral device (m)
ABS Linear 1
ABS Linear 2 ABS Linear 3 ABS Linear 4 Current value changing
: 01H
: 0AH : 15H : 1AH : 81H
INC Linear 1 INC Linear 2
INC Linear 3 INC Linear 4 Fixed-feed 1 Fixed-feed 2
Fixed-feed 3 Fixed-feed 4
: 02H : 0BH
: 16H : 1BH : 03H : 0CH
: 17H : 1CH
Forward run speed/position : 06H Reverse run speed/position : 07H Forward run position/speed : 08H
Reverse run position/speed : 09H
ABS circular sub ABS circular right ABS circular left
: 0DH : 0FH : 10H
INC circular sub INC circular right INC circular left
: 0EH : 11H : 12H
ABS helical sub
: 20H
ABS helical right
: 22H
ABS helical left
: 23H
INC helical sub INC helical right INC helical left
: 21H : 24H : 25H
Set the address -214748364.8 to 214748364.7
Set the movement amount -214748364.8 to 214748364.7
Set the movement amount 0 to 214748364.7
Set the address -214748364.8 to 214748364.7
Set the movement amount -214748364.8 to 214748364.7
Set the address -214748364.8 to 214748364.7
Set the movement amount -214748364.8 to 214748364.7
1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.)
Value set with sequence program 1 (10-1m)
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
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
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(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.)
Da.2 setting value
Value set with peripheral device (degree)
ABS Linear 1
ABS Linear 2 ABS Linear 3 ABS Linear 4 Current value changing
: 01H
: 0AH : 15H : 1AH : 81H
Set the address 0 to 359.99999
INC Linear 1
INC Linear 2 INC Linear 3
INC Linear 4 Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4
: 02H
: 0BH : 16H
: 1BH : 03H : 0CH : 17H : 1CH
Set the movement amount -21474.83648 to 21474.83647
ABS helical sub ABS helical right ABS helical left
: 20H 2
: 22H : 23H
2 2
Set the address 0 to 359.99999
INC helical sub INC helical right INC helical left
: 21H : 24H : 25H
2 2 2
Set the movement amount -21474.83648 to 21474.83647
In INC mode
Set the movement amount
Forward run speed/position : 06H
0 to 21474.83647
Reverse run speed/position : 07H In ABS mode
Set the address 0 to 359.99999
Forward run position/speed : 08H Set the movement amount
Reverse run position/speed : 09H
0 to 21474.83647
Value set with sequence program 1 (10-5 degree)
Set the address 0 to 35999999
Set the movement amount -2147483648 to 2147483647
Set the address 0 to 35999999
Set the movement amount -2147483648 to 2147483647
In INC mode Set the movement amount
0 to 2147483647 In ABS mode Set the address
0 to 35999999 Set the movement amount
0 to 2147483647
1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.)
2: In the 3-axis helical interpolation control, "degree" can be set only for the linear interpolation axis.
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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.)
Da.2 setting value
ABS Linear 1
ABS Linear 2 ABS Linear 3 ABS Linear 4 Current value changing
: 01H
: 0AH : 15H : 1AH : 81H
INC Linear 1
INC Linear 2
INC Linear 3 INC Linear 4 Fixed-feed 1 Fixed-feed 2
Fixed-feed 3 Fixed-feed 4
: 02H
: 0BH
: 16H : 1BH : 03H : 0CH
: 17H : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H Forward run position/speed : 08H Reverse run position/speed : 09H
ABS circular sub
ABS circular right ABS circular left
: 0DH
: 0FH : 10H
INC circular sub INC circular right INC circular left
: 0EH : 11H : 12H
ABS helical sub ABS helical right ABS helical left
: 20H : 22H : 23H
INC helical sub INC helical right
: 21H : 24H
INC helical left
: 25H
Value set with peripheral device (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
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
Value set with sequence program 1 (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
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
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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.)
Da.2 setting value
Value set with peripheral device (inch)
ABS Linear 1
ABS Linear 2 ABS Linear 3 ABS Linear 4 Current value changing
: 01H
: 0AH : 15H : 1AH : 81H
INC Linear 1
INC Linear 2 INC Linear 3
INC Linear 4 Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4
: 02H
: 0BH : 16H
: 1BH : 03H : 0CH : 17H : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H Forward run position/speed : 08H Reverse run position/speed : 09H
ABS circular sub
ABS circular right ABS circular left
: 0DH
: 0FH : 10H
INC circular sub
INC circular right INC circular left
: 0EH
: 11H : 12H
ABS helical sub
: 20H
ABS helical right
: 22H
ABS helical left
: 23H
INC helical sub
: 21H
INC helical right
: 24H
INC helical left
: 25H
Set the address -21474.83648 to 21474.83647
Set the movement amount -21474.83648 to 21474.83647
Set the movement amount 0 to 21474.83647
Set the address -21474.83648 to 21474.83647
Set the movement amount -21474.83648 to 21474.83647
Set the address -21474.83648 to 21474.83647
Set the movement amount -21474.83648 to 21474.83647
1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.)
Value set with sequence program 1 (10-5 inch)
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
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
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Item
Da.7 Arc address
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting value range differs according to the " Da.2 Control
system". Here, the value within the [Table 1] range is set.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
2008 8008 14008 20008 2009 8009 14009 20009
Da.7 Arc address
The arc address is data required only when the circular interpolation control or 3axis helical interpolation control is carried out. (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 )
Sub point (Address set with Da.7 )
Center point address (Address set with Da.7 )
Start point address (Address before starting positioning) Start point address (Address before starting positioning)
<(1) Circular interpolation with sub point designation>
<(2) Circular interpolation with center point designation>
When the circular interpolation control or 3-axis helical interpolation control is not carried out, the value set in " Da.7 Arc address" will be invalid.
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5 DATA USED FOR POSITIONING CONTROL
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[Table 1]
When " Pr.1 Unit Setting" is "mm"
The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.)
Da.2 setting value
Value set with peripheral device (m)
Value set with sequence program 1 (10-1m)
ABS circular sub ABS circular right ABS circular left INC circular sub INC circular right INC circular left ABS helical sub ABS helical right ABS helical left INC helical sub INC helical right INC helical left
: 0DH : 0FH : 10H
Set the address -214748364.8 to 214748364.7
: 0EH : 11H : 12H
Set the movement amount -214748364.8 to 214748364.7
: 20H : 22H : 23H
Set the address -214748364.8 to 214748364.7
: 21H : 24H : 25H
Set the movement amount -214748364.8 to 214748364.7
2
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647 2
1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.)
2: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address.
When " Pr.1 Unit Setting" is "degree" No control system requires the setting of the arc address by "degree".
When " Pr.1 Unit Setting" is "pulse"
The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.)
Da.2 setting value
Value set with peripheral device (pulse)
ABS circular sub ABS circular right ABS circular left
: 0DH : 0FH : 10H
Set the address -2147483648 to 2147483647
INC circular sub INC circular right INC circular left
: 0EH : 11H : 12H
Set the movement amount -2147483648 to 2147483647
1
ABS helical sub ABS helical right ABS helical left
: 20H : 22H : 23H
Set the address -2147483648 to 2147483647
INC helical sub INC helical right INC helical left
: 21H : 24H : 25H
Set the movement amount -2147483648 to 2147483647
1
Value set with sequence program (pulse)
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647 1
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647 1
1: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address.
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When " Pr.1 Unit Setting" is "inch"
The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.)
Da.2 setting value
Value set with peripheral device (inch)
Value set with sequence program 1 (�10-5 inch)
ABS circular sub ABS circular right ABS circular left INC circular sub INC circular right INC circular left ABS helical sub ABS helical right ABS helical left INC helical sub INC helical right INC helical left
: 0DH : 0FH : 10H
Set the address -21474.83648 to 21474.83647
: 0EH : 11H : 12H
Set the movement amount -21474.83648 to 21474.83647
: 20H : 22H : 23H
Set the address -21474.83648 to 21474.83647
: 21H : 24H : 25H
Set the movement amount -21474.83648 to 21474.83647
2
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
Set the address -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647 2
1: Set an integer because the sequence program cannot handle fractions. (The value will be converted properly within the system.)
2: Note that the maximum radius that circular interpolation control is possible is 536870912, although the setting value can be input within the range shown in the above table, as an arc address.
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Item
Da.8 Command speed
Setting value, setting range
Value set with peripheral device
Value set with sequence program
The setting value range differs depending on the " Pr.1 Unit
setting". Here, the value within the [Table 1] range is set.
Da.9 Dwell time
-1: Current speed
(Speed set for previous
-1
positioning data No.)
The setting value range differs according to the " Da.2 Control Dwell time system".
Here, the value within the [Table 2] range is set.
JUMP destination positioning data No.
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
0
2004 8004 14004 20004 2005 8005 14005 20005
0 2002 8002 14002 20002
Da.10 M code
M code
Condition data No. No. of LOOP to LEND repetitions
The setting value range differs according to the "
system". Here, the value within the [Table 3] range is set.
Da.2
Control
0 2001 8001 14001 20001
Da.8 Command speed
Set the command speed for positioning. (1) If the set command speed exceeds " Pr.8 Speed limit value", positioning will
be carried out at the speed limit value. (2) If "-1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control. Use the current speed for uniform speed control, etc. If "-1" is set for continuing positioning data, and the speed is changed, the following speed will also change.
(Note that when starting positioning, if the "-1" speed is set for the positioning
data that carries out positioning control first, the error "No command speed"
(error code: 503) will occur, and the positioning will not start. Refer to Section 15.3 "List of errors" for details on the errors.)
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5 DATA USED FOR POSITIONING CONTROL
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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 "3-axis helical interpolation control" is selected as the " Da.2 Control
system": Set the number of pitch for the linear interpolation axis. Set the rotation
speed of the circular interpolation as the number of pitch.
If "JUMP instruction" is selected as the " Da.2 Control system"
............... Set the "condition data No." for JUMP.
0
: Unconditional JUMP to the positioning data specified
by Da.9 .
1 to 10 : JUMP performed according to the condition data No. specified (a number between 1 and 10).
If "LOOP" is selected as the " Da.2 Control system"
............... Set the number of LOOP to LEND repetitions by a number other than "0". The error "Control system LOOP setting error" (error code: 545) will
occur if you specify "0".
The condition data specifies the condition for the JUMP instruction to be
executed.
(A JUMP will take place when the condition is satisfied.)
[Table 1]
Pr.1 setting value 0 : mm
Value set with peripheral device (unit)
0.01 to 20000000.00 (mm/min)
Value set with sequence program (unit)
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) 1
[QD75P N/QD75D N] 1 to 4000000 (pulse/s) [QD75P /QD75D ]
1 to 1000000 (pulse/s)
1: In GX Configurator-QP, the QD75P N/QD75D N are recognized as the QD75P /QD75D . Therefore, the
setting ranges are the same as those of the QD75P /QD75D . To set a value outside a setting range in GX Configurator-QP, set it through a sequence program or GX Works2. The setting ranges in GX Works2 are the same as those in sequence programs. (Refer to Appendix 1.2)
[Table 2]
Da.2 setting value
JUMP instruction: 82H Other than JUMP instruction
[Table 3]
Setting item
Positioning data No. Dwell time
Value set with peripheral device
1 to 600
0 to 65535 (ms)
Value set with sequence program
1 to 600
0 to 65535 (ms)
Da.2 setting value
JUMP instruction: 82H LOOP: 83H Helical interpolation: 20H to 25H Other than the above
Setting item
Condition data No. Repetition count Number of pitch M code
Value set with peripheral device 0 to 10
1 to 65535 0 to 999
0 to 65535
Value set with sequence program 0 to 10 1 to 65535 0 to 999 0 to 65535
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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 system"
..... Set the "dwell time". When "JUMP instruction " is set for " Da.2 Control system"
..... Set the "positioning data No." for the JUMP destination.
Control
When the "dwell time" is set, the setting details of the "dwell time" will be as follows according to " Da.1 Operation pattern".
1) When " Da.1 Operation pattern" in "00: Positioning complete"
V
Positioning control
Set the time from when the positioning ends to when the "positioning complete signal" turns ON as the "dwell time".
Positioning complete signal OFF
t ON
V 2) When " Da.1 Operation pattern" is "01: Continuous positioning control"
Set the time from when positioning control ends to when the next positioning control starts as the "dwell time".
3) When " Da.1 Operation pattern" is "11: Continuous path control"
V
The setting value is irrelevant to the control. (The "dwell time" is 0ms.)
Positioning control
Da.9
Dwell time
Next positioning control
t
Positioning control
Da.9
Dwell time
Next positioning control
t No dwell time (0ms)
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Positioning option
Item
Da.27 M code ON signal output timing
Da.28 ABS direction in degrees
Da.29 Interpolation speed designation method
Setting value, setting range
Value set with peripheral
Value set with sequence program
0: Use the set value in " Pr.18 M code ON signal output timing".
0
1: WITH mode
1
2: AFTER mode
2
0: Use the set value in
" Cd.40 ABS direction in
0
degrees".
1: ABS clockwise
1
2: ABS counterclockwise
2
3: Takes a shortcut. (direction setting ignored)
3
0: Use the set value in
" Pr.20 Interpolation speed
0
designation method".
1: Composite speed
1
2: Reference axis speed
2
Default Setting value buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4
0
0
2003 8003 14003 20003
0
Positioning option configuration
The positioning option consists of " Da.27 M code ON signal output timing" to " Da.29 Interpolation speed designation method". The set values of those data are
stored in one buffer memory address. Consider the positioning option configuration in the figure below when setting " Da.27 M code ON signal output timing" to " Da.29 Interpolation speed designation method".
Positioning option configuration
Assignment
(1) Da.27 M code ON signal output timing
(2) Da.28 ABS direction in degrees
(3)
Da.29 Interpolation speed designation method
(4) Use prohibited (fixed to 0)
Da.27 M code ON signal output timing
Set the M code ON signal output timing for each positioning data.
Da.28 ABS direction in degrees
Set the ABS moving direction when "degree" is selected as the unit for each positioning data.
Da.29 Interpolation speed designation method
Set the interpolation speed designation method for each positioning data.
POINTS
(1) To use the positioning option, set "1: Valid" in Pr.70 Positioning option valid/invalid setting.
(2) The positioning option can be set only with GX Works2 (Version 1.540N or later) or sequence programs.
(3) The positioning option can be set only for the QD75N with a serial number (first five digits) of "17102" or later. If a value is set for the positioning option of the QD75N with a serial number (first five digits) earlier than "17102" and a positioning control is started, the value set in the positioning option is ignored.
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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
Setting item
1st point
2nd point
Setting item
Buffer memory Buffer memoryaddress
Setting item
address
Buffer memory address
26049
b15
b8 b7
b0
Da.11 Shape
Da.12 Start data No.
26000
26001
26099
Axis 1 (Start block 0)
b15
b8 b7
b0
Da.13 Special start instruction
Da.14 Parameter
26050
26051
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).
For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 13 "List of buffer memory addresses".
50th point
Setting item
1st point
2nd point Setting item
Setting item
Buffer memory address Buffer memory address
Buffer memory address
27049
b15
b8 b7
b0
Da.11 Shape
Da.12 Start data No.
27000
27001
27099
b15
b8 b7
b0
Da.13 Special start instruction
Da.14 Parameter
27050
27051
Axis 2 (Start block 0)
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5 DATA USED FOR POSITIONING CONTROL
Axis 3 (Start block 0)
50th point
1st point
2nd point Setting item
oeSe�^ ttu'inOE^g it�,emZn "� f [ ^
Setting item
Buffer memory Buffer memory address address
Buffer memory address
28049
b15
b8 b7
b0
Da.11 Shape
Da.12 Start data No.
28000
28001
28099
b15
b8 b7
b0
Da.13 Special start instruction
Da.14 Parameter
28050
28051
50th point
1st point
2nd point Setting item
oeSe�^ ttu'inOE^g it�,emZn "� f [ ^
Setting item
Buffer memory Buffer memory address address
Buffer memory address
29049
b15
b8 b7
b0
Da.11 Shape
Da.12 Start data No.
29000
29001
29099
b15
b8 b7
b0
Da.13 Special start instruction
Da.14 Parameter
29050
29051
Axis 4 (Start block 0)
MELSEC-Q
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.)
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5 DATA USED FOR POSITIONING CONTROL
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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
7000 7001 7002 7003 7004
Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4
Block start data Start block 0 Start block 1 Start block 2 Start block 3 Start block 4
Condition
Buffer memory
Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10) Condition data (1 to 10)
Supports the settings
GX Configurator-
QP
Supports the settings
: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, the error "Outside start No. range" (error code: 543) will occur. (For details, refer to Section 12.7.7 "Pre-reading start function".)
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5 DATA USED FOR POSITIONING CONTROL
Setting value
Item
Value set with peripheral device
Value set with sequence program
MELSEC-Q
Setting value buffer memory
Default
address
value Axis 1 Axis 2 Axis 3 Axis 4
Da.11 Shape
Da.12 Start data No.
0 : End
1 : Continue
Positioning data No.: 1 to 600 (01H to 258H)
0
1
01H to 258H
b15 b11 b7
b3 b0
000
0000H 26000 27000 28000 29000
Shape
Start data No.
0 : Block start (normal start) 00H
Da.13 Special start instruction
1 : Condition start 2 : Wait start 3 : Simultaneous start 4 : FOR loop
01H
b15 b11
b7
b3 b0
02H
03H
04H
0000H 26050 27050 28050 29050
Da.14 Parameter
5 : FOR condition
05H
6 : NEXT start
06H
Condition data No.: 1 to 10 (01H to 0AH)
No. of repetitions: 0 to 255 (00H to FFH)
00H to
FFH
Special start instruction
Parameter
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5 DATA USED FOR POSITIONING CONTROL
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Setting value 0 : End
1 : Continue
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 details Execute the designated point's "block start data", and then complete the control. 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 00H : Block start
(Normal start)
01H : Condition start
02H : Wait start
03H : Simultaneous start
04H : Repeated start (FOR loop)
05H : Repeated start (FOR condition)
06H : NEXT start
Setting details
Execute the random block positioning data in the set order with one 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".
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.
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.
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.
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.
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.
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Da.14 Parameter
Set the value as required for " Da.13 Special start instruction ".
Da.13 Special start instruction Block start (Normal start) Condition start Wait start Simultaneous start Repeated start (FOR loop)
Repeated start (FOR condition)
Setting value �
1 to 10
0 to 255 1 to 10
Setting details
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.)
Set the No. of repetitions.
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.)
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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
No.1
No.2
Setting item
Setting item Setting item
Buffer memory address Buffer memory address
Axis 1 (start block 0)
b15 b12 b11 b8 b7
b0
Da.16 Condition operator
Da.17 Address
Open
Da.15 Condition target
Da.18 Parameter 1
Da.19 Parameter 2
Open
26100
26101 26102 26103 26104 26105 26106 26107 26108 26109
26110
26111 26112 26113 26114 26115 26116 26117 26118 26119
Buffer memory address
26190
26191 26192 26193 26194 26195 26196 26197 26198 26199
Up to 10 block start data points can be set (stored) for each block No. in the buffer memory addresses shown on the left.
Items in a single unit of condition data are shown included in a bold frame.
Each axis has five start blocks (block Nos. 0 to 4).
For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 13 "List of buffer memory addresses".
Axis 2 (start block 0)
No.10
No.1
No.2
Setting item Setting item
b15 b12 b11 b8 b7
b0
Da.16 Condition operator
Da.17 Address
Open
Da.15 Condition target
Da.18 Parameter 1
Da.19 Parameter 2
Open
Setting item
Buffer memory Buffer memory address address
27100
27110
27101
27102 27103 27104 27105 27106 27107 27108 27109
27111
27112 27113 27114 27115 27116 27117 27118 27119
Buffer memory address
27190
27191 27192 27193 27194 27195 27196 27197 27198 27199
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5 DATA USED FOR POSITIONING CONTROL
Axis 3 (start block 0)
No.10
No.1
No.2
Setting item Setting item
b15 b12 b11 b8 b7
b0
Da.16 Condition operator
Da.17 Address
Open
Da.15 Condition target
Da.18 Parameter 1
Da.19 Parameter 2
Open
Setting item
Buffer memory Buffer memory address address
28100
28110
28101
28102 28103 28104 28105 28106 28107 28108 28109
28111
28112 28113 28114 28115 28116 28117 28118 28119
Buffer memory address
28190
28191 28192 28193 28194 28195 28196 28197 28198 28199
MELSEC-Q
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.)
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5 DATA USED FOR POSITIONING CONTROL
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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
Condition
GX Buffer memory Configurator-
QP
Axis 1
Condition data (1 to 10)
7000
Axis 2 Axis 3
Start block 0
Condition data (1 to 10) Condition data (1 to 10)
Axis 4
Condition data (1 to 10)
Axis 1
Condition data (1 to 10)
7001
Axis 2 Axis 3
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)
7002
Axis 2 Axis 3
Start block 2
Condition data (1 to 10) Supports the Supports the
Condition data (1 to 10) settings
settings
Axis 4
Condition data (1 to 10)
Axis 1
Condition data (1 to 10)
7003
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)
7004
Axis 2 Axis 3
Start block 4
Condition data (1 to 10) Condition data (1 to 10)
Axis 4
Condition data (1 to 10)
: Setting cannot be made when the "Pre-reading start function" is used. If you set
any of Nos. 7000 to 7004 and perform the Pre-reading start function, the error
"Outside start No. range" (error code: 543) will occur.
(For details, refer to Section 12.7.7 "Pre-reading start function".)
5 - 82
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Condition identifier
Item Da.15 Condition target
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Setting value
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
01 : Device X
01H
02 : Device Y
02H
03 : Buffer memory (1-word) 03H
Condition target
04 : Buffer memory (2-word) 04H
05 : Positioning data No.
05H
01 : =P1
01H
02 : P1
02H
03 : P1 04 : P1
03H
04H
Condition operator
05 : P1 P2
05H
06 : P1, P2
06H
07 : DEV=ON 08 : DEV=OFF
07H
08H
b15
b8 b7
10: Axis 1 selected
10H
20: Axis 2 selected
20H
30: Axes 1 and 2 selected 30H
40: Axis 3 selected
40H
50: Axes 1 and 3 selected 50H 60: Axes 2 and 3 selected 60H
70: Axes 1, 2, and 3 selected 70H
80: Axis 4 selected
80H
90: Axes 1 and 4 selected 90H A0: Axes 2 and 4 selected A0H
B0: Axes 1, 2, and 4 selected B0H C0: Axes 3 and 4 selected C0H
D0: Axes 1, 3, and 4 selected D0H E0: Axes 2, 3, and 4 selected E0H
Example)
b0 0000H 26100 27100 28100 29100
Buffer memory address
26103
26102
b31 (High-order) b16 b15 (Low-order)
b0
0000H
26102 27102 28102 29102 26103 27103 28103 29103
Value
Buffer memory address
Example) 26105
b31 (High-order)
b16 b15
26104 (Low-order)
b0
0000H
26104 27104 28104 29104 26105 27105 28105 29105
Value
Value
Example) 26107
b31 (High-order)
b16 b15
26106 (Low-order)
b0
0000H
26106 27106 28106 29106 26107 27107 28107 29107
Value
5 - 83
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 02H : Device Y
Set the input/output signal ON/OFF of the QD75 as the conditions.
03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
04H : Buffer memory (2-word)
03H: The target buffer memory is "1-word (16 bits)" 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 01H: Device X 02H: Device Y 03H: Buffer memory (1-word) 04H: Buffer memory (2-word)
05H: Positioning data No.
Setting value
07H : DEV=ON 08H : DEV=OFF
01H : =P1
02H : P1
03H : P1
04H : P1
05H : P1P2
06H : P1, P2 10H : Axis 1 selected 20H : Axis 2 selected 30H : Axes 1 and 2 selected 40H : Axis 3 selected 50H : Axes 1 and 3 selected 60H : Axes 2 and 3 selected 70H : Axes 1, 2, and 3 selected 80H : Axis 4 selected 90H : Axes 1 and 4 selected A0H :Axes 2 and 4 selected B0H : Axes 1, 2, and 4 selected C0H : Axes 3 and 4 selected D0H : Axes 1, 3, and 4 selected E0H :Axes 2, 3, and 4 selected
Setting details The state (ON/OFF) of an I/O signal is defined as the condition. Select ON or OFF as the trigger.
Select how to use the value () in the buffer memory as a part of the condition.
If "simultaneous start" is specified, select the axis (or axes) that should start simultaneously.
Da.17 Address
Set the address as required for the " Da.15 Condition target".
Da.15 Condition target 01H : Device X 02H : Device Y 03H : Buffer memory (1-word)
04H : Buffer memory (2-word)
05H : Positioning data No.
Setting value
Setting details
�
Not used. (There is no need to set.)
Value (Buffer memory address)
Set the target "buffer memory address". (For 2 word, set the low-order buffer memory 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
Setting value
Setting details
01H : =P1 02H : P1 03H : P1 04H : P1 05H : P1P2 06H : P1, P2 07H : DEV=ON 08H : DEV=OFF
Value
Value (bit No.)
The value of P1 should be equal to or smaller than the value of P2. (P1P2) If P1 is greater than P2 (P1>P2), the error "Condition data error" (error code 533) will occur.
Set the device bit No. X: 0H to 1H, 4H to 17H Y: 0, 4H to 17H
10H : Axis 1 selected E0H : Axes 2, 3, and 4 selected
Set the positioning data No. for starting axis 1 and/or axis 2.
Value (positioning data No.)
Low-order 16-bit : Axis 1 positioning data No. 1 to 600 (01H to 258H)
High-order 16-bit
: Axis 2 positioning data No. 1 to 600 (01H to 258H)
Da.19 Parameter 2
Set the parameters as required for the " Da.16 Condition operator".
Da.16 Condition operator
Setting value
Setting details
01H : =P1
02H : P1 03H : P1
--
Not used. (No need to be set.)
04H : P1
05H : P1P2 06H : P1, P2
Value
The value of P2 should be equal to or greater than the value of
P1. (P1P2) If P1 is greater than P2 (P1>P2), the error "Condition data error" (error code 533) will occur.
07H : DEV=ON
08H : DEV=OFF
10H : Axis 1 selected
--
Not used. (No need to be set.)
20H : Axis 2 selected
30H : Axes 1 and 2 selected
40H : Axis 3 selected
50H : Axes 1 and 3 selected
60H : Axes 2 and 3 selected
70H : Axes 1, 2, and 3 selected
Set the positioning data No. for starting axis 3 and/or axis 4.
80H : Axis 4 selected 90H : Axes 1 and 4 selected A0H : Axes 2 and 4 selected
Value (positioning data No.)
Low-order 16-bit : Axis 3 positioning data No. 1 to 600 (01H to 258H)
High-order 16-bit
B0H : Axes 1, 2, and 4 selected
: Axis 4 positioning data No. 1 to 600 (01H to 258H)
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
Storage details
Md.1 In test mode flag
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
MELSEC-Q
Reading the monitor value
Monitoring is carried out with a decimal.
Monitor value
Storage value 0: Not in test mode
1: In test mode
Default value
Storage buffer memory address (common for axis 1 to
axis 4)
0
1200
(Unless noted in particular, the monitor value is saved as binary data.)
5 - 87
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
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. [Reading the monitor value] Monitoring is carried out with a hexadecimal display.
Md.3
Start information
b15
b12
b8
b4
b0
Buffer memory
00000
Monitor value
Not used
Start axis
Start origin Stored contents
CPU module External signal Peripheral device
Storage value
00 01 10
Stored contents Axis 1 Axis 2 Axis 3 Axis 4
Storage value
1 2 3 4
Restart flag Stored contents
Restart flag OFF Restart flag ON
Storage value
0 1
Monitoring is carried out with a hexadecimal display.
A
B
C
D
Monitor value
Buffer b15 b12 memory
A
b8 B
b4 C
b0 D
A BCD
Starting history (Up to 16 records can be stored)
Md.4 Start No.
The starting No. is stored.
Start No.
Stored contents
A
Positioning operation
0
0
1
1
1
1
1
JOG operation
2
Manual pulse generator
2
Machine OPR
2
Fast OPR
2
Current value changing
2
Simultaneous start
2
Storage value
B
C
0
0
to
2
5
B
5
B
5
B
5
B
5
B
5
3
3
3
3
3
2
3
2
3
2
3
2
Reference
D
(Decimal)
1
001
8
600
8
7000
9
7001
A
7002
B
7003
C
7004
2
9010
3
9011
9
9001
A
9002
B
9003
C
9004
Md.50
Start (Year:month)
The starting time (year:month) is stored. (for the
QD75P N/QD75D N only)
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
0
8
0
6
b15 b12
b8
b4
b0
0 00 0 100 000 000 1 10
0 to 9 0 to 9 0 to 1 0 to 9
Monitor value
0 80 6
00 to 99 (year) 00 to 12 (month)
Md.5
Start (Day:hour)
The following are stored.
QD75P N/QD75D N: the starting time (day:hour)
QD75P /QD75D : the starting time (hour)
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
2
8
1
5
b15 b12
b8
b4
b0
0 01 0 100 000 010 1 01
0 to 3 0 to 9 0 to 2 0 to 3
*1
Monitor value
2 81 5
01 to 31 (day) 00 to 23 (hour) *1
*1: 00(not used) is stored for QD75P /QD75D .
Md.6
Start (Minute: second)
The starting time (minute: second) is stored.
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
4
9
0
7
Monitor value
b15 b12
b8
b4
b0
0 10 0 100 100 000 1 11
4 90 7
0 to 5 0 to 9 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
MELSEC-Q
Default value
Storage buffer memory address (common to axes 1 to 4)
0000H
0000H
0000H 0000H 0000H
5 - 89
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item
Storage details
Reading the monitor value
Md.7
Error judgment
[Storage details]
[Reading the monitor value]
A Buffer b15 b12 memory
a
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.
B b8
C b4
D b0
B
C
D
Monitor value
A BCD
Error flag Stored contents
Error flag OFF Error flag ON
Storage value 0 1
Error No. Convert the hexadecimal value "a, B, C, D" into a decimal value and match it with "15.3 List of errors".
BUSY start warning flag
Stored contents
BUSY start warning OFF
Storage value 0
BUSY start
warning ON
1
Starting history (Up to 16 records can be stored)
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.
Monitoring is carried out with a decimal display.
Monitor value
Storage value (Pointer number) 0 to 15
5 - 90
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Default value
Storage buffer memory address (common to axes 1 to 4)
0000H
0
1292
5 - 91
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item
Storage details
Reading the monitor value
Md.9
Axis in which the error occurred
Stores a number (Axis No.) that indicates the axis that encountered an error.
Monitoring is carried out with a decimal display.
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)
Md.10 Axis error No.
Stores an axis error No.
Monitoring is carried out with a decimal display.
Monitor value
Error No.
For details on the error Nos. (error codes), refer to Section 15.3 "List of errors".
Md.51
Axis error occurrence
Stores the time
(year:month) at which an axis error was detected. (for the
(Year:month) QD75P N/QD75D N only)
Md.11
Axis error occurrence (Day:hour)
The following are stored.
QD75P N/QD75D N: the time (day:hour) at which an axis error was detected
QD75P /QD75D : the time (hour) at which an axis error was detected
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
0
8
0
6
b15 b12
b8
b4
b0
0 00 0 100 000 000 1 10
0 to 9 0 to 9 0 to 1 0 to 9
Monitor value
0 80 6
00 to 99 (year) 00 to 12 (month)
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
2
8
1
5
b15 b12
b8
b4
b0
0 01 0 100 000 010 1 01
0 to 3 0 to 9 0 to 2 0 to 3
*1
Monitor value
2 81 5
01 to 31 (day) 00 to 23 (hour) *1
*1: 00(not used) is stored for QD75P /QD75D .
Md.12
Axis error occurrence (Minute: second)
Stores the time (minute: second) at which an axis error was detected.
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
4
9
0
7
b15 b12
b8
b4
b0
0 100 100 100 000 111
Monitor value
4907
0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)
Md.13
Error history pointer
Indicates a pointer No. that
is next to the Pointer No. assigned to the latest of the existing records.
Monitoring is carried out with a decimal display.
Monitor value
Storage value (Pointer number)
0 to 15
5 - 92
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Default value
Storage buffer memory address (common to axes 1 to 4)
0
0 0000H 0000H
0000H 0
1357
5 - 93
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item
Storage details
Reading the monitor value
Md.14
Axis in which the warning occurred
Stores a number (Axis No.) that indicates the axis that encountered a warning.
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4
Warning history (Up to 16 records can be stored)
Md.15
Axis warning Stores an axis warning No. No.
Monitoring is carried out with a decimal display.
Monitor value
Warning No.
For details of warning Nos. (warning codes), refer to Section 15.4 "List of warnings".
Md.52
Axis warning occurrence (Year:month)
Stores the time (year:month) at which an axis warning was detected. (for the QD75P N/QD75D N only)
Md.16
Axis warning occurrence (Day:hour)
The following are stored.
QD75P N/QD75D N: the time (day:hour) at which an axis warning was detected
QD75P /QD75D : the time (hour) at which an axis warning was detected
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
0
8
0
6
b15 b12
b8
b4
b0
0 00 0 100 000 000 1 10
0 to 9 0 to 9 0 to 1 0 to 9
Monitor value
0 80 6
00 to 99 (year) 00 to 12 (month)
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
2
8
1
5
b15 b12
b8
b4
b0
0 01 0 100 000 010 1 01
0 to 3 0 to 9 0 to 2 0 to 3
*1
Monitor value
2 81 5
01 to 31 (day) 00 to 23 (hour) *1
*1: 00(not used) is stored for QD75P /QD75D .
Md.17
Axis warning occurrence
(Minute: second)
Stores the time (minute: second) at which an axis warning was detected.
Monitoring is carried out with a hexadecimal display.
Buffer memory (stored with BCD code)
4
9
0
7
Monitor value
b15 b12
b8
b4
b0
0 10 0 100 100 000 1 11
4907
0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)
Md.18
Warning history pointer
Indicates a pointer No. that
is next to the Pointer No. assigned to the latest of the existing records.
Monitoring is carried out with a decimal display.
Monitor value
Storage value
(Pointer number) 0 to 15
Stores the number of write
accesses to the flash ROM
Md.19
after the power is switched ON.
No. of write accesses to flash ROM
The count is cleared to "0" when the number of write accesses reach 26 and an
error reset operation is
performed.
Monitoring is carried out with a decimal display.
Monitor value
Storage value 0 to 26
5 - 94
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Default value
Storage buffer memory address (common to axes 1 to 4)
0
0 0000H 0000H
0000H 0 0
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 Md.21 Machine feed value Md.22 Feedrate Md.23 Axis error No.
Storage details
The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees.
Update timing : 0.9ms (QD75P N/QD75D N), 1.8ms (QD75P /QD75D ) The OP address is stored when the machine OPR is completed. When the current value is changed with the current value changing function, the
changed value is stored.
The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting. The value will not be cleared to "0" at the beginning of fixed-feed control. Even if "degree" is selected as the unit, the addresses will not have a ring structure for values between 0 and 359.99999 degrees.
Machine coordinates: Characteristic coordinates determined with machine Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D )
The command output speed of the operating workpiece is stored. (May be different from the actual motor speed during operation)
During interpolation operation, the speed is stored in the following manner. Reference axis : Composite speed or reference axis speed (Set with Pr.20 ) Interpolation axis : 0
Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D )
When an axis error is detected, the error code corresponding to the error details is stored.
The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.)
When " Cd.5 Axis error reset" (axis control data) turns ON, the axis error No. is cleared (set to 0).
5 - 96
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Reading the monitor value
Monitoring is carried out with a hexadecimal.
Monitor value
E F GH
Low-order buffer memory Example) 800
b15
b12
b8
b4
b0
ABCD
E
F
G
H
High-order buffer memory Example) 801
b31 b28
b24
b20
b16
A
B
C
D
Sorting
(High-order buffer memory) (Low-order buffer memory)
A BCD E FGH
Decimal integer value
Converted from hexadecimal to decimal
R
Unit conversion R 10n
Actual value
Md.20 Current feed value Md.21 Machine feed value Md.22 Feedrate
) )
Unit conversion table Md.20 Md.21 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
Unit conversion table Md.22 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0000H
800 900 1000 1100 801 901 1001 1101
0000H
802 902 1002 1102 803 903 1003 1103
0000H
804 904 1004 1104 805 905 1005 1105
Monitoring is carried out with a decimal.
Monitor value
Error No.
For details on the error Nos. (error codes), refer to Section 15.3 "List of errors".
0
806 906 1006 1106
5 - 97
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item Md.24 Axis warning No. Md.25 Valid M code
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).
Update timing
: turning ON of the M code ON signal
When the PLC READY signal (Y0) goes OFF, the value is set to "0".
Md.26 Axis operation status
This area stores the axis operation status.
Md.27 Current speed
" Da.8 Command speed" of the positioning data currently in execution is stored.
If " Da.8 Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier.
If " Da.8 Command speed" is set to a value other than "-1", this area stores the command speed set by the current positioning data.
If the speed change function is executed, " Cd.14 New speed value" is stored. (For details of the speed change function, refer to Section 12.5.1.)
5 - 98
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Reading the monitor value
Monitoring is carried out with a decimal display.
Monitor value
Warning No.
For details of warning Nos. (warning codes), refer to Section 15.4 "List of warnings".
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
807 907 1007 1107
Monitoring is carried out with a decimal display.
Monitor value
M code No. (0 to 65535)
0
808 908 1008 1108
Monitoring is carried out with a decimal display.
Monitor value
Axis operation status -2: Step standby -1: Error 0: Standby 1: Stopped 2: Interpolation 3: JOG operation 4: Manual pulse generator operation 5: Analyzing 6: Special start standby 7: OPR 8: Position control 9: Speed control 10: Speed control in speed-position switching control 11: Position control in speed-position switching control 12: Position control in position-speed switching control 13: Speed control in position-speed switching control
Monitoring is carried out with a decimal display.
Monitor value
R
Decimal integer value
Unit conversion R 10n
Actual value
Md.27 Current speed
)
Unit conversion table Md.27 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
0
809 909 1009 1109
0
810 910 1010 1110 811 911 1011 1111
5 - 99
5 DATA USED FOR POSITIONING CONTROL
Storage item
Storage details
MELSEC-Q
Md.28 Axis feedrate
The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop.
Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D )
Md.29 Speed-position switching control positioning amount
The movement amount for the position control to end after changing to position control with the speed-position switching control (INC mode) is stored. When the control method is "Reverse run: position/speed", the negative value is stored.
Md.30 External input/output signal
The ON/OFF state of the external input/output signal is stored. The following items are stored.
Upper limit signal Lower limit signal Drive unit READY signal Stop signal External command signal Zero signal Near-point dog signal Deviation counter clear signal Update timing: 0.9ms (QD75P N/QD75D N), 56.8ms (QD75P /QD75D )
5 - 100
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Reading the monitor value
Monitoring is carried out with a hexadecimal.
Monitor value
E F GH
Low-order buffer memory Example) 812
b15
b12
b8
b4
b0
A BCD
E
F
G
H
High-order buffer memory Example) 813
b31 b28
b24
b20
b16
A
B
C
D
Sorting
(High-order buffer memory) (Low-order buffer memory)
A BCD E FGH
Decimal integer value
Converted from hexadecimal to decimal
R
Unit conversion R 10n
Actual value
Md.28 Axis feedrate
Md.29 Speed-position switching control positioning amount
) )
Unit conversion table Md.28 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Unit conversion table Md.29 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0000H
812 912 1012 1112 813 913 1013 1113
0000H
814 914 1014 1114 815 915 1015 1115
Monitoring is carried out with a hexadecimal.
0000
Monitor value
b15 b12
b8
b4
b0
Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
memory
Not used
Stored items b0 Lower limit signal
Default value
0
b1 Upper limit signal
0
b2 Drive unit READY signal
0
b3 Stop signal
0
b4 External command signal
0
b5 Zero signal
0
b6 Near-point dog signal
0
b7 Not used
0
b8 Deviation counter clear signal 0
Meaning
0: OFF 1: ON
0000H 816 916 1016 1116
5 - 101
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item Md.31 Status Md.32 Target value
Storage details
This area stores the states (ON/OFF) of various flags.
Information on the following flags is stored.
In speed control flag:
This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control. The signal goes OFF when the power is switched ON, under the position control, and during JOG operation or manual pulse generator operation. During the speed-position or position-speed switching control, this signal comes ON only when the speed control is in effect. During the speedposition switching control, this signal goes OFF when the speed-position switching signal executes a switching over from speed control to position control. During the position-speed switching control, this signal comes ON when the position-speed switching signal executes a switching over from position control to speed control.
Speed-position switching latch flag:
This signal is used during the speed-position switching control for interlocking the movement amount change function. During the speed-position switching control, this signal comes ON when position control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation.
Command in-position flag:
This signal is ON when the remaining distance is equal to or less than the command inposition range (set by a detailed parameter). This signal remains OFF with data that specify the continuous path control (P11) as the operation pattern. The state of this signal is monitored every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ) except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed-position or position-speed switching control. While operations are performed with interpolation, this signal comes ON only in respect of the starting axis. (This signal goes OFF in respect of all axes upon starting.)
OPR request flag:
This signal comes ON when the power is switched ON, when the drive unit READY signal goes OFF, when the PLC READY signal goes ON, when a machine OPR operation starts. This signal goes OFF when a machine OPR operation completes.
OPR complete flag:
This signal comes ON when a machine OPR operation completes normally. This signal goes OFF when the operation starts and when the drive unit READY signal goes OFF or PLC READY signal goes ON.
Position-speed switching latch flag:
This signal is used during the position-speed switching control for interlocking the command speed change function. During the position-speed switching control, this signal comes ON when speed control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation.
Axis warning detection flag:
This signal comes ON when an axis warning is reported and goes OFF when the axis error reset signal comes ON.
Speed change 0 flag:
This signal comes ON when a speed change request that specifies 0 as the new speed value is issued. This signal comes OFF when a speed change request that specifies a new speed value other than 0 is issued.
This area stores the target value ( Da.6 Positioning address/movement amount) for a positioning operation.
At the beginning of positioning control and current value changing
: Stores the value of " Da.6 Positioning address/movement amount".
At the OP shift operation of OPR control
: Stores the value of OP shift amount.
At other times
: Stores "0".
5 - 102
5 DATA USED FOR POSITIONING CONTROL
Reading the monitor value
MELSEC-Q
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a hexadecimal display.
0008
Monitor value
b15 b12
b8
b4
b0
Buffer
0000000000001000
memory
Not used
Not used
Stored items b0 In speed control flag
Default value
Meaning
0
b1 Speed-position switching latch flag 0
b2 Command in-position flag
0
b3 OPR request flag
1
b4 OPR complete flag
0
b5 Position-speed switching latch flag 0
0: OFF 1: ON
b9 Axis warning detection
0
b10 Speed change 0 flag
0
0008H 817 917 1017 1117
Monitoring is carried out with a decimal display.
Monitor value
R
Decimal integer value
Unit conversion R 10n
Actual value
Md.32 Target value
)
Unit conversion table Md.32 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
5 - 103
0
818 918 1018 1118 819 919 1019 1119
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item Md.33 Target speed
Storage details
During operation with positioning data
: The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed.
During interpolation of position control
: The composite speed or reference axis speed is stored in the reference
axis address, and "0" is stored in the interpolation axis address.
During interpolation of speed control
: The target speeds of each axis are stored in the monitor of the reference axis and interpolation axis.
During JOG operation
: The actual target speed, considering the JOG speed limit value for the JOG speed, is stored.
During manual pulse generator operation : "0" is stored.
Md.34 Movement amount after near-point dog ON
"0" is stored when machine OPR starts.
After machine OPR starts, the movement amount from the near-point dog ON to the machine OPR completion is stored. (Movement amount: Movement amount to machine OPR completion using nearpoint dog ON as "0".)
"0" is always stored when using the stopper method 1), 2), or 3).
Md.35 Torque limit stored value
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 ...The " Pr.17 Torque limit setting value" is stored. When value other than 0 is set to " Cd.22 New torque value" ...The " Cd.22 New torque value" is stored.
5 - 104
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Reading the monitor value
Monitoring is carried out with a hexadecimal display.
Monitor value
E F GH
Low-order buffer memory Example) 820
b15
b12
b8
b4
b0
A B CD
E
F
G
H
High-order buffer memory Example) 821
b31 b28
b24
b20
b16
A
B
C
D
Sorting
(High-order buffer memory) (Low-order buffer memory)
A BCD E FGH
Decimal integer value
Converted from hexadecimal to decimal
R
Unit conversion R 10n
Actual value
Md.33 Target speed
Md.34 Movement amount after near-point dog ON
) )
Unit conversion table Md.33 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Unit conversion table
Md.34 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0000H
820 920 1020 1120 821 921 1021 1121
0000H
824 924 1024 1124 825 925 1025 1125
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1 to 500 (%)
0
826 926 1026 1126
5 - 105
5 DATA USED FOR POSITIONING CONTROL
Storage item
Storage details
MELSEC-Q
Md.36 Special start data instruction The " instruction code" used with special start and indicated by the start data
code setting value
pointer currently being executed is stored.
Md.37 Special start data instruction parameter setting value
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 .
Md.38 Start positioning data No. setting value
The "positioning data No." indicated by the start data pointer currently being executed is stored.
Md.39 In speed limit flag
If the speed exceeds the " Pr.8 Speed limit value" due to a speed change or 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 positioning control.
flag
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
Reading the monitor value
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
Monitoring is carried out with a decimal display.
Monitor value
Storage value
Md.36 setting value Stored contents Storage value
00 06
None
None
01
02 03
Condition data No.
1 to 10
05
04
No. of repetitions
0 to 255
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
827 927 1027 1127
0
828 928 1028 1128
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1 to 600, 9001 to 9003
0
829 929 1029 1129
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)
0
830 930 1030 1130
0
831 931 1031 1131
5 - 107
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Storage item
Storage details
Md.41 Special start repetition counter
Md.42 Control system repetition counter
Md.43 Start data pointer being executed
This area stores the remaining number of repetitions during "repetitions" specific to special starting.
The count is decremented by one (-1) at the loop end. The control comes out of the loop when the count reaches "0". This area stores "0" within an infinite loop. This area stores the remaining number of repetitions during "repetitions" specific
to control system. The count is decremented by one (-1) at the loop start. The loop is terminated with the positioning data of control method "LEND" after
the counter becomes "0".
This area stores a point No. (1 to 50) attached to the start data currently being executed.
This area stores "0" after completion of a positioning operation.
Md.44 Positioning data No. being executed
This area stores a positioning data No. attached to the positioning data currently being executed.
This area stores "0" after completion of a positioning operation.
This area stores "0" when the JOG/inching operation is executed.
Md.45 Block No. being executed
Md.46 Last executed positioning data No.
When the operation is controlled by "block start data", this area stores a block number (7000 to 7004) attached to the block currently being executed.
At other times, this area stores "0". This area stores "0" after completion of a positioning operation.
This area stores the positioning data No. attached to the positioning data that was executed last time.
The value is retained until a new positioning operation is executed. This area stores "0" when the JOG/inching operation is executed.
Md.47 Positioning data being executed
The addresses shown to the right store details of the positioning data currently being executed (positioning data No. given by Md.44 ).
Md.48 Deceleration start flag
"1" is stored when the constant speed status or acceleration status switches to the 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
Reading the monitor value
Monitoring is carried out with a decimal display. Monitor value
Storage value 0 to 255
Monitoring is carried out with a hexadecimal display. Monitor value
Storage value 0 to FFFF
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1 to 50
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1 to 600, 9001 to 9003
Monitoring is carried out with a decimal display.
Monitor value
Monitoring is carried out with a decimal display.
Monitor value
Storage value 7000 to 7004
Storage value 1 to 600, 9001 to 9003
Information is stored in the following addresses:
Stored address Axis1 Axis2 Axis3 Axis4
Stored item
838 938 1038 1138 Positioning identifier
Reference Da.1 to Da.5
839 939 1039 1139
M code
Da.10
840 940 1040 1140
Dwell time
Da.9
841 941 1041 1141 Positioning option 1 Da.27 to Da.29
842 942 1042 1142 843 943 1043 1143
Command speed
Da.8
844 944 1044 1144 Positioning address
845 945 1045 1145
Da.6
846 946 1046 1146 847 947 1047 1147
Arc address
Da.7
1: If "0: Invalid" is set in " Pr.70 Positioning option valid/invalid setting", 0 is always stored.
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
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
832 932 1032 1132
0000H 833 933 1033 1133
0
834 934 1034 1134
0
835 935 1035 1135
0
836 936 1036 1136
0
837 937 1037 1137
838 938 1038 1138
0
to to to to
847 947 1047 1147
0
899 999 1099 1199
5 DATA USED FOR POSITIONING CONTROL
5.7 List of control data 5.7.1 System control data
Setting item
Setting details
MELSEC-Q
Cd.1 Flash ROM write request
Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM.
Cd.2 Parameter initialization request
Requests initialization of setting data. Initialization: Resetting of setting data to default values
Note: After completing the initialization of setting data, reset the CPU module or reboot the programmable controller power.
Initialized setting data
Parameters ( Pr.1 to Pr.57 , Pr.150 ) Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004)
Cd.41 Deceleration start flag valid Set whether " Md.48 Deceleration start flag" is made valid or invalid.
Cd.42 Stop command processing Set the stop command processing for deceleration stop function (deceleration for deceleration stop selection curve re-processing/deceleration curve continuation).
5 - 110
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting value
Set with a decimal.
Setting value
K
1
Flash ROM write request 1: Requests write access to flash ROM.
The QD75 resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.)
Set with a decimal.
Setting value
K
1
Parameter initialization request 1: Requests parameter initialization.
Default value
Storage buffer memory address (common to axes 1
to 4)
0
1900
0
1901
The QD75 resets the value to "0" automatically when the initialization completes. (This indicates the completion of parameter initialization.)
Set with a decimal.
K Setting
value
0
Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid
Set with a decimal.
K Setting
value
0
Stop command processing for deceleration stop selection 0: Deceleration curve re-processing 1: Deceleration curve continuation
1905 1907
5 - 111
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting item
Setting details
Cd.43 Output timing selection of near pass control
Select the timing to output the difference ( ) between the actual and the set positioning end addresses in continuous path control, in which the difference
( ) is output during the execution of the next positioning data.
5 - 112
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Set with a decimal.
Setting
value K
Setting value
Default value
Storage buffer memory address (common to axes 1
to 4)
0
Output timing selection of near pass control 0: At constant speed 1: At deceleration
1934
5 - 113
5 DATA USED FOR POSITIONING CONTROL
5.7.2 Axis control data
Setting item
Setting details
MELSEC-Q
Cd.3 Positioning start No.
Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.7 "Pre-reading start function".)
Cd.4 Positioning starting point No.
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.)
Cd.5 Axis error reset
Clears the axis error detection, axis error No., axis warning detection and axis warning No.
When the QD75 axis operation state is "Error", the error is cleared and the QD75 is returned to the "Standing" state.
Cd.6 Restart command
When positioning is stopped for any reason (when axis operation state is "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 - 114
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Set with a decimal.
Setting K
value
Set with a decimal.
Setting value
K
Setting value
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Positioning data No.
0
1 to 600
: Positioning data No.
7000 to7004 : Block start designation
9001
: Machine OPR
9002
: Fast-OPR
9003 9004
: Current value changing : Simultaneous starting of multiple axes
1500 1600 1700 1800
Positioning starting point No.
1 to 50
0
1501 1601 1701 1801
Set with a decimal. Setting value
K1
Error reset request 1: Axis error is reset.
After the axis error reset is completed, "0" is stored by the QD75 automatically. (Indicates that the axis error reset is completed.)
Set with a decimal. Setting value
K 1
Restart command 1: Restarts
After restart acceptance is completed, "0" is stored by the QD75 automatically. (Indicates that the restart acceptance is completed.)
Set with a decimal. Setting value
K 1
M code OFF request 1: M code ON signal turns OFF
After the M code ON signal turns OFF, "0" is stored by the QD75 automatically. (Indicates that the OFF request is completed.)
0
1502 1602 1702 1802
0
1503 1603 1703 1803
0
1504 1604 1704 1804
5 - 115
5 DATA USED FOR POSITIONING CONTROL
Setting item
Setting details
MELSEC-Q
Cd.8 External command valid
Validates or in validates external command signals.
Cd.9 New current value
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:
Pr.1 Unit setting
mm (10-1 �m)
inch
degree
(10-5 inch) (10-5 degree)
pulse (pulse)
-2147483648 -2147483648
-2147483648
Setting range
to
to
0 to 35999999
to
+2147483647 +2147483647
+2147483647
5 - 116
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting value
Set with a decimal.
K Setting value
Set with a decimal.
External command valid
0: Invalidates an external command. 1: Validates an external command.
Actual value Cd.9 New current value
Setting value (Decimal)
Conversion into an integer value
10n
Unit conversion table ( Cd.9 )
n
Unit
-1
m
R
-5
inch
-5
degree
0
pulse
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1505 1605 1705 1805
0
1506 1606 1706 1806 1507 1607 1707 1807
5 - 117
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting item
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 - 118
5 DATA USED FOR POSITIONING CONTROL
Setting value
MELSEC-Q
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
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".
0
1508 1608 1708 1808 1509 1609 1709 1809
0
1510 1610 1710 1810 1511 1611 1711 1811
Set with a decimal.
K Setting
value
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
0
1512 1612 1712 1812
5 - 119
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting item
Setting details
Cd.13 Positioning operation speed override
To use the positioning operation speed override function, use this data item to specify an "override" value. For details of the override function, refer to Section 12.5.2" Override function".
If the speed becomes lower than the minimum unit due to override 1% or others, it is raised to the minimum unit. At this time, the warning "Less than minimum speed" (warning code: 110) will occur.
Cd.14 New speed value
When changing the speed, use this data item to specify a new speed.
The operation halts if you specify "0".
Pr.1
mm
inch
degree
Unit setting (10-2 mm/min) (10-3 inch/min) (10-3 degree/min)
pulse (pulse/s)
Setting
0 to
0 to
range 2000000000 2000000000
0 to 2000000000
[QD75P N/QD75D N] 0 to 4000000
[QD75P /QD75D ] 0 to 1000000
Cd.15 Speed change request
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 - 120
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Set with a decimal.
K Setting value
Setting value
Set with a decimal.
Actual value Cd.14 New speed value
Override value (%) 1 to 300
Setting value (Decimal)
Conversion into an integer value
10n
R
Example: When the " Cd. 14 New speed value" is set as "20000.00mm /min", the buffer memory stores "2000000".
Unit conversion table ( Cd.14 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Set with a decimal.
Setting value
K
1
Speed change request 1: Executes speed change.
The QD75 resets the value to "0" automatically when the speed change request has been processed. (This indicates the completion of speed change request.)
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
100 1513 1613 1713 1813
0
1514 1614 1714 1814 1515 1615 1715 1815
0
1516 1616 1716 1816
5 - 121
5 DATA USED FOR POSITIONING CONTROL
Setting item
Setting details
MELSEC-Q
Use this data item to set the amount of movement by inching. The machine performs a JOG operation if "0" is set. Set a value within the following range:
Cd.16 Inching movement amount
Pr.1 Unit setting
Setting range
mm (10-1 �m) 0 to 65535
inch (10-5 inch) 0 to 65535
degree (10-5 degree)
0 to 65535
pulse (pulse)
0 to 65535
Cd.17 JOG speed
Use this data item to set the JOG speed. Set a value within the following range:
Pr.1
mm
inch
degree
Unit setting (10-2 mm/min) (10-3 inch/min) (10-3 degree/min)
pulse (pulse/s)
Setting range
0 to
0 to
2000000000 2000000000
0 to 2000000000
[QD75P N/QD75D N] 0 to 4000000
[QD75P /QD75D ] 0 to 1000000
Cd.18 Continuous operation interrupt request
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 - 122
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting value Set with a decimal.
Actual value Cd.16 Inching movement amount
Setting value (Decimal)
Conversion into an integer value
10n
R
Unit conversion table ( Cd.16 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
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
Setting value (Decimal)
Conversion into an integer value
10n
R
Example: When the " Cd. 17 JOG speed" is set as "20000.00mm /min", the buffer memory stores "2000000".
Unit conversion table ( Cd.17 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Set with a decimal.
Setting value
K1
Interruption request continuous operation 1: Interrupts continuous operation control
or continuous path control.
The QD75 resets the value to "0" automatically when the continuous operation interrupt request is processed. (This indicates the completion of continuous operation interruption request.)
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1517 1617 1717 1817
0
1518 1618 1718 1818 1519 1619 1719 1819
0
1520 1620 1720 1820
5 - 123
5 DATA USED FOR POSITIONING CONTROL
Setting item
Setting details
MELSEC-Q
Cd.19 OPR request flag OFF request
The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF.
Cd.20 Manual pulse generator 1 pulse input magnification
This data item determines the factor by which the number of pulses from the manual pulse generator is magnified.
Value "1001" or higher: read as "1000". (QD75P N/QD75D N)
Value "101" or higher: read as "100". (QD75P /QD75D )
Cd.21 Manual pulse generator enable flag
This data item enables or disables operations using a manual pulse generator.
Cd.22 New torque value
When changing the " Md.35 Torque limit stored value", use this data item to specify a new torque limit stored value.
Set a value within the allowable range of the " Pr.17 Torque limit setting value".
5 - 124
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting value
Set with a decimal.
Setting value
K
1
OPR request flag OFF request 1: Turns the "OPR request flag"
from ON to OFF.
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.)
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1521 1621 1721 1821
Set with a decimal.
K Setting
value
Manual pulse generator 1 pulse input magnification 1 to 1000 (QD75P N/QD75D N)
1
1522 1622 1722 1822 1523 1623 1723 1823
1 to 100 (QD75P /QD75D)
Set with a decimal.
K Setting value
Set with a decimal.
K Setting
value
Manual pulse generator enable flag 0: Disable manual pulse generator operation.
1: Enable manual pulse generator operation.
0
1524 1624 1724 1824
New torque value
1 to Pr.17 : Torque limit setting value
0
1525 1625 1725 1825
0
: Torque value is not changed
5 - 125
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting item
Setting details
Cd.23 Speed-position switching control movement amount change register
During the speed control stage of the speed-position switching control (INC mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
The new movement amount has to be set during the speed control stage of the speed-position switching control (INC mode).
The value is reset to "0" when the next operation starts.
Set a value within the following range:
Pr.1 Unit setting
Setting range
mm (10-1 �m)
0 to 2147483647
inch
degree
(10-5 inch) (10-5 degree)
0 to
0 to
2147483647 2147483647
pulse (pulse)
0 to 2147483647
Cd.24 Speed-position switching enable flag
Set whether the external control signal (external command signal [CHG]: "speedposition, 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
mm
inch
degree
Unit setting (10-2 mm/min) (10-3 inch/min) (10-3 degree/min)
pulse (pulse/s)
Setting range
0 to
0 to
2000000000 2000000000
0 to 2000000000
[QD75P N/QD75D N] 0 to 4000000
[QD75P /QD75D ] 0 to 1000000
5 - 126
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting value
Set with a decimal.
Actual value
Cd.23
Speed-position switching control movement amount
change register
Conversion into an integer value
10n
Setting value (Decimal)
R
Unit conversion table ( Cd.23 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
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.
K Setting
value
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
10n
Setting value (Decimal)
R
Unit conversion table ( Cd.25 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
Example: If " Cd. 25 Position-speed switching control speed change register" is set as "2000.00 mm/min", the buffer memory stores "200000".
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1526 1626 1726 1826 1527 1627 1727 1827
0
1528 1628 1728 1828
0
1530 1630 1730 1830 1531 1631 1731 1831
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5 DATA USED FOR POSITIONING CONTROL
Setting item
Setting details
MELSEC-Q
Cd.26 Position-speed switching enable flag
Set whether the external control signal (external command signal [CHG]: "speedposition, 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:
Cd.27 Target position change value (New address)
Pr.1
mm (10-1 �m)
inch
degree
(10-5 inch) (10-5 degree)
pulse (pulse)
-2147483648 -2147483648
-2147483648
ABS
to
to
0 to 35999999
to
+2147483647 +2147483647
+2147483647
-2147483648 -2147483648 -2147483648 -2147483648
INC
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 Pr.1
mm
inch
degree
(New speed)
Unit setting (10-2 mm/min) (10-3 inch/min) (10-3 degree/min)
pulse (pulse/s)
Setting
0 to
0 to
range 2000000000 2000000000
0 to 2000000000
[QD75P N/QD75D N] 0 to 4000000
[QD75P /QD75D ] 0 to 1000000
Cd.29 Target position change request flag
Requests the target position change during a positioning operation.
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Set with a decimal. Setting
value K
Setting value
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Position-speed switching enable flag 0: Position control will not be taken over by speed
control even when the external command signal [CHG] comes ON. 1: Position control will be taken over by speed control when the external command signal [CHG] comes ON.
0
1532 1632 1732 1832
Set with a decimal.
Actual value Cd. 27 Target position change value (address) Cd. 28 Target position change value (speed)
Setting value (Decimal)
Conversion into an integer value
10n R
Unit conversion table ( Cd.27 )
n
Unit
-1
m
-5
inch
-5
degree
0
pulse
Example: If " Cd. 28 Target position change value (speed) is set as "10000.00 mm/min", the buffer memory stores "1000000".
Unit conversion table ( Cd.28 )
n
Unit
-2
mm/min
-3
inch/min
-3
degree/min
0
pulse/s
0
1534 1634 1734 1834 1535 1635 1735 1835
0
1536 1636 1736 1836 1537 1637 1737 1837
Set with a decimal.
Setting value
K1
Target position change request flag 1: Requests a target position change
The QD75 resets the value to "0" automatically when the new target position value has been written. (This indicates the completion of target position change request.)
0
1538 1638 1738 1838
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5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q
Setting item
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.)
Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.)
Use these data items to specify a start data No. for each axis that has to start simultaneously.
Set "0" to any axis that should not start simultaneously.
Cd.33 Simultaneous starting axis start data No. (axis 4 start data No.)
Cd.34 Step mode
To perform a step operation, use this data item to specify the units by which the stepping should be performed.
Cd.35 Step valid flag
This data item validates or invalidates step operations.
5 - 130
5 DATA USED FOR POSITIONING CONTROL
Setting value
Set with a decimal.
K Setting
value
Cd.30 to Cd.33
Simultaneous starting axis start data No.: 1 to 600
Set with a decimal.
K Setting
value
Set with a decimal.
K Setting
value
Step mode 0: Stepping by deceleration units 1: Stepping by data No. units
Step valid flag 0: Invalidates step operations 1: Validates step operations
MELSEC-Q
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1540 1640 1740 1840
0
1541 1641 1741 1841
0
1542 1642 1742 1842
0
1543 1643 1743 1843
0
1544 1644 1744 1844
0
1545 1645 1745 1845
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5 DATA USED FOR POSITIONING CONTROL
Setting item
Setting details
MELSEC-Q
Cd.36 Step start information
To continue the step operation when the step function is used, set "1" in this data item.
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. Data are cleared to "0" when the teaching ends.
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 an illegal value (601 or higher) is entered.
Cd.40 ABS direction in degrees
This data item specifies the ABS moving direction carrying out the position control when "degree" is selected as the unit.
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5 DATA USED FOR POSITIONING CONTROL
Set with a decimal.
Setting value
MELSEC-Q
Default value
Storage buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
0
1546 1646 1746 1846
Set with a decimal.
Setting value
K
1
Skip request 1: Issues a skip request to have
the machine decelerate, stop, and then start the next positioning operation. The QD75 resets the value to "0" automatically when processing of the skip request completes.
Set with a decimal.
K Setting
value
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
Set with a decimal. Setting
value K
Teaching positioning data No.
1 to 600
ABS direction in degrees 0: Shortcut (direction setting ignored) 1: ABS clockwise 2: ABS counterclockwise
0
1547 1647 1747 1847
0
1548 1648 1748 1848
0
1549 1649 1749 1849
0
1550 1650 1750 1850
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5 DATA USED FOR POSITIONING CONTROL
MEMO
MELSEC-Q
5 - 134
CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6
The programs required to carry out positioning control with the QD75 are explained in this chapter. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the QD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.) The first half of this chapter explains the program configuration of general control, and the latter half explains the program details. Create the required program while referring to the various control details explained in PART 2, and to CHAPTER 5 "DATA USED FOR POSITIONING CONTROL".
6.1 Precautions for creating program ................................................................................6- 2 6.2 List of devices used ......................................................................................................6- 5 6.3 Creating a program .....................................................................................................6- 11
6.3.1 General configuration of program .................................................................6- 11 6.3.2 Positioning control operation program ..........................................................6- 12 6.4 Positioning program examples................................................................................... 6- 15 6.5 Program details .......................................................................................................... 6- 25 6.5.1 Initialization program..................................................................................... 6- 25 6.5.2 Start details setting program......................................................................... 6- 26 6.5.3 Start program ................................................................................................ 6- 28 6.5.4 Continuous operation interrupt program ...................................................... 6- 38 6.5.5 Restart program ............................................................................................ 6- 40 6.5.6 Stop program ................................................................................................ 6- 44
6 - 1
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
6.1 Precautions for creating program
The common precautions to be taken when writing data from the CPU module to the QD75 buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
(1) Reading/writing the data
Setting the data explained in this chapter (various parameters, positioning data, block start data) should be set using GX Configurator-QP. When set with the sequence program, many sequence programs and devices must be used. This will not only complicate the program, but will also increase the scan time. When rewriting the positioning data during continuous path control or continuous positioning control, rewrite the data four positioning data items before the actual execution. If the positioning data is not rewritten before the positioning data four items earlier is executed, the process will be carried out as if the data was not rewritten.
(2) Restrictions to speed change execution interval
Provide an interval of 100ms or more when changing the speed or performing override function with the QD75.
(3) Process during overrun
Overrun is prevented by the setting of the upper and lower stroke limits with the detail parameter 1. However, this applies only when the QD75 is operating correctly. It is recommended to create an external circuit including a boundary limit switch to ensure the whole system safety as follows: the external circuit powers OFF the motor when the boundary limit switch operates.
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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. In the program, the unit of "0 (mm)" is set for the basic parameter 1. Refer to Section 6.2 for the application of the devices to be used.
Power supply module Q25HCPU QD75P4N QX41 QX40 QY40
00 X20 X40 Y50 to to to to 1F X3F X4F Y5F
X40 to X45
Y47 to Y49 (for absolute
position restoration)
X20 to X3F
Servo amplifier
Y50 to Y52 (for absolute position restoration)
External devices
Servomotor M
(5) Communication with QD75
There are two methods for communication with QD75 using the sequence program: a method using an "intelligent function device" and a method using a FROM/TO instruction. In the sequence program in this chapter and subsequent, the program example using the "intelligent function device" is shown without using a FROM/TO instruction for communication with QD75. When using the FROM/TO instruction for communication with QD75, change the circuit incorporating the "intelligent function device" as follows. (a) When the circuit uses the "intelligent function device" on the destination (D)
side of a MOV instruction, change the instruction to a TO instruction.
Intelligent function device
X21 0
MOVP K1
U0\ G1505
X21 0
TOP H0
K1505 K1
K1
Designated Designated
value
value
at U0
at G1505
Number of write data (1)
6 - 3
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
X15 0
X15 0
(b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV instruction, change the instruction to a FROM instruction and a TO instruction.
X0C
U0\
U6\
MOVP G826
G1
Set the same device.
X0C
FROMP H0
K826
D100
K1
TOP H6
K1
D100
K1
M0 0
(c) When the circuit uses the "intelligent function device" for a COMPARISON instruction, change the instruction to a FROM instruction and a COMPARISON instruction.
U0\
=
G1521
K0
RST
M0
M0 0
=
D102
K0
FROMP H0
K1521 D102
K1
Data read out
RST
M0
M2 0
(d) When the circuit uses the "intelligent function device" for a WAND instruction, change the instruction to a FROM instruction and a WAND instruction.
U0\
WANDP G817
H8
D0
M2 0
FROMP H0
K817
WANDP D101
D101
K1
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 Axis 1 Axis 2 Axis 3 Axis 4
Application
Details when ON
X0
QD75 READY signal
Preparation completed
X1
Synchronization flag
QD75 buffer memory accessible
X4 X5 X6 X7 M code ON signal
M code outputting
Input X8 X9 XA XB Error detection signal
Error detected
Inputs/ outputs
of QD75
XC XD XE XF BUSY signal
X10 X11 X12 X13 Start complete signal
X14 X15 X16 X17 Positioning complete signal
Y0
PLC READY signal
BUSY (operating) Start completed Positioning completed CPU module preparation completed
Y4 Y5 Y6 Y7 Axis stop signal
Output
Y8
YA
YC
YE Forward run JOG start signal
Y9 YB YD YF Reverse run JOG start signal
Requesting stop Starting forward run JOG 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
External X26 input
(command) X27
Speed-position switching operation Commanding speed-position switching
--
command
operation
Speed-position switching enable
Commanding speed-position switching
command
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 instruction)
Commanding positioning start
6 - 5
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
Details when ON
X2C
M code OFF command
Commanding M code OFF
X2D
JOG operation speed setting command
Commanding JOG operation speed setting
X2E
Forward run JOG/inching command
Commanding forward run JOG/inching operation
X2F
Reverse run JOG/inching command
Commanding reverse run JOG/inching operation
X30
Manual pulse generator operation enable command
Commanding manual pulse generator operation enable
X31
Manual pulse generator operation disable command
Commanding manual pulse generator operation disable
X32
--
Speed change command
X33
Override command
Commanding speed change Commanding override
X34
Acceleration/deceleration time change Commanding acceleration/deceleration
command
time change
X35
Acceleration/deceleration time change Commanding acceleration/deceleration
disable command
time change disable
X37
Step operation command
Commanding step operation
X38 External X39
input (command) X3A
Skip operation command
Teaching command
Continuous operation interrupt command
Commanding skip operation
Commanding teaching
Commanding continuous operation interrupt command
X3B
Restart command
Commanding restart
X3C
Parameter initialization command
Commanding parameter initialization
X3D
Flash ROM write command
Commanding flash ROM write
X3E
Error reset command
Commanding error reset
X3F
Stop command
Commanding stop
X40
Position-speed switching operation command
Commanding position-speed switching operation
X41
Position-speed switching enable command
Commanding position-speed switching enable
X42
Position-speed switching prohibit
Commanding position-speed switching
--
command
prohibit
X43
Speed change command
Commanding speed change
X44
Inching movement amount setting command
Commanding inching movement amount setting
X45
Target position change command
Commanding target position change
X4D
Speed-position switching control (ABS Commanding speed-position switching
mode) setting command
control (ABS mode) setting
X4E
Positioning start command (Y start) Positioning start command being given
External X47
ABS data bit 0
--
input
(absolute X48
--
ABS data bit 1
--
position restoration)
X49
Transmission data READY flag
--
External Y50
Servo ON signal
--
output
(absolute Y51
--
ABS transmission mode
--
position restoration)
Y52
ABS request mode
--
6 - 6
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
Details when ON
M0
OPR request OFF command
Commanding OPR request OFF
M1
OPR request OFF command pulse OPR request OFF commanded
M2
OPR request OFF command storage OPR request OFF command held
M3
Fast OPR command
Commanding fast OPR
M4
Fast OPR command storage
Fast OPR command held
M5
Positioning start command pulse
Positioning start commanded
M6
Positioning start command storage Positioning start command held
M7
In-JOG/Inching operation flag
Operating JOG/Inching
M8
Manual pulse generator operation enable command
Commanding manual pulse generator operation enable
M9
Manual pulse generator operating flag Operating manual pulse generator
M10
Manual pulse generator operation disable command
Commanding manual pulse generator operation disable
M11
--
Speed change command pulse
Speed change commanded
M12
Speed change command storage
Speed change command held
M13
Override command
Requesting override
M14
Acceleration/deceleration time change Requesting acceleration/deceleration
command
time change
M16
Step operation command pulse
Step operation commanded
M17
Skip command pulse
Skip commanded
Internal relay M18 M19
Skip command storage Teaching command pulse
Skip command held Teaching commanded
M20
Teaching command storage
Teaching command held
M21
Continuous operation interrupt command
Requesting continuous operation interrupt
M22
Restart command
Requesting restart
M23
Restart command storage
Restart command held
M24
Parameter initialization command pulse
Parameter initialization commanded
M25
Parameter initialization command storage
Parameter initialization command held
M26
Flash ROM write command pulse
Flash ROM write commanded
M27
Flash ROM write command storage Flash ROM write command held
M28
Error reset
Error reset completed
M29
Stop command pulse
Stop commanded
M30
Target position change command pulse
Target position change commanded
M31
--
Target position change command storage
Target position change command held
M32
ZP.PSTRT1 instruction complete device
ZP.PSTRT1 instruction completed
M33
ZP.PSTRT1 instruction error failure device
ZP.PSTRT1 instruction failed
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
Details when ON
M34
ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed
M35
ZP.TEACH1 instruction failure device ZP.TEACH1 instruction failed
M36
ZP.PINIT instruction complete device ZP.PINIT instruction completed
M37
ZP.PINIT instruction failure device
ZP.PINIT instruction failed
M38
ZP.PFWRT instruction complete device ZP.PFWRT instruction completed
M39
ZP.PFWRT instruction failure device ZP.PFWRT instruction failed
M40 Internal relay
M41
Absolute position restoration instruction Absolute position restoration
--
pulse
commanded
Absolute position restoration instruction Absolute position restoration
storage
instruction held
M42
Z.ABRST instruction complete device Z.ABRST instruction completed
M43
Z.ABRST instruction failure device
Z.ABRST instruction failed
M50
Basic parameter 1 setting complete device
Basic parameter 1 setting completed
M51
OPR basic parameter setting complete OPR basic parameter setting
device
completed
(2) Data resisters and timers
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
Details of storage
D0
OPR request flag
( Md.31 Status (bit 3))
D1
Speed (low-order 16 bits)
( Cd.25 Position-speed switching
D2
Speed (high-order 16 bits)
control speed change resister)
D3
Movement amount (low-order 16 bits) ( Cd.23 Speed-position switching
D4
Movement amount (high-order 16 bits)
control movement amount change resister)
D5
Inching movement amount
( Cd.16 Inching movement amount)
D6 D7 Data register D8
D9
JOG operation speed (low-order 16 bits)
JOG operation speed (high-order 16 bits)
( Cd.17 JOG operation speed)
--
Manual pulse generator 1 pulse input
magnification (low-order)
( Cd.20 Manual pulse generator 1
Manual pulse generator 1 pulse input magnification (high-order)
pulse input magnification)
D10
Manual pulse generator operation enable
( Cd.21 Manual pulse generator enable flag)
D11 D12
Speed change value (low-order 16 bits) Speed change value (high-order 16 bits)
( Cd.14
New speed value)
D13
Speed change request
( Cd.15 Speed change request)
D14
Override value
( Cd.13 Positioning operation speed override)
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
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)
D19
Acceleration/deceleration time change enable
D20
Step mode
D21
Step valid flag
D22
Unused
D23
Target position (low-order 16 bits)
D24
Target position (high-order 16 bits)
D25
Target speed (low-order 16 bits)
D26
Target speed (high-order 16 bits)
D27
D28 D29 D30 D31 Data register D32 D33 D34 D35 D36 D37 D38 D39 D40 D41 D42 D43 D44 D45 D46 D47 D48
Target position change request
Unused
Unused
ZP.PSTRT1 instruction control data
Completion status
--
Start number
ZP.TEACH1 instruction control data
Completion status
Teaching data
Positioning data No.
ZP.PINIT instruction control data
Completion status
ZP.PFWRT instruction control data
Completion status
Z.ABRST1 control data
Completion status
Signals received from servo
Signals transmitted to servo
Status
System area
System area
System area
D49
Error code
D79
Error code
D50
Unit setting
D51
No. of pulses per rotation
Details of storage
( Cd.10 New acceleration time value)
( Cd.11 New deceleration time value)
( Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection) ( Cd.34 Step mode) ( Cd.35 Step valid flag)
-- ( Cd.27 Target position change value (new address))
( Cd.28 Target position change value (new speed)) ( Cd.29 Target position change request flag)
-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- Error code at absolute position restoration ( Md.23 Axis error No.)
( Pr.1 Unit setting)
( Pr.2 No. of pulses per rotation)
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
Device name
Device Axis 1 Axis 2 Axis 3 Axis 4
Application
D52
Movement amount per rotation
D53
Unit magnification
Details of storage
( Pr.3 Movement amount per rotation) ( Pr.4 Unit magnification)
D54
Pulse output mode
( Pr.5 Pulse output mode)
D55
Rotation direction setting
( Pr.6 Rotation direction setting)
D56 D57 D200
D201 D202 D203 D204 D205 D206 D207 D208
D58
Data register D59 D60
D61
D62 D63 D64
D65
D66
D67
D68
D69
D70
D71
D72
D73
D74
D75
D76
D77
Timer
T0 T1
Bias speed at start (low-order 16 bits) ( Pr.7 Bias speed at start) Bias speed at start (high-order 16 bits)
OPR method
( Pr.43 OPR method)
OPR direction
( Pr.44 OPR direction)
OP address (low-order 16 bits) OP address (high-order 16 bits)
( Pr.45 OP address)
OPR speed (low-order 16 bits) OPR speed (high-order 16 bits)
( Pr.46 OPR speed)
Creep speed (low-order 16 bits) Creep speed (high-order 16 bits)
( Pr.47 Creep speed)
OPR retry
( Pr.48 OPR retry)
Positioning identifier
( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated)
--
M code
Dwell time
( Da.10 M code) ( Da.9 Dwell time)
Positioning data No.1
Positioning option
( Da.27 M code ON signal output timing)
( Da.28 ABS direction in degrees)
( Da.29 Interpolation speed designation method)
Command speed (low-order 16 bits) Command speed (high-order 16 bits)
(
Da.8
Command speed)
Positioning address/
movement amount
(low-order 16 bits) ( Da.6 Positioning
(high-order 16 bits) address/movement amount)
Arc address
(low-order 16 bits) (high-order 16 bits)
( Da.7
Arc address)
Point 1 (shape, start No.)
Point 2 (shape, start No.)
Point 3 (shape, start No.)
Point 4 (shape, start No.)
( Da.11 Shape)
Point 5 (shape, start No.)
( Da.12 Start data No.)
Point 1 (special start instruction)
( Da.13 Special start instruction)
Point 2 (special start instruction)
( Da.14 Parameter)
Point 3 (special start instruction)
Point 4 (special start instruction)
Block start data (Block 0)
Point 5 (special start instruction)
--
PLC READY signal OFF confirmation PLC READY signal OFF confirmation
PLC READY signal OFF
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6.3 Creating a program
The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in PART 2 are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system. Refer to Section 5.6 "List of monitor data" for details on the monitor items.)
6.3.1 General configuration of program
The general configuration of the "positioning control operation program" is shown below.
Start of program creation
Parameter and data are...
Set using GX Configurator-QP
Set using the sequence program Parameter and data setting program
Initialization program
Program for carrying out initialization
Start details setting program Start program
Program required to carry out "OPR control", "major positioning control" and "high-level positioning control"
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
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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 GX Configurator-QP
Set using the (TO instruction)
program
Parameter and data setting program
No.1
Parameter setting program
No.2
When not carrying out "OPR control", the OPR parameters do not need to be set.
Positioning data setting program
No.3
Block start data setting program
OPR is... Carried out
Not carried out
No.4
OPR request OFF program
Initialization program Refer to Section 6.5.1
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
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Continued from previous page
No.14
Speed change program
Sub program Refer to Section 12.5.1
Program added according to control details. (Create as required.)
No.15
Override program
Refer to Section 12.5.2
No.16
Acceleration/deceleration time change program
No.17
Step operation program
Refer to Section 12.5.3 Refer to Section 12.7.1
No.18
Skip program
Refer to Section 12.7.2
No.19
Teaching program
Refer to Section 12.7.4
No.20
Continuous operation interrupt program Refer to Section 6.5.4
No.21 Target position change program
Refer to Section 12.5.5
No.22 Absolute position restoration program Refer to Section 14.3
No.23
Restart program
Refer to Section 6.5.5
No.24
Parameter initialization program
Refer to Section 13.2
No.25
Flash ROM write program
Refer to Section 13.3
No.26
Error reset program
Program required to reset errors
No.27
Stop program
Stop program Refer to Section 6.5.6
Program used to stop control
End of program creation
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6.4 Positioning program examples
An example of the "Axis 1" positioning program is given in this section.
[No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD75 using the TO instruction from the CPU module. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program is not necessary.
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(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
<Positioning data No. 2 setting> <Speed-position switching signal enable setting> <Speed-position switching signal prohibit setting> <New movement amount write>
<Positioning data No. 3 setting> <Position-speed switching signal enable setting> <Position-speed switching signal prohibit setting> <New speed write>
<Block positioning (7000) write>
<Fast OPR command OFF> <Fast OPR command storage OFF>
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
<Positioning start command pulse> <Positioning start command hold>
<Positioning start execution> <Positioning start command storage OFF>
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(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
<Positioning start command pulse> <Positioning start command hold>
<Positioning start No. setting> <Positioning start execution> <Positioning start command storage OFF> <Positioning start signal OFF>
<M code OFF request write> <JOG operation speed (100.00 mm/min) setting> <Setting of 0 for inching movement amount> <JOG operation speed write> <Inching movement amount (1.0 m) setting> <Inching movement amount write> <JOG/inching operating flag ON>
<JOG/inching operation completed> <Forward run JOG/inching operation execution> <Reverse run JOG/inching operation execution>
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No. 22 Absolute position restoration program (1) Absolute position restoration command acceptance
788 796
(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion ABRST1 instruction completed when M42 is ON and M43 is OFF. Absolute position data restoration completed when status = 0.
802
(3) ABS data setting and ABRST1 instruction execution
823
No. 23 Restart program
850 857 864
No. 24 Parameter initialization program
878 885 889 896
<D42 to D45 reset>
<Error code transmission to D49>
<ABS data bit 0 ON/OFF> <ABS data bit 1 ON/OFF> <Transmission data preparation complete flag ON/OFF> <ABRST1 instruction execution>
<Restart command pulse> <Restart command ON during stop> <Restart request write> <Restart command storage OFF>
<Parameter initialization command pulse> <Parameter initialization command hold> <PLC READY output to QD75 standby> <Parameter initialization execution> <Parameter initialization command storage OFF>
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No. 25 Flash ROM write program
911 918 922 926
No. 26 Error reset program
944 953 957
No. 27 Stop program
964 971 975 979
<Flash ROM write command pulse> <Flash ROM write command hold> <PLC READY output to QD75 standby> <Flash ROM write execution> <Flash ROM write command storage OFF>
<Error code read> <Error reset command pulse> <Error reset execution>
<Stop command pulse> <Stop execution> <Axis stop signal OFF due to axis stop>
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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 item
Cd.19
OPR request flag OFF request
Setting value
Setting details
1 Set to "1: Turn OPR request flag OFF".
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
1521 1621 1721 1821
Refer to Section 5.7 "List of control data" for details on the setting details.
Time chart for OPR request OFF
PLC READY signal
[Y0] OFF
QD75 READY signal [X0] OFF
OPR request OFF flag [ Md. 31 Status: b3]
Cd. 19 OPR request flag OFF request
OFF 0
ON ON
ON
1
0
Fig. 6.1 Time chart for OPR request OFF
[2] External command function valid setting program
This program is used to validate the "external command signal" beforehand when using the external command functions (external start, speed change, speedposition switching, position-speed switching, skip). (Set which function to use beforehand in " Pr.42 External command function selection".) Set the following data to validate the "external command signal".
Setting item Cd.8 External command valid
Setting value
Setting details
1 Set to "1: Validate external command".
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1505 1605 1705 1805
Refer to Section 5.7 "List of control data" for details on the setting details.
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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 item Cd.3 Positioning start No.
Setting value
Setting details
1 to 600
: Positioning data No.
9001
: Machine OPR
9002
: Fast OPR
9003
: Current value changing
9004
: Simultaneous start
7000 to 7004 : Block No.
(For "high-level positioning
control")
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
1500 1600 1700 1800
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) For " high-level positioning control", set the "positioning start point No." of the block to be started in " Cd.4 Positioning starting point No.".
Cd.4
Setting item
Positioning starting point No.
Setting value
Setting details
1 to 50 : Point No. of block start data
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
1501 1601 1701 1801
Refer to Section 5.7 "List of control data" for details on the setting details.
(3) Set the following control data for "speed-position switching control (INC mode)". (Set " Cd.23 Speed-position switching control movement amount change
register as required". Setting is not required in the ABS mode.)
Setting item
Setting value
Setting details
Speed-position switching Cd.23 control movement amount
change register
Set the new value when the position control's movement amount is to be changed during speed control.
Cd.24
Speed-position switching enable flag
1
When "1" is set, the speed-position switching signal will be validated.
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1526 1626 1726 1826 1527 1627 1727 1827
1528 1628 1728 1828
Refer to Section 5.7 "List of control data" for details on the setting details.
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(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
Position-speed switching Cd.25 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 during positioning control.
1530 1630 1730 1830 1531 1631 1731 1831
1
To validate position-speed switching signal, this is set to 1.
1532
1632
1732
1832
Refer to Section 5.7 "List of control data" for details on the setting details.
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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
Drive unit
CPU module
1) 1
2) ON
1500
Input/output signal Y10
3) Control with positioning data No. 1
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.
1) 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".)
2) Input the positioning start signal [Y10] or the external command signal. 3) The positioning data No. "1" will start.
Fig. 6.2 Procedures for starting control (for axis 1)
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Starting conditions
To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied.
Signal name
Signal state
Device Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag Interface signal Axis stop signal
M code ON signal
ON
QD75 buffer memory Accessible
OFF Axis stop signal is OFF.
OFF M code ON signal is OFF.
X1
Y4 Y5 Y6 Y7 X4 X5 X6 X7
Error detection signal OFF No error is present.
X8 X9 XA XB
BUSY signal
OFF BUSY signal is OFF.
XC XD XE XF
Start complete signal OFF Start complete signal is OFF.
X10 X11 X12 X13
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF.
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
ON Within limit range
�
: When the synchronous setting of the CPU module is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the CPU module.
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[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 "Start during operation" (warning code: 100) will occur.
(4) The process taken when positioning is completed will differ according to case (a) and (b) below.
(a) When next positioning is not to be carried out If a dwell time is set, the system will wait for the set time to pass, and then positioning will be completed. When positioning is completed, the BUSY signal will turn OFF and the positioning complete signal will turn ON. However, when using speed control or when the positioning complete signal ON time is "0", the signal will not turn ON. When the positioning complete signal ON time is passed, the positioning complete signal will turn OFF.
(b) When next positioning is to be carried out If a dwell time is set, the system will wait for the set time to pass. When the set dwell time is passed, the next positioning will start.
V
Dwell time
Positioning
t
ON
Positioning start signal OFF [Y10, Y11, Y12, Y13]
ON
Start complete signal
OFF
[X10, X11, X12, X13]
ON
BUSY signal
OFF
[XC, XD, XE, XF]
ON
Positioning complete signal
OFF
[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.)
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Starting time chart
The time chart for starting each control is shown below. (1) Time chart for starting "machine OPR"
V
Positioning start signal
PLC READY signal
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal Cd. 3 Positioning start No.
OPR request flag [ Md. 31 Status: b3] OPR complete flag [ Md. 31 Status: b4]
[Y10] [Y0] [X0]
OFF OFF
OFF ON
ON
[X10] OFF
[XC] OFF
[X8]
OFF
9001
OFF
Near-point dog Zero signal ON
ON ON
ON
OFF
Fig. 6.4 Time chart for starting "machine OPR"
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t
ON
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(2) Time chart for starting "fast OPR"
V
Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd. 3 Positioning start No.
ON
[Y10]
OFF ON
[Y0] OFF ON
[X0] OFF ON
[X10] OFF ON
[XC] OFF
[X8]
OFF
9002
Fig. 6.5 Time chart for starting "fast OPR"
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t
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(3) Time chart for starting "major positioning control"
Operation pattern
V
Positioning data No.
Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal
[Y10] [Y0] [X0]
[X10] [XC] [X14] [X8]
Cd. 3 Positioning start No.
1(11)
2(00)
Dwell time t
1
Fig. 6.6 Time chart for starting "major positioning control"
(4) Time chart for starting "speed-position switching control"
V
Operation pattern(00)
Speed control Position control Dwell time
Positioning data No.(1)
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]
Speed-position switching signal
(external)
Cd. 3 Positioning start No.
1
Cd. 24 Speed-position switching enable flag
1
0
Fig. 6.7 Time chart for starting "speed-position switching control"
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(5) Time chart for starting "position-speed switching control"
V
Operation pattern (00) Position control
Speed control
Positioning data No. (1)
t
Positioning start signal
[Y10]
PLC READY signal
[Y0]
QD75 READY signal
[X0]
Start complete signal
[X10]
BUSY signal Positioning complete signal
[XC] [X14]
Error detection signal
[X8]
Position-speed switching signal (external)
Stop command
Cd. 3 Positioning start No.
1
Cd. 26 Position-speed switching enable flag
1
0
Fig. 6.8 Time chart for starting "position-speed switching control"
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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]
Md. 26 Axis operation status Standby
Output pulse to external source (PULSE)
OPR t2
t4 Standby
Positioning operation
OPR request flag [ Md. 31 Status: b3]
OPR complete flag
t3
[ Md. 31 Status: b4]
Fig. 6.9 Machine OPR operation timing and process time
Normal timing time
Model
t1
QD75P N/QD75D N 0.2 to 1.1ms
QD75P /QD75D 1.0 to 1.4ms
t2 0.4 to 1.3ms 2.7 to 4.4ms
t3 0 to 0.9ms 0 to 1.8ms
t4 0 to 0.9ms 0 to 1.8ms
The t1 timing time could be delayed depending on the operating conditions of the other axis.
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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]
Md. 26 Axis operation status
Standby
Output pulse to external source (PULSE)
t2
Position control t4
t3 Standby
Positioning operation
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]
t5 t6
t2
Fig. 6.10 Position control operation timing and process time
When the positioning start signal turns ON, if all signals marked with an asterisk ( ) are already ON, the signals marked with an asterisk ( ) will turn OFF when the positioning start signal turns ON.
Normal timing time
Model
t1
QD75P N/QD75D N 0.2 to 1.1ms
QD75P /QD75D 1.2 to 2.3ms
t2 0 to 0.9ms 0 to 1.8ms
t3 0 to 0.9ms 0 to 1.8ms
t4 0.4 to 1.3ms 2.7 to 4.4ms
t5 0 to 0.9ms 0 to 1.8ms
t6
Follows parameters
The t1 timing time could be delayed depending on the operating conditions of the other axis.
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[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 CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed. To start positioning control by inputting the external command signal, set the "data required to be set" and then turn ON the external command signal.
Restrictions
When starting by inputting the external command signal, the start complete signal [X10, X11, X12, X13] will not turn ON.
Data required to be set
To execute positioning start with the external command signal, set parameter ( Pr.42 ) beforehand, and validate the "external command signal" with the "External command function valid setting program (program No. 5)".
Setting item
Setting value
Setting details
Pr.42 Cd.8
External command function selection
External command valid
0 Set to "0: External positioning start". 1 Set to "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 CHAPTER 5 "DATA USED FOR POSITIONING CONTROL" for details on the setting details.
Starting time chart
Operation pattern V
Positioning data No.
1(00)
Dwell time
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]
External command signal
Pr. 42 External command function selection
0
Cd. 3 Positioning start No.
1
Cd. 8 External command valid
1
0
Fig. 6.11 Time chart for starting with external start signal
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6.5.4 Continuous operation interrupt program
During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Continuous operation interrupt request" for " Cd.18 Continuous operation interrupt request".
[1] 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
t
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 with positioning data No. 11
Positioning for positioning data No. 12 is not executed
Positioning ends with continuous operation interrupt request
Positioning with positioning data No. 10
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(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)
(4) When operation is not performed (BUSY signal [XC, XD, XE, XF] is OFF), the interrupt request during continuous operation is not accepted. It is cleared to 0 at a start or restart.
[3] Control data requiring settings
Set the following data to interrupt continuous operation.
Setting item
Cd.18
Continuous operation interrupt request
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
1 Set "1: Continuous operation interrupt request". 1520 1620 1720 1820
Refer to Section 5.7 "List of control data" for details on the setting details.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
6.5.5 Restart program
When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ( Cd.6 Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position during position control of incremental system such as the INC Linear 1. (Calculation of remaining distance is not required.)
[1] Restart operation
After a deceleration stop by the stop command is completed, write "1" to the " Cd.6 Restart command" with " Md.26 Axis operation status" is "Stopped" and the positioning restarts.
Axis 1
Positioning with positioning data No. 11
Positioning data No. 11 continues with restart command
Positioning with positioning data No. 12
Stop with stop command
Positioning with positioning data No. 10
Axis 2
Fig. 6.13 Restart operation
[2] Restrictions
(1) Restarting can be executed only when the " Md.26 Axis operation status" is "Stopped (the deceleration stop by stop command is completed)". If the axis operation is not "stopped", restarting is not possible. In this case, a warning "Restart not possible" (warning code: 104) will occur, and the process at that time will be continued.
(2) Restarting can be executed even while the positioning start signal is ON. However, make sure that the positioning start signal does not change from OFF to ON while " Md.26 Axis operation status" is "Stopped". If the signal is changed from OFF to ON while " Md.26 Axis operation status" is "Stopped", the normal positioning (the positioning data set in " Cd.3 Positioning start signal") is started.
(3) If the PLC READY signal is turned ON from OFF while " Md.26 Axis operation status" is "Stopped", the positioning cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104) will occur.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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(4) Do not execute restart while the stop command is ON. If restart is executed while stopped, an error "Stop signal ON at start" (error
code: 106) will occur, and the " Md.26 Axis operation status" will change to
"Error". Thus, even if the error is reset, the operation cannot be restarted. (5) If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104) will occur. (6) When stopped with interpolation operation, write "1: Restarts" into
" Cd.6 Restart command" for the reference axis, and then restart.
(7) If any of reference partner axes executes the positioning operation once, a warning "Restart not possible" (warning code: 104) will occur, and the positioning cannot restarts.
(8) When the machine OPR and fast OPR is stopped, an error "OPR restart not possible" (error code: 209) will occur and the positioning cannot restarts.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
MELSEC-Q
[3] Control data requiring setting
Set the following data to execute restart.
Setting item Cd.6 Restart command
Setting value
Setting details
1 Set "1: Restarts".
Refer to Section 5.7 "List of control data" for details on the setting details.
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1503 1603 1703 1803
[4] Starting conditions
The following conditions must be satisfied when restarting. (Assemble the required conditions into the sequence program as an interlock.) (1) Operation state
" Md.26 Axis operation status" is "1: Stopped"
(2) Signal state
Signal name
Signal state
Device Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag Interface signal Axis stop signal
M code ON signal
ON
QD75 buffer memory Accessible
OFF Axis stop signal is OFF
OFF M code ON signal is OFF
X1
Y4 Y5 Y6 Y7 X4 X5 X6 X7
Error detection signal OFF No error is present
X8 X9 XA XB
BUSY signal
OFF BUSY signal is OFF
XC XD XE XF
Start complete signal OFF Start complete signal is OFF
X10 X11 X12 X13
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
ON Within limit range
�
: When the synchronous setting of the CPU module is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the CPU module.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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(5) Time chart for restarting
V
Dwell time
Positioning start signal
[Y10]
Axis stop signal
[Y4]
PLC READY signal
[Y0]
QD75 READY signal
[X0]
Start complete signal
[X10]
BUSY signal
[XC]
Positioning complete signal [X14]
Error detection signal
[X8]
Md. 26 Axis operation status
0
8
1
8
Cd. 6 Restart command
0
1
Fig. 6.14 Time chart for restarting
t
0 0
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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) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When a CPU module error occurs (4) When the PLC READY signal is turned OFF. (5) When an error occurs in QD75. (6) When control is intentionally stopped
(Stop signal from CPU module turned ON, stop signal from peripheral devices)
The stop process for the above cases is shown below. (Excluding item (1) above "When each control is completed normally".)
[1] Stop process
Stop cause
Stop axis
Axis
M code operation
ON
status
signal ( Md.26 )
after stop after
stopping
Stop process
OPR control
Manual control
Machine OPR control
Fast OPR control
Major positioning
control
High-level positioning
control
JOG/ Inching operation
Manual pulse generator operation
Forced stop
Drive unit READY signal OFF
Each axis
No change
Error
Immediate stop
Deceleration stop
Fatal stop (Stop group 1)
Hardware stroke limit upper/lower limit error occurrence
Each axis
No change
Error
Deceleration stop/sudden stop (Select with " Pr.37 Stop group 1 sudden stop selection".
Deceleration stop
CPU module
No
error occurrence
Emergency stop PLC READY (Stop group 2) signal OFF
All axes
Error in test
mode
change
Turns OFF
No change
Error
Delegation stop/sudden stop (Select with " Pr.38 Stop group 2 sudden stop selection".
Deceleration stop
Relatively safe stop (Stop group 3)
Intentional stop (Stop group 3)
Axis error detection (Error other than stop group 1 or 2)
"Stop" input from peripheral device
"Stop signal" ON from external source
"Axis stop signal"
Each axis
Each axis
No change
Error
Deceleration stop/sudden stop (Select with " Pr.39 Stop group 3 sudden stop selection".
No Stopped change (Standby)
Deceleration stop
ON from CPU module
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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[2] Types of stop processes
The operation can be stopped with deceleration stop, sudden stop or immediate stop.
(1) Deceleration stop 1 The operation stops with "deceleration time 0 to 3" ( Pr.10 , Pr.28 , Pr.29 , Pr.30 ). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ( Da.4 ).
(2) Sudden stop The operation stops with " Pr.36 Sudden stop deceleration time".
(3) Immediate stop The operation does not decelerate. The QD75 immediately stops the pulse output, but the operation will coast for the droop pulses accumulated in the drive unit's deviation counter.
Positioning speed
Positioning speed
Positioning speed
Actual deceleration time Set deceleration time
Actual sudden stop deceleration time
Pr. 36 Sudden stop 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".
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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[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 12.7.9 Stop command processing for deceleration stop function".)
(2) If the stop signal ON or stop cause specified for a sudden stop occurs during deceleration, sudden stop process will start at that point. However, if the sudden stop deceleration time is longer than the deceleration time, the deceleration stop process will be continued even if a sudden stop cause occurs during the deceleration stop process.
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
Positioning speed
Deceleration stop process
Sudden stop cause
Positioning speed
Deceleration stop process
Sudden stop cause
Stop
Stop
Sudden stop deceleration process Deceleration stop process continues 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 - 46
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................................................................. 7- 2 7.1.1 Configuration and roles of QD75 memory ................................................... 7- 2 7.1.2 Buffer memory area configuration................................................................ 7- 5
7.2 Data transmission process......................................................................................... 7- 6
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7 MEMORY CONFIGURATION AND DATA PROCESS
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 configuration
Memory configuration
Role
MELSEC-Q
Parameter area Monitor data area Control data area Positioning data area (No. 1 to 600) Block start data area (No.7000 to 7004) PLC CPU memo area
Backup
Area that can be directly accessed Buffer memory with sequence program from CPU
module.
Not possible
Flash ROM
Area for backing up data required for positioning.
�
�
� Possible
: 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
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7 MEMORY CONFIGURATION AND DATA PROCESS
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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.70 , and Pr.150 for each axis.)
Monitor data area Area where positioning system or QD75 operation state is stored. (Set the items indicated with Md.1 to Md.48 , Md.50 to Md.52 1.) 1: Md.50 to Md.52 are for the QD75P N/QD75D N only.
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 and Da.27 to Da.29 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.
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7 MEMORY CONFIGURATION AND DATA PROCESS
Data is backed up here.
MELSEC-Q
User accesses here.
Flash ROM
Parameter area
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
Copy
QD75
Buffer memory
Parameter area
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
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7 MEMORY CONFIGURATION AND DATA PROCESS
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7.1.2 Buffer memory area configuration
The QD75 buffer memory is configured of the following types of areas.
Buffer memory area configuration
Axis 1
Buffer memory address 1
Axis 2
Axis 3
Axis 4
Writing possibility
Parameter area Monitor data area
Basic parameter area
Detailed parameter area
OPR basic parameter area OPR detailed parameter area System monitor area
Axis monitor area
0 to 15 17 to 62
70 to 78
150 to 165 300 to 315 167 to 212 317 to 362
140 2 220 to 228 370 to 378
450 to 465 467 to 512
520 to 528
Possible
79 to 89 229 to 239 379 to 389 529 to 539
1200 to 1425, 1440 to 1487 2
800 to 847, 900 to 947, 1000 to
1100 to
899
999
1047, 1099 1147, 1199
Not possible
Control data area
System control data area Axis control data area
Positioning data area (No.1 to 600)
Positioning data area
Block start data area (No.7000)
Block start data area Condition data area
Block start data area (No.7001)
Block start data area
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 27000 to 28000 to 29000 to
26049
27049
28049
29049
26050 to 27050 to 28050 to 29050 to
26099
27099
28099
29099
26100 to 27100 to 28100 to 29100 to
26199
27199
28199
29199
26200 to 27200 to 28200 to 29200 to
26249
27249
28249
29249
26250 to 27250 to 28250 to 29250 to
26299
27299
28299
29299
Possible
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
26300 to 26399
26400 to 26449
26450 to 26499
26500 to 26599
26600 to 26649
26650 to 26699
26700 to 26799
27300 to 27399
27400 to 27449
27450 to 27499
27500 to 27599
27600 to 27649
27650 to 27699
27700 to 27799
28300 to 28399
28400 to 28449
28450 to 28499
28500 to 28599
28600 to 28649
28650 to 28699
28700 to 28799
29300 to 29399
29400 to 29449
29450 to 29499
29500 to 29599
29600 to 29649
29650 to 29699
29700 to 29799
Possible
Block start data area (No.7004)
PLC CPU memo area
Block start data area
Condition data area PLC CPU memo area
26800 to 26849
26850 to 26899
26900 to 26999
27800 to 28800 to
27849
28849
27850 to 28850 to
27899
28899
27900 to 28900 to
27999
28999
30000 to 30099
29800 to 29849
29850 to 29899
29900 to 29999
Possible
1: Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly. 2: These addresses are not used for the QD75P /QD75D .
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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.
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7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-Q
(1) Transmitting data when power is turned ON or CPU module is reset
(
)
When the power is turned ON or the CPU module is reset, the "parameters", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory.
(2) Transmitting data with TO instruction from CPU module (
)
The parameters or data is written from the CPU module to the buffer memory using the TO instruction. At this time, when the "parameter area (b) 1", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)", "control data" and "PLC CPU memo area" are written into the buffer memory with the TO instruction, it is simultaneously valid.
1 Parameter area (b) ...... Parameters validated with the next each positioning control is started. ( Pr.8 to Pr.10 , Pr.25 to Pr.42 )
(3) Validate parameters when PLC READY signal [Y0] changes from OFF to ON
When the PLC READY signal [Y0] changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) 2" is validated. For Pr.5 , however, only the data obtained first after the PLC READY signal [Y0]
changes from OFF to ON when the power is turned ON or CPU module is reset becomes validate. (Refer to Section 5.2 "List of parameters" for details.)
2: Parameter area (a) .... Parameters validated when PLC READY signal [Y0] changes from OFF to ON. ( Pr.1 to Pr.7 , Pr.11 to Pr.24 , Pr.43 to Pr.57 , Pr.70 , Pr.150 )
POINT
The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO instruction. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.
(4) Accessing with FROM instruction from CPU module (
)
The data is read from the buffer memory to the CPU module using the FROM instruction.
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7 MEMORY CONFIGURATION AND DATA PROCESS
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7 MEMORY CONFIGURATION AND DATA PROCESS
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(5) Flash ROM write (
)
The following transmission process is carried out by setting "1" in " Cd.1 Flash ROM write request" (buffer memory [1900]).
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM.
The writing to the flash ROM may also be carried out using a dedicated instruction "ZP.PFWRT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.)
(6) Flash ROM request (writing) (
)
The following transmission processes are carried out with the [flash ROM request] (write) from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM.
Note) This transmission process is the same as (5) above.
IMPORTANT
(1) Do not turn the power OFF or reset the CPU module while writing to the flash ROM. If the power is turned OFF or the CPU module is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
(2) Do not write the data to the buffer memory before writing to the flash ROM is completed.
(3) The number of writes to the flash ROM with the programmable controller program is 25 max. while the power is turned ON. Writing to the flash ROM beyond 25 times will cause the error "Flash ROM write number error" (error code: 805). Refer to Section 15.3 "List of errors" for details.
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7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-Q
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 CPU module.
The following transmission processes are carried out with the [monitor] from the peripheral device.
2) The "monitor data" in the buffer memory area is transmitted to the peripheral device via the CPU module.
(8) Writing data from peripheral device to buffer memory (
)
The following transmission processes are carried out with the [Write to module]
from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the peripheral device area transmitted to the buffer memory via the CPU module.
At this time, when [Flash ROM write] is set with the peripheral device, the transmission processes indicated with the following are carried out.
(5) Flash ROM write
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7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-Q
The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below.
(Ex.) Setting the positioning data
The following methods can be used to set the positioning data.
From peripheral device
Using sequence program
Set the data according to the peripheral device menu.
Write positioning data into buffer memory using TO instruction.
Write the data set with the peripheral device into the buffer memory.
Completion
User work QD75 state
7 - 12
PART 2 CONTROL DETAILS AND SETTING
PART 2 is configured for the following purposes (1) to (3). (1) To understand the operation and restrictions of each control. (2) To carry out the required settings in each control. (3) To deal with errors. The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc. Carry out these settings while referring to CHAPTER 5 "DATA USED FOR POSITIONING CONTROL". Also refer to CHAPTER 6 "SEQUENCE PROGRAMS USED FOR POSITIONING CONTROL" when creating the programs required in each control, and consider the entire control program configuration when creating each program.
CHAPTER 8 OPR CONTROL ...................................................................................8- 1 to 8- 24 CHAPTER 9 MAJOR POSITIONING CONTROL....................................................9- 1 to 9-140 CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL........................................10- 1 to 10- 28 CHAPTER 11 MANUAL CONTROL........................................................................11- 1 to 11- 34 CHAPTER 12 CONTROL SUB FUNCTIONS ........................................................12- 1 to 12-110 CHAPTER 13 COMMON FUNCTIONS ................................................................. 13- 1 to 13- 8 CHAPTER 14 DEDICATED INSTRUCTIONS ........................................................14- 1 to 14- 24 CHAPTER 15 TROUBLESHOOTING .....................................................................15- 1 to 15- 50
PART 2
MEMO
CHAPTER 8 OPR CONTROL
The details and usage of "OPR control" are explained in this chapter.
8
OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position. OPR carried out by sequence programs from the CPU module are explained in this chapter. Refer to GX Configurator-QP Operating Manual for details on OPR using the peripheral device.
8.1 Outline of OPR control ............................................................................................... 8- 2 8.1.1 Two types of OPR control............................................................................. 8- 2
8.2 Machine OPR ............................................................................................................. 8- 4 8.2.1 Outline of the machine OPR operation ........................................................ 8- 4 8.2.2 Machine OPR method .................................................................................. 8- 5 8.2.3 OPR method (1): Near-point dog method.................................................... 8- 7 8.2.4 OPR method (2): Stopper method 1) ........................................................... 8- 9 8.2.5 OPR method (3): Stopper method 2) ........................................................... 8- 12 8.2.6 OPR method (4): Stopper method 3) ........................................................... 8- 15 8.2.7 OPR method (5): Count method 1) .............................................................. 8- 17 8.2.8 OPR method (6): Count method 2) .............................................................. 8- 20
8.3 Fast OPR .................................................................................................................... 8- 23 8.3.1 Outline of the fast OPR operation ................................................................ 8- 23
8 - 1
8 OPR CONTROL
MELSEC-Q
8.1 Outline of OPR control
8.1.1 Two types of OPR control
In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when the QD75 issues a "OPR request" with the power turned ON or others, or after a positioning stop.
In the QD75, the two types of controls shown below are defined as "OPR control", following the flow of the OPR work. These two types of OPR control can be executed by setting the "OPR parameters", setting "Positioning start No. 9001" and "Positioning start No. 9002" prepared beforehand in the QD75 to " Cd.3 Positioning start No.", and turning ON the positioning start signal. The ZP.PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control. (For details, refer to CHAPTER 14 "DEDICATED INSTRUCTIONS".) (1) Establish a positioning control OP
� "Machine OPR" (positioning start No. 9001) (2) Carry out positioning toward the OP
� "Fast OPR" (positioning start No. 9002).
The "machine OPR" in (1) above must always be carried out before executing the "fast OPR" in (2).
REMARK
OPR request The "OPR request flag" ( Md.31 Status: b3) must be turned ON in the QD75, and a machine OPR must be executed in the following cases.
When the power is turned ON At the ON OFF of the drive unit READY signal ( Md.30 External input/output
signal: b2). At the OFF ON of the PLC READY signal [Y0]
The address information stored in the QD75 cannot be guaranteed while the "OPR request flag" is ON. The "OPR request flag" turns OFF and the "OPR complete flag" ( Md.31 Status: b4) turns ON if the machine OPR is executed and is completed normally.
8 - 2
8 OPR CONTROL
MELSEC-Q
OPR sub functions
Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to CHAPTER 12 "CONTROL SUB FUNCTIONS" for details on each sub function.
[Remarks] The following two sub functions are only related to machine OPR.
Sub function name OPR retry function OP shift function
Machine OPR
Fast OPR
Reference Section 12.2.1 Section 12.2.2
: Combination possible, : Restricted, : Combination not possible
When an OPR is not required
Control can be carried out ignoring the "OPR request flag" ( Md.31 Status: b3) in systems that do not require an OPR. In this case, the "OPR parameters ( Pr.43 to Pr.57 )" must all be set to their initial values or a value at which an error does not occur.
OPR from peripheral devices
"Machine OPR" and "fast OPR" can be executed from the test mode of the peripheral device. Refer to GX Configurator-QP Operating Manual for details on OPR from the peripheral device.
8 - 3
8 OPR CONTROL
MELSEC-Q
8.2 Machine OPR
8.2.1 Outline of the machine OPR operation
Important
Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine).
The machine OPR may not complete unless the OPR retry function is used.
Machine OPR operation
In a machine OPR, a machine OP is established. None of the address information stored in the QD75, CPU module, or servo is used at this time. The position mechanically established after the machine OPR is regarded as the "OP" to be the starting point for positioning control. The method for establishing an "OP" by a machine OPR differs according to the method set in " Pr.43 OPR method". The following shows the operation when starting a machine OPR.
1) The machine OPR is started.
2)
The operation starts according to the speed and direction set in the OPR parameters ( Pr.43 to Pr.57 ).
3)
The "OP" is established by the method set in " Pr.43 OPR method", and the machine stops. (Refer to Sections 8.2.2 to 8.2.8)
If "a" is set as " Pr.45 OP address", "a" will be stored as the current position in the 4) " Md.20 Current feed value" and " Md.21 Machine feed value" which are
monitoring the position.
5) The machine OPR is completed.
The " Pr.45 OP address" is a fixed value set by the user.
M OP Machine OPR
Near-point dog
Fig. 8.1 Example of a machine OPR
8 - 4
8 OPR CONTROL
MELSEC-Q
8.2.2 Machine OPR method
The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the six methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR parameters. It is set in " Pr.43 OPR
method" of the basic parameters for OPR.)
Pr.43 OPR method
Operation details
Near-point dog method Stopper method 1)
Deceleration starts by the OFF ON of the near-point dog. (Speed is reduced to " Pr.47 Creep speed".) The operation stops at the first zero signal after the near-point dog turns from ON OFF. When a "deviation counter clear output" is completed, the machine OPR is completed.
The stopper position is regarded as the OP. After the deceleration starts by the OFF ON of the near-point dog, the machine 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 " Pr.49 OPR dwell time" passed after stoppage.
Stopper method 2) Stopper method 3) Count method 1)
The stopper position is regarded as the OP. After the deceleration starts by the OFF ON of the near-point dog, the machine 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 stopper position is regarded as the OP. The machine starts at the " Pr.47 Creep speed" from the beginning, then presses against the stopper at the " Pr.47 Creep speed" and stops. The machine OPR is regarded as completed on completion of the deviation counter clear output provided after the zero signal is detected after stoppage.
The deceleration starts by the OFF ON of the near-point dog, and the machine moves at the " Pr.47 Creep speed". The machine stops at the zero signal after moving the distance set in the " Pr.50 Setting for the movement amount after near-point dog ON" from the near point dog OFF ON position. When a "deviation counter clear signal output" is completed, the machine OPR is regarded as completed.
Count method 2)
The deceleration starts by the OFF ON of the near-point dog, and the machine moves at the " Pr.47 Creep speed". The machine moves the distance set in the " Pr.50 Setting for the movement amount after near-point dog ON" from the near point dog OFF ON position, and stops at that position. The machine OPR is then regarded as completed.
: The following are the signals input as the zero signals of the QD75 in the corresponding OPR methods.
Near-point dog method, count method 1): Signal that is output as a single pulse at one motor revolution (e.g. Z-phase signal
output from the drive unit)
Stopper method 2), 3)
: Signal that is output on detection of contact with the stopper. (Input externally)
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The following shows the external I/O signals used for machine OPR.
Pr.43 OPR method
Near-point dog method Stopper method 1)
Near-point dog
Signal required for control
Zero signal
Upper/lower limit switches
Deviation counter clear output
�
Stopper method 2)
Stopper method 3)
�
Count method 1)
Count method 2)
�
�
: Necessary : Necessary as required -: Unnecessary
Torque limit �
� �
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".
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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. 1) (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. 3) (At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is
OFF.)
After the near-point dog turns OFF, the pulse output from the QD75 will stop at the first zero signal, outputting a 4) "deviation counter clear signal" to the drive unit.
(The "deviation counter clear signal output time" is set in Pr.55 .)
5)
After a "deviation counter clear signal" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
V
Pr.46 OPR speed
Deceleration at the near-point dog ON
Pr.47 Creep speed
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status: b3
OPR complete flag Md.31 Status: b4
1)
2) 3)
ON Near-point dog OFF
Zero signal
ON OFF
ON OFF
4) 5)
t
Movement amount after Md.34 near-point dog ON *1
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.
One servomotor rotation
ON OFF
Deviation counter clear output
Deviation counter clear Pr.55 signal output time
Md.26 Axis operation status Standby OPR
Standby
Md.34 Movement amount after Inconsistent 0 near-point dog ON
Md.20 Current feed value Md.21 Machine feed value
Inconsistent Value of the machine moved is stored.
Value of *1 OP address
Fig. 8.2 Near-point dog method machine OPR
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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
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
ON OFF
ON OFF
OPR complete flag Md.31 Status : b4
Md.26 Axis operation status
OFF Standby OPR
Error
Md.34 Movement amount Inconsistent 0 after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored
Md.21 Machine feed value
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.
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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.51 OPR acceleration time selection", in the direction designated in
" Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2)
The machine begins decelerating when the near-point dog ON is detected.
3)
The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4)
The machine presses against the stopper at the creep speed and stops.
The pulse output from the QD75 will stop when the " Pr.49 OPR dwell time" has elapsed after the near-point dog turns ON, outputting
5)
the "deviation counter clear output" to the drive unit.
(A "deviation counter clear signal output time" is set in the Pr.55 .)
6)
After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
V
Pr.46 OPR speed
Pr.47 Creep speed Stops at stopper
1) Torque limit
2) 3) 4)
t 5) 6)
Range in which the servomotor rotation is forcibly stopped by the stopper
Valid torque limit range
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
OPR complete flag Md.31 Status : b4
OFF
Near-point dog OFF
ON
Dwell time measurement
ON
ON OFF
OFF
Time out of dwell time ON
Deviation counter clear output
Pr.55 Deviation counter clear signal output time
Md.26 Axis operation status
Standby OPR
Standby
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value
Inconsistent Inconsistent
0 Value the machine moved is stored
OP address
Md.35 Torque limit stored Inconsistent Torque limit setting value value
OPR torque limit value
Fig. 8.4 Stopper method 1) machine OPR
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Restrictions
Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".)
Precautions during operation
(1) Set a value in the " Pr.49 OPR dwell time" that is equal to or higher than the movement time from the near-point dog ON to the time the machine presses against the stopper.
(2) The workpiece will continue decelerating and stop if the " Pr.49 OPR dwell time" elapses during deceleration from the " Pr.46 OPR speed", thus causing an error "Dwell time fault" (error code: 205).
V
Pr.46 OPR speed
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
ON OFF
ON OFF
OPR complete flag Md.31 Status : b4
Md.26 Axis operation status
OFF Standby OPR
Pr.47 Creep speed Stopper t
" Pr.49 OPR dwell time" setting
Error
Md.34 Movement amount Inconsistent 0 after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored
Md.21 Machine feed value
Address at stop
Fig. 8.5 Operation when the dwell time elapses during deceleration from the OPR speed
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(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.
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
OPR complete flag Md.31 Status : b4
V Pr.46 OPR speed
Pr.47 Creep speed
Stopper
t Valid torque limit range
Torque limit
ON Near-point dog OFF
Dwell time measurement ON OFF
ON OFF
ON OFF
Time out of dwell time
Deviation counter clear output
Md.26 Axis operation status
Standby OPR
Pr.55 Deviation counter clear signal output time
Standby
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value
Inconsistent 0 Inconsistent Value the machine moved is stored
OP address
Md.35 Torque limit stored value
Inconsistent Torque limit setting value
OPR torque limit value
Fig. 8.6 Operation when the dwell time elapses before the stop at the stopper
(4) The near-point dog must be turned ON until it presses against the stopper. If any range that the near-point is turned OFF exists until it presses against the stopper, executing the machine OPR from the area leads it to be pressed against the stopper at OPR speed.
(5) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep
speed". (6) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs.
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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 OPR acceleration time selection", in the direction designated in
" Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2)
The machine begins decelerating when the near-point dog ON is detected.
3)
The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4)
The machine presses against the stopper at the creep speed and stops.
The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter clear output" to the
5)
drive unit.
(A "deviation counter clear signal output time" is set in the Pr.55 .)
6)
After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
V Pr.46 OPR speed
Pr.47 Creep speed Stops at stopper
1) Zero signal
Torque limit
2) 3) 4) 5) 6)
t
Valid torque limit range
ON Near-point dog OFF
ON
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OFF ON
OPR request flag
OFF
Md.31 Status : b3 ON
OPR complete flag
OFF
Md.31 Status : b4
Deviation counter clear output
Md.26 Axis operation status
Standby OPR
Md.34 Movement amount Inconsistent
after near-point dog
ON Md.20 Current feed value Inconsistent Md.21 Machine feed value
0 Value the machine moved is stored
Pr.55 Deviation counter clear signal output time
Standby
OP address
Md.35 Torque limit stored Inconsistent Torque limit setting value value
OPR torque limit value
Fig. 8.7 Stopper method 2) machine OPR
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Restrictions
(1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) Use an external input signal as the zero signal.
Precautions during operation
(1) Input a zero signal from an external source after the machine presses against the stopper. The workpiece will continue decelerating and stop if a zero signal is input before deceleration to the " Pr.47 Creep speed". An error "OP detection timing fault" (error code: 204) will occur after the machine stops.
V Pr.46 OPR speed
Pr.47 Creep speed Stopper t
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
Zero signal ON
Near-point dog OFF
ON OFF
ON OFF
OPR complete flag Md.31 Status : b4
Md.26 Axis operation status
OFF Standby OPR
Error
Md.34 Movement amount Inconsistent 0 after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored
Md.21 Machine feed value
Address at stop
Fig. 8.8 Operation when a zero signal is input before the creep speed is reached
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(2) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP.
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
OPR complete flag Md.31 Status : b4
V Pr.46 OPR speed
Pr.47 Creep speed
Zero signal Torque limit
Valid torque limit range
ON Near-point dog OFF
ON OFF
ON OFF
ON OFF
Stopper t
Deviation counter clear output
Md.26 Axis operation status
Standby OPR
Pr.55 Deviation counter clear signal output time
Standby
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value
Inconsistent Inconsistent
0 Value the machine moved is stored
OP address
Md.35 Torque limit stored Inconsistent Torque limit setting value value
OPR torque limit value
Fig. 8.9 Operation when the zero signal is input before the stop at the stopper
(3) The near-point dog must be turned ON until it presses against the stopper. If any range that the near-point is turned OFF exists until it presses against the stopper, executing the machine OPR from the area leads it to be pressed against the stopper at ORR speed.
(4) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep
speed". (5) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs.
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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 Creep speed" and stops.
The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter 3) clear output" to the drive unit.
(A "deviation counter clear signal output time" is set in the Pr.55 .)
4)
After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
V Pr.47 Creep speed Stops at stopper
1) Zero signal
2) 3) 4)
t
Torque limit
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
OPR complete flag Md.31 Status : b4
Valid torque limit range
ON OFF
ON OFF
OFF
Deviation counter clear output
Md.26 Axis operation status
Standby OPR
ON
Pr.55 Deviation counter clear signal output time
Standby
Md.34 Movement amount Inconsistent after near-point dog ON
Md.20 Current feed value Inconsistent
Md.21 Machine feed value
0 Value the machine moved is stored
OP address
Md.35 Torque limit stored Inconsistent OPR torque limit value value
Fig. 8.10 Stopper method 3) machine OPR
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Restrictions
(1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) Use an external input signal as the zero signal. (3) The OPR retry function cannot be used in "stopper stop method 3)".
Precautions during operation
(1) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will become the OP. At this time an error will not occur.
V
Pr.47 Creep speed
Stopper
t Zero signal
Torque limit
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status : b3
OPR complete flag Md.31 Status : b4
Valid torque limit range
ON OFF
ON OFF
OFF
Deviation counter clear output
Md.26 Axis operation status
Standby OPR
ON
Pr.55 Deviation counter clear signal output time
Standby
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
Md.21 Machine feed value
Inconsistent Inconsistent
0 Value the machine moved is stored
OP address
Md.35 Torque limit stored Inconsistent OPR torque limit value value
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.
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8.2.7 OPR method (5): Count method1)
The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)", machine OPR can be performed even in the following situations: when near-point dog is ON after completion of a machine OPR
Operation chart
The machine OPR is started. 1) (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
On detection of the first zero signal after the axis has traveled the movement amount set in " Pr.50 Setting for the
4)
movement amount after near-point dog ON" after near-point dog ON, the pulse output from the QD75 stops and the "deviation counter clear output" is output to the drive unit.
(A "deviation counter clear signal output time" is set in Pr.55 .)
5)
After a "deviation counter clear output" is output to the drive unit, the OPR complete flag Md.31 Status: b4) turns from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
V
Pr.46 OPR speed
Pr.50 Setting for the movement amount after near-point dog ON
Pr.47 Creep speed
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status: b3
OPR complete flag Md.31 Status: b4
1)
2) 3)
ON Near-point dog OFF
Zero signal ON OFF ON OFF
OFF
t 4) 5) Md.34 Movement amount after near-point dog ON *1
Leave sufficient distance from the zero point position to the near-point dog OFF Adjust the setting for the movement amount after near-point dog ON to be as near as possible to the center of the zero signal HIGH. If the setting for the movement amount after near-point dog ON falls within the zero signal, there may be produced an error of one servomotor rotation in the machine OPR stop position.
First zero signal after travel of the movement amount set to " Pr. 50 Setting for the movement amount after near-point dog ON" One servomotor rotation
ON
Deviation counter clear output Md.26 Axis operation status Standby OPR
Pr.55 Deviation counter clear signal output time
Standby
Md.34 Movement amount Inconsistent 0 after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored
Md.21 Machine feed value
Value of *1 OP address
Fig. 8.12 Count method1) machine OPR 8 - 17
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Restrictions
A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal.
Precautions during operation
(1) An error "Count method movement amount fault" (error code: 206) will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed".
(2) If the speed is changed to a speed faster than " Pr.46 OPR speed" by the speed change function (refer to "12.5.1 Speed change function".) during a machine OPR, the distance to decelerate to " Pr.47 Creep speed" may not be ensured, depending on the setting value of " Pr.50 Setting for the movement amount after near-point dog ON". In this case, the error "Count method movement amount fault" (error code: 206) occurs and the Machine OPR is stopped.
(3) The following shows the operation when a machine OPR is started while the near-point dog is ON.
4)
3) Near-point dog OFF Zero signal
Pr. 50 Setting for the movement amount after near-point dog ON
1) 5)
2) 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.
5) The machine OPR is completed after the deviation counter clear output is provided on detection of the first zero signal after the travel of the movement amount set to " Pr.50 Setting for the movement amount after near-point dog ON" on detection of the near-point dog signal ON.
Fig. 8.13 Count method 1) machine OPR on the near-point dog ON position
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(4) Turn OFF the near-point dog at a sufficient distance from the OP. Although there is no harm in operation if the near-point dog is turned OFF during a machine OPR, it is recommended to leave a sufficient distance from the OP when the near-point dog is turned OFF for the following reason. If machine OPRs are performed consecutively after the near-point dog is turned OFF at the time of machine OPR completion, operation will be performed at the OPR speed until the hardware stroke limit (upper/lower limit) is reached. If a sufficient distance cannot be kept, consider the use of the OPR retry function.
(5) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs.
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8.2.8 OPR method (6): Count method 2)
The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) In the "count method 2)", as well as in the "count method 1)", machine OPR can be performed even in the following situations: when near-point dog is ON after completion of a machine OPR
Operation chart
The machine OPR is started.
1)
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the
acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
The pulse output from the QD75 will stop and the machine OPR will be completed when the machine 4) moves the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON "
from the near-point dog ON position.
V
Pr.46 OPR speed
Pr.50 Setting for the movement amount after near-point dog ON
Pr.47 Creep speed
t
1)
2) 3) 4)
Movement amount after near-point
Md.34 dog ON *1
ON Near-point dog OFF
Leave sufficient distance from the OP position to the near-point dog OFF
Machine OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
OPR request flag Md.31 Status: b3
ON OFF
ON OFF
OPR complete flag Md.31 Status: b4
OFF
Md.26 Axis operation status Standby OPR
ON Standby
Md.34 Movement amount
Inconsistent 0
after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored
Md.21 Machine feed value
Value of *1 OP address
Fig. 8.14 Count method 2) machine OPR
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Restrictions
When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1ms occurs in taking in the near-point dog ON.
Precautions during operation
(1) An error "Count method movement amount fault" (error code: 206) will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed".
(2) If the speed is changed to a speed faster than " Pr.46 OPR speed" by the speed change function (refer to Section 12.5.1 "Speed change function".) during a machine OPR, the distance to decelerate to " Pr.47 Creep speed" may not be ensured, depending on the setting value of " Pr.50 Setting for the movement amount after near-point dog ON". In this case, the error "Count method movement amount fault" (error code: 206) occurs and the Machine OPR is stopped.
(3) The following shows the operation when a machine OPR is started while the near-point dog is ON.
4) 3) Near-point dog OFF
Pr.50 Setting for the movement amount after near-point dog ON 1) 5)
2) 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.
5) The machine OPR is completed after moving the movement amount set in the " Pr.50 Setting for the movement amount after near-point dog ON".
Fig. 8.15 Count method 2) machine OPR on the near-point dog ON position
(4) Turn OFF the near-point dog at a sufficient distance from the OP. Although there is no harm in operation if the near-point dog is turned OFF during a machine OPR, it is recommended to leave a sufficient distance from the OP when the near-point dog is turned OFF for the following reason.
If machine OPRs are performed consecutively after the near-point dog is
turned OFF at the time of machine OPR completion, operation will be
performed at the OPR speed until the hardware stroke limit (upper/lower limit)
is reached.
If a sufficient distance cannot be kept, consider the use of the OPR retry
function.
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8 OPR CONTROL
MELSEC-Q
(5) When a machine OPR is stopped with the stop signal, perform a machine OPR again. If the restart command is turned ON after a stop with the stop signal, an error "OPR restart not possible" (error code: 209) occurs.
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8 OPR CONTROL
MELSEC-Q
8.3 Fast OPR
8.3.1 Outline of the fast OPR operation
Fast OPR operation
After establishing OP position by a machine OPR, positioning control to the OP position is executed without using a near-point dog or a zero signal. The following shows the operation during a fast OPR start. 1) The fast OPR is started. 2) Positioning control to the OP position established by a machine OPR begins at
the speed set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The fast OPR is completed.
Pr.46 OPR speed
Machine OP (OP position)
Fast OPR start (Positioning start signal) [Y10,Y11,Y12,Y13]
Md.26 Axis operation Standby status
Position control
Positioning to the OP
OP
Fig. 8.16 Fast OPR
Standby
M
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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 Standby
Output pulse to external source (PULSE)
Positioning operation
Position control t2
t3 Standby
Fig. 8.17 Operation timing and processing time of fast OPR
Normal timing time
Model QD75P N/QD75D N
QD75P /QD75D
t1 0.2 to 1.1ms 1.0 to 1.3ms
t2 0.4 to 1.3ms 2.7 to 4.4ms
t3 0 to 0.9ms 0 to 1.8ms
The t1 timing time could be delayed by the operation state of other axes.
Operating restrictions
(1) The fast OPR can only be executed after the OP position is established by executing the Machine OPR. If not, the error "OPR request ON" (error code: 207) will occur. (OPR request flag ( Md.31 Status: b3) must be turned OFF.)
(2) If the fraction pulse is cleared to zero using current value changing or fixedfeed control, execute the fast OPR and an error will occur by a cleared amount.
(3) When unlimited length feed is executed by speed control and the current machine feed value overflows or underflows once, the fast OPR cannot be executed normally.
(4) The OPR complete flag ( Md.31 Status: b4) is not turned ON. (5) The axis operation status during fast OPR is "Position control".
8 - 24
CHAPTER 9 MAJOR POSITIONING CONTROL
The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed switching control" in which the operation is shifted from "position control" to "speed control". Carry out the required settings to match each control.
9.1 Outline of major positioning controls.......................................................................... 9- 2
9.1.1 Data required for major positioning control .................................................. 9- 4
9.1.2 Operation patterns of major positioning controls ......................................... 9- 5
9.1.3 Designating the positioning address ............................................................ 9- 16
9.1.4 Confirming the current value ........................................................................ 9- 17
9.1.5 Control unit "degree" handling...................................................................... 9- 19
9.1.6 Interpolation control ...................................................................................... 9- 23
9
9.2 Setting the positioning data ...................................................................................... 9- 29
9.2.1 Relation between each control and positioning data................................... 9- 29
9.2.2 1-axis linear control....................................................................................... 9- 31
9.2.3 2-axis linear interpolation control.................................................................. 9- 33
9.2.4 3-axis linear interpolation control.................................................................. 9- 37
9.2.5 4-axis linear interpolation control.................................................................. 9 -43
9.2.6 1-axis fixed-feed control................................................................................ 9- 47
9.2.7 2-axis fixed-feed control (interpolation) ........................................................ 9- 49
9.2.8 3-axis fixed-feed control (interpolation) ........................................................ 9- 52
9.2.9 4-axis fixed-feed control (interpolation) ...................................................... 9- 57
9.2.10 2-axis circular interpolation control with sub point designation ..................... 9- 60
9.2.11 2-axis circular interpolation control with center point designation ................. 9- 66
9.2.12 3-axis helical interpolation control with sub point designation ....................... 9- 74
9.2.13 3-axis helical interpolation control with center point designation................... 9- 82
9.2.14 1-axis speed control ........................................................................................ 9- 91
9.2.15 2-axis speed control ........................................................................................ 9- 94
9.2.16 3-axis speed control ........................................................................................ 9- 97
9.2.17 4-axis speed control ........................................................................................ 9-101
9.2.18 Speed-position switching control (INC mode)................................................ 9-106
9.2.19 Speed-position switching control (ABS mode)............................................... 9-115
9.2.20 Position-speed switching control .................................................................... 9-123
9.2.21 Current value changing ................................................................................... 9-130
9.2.22 NOP instruction ............................................................................................... 9-135
9.2.23 JUMP instruction ............................................................................................. 9-136
9.2.24 LOOP............................................................................................................... 9-138
9.2.25 LEND ............................................................................................................... 9-139
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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.
Position control
Major positioning control
Da.2 Control system
1-axis linear control
2-axis linear
interpolation
Linear control
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
Fixed-feed control
2-axis fixedfeed control Fixed-feed 2
3-axis fixedfeed control Fixed-feed 3
4-axis fixedfeed control Fixed-feed 4
Sub point
2-axis circular designation
interpolation control
Center point designation
3-axis helical interpolation control
Sub point designation
Center point designation
ABS Circular sub INC Circular sub
ABS Circular right ABS Circular left INC Circular right INC Circular left
ABS helical sub INC helical sub
ABS helical right ABS helical left INC helical right INC helical left
Details
Positioning of a designated 1 axis is carried out from the start address (current stop position) to the designated position. Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position. Positioning of a designated 1 axis is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.) Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.)
Positioning is carried out in an arc path to a position designated from the start point address (current stop position), using the designated 2 axes.
Circular interpolation control is carried out with two of the three axes. The other axis tracks the movement of the circular interpolation control to carry out the positioning in helical or tangential/normal control.
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9 MAJOR POSITIONING CONTROL
MELSEC-Q
Major positioning control
Speed control
1-axis speed control
2-axis speed control
3-axis speed control
4-axis speed control
Speed-position switching control
Position-speed switching control
Da.2 Control system
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
NOP instruction
NOP instruction
Other control
Current value changing
Current
value
changing
JUMP instruction
LOOP
JUMP instruction LOOP
LEND
LEND
Details
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.
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. The current feed value ( Md.20 ) is changed to an address set in the positioning data. This can be carried out by either of the following 2 methods. (The machine feed value cannot be changed.)
Current value changing using the control system Current value changing using the current value
changing start No. (No. 9003). An unconditional or conditional JUMP is carried out to a designated positioning data No. A repeat control is carried out by repeat LOOP to LEND. Control is returned to the top of the repeat control by repeat LOOP to LEND. After the repeat operation is completed specified times, the next positioning data is run.
In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis circular interpolation control", "3-axis helical 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 axis directions. This kind of control is called "interpolation control". (Refer to Section 9.1.6 "Interpolation control" for details.)
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9 MAJOR POSITIONING CONTROL
MELSEC-Q
9.1.1 Data required for major positioning control
Positioning data No. 1
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.)
Da.3
Acceleration time No.
Select and set the acceleration time at control start. (Select one of the four values set in Pr.9 , Pr.25 , Pr.26 , and Pr.27 for the acceleration time.)
Da.4
Deceleration time No.
Select and set the deceleration time at control stop. (Select one of the four values set in Pr.10 , Pr.28 , Pr.29 , and Pr.30 for the deceleration time.)
Da.5
Axis to be interpolated
Set an axis to be interpolated (partner axis) during the 2-axis interpolation operation and a circular interpolation axis during the 3-axis helical interpolation control. (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
The time between the command pulse output is completed to the positioning completed signal is turned ON. Set it for absorbing the delay of the mechanical system to the instruction, such as the delay of the servo system (deviation).
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.
Da.27
M code ON signal output timing
Set the M code ON signal output timing for each positioning data.
Da.28
ABS direction in degrees
Set the ABS direction in degrees for each positioning data.
Da.29
Interpolation speed designation method
Set the interpolation speed designation method for each positioning data.
The settings and setting requirement for the setting details of Da.1 to Da.10 and Da.27 to Da.29 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.
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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) No.1 Start
Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 11: Continuous path control
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
Positioning to address [E] at command speed [a] Positioning to address [F] at command speed [a]
Operation pattern = 00: Independent positioning control (Positioning complete) Control stop
Operation pattern = 11: Continuous path control
Speed
Da. 1 Operation pattern
b
11
01
a
11
01
00
The machine stops, and
then continues the next
positioning.
Speed is changed
without stopping
Positioning is terminated
Time
0
NO.1
A
(Positioning data)
No.2
No.3
B
C
For 1-axis linear control
No.4
D
No.5
E
F
Address
(Direction in which axis 1 addresses increase)
(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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9 MAJOR POSITIONING CONTROL
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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
Positioning start signal
ON OFF
[Y10, Y11, Y12, Y13]
Start complete signal
ON
[X10, X11, X12, X13] OFF
BUSY signal
ON
[XC, XD, XE, XF] OFF
ON
Positioning complete signal
OFF
[X14, X15, X16, X17]
Fig. 9.1 Operation during independent positioning control
Time
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9 MAJOR POSITIONING CONTROL
MELSEC-Q
[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.
Address (+) direction
Positioning continue (01) Positioning continue (01)
Address (-) direction
Dwell time not designated
Positioning complete (00)
ON
Positioning
start
signal [Y10,
Y11,
Y12,
Y13]
OFF
Start complete signal
ON
[X10, X11, X12, X13] OFF
BUSY signal
ON [XC, XD, XE, XF] OFF
ON
Positioning complete signal
OFF
[X14, X15, X16, X17]
Fig. 9.2 Operation during continuous positioning control
Dwell time
Time
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9 MAJOR POSITIONING CONTROL
MELSEC-Q
[3] Continuous path control (1) Continuous path control
(a) The speed is changed without deceleration stop between the command speed of the running positioning data and the command speed of the positioning data that will run next. The speed is not changed if the current speed and the next speed are equal.
Address (+) direction
Positioning continue (11)
Positioning continue (11)
Positioning complete (00)
Dwell time 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
Positioning complete signal
OFF
[X14, X15, X16, X17]
Fig. 9.3 Operation during continuous path control (Standard speed switching mode)
(b) The speed will become the speed used in the previous positioning operation if the command speed is set to "-1".
(c) Dwell time will be ignored, even if set. (d) The next positioning No. is executed automatically in operations by
continuous path control (operation pattern "11"). Always complete the positioning by setting operation pattern "00" in the last positioning data. If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found. If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not completed, the operation will be started again from the positioning data No. 1. (e) The speed switching patterns include the "front-loading speed switching pattern" in which the speed is changed at the end of the current positioning side, and the "standard speed switching pattern" in which the speed is at the start of the next positioning side. (Refer to
" Pr.19 Speed switching mode".)
Continuous path control
Standard speed switching mode Front-loading speed switching mode
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9 MAJOR POSITIONING CONTROL
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(f) In continuous path control, the positioning may be completed before
the set address/movement amount by the distance , and the data
may switch to the "positioning data that will run next".
The value of the distance
is as follows:
� QD75P N/QD75D N:
0
< (Moving distance in 0.9ms at the command speed)
� QD75P /QD75D :
0
< (Moving distance in 1.8ms at the command speed)
Acceleration/deceleration (setting)
Acceleration/deceleration (actual one)
V Positioning data
V1
No.1
Positioning data No.2
V Positioning data
V1
No.1
Positioning data No.2
V2
V2
Distance l
Distance l
The object reached
t The object reached the
t
the address specified
address specified in
in Positioning data No.1. Positioning data No.1.
QD75P N/QD75D N: Less than 0.9ms QD75P /QD75D : Less than 1.8ms
QD75P N/QD75D N: 0.9ms or more QD75P /QD75D :1.8ms or more
The distance
is output when the next positioning data is running
at the specified speed.
Therefore, the execution time of the next positioning data may be longer than the set execution time.*1 If this causes a control problem, take one of the following measures.
1) Use the function "output timing selection of near pass control". By selecting "At deceleration" as an output timing, the positioning execution time of the next positioning data remains the same as it was set. (Refer to Section 12.3.4 "Output timing selection of near pass control".)
2) Use the "speed change function". Change speed using the speed change function instead of continuous path control. (Refer to Section 12.5.1 "Speed change function".)
1: When the command speed V1 of a positioning data and the command speed V2 of the next positioning data is different significantly, and V1 > V2
For positioning data in which automatic deceleration is set, the positioning is completed at the set address. Therefore, in continuous path control, the address where a positioning is completed may be different from the set address. However, the address will be the specified one on completion of automatic deceleration for continuous positioning control (01) or positioning complete (00).
POINT
In the continuous path control, a speed variation will not occur using the near-pass function when the positioning data No. is switched (Refer to Section 12.3.3 "Nearpass function").
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(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 (c). (a) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for 1-axis positioning control (Refer to the "Point" in the next page.))
V
Positioning data No.1 Operation pattern : 11
Speed becomes 0
Positioning data No.2 Operation pattern : 00
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9 MAJOR POSITIONING CONTROL
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(b) During operation by step operation. (Refer to Section 12.7.1 "Step function".)
(c) When there is an error in the positioning data to carry out the next operation.
POINTS
(1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below). Because of this, the interpolation axis may suddenly reverse direction. To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control "01" instead of setting it to continuous path control "11".
[Positioning by interpolation]
[Reference axis operation]
[Interpolation axis operation]
V
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 0.9ms (QD75P N/QD75D N) or 2ms (QD75P /QD75D ) is reduced to 0. When a "0" is set in the " Da.6 Positioning address/movement amount" to increase the number of speed change points in the future, change the " Da.2 Control system" to the "NOP instruction" to make the control nonexecutable. (Refer to Section 9.2.20 "NOP instruction".) (4) In the continuous path control positioning data, assure a movement distance so that the execution time with that data is 100ms or longer, or lower the command speed.
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9 MAJOR POSITIONING CONTROL
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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 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.
2) If the speed is changed or the override function is executed in the previous positioning data when "�1" is set in the command speed, the operation can be continued at the new speed.
3) 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]
P1 P2 P3
P4 P5
Speed
P1 P2 P3
P4 P5
3000 2000 1000
3000 2000 1000
Da. 8 Command speed 1000 3000 -1 Md.27 Current speed 1000 3000 3000
-1 -1 3000 3000
Da. 8 Command speed 1000 3000 -1
-1 -1
Md.27 Current speed 1000 3000 3000 3000 3000
The current speed is changed even if the command speed is not reached in P2.
POINTS
(1) In the continuous path control, a speed variation will not occur using the near-pass function when the positioning data is switched (Refer to Section 12.3.3 "Near-pass function").
(2) The QD75 holds the command speed set with the positioning data, and the latest value of the speed set with the speed change request as the " Md.27 Current speed". It controls the operation at the
"current speed" when "-1" is set in the command speed. (Depending on the relation between the movement amount and the speed, the feedrate may not reach the command speed value, but even then the current speed will be updated.)
(3) When the address for speed change is identified beforehand, generate and execute the positioning data for speed change by the continuous path control to carry out the speed change without requesting the speed change with a sequence program.
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9 MAJOR POSITIONING CONTROL
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(4) Speed switching (Refer to " Pr.19 Speed switching mode".)
The two modes for changing the speed are shown below.
Standard switching.........Switch the speed when executing the next
positioning data.
Front-loading switching.....The speed switches at the end of the
positioning data currently being executed.
(a) Standard speed switching mode
1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed" and the speed will change over to the speed set in the "positioning data to carry out the next operation".
2) The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same.
Speed
V switching
Dwell time
Dwell time
Positioning
t
Da. 1 Operation pattern
11
11 11
01
00
ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
Start complete signal
ON
[X10, X11, X12, X13] OFF
BUSY signal
ON [XC, XD, XE, XF] OFF
ON
Positioning
complete
signal
[X14,
X15,
X16,
X17]
OFF
Fig. 9.4 Operation for the standard speed switching mode
3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01"), the machine will immediately stop at the designated positioning address, and a warning "Insufficient movement distance" (warning code: 513) will occur.
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9 MAJOR POSITIONING CONTROL
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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.
P1 P2
P3
P4
[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.
Pn
Pn+1
Positioning address
(b) Front-loading speed switching mode 1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation" at the end of the "positioning data currently being executed". 2) The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same.
V Positioning
Dwell time
Dwell time
t
Da. 1 Operation pattern
11
11
11
01
00
ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
ON Start complete signal
[X10, X11, X12, X13] OFF
BUSY signal
ON [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
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3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01"), the machine will immediately stop at the designated positioning address, and a warning "Insufficient movement distance" (warning code: 513) will occur.
[When the speed cannot change over to the P2 speed in P1]
When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2.
[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.
P1
P2
P3
P4
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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 150
Address 150
Address 100
Address 300
Address 100 Address 150
Start point End point
OP (Reference point)
100 A point
150 B point
Within the stroke limit range
300 C point
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
Movement amount
-100
+100
Movement amount +100 Movement amount
Movement amount -150
+100
Movement amount-100
Movement amount+50
Start point End point
100 A point
150 B point
Within the stroke limit range
300 C point
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.
Current feed value Machine feed value
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 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ).
This is the value stored in " Md.21 Machine feed value".
This value always has an address established with a "machine OPR" as a reference. The address cannot be changed, even if the current value is changed to a new value.
This value is updated every 0.9ms (QD75P N/QD75D N) or 56.8ms (QD75P /QD75D ).
The "current feed value" and "machine feed value" are used in monitoring the current value display, etc.
V
OP
Md.20 Current feed value 0
1 to
10000
Current value changed to 20000 with current value changing instruction
t Address after the current value is changed is stored
20000
Md.21 Machine feed value 0
1 to
10000
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
A 0.9ms (QD75P N /QD75D N) or 1.8ms (QD75P /QD75D ) error will occur in the current value update timing when the stored "current feed value" is used in the control. A 0.9ms (QD75P N /QD75D N) or 56.8ms (QD75P /QD75D ) error will occur in the current value update timing when the stored "machine feed value" is used in the control.
Monitoring the current value
The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO (P) instruction" or "DMOV (P) instruction" from the CPU module.
Md.20 Current feed value Md.21 Machine feed value
Axis 1 800, 801 802, 803
Buffer memory addresses
Axis 2
Axis 3
900, 901
1000, 1001
902, 903
1002, 1003
Axis 4 1100, 1101 1102, 1103
(1) The following shows the examples of programs to read out the current feed value of the axis 1 to D104 and D105 when X40 is turned ON. (a) For the DFRO(P) instruction
(b) For the DMOV(P) instruction
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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� 359.99999�
0�
0�
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.
315.00000
0 Section A
Clockwise direction 90.00000
Section B
1) To set the movement range A, set as follows.
� Software stroke limit lower limit value..................................315.00000� � Software stroke limit upper limit value ...................................90.00000�
2) To set the movement range B, set as follows.
� Software stroke limit lower limit value....................................90.00000� � Software stroke limit upper limit value .................................315.00000�
(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�
[To specify the positioning direction (not carrying out the shortcut control)] Use " Cd.40 ABS direction in degrees" or " Da.28 ABS direction in degrees" to specify the positioning direction. This function can be performed when the software stroke limit is invalid. When the software stroke limit is valid, an error "Illegal setting of ABS direction in unit of degree" (error code: 546) occurs and positioning is not started. In " Cd.40 ABS direction in degrees" or " Da.28 ABS direction in degrees", the set value for the reference axis is applied to both the reference axis and interpolation axis. Even if a unit other than degree is set for the reference axis, the setting of the reference axis is applied to the interpolation axis as shown below (for 3-axis linear interpolation control (ABS3)).
Axis
Reference axis Sub axis 1 Sub axis 2
Unit setting
pulse degree degree
" Cd.40 ABS direction in degrees"
1: ABS clockwise -
Rotation direction of the axis with degree setting
0 1: ABS clockwise 1: ABS clockwise
[To specify the rotation direction in degrees for each positioning data] To specify the rotation direction for each positioning data in a control executing multiple positioning data sets within one positioning operation continuously, such as continuous positioning control and continuous path control, use " Da.28 ABS direction in degrees".
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[To set the same rotation direction for all positioning data] Setting " Cd.40 ABS direction in degrees" enables batch specification of the rotation direction for each positioning data. To use " Cd.40 ABS direction in degrees", set "0" in " Da.28 ABS direction in degrees". When a value other than "0" is set, the setting of " Da.28 ABS direction in degrees" becomes valid. The set value in " 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
Function
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Cd.40
ABS direction in degrees
This data item specifies the ABS moving direction in which the position control carries out when "degree" is selected as the unit.
0: Takes a shortcut. (direction setting ignored)
1: ABS clockwise
2: ABS counterclockwise
1550 1650 1750 1850
Da.28
ABS direction in degrees
" Cd.40 ABS direction in degrees" is set for each positioning data.
0: Use the set value in " Cd.40 ABS direction in degrees".
1: ABS clockwise
2: ABS counterclockwise
3: Takes a shortcut. (direction setting ignored)
2003
+N
(b2 to b3)
8003
+N
(b2 to b3)
14003
+N
(b2 to b3)
20003
+N
(b2 to b3)
: N indicates the offset address of each positioning data. N = ((Positioning data No.) - 1) � 10
Initial value
0
0
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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. (Set the value with in the setting range (0� to 359.99999�).)
[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", "2-axis circular interpolation control", and "3-axis helical interpolation control", control is carried out so that a specified path is 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 set to interpolation control in " Da.2 Control system"
Axis definition Reference axis Interpolation axis
2-axis linear interpolation control, "2-axis fixed-feed control, 2-axis circular interpolation control, 2-axis speed control
Any of axes 1, 2, 3, and 4
"Axes to be interpolated" set in reference axis
Axis 1
Axis 2, Axis 3
3-axis linear interpolation control, "3-axis fixed-feed control, 3-axis speed control
Axis 2 Axis 3
Axis 3, Axis 4 Axis 4, Axis 1
Axis 4
Axis 1, Axis 2
Axis 1
Axis 2, Axis 3, Axis 4
4-axis linear interpolation control, "4-axis fixed-feed control, 4-axis speed control
Axis 2 Axis 3
Axis 3, Axis 4, Axis 1 Axis 4, Axis 1, Axis 2
Axis 4
Axis 1, Axis 2, Axis 3
The available axis combinations in the 3-axis helical interpolation control are the same as the ones in the "3-axis linear interpolation control", "3-axis fixed-feed control", and "3-axis speed control". However, the circular interpolation axis can be specified with " Da.5 Axis to be interpolated" of the reference axis. The following table lists the combinations of the reference axis, circular interpolation axis, and linear interpolation axis for the 3-axis helical interpolation control.
Axis definition Axis set to interpolation control in " Da.2 Control system"
Reference axis
Circular interpolation axis 1
Linear interpolation axis 2
3-axis helical interpolation control
Axis 1 Axis 2 Axis 3 Axis 4
Axis 2 Axis 3 Axis 3 Axis 4 Axis 4 Axis 1 Axis 1 Axis 2
Axis 3 Axis 2 Axis 4 Axis 3 Axis 1 Axis 4 Axis 2 Axis 1
1: Specify with " Da.5 Axis to be interpolated" of the reference axis.
2: An axis which is not specified with " Da.5 Axis to be interpolated" of the reference axis is automatically assigned.
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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.
Setting item
Axis Reference axis setting item
Da.1 Operation pattern
Da.2 Control system
Da.3 Da.4
Acceleration time No.
Deceleration time No.
Linear 2, 3, 4, Fixed-feed 2, 3, 4,
Circular sub, Circular right, Circular left Helical sub, Helical right, Helical left
Forward run speed 2, 3, 4 Reverse run speed 2, 3, 4
Da.5
Axis to be interpolated.
Interpolation axis setting item �
�
� � �
Da.6
Positioning address/ Forward run speed 2, 3, and 4. Forward run speed 2, 3, and 4. movement amount Reverse run speed 2, 3, and 4 not Reverse run speed 2, 3, and 4 not
required.
required.
Same positioning data Nos
Da.7 Arc address
(Only for circular sub, circular right, circular left, helical sub, helical right, and helical left)
Da.8 Command speed
Da.9 Dwell time
(Only for circular sub, circular right, circular left, helical sub, helical right, and helical left)
Only during forward run speed 2, 3, 4 and reverse run speed 2, 3, 4.
�
Da.10 M code
Da.27
M code ON signal output timing
Da.28
ABS direction in degrees
Da.29
Interpolation speed designation method
Only for helical sub, helical right, and helical left, set the number of pitch for the linear interpolation axis.
�
�
�
: Setting always required : Set according to requirements : Setting restrictions exist � : Setting not required (Unrelated setting item, so any setting value will be ignored. Use the initial
value or a value within the setting range.) : For 2-axis interpolation, set the partner axis. If the self-axis is set, the error "Illegal interpolation
description command" (error code: 521) will occur. For 3-axis interpolation other than 3-axis helical interpolation or 4-axis interpolation, this item does not need to be set. For 3-axis helical interpolation, refer to the previous page for the reference axis and interpolation axis combinations. If axes are set in a combination other than the ones in the previous page, the error "Illegal interpolation description command" (error code: 521) will occur.
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 axis
: The error "Interpolation while interpolation axis BUSY" (error code: 519)
: The error "Control system setting error" (error code: 524), The warning "Start during operation" (warning code: 100)
Interpolation control continuous positioning
When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data in which "positioning complete" is set must be set to interpolation control. The number of the interpolation axes and axes to be interpolated cannot be changed from the intermediate positioning data. An error "Control system setting error" (error code: 524) will occur and the positioning will stop if setting, which changes the number of the interpolation axes and axes to be interpolated, is carried out.
Speed during interpolation control
Either the "composite speed" or "reference axis speed" can be designated as the speed during interpolation control. ( Pr.20 Interpolation speed designation method) Only the "Reference axis speed" can be designated in the following interpolation control. When a "composite speed" is set and positioning is started, the error "Interpolation mode error" (error code: 523) occurs, and the system will not start.
� 4-axis linear interpolation � 2-axis speed control � 3-axis speed control � 4-axis speed control
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Cautions in interpolation control
(1) If a stepping motor is used, the circular interpolation control or 3-axis helical interpolation control cannot be carried out. Make sure to use a servomotor when the circular interpolation control or 3-axis helical 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.
(3) If any axis exceeds " Pr.8 Speed limit value" in any of the following control, the axis in excess of the speed limit value is controlled at the speed limit value. For the other axes performing interpolation, the speed can be suppressed by the ratio of a movement distance. � 2- to 4-axis linear interpolation control*1 � 2- to 4-axis fixed-feed control*1 � 2-axis circular interpolation control � 3-axis helical interpolation control*2
1: The speed limit value for the interpolation axis may not function under the following condition: "Reference axis speed" is set in in " Pr.20 Interpolation speed designation method" or " Da.29 Interpolation speed designation method", the reference axis is the minor axis, and the interpolation axis is the major axis.
2: In 3-axis helical interpolation control, control the composite speed of the circular interpolation or the speed of the linear interpolation axis so that the speeds do not exceed " Pr.8 Speed limit value".
(4) In 2-axis interpolation, you cannot change the combination of interpolated axes midway through operation.
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".
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Interpolation speed designation method
To perform interpolation control, set the composite speed or reference axis speed
in " Pr.20 Interpolation speed designation method" or " Da.29 Interpolation
speed designation method" of the reference axis. 0: Composite speed .............. The movement speed for the control target is
specified, and the speed for each axis is calculated by the QD75. 1: Reference axis speed ....... The axis speed set for the reference axis is specified, and the speed for the other axis carrying out interpolation is calculated by the QD75.
<When the composite speed is designated>
<When the reference axis speed is designated>
[To specify the interpolation speed for each positioning data] To specify interpolation speed for each positioning data, use " Da.29 Interpolation speed designation method".
[To set the same interpolation speed for all positioning data] Setting " Pr.20 Interpolation speed designation method" enables batch specification of the interpolation speed designation method for each positioning data. To use " Pr.20 Interpolation speed designation method", set "0" in " Da.29 Interpolation speed designation method". When a value other than 0 is set, " Da.29 Interpolation speed designation method" will be valid.
Name
Function
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.20
Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to specify the composite speed or reference axis speed.
0: Composite speed
1: Reference axis speed
29 179 329 479
Da.29
Interpolation speed designation method
Set the interpolation speed designation method for each positioning data.
0: Use the set value in " Pr.20 Interpolation speed designation method".
1: Composite speed
2: Reference axis speed
2003
+N
(b4 to b6)
8003
+N
(b4 to b6)
14003
+N
(b4 to b6)
20003
+N
(b4 to b6)
: N indicates the offset address of each positioning data. N = ((Positioning data No.) - 1) � 10
Initial value
0
0
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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.
" Da.2 Control system" interpolation control
Linear 2 (ABS, INC) Fixed-feed 2
Circular sub Circular right Circular left
(ABS, INC) (ABS, INC) (ABS, INC)
Helical sub (ABS, INC) Helical right (ABS, INC) Helical left (ABS, INC)
Linear 3 (ABS, INC) Fixed-feed 3
Linear 4 (ABS, INC) Fixed-feed 4
Pr.20 Interpolation speed
Pr.1 Unit setting 1
designation method
Da.29
or
Reference axis and interpolation
Interpolation
designation method 5
speed
axis units are the same, or a combination of "mm" and "inch".
3
Reference axis and interpolation axis units differ 3
Composite speed
Reference axis speed
Composite speed
2
Reference axis speed
Composite speed
2
4
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 The error "Circular interpolation not possible" (error code: 535) will occur and the positioning cannot be started if circular interpolation control or 3-axis helical 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. 4 Only for the linear interpolation axis, a unit different from the one set for the reference axis can be used.
5 When positioning is started with the following setting, the error "Interpolation mode error" (error code: 523) will occur.
� A "composite speed" is set for the 2-axis speed control, 3-axis speed control, or 4-axis linear interpolation control. � A "reference axis speed" is set for the circular interpolation control or 3-axis helical interpolation control.
Axis operation status during interpolation control
"Interpolation" will be stored in the " Md.26 Axis operation status" during interpolation control. "Standby" will be stored when the interpolation operation is terminated. Both the reference axis and interpolation axis will carry out a deceleration stop if an error occurs during control, and "error occurring" will be stored in the operation status.
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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, GX Configurator-QP or GX Works2 is used for setting positioning data.)
Major positioning control
Positioning data setting items
1-axis linear control 2-axis linear interpolation
control 3-axis linear interpolation control 4-axis linear interpolation control
Position control
Speed control
1-axis fixed-feed
control
2-axis fixed-feed control 3-axis fixed-feed control
2-axis circular interpolation
control
3-axis helical interpolation
control
4-axis fixed-feed
control
Speed-
1-axis, 2-axis, 3-axis, 4-axis
position switching
Speed control control
Da.1
Independent positioning control
(Positioning complete)
Operation pattern
Continuous positioning control
Continuous path control
Da.2 Control system
Linear 1 Linear 2 Linear 3 Linear 4
1
Da.3 Acceleration time No.
Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4
Circular sub Circular right Circular left
1
Helical sub Helical right Helical left
1
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
1
Da.4 Deceleration time No.
Da.5 Da.6
Axis to be interpolated
Positioning address/movement amount
: 2 - a x i s �: 1, 3, 4-axis
� �
Da.7 Arc address
�
�
�
�
Da.8 Command speed
Da.9 Dwell time
�
Da.10 M code
2
Da.27 M code ON signal output timing
Da.28 ABS direction in degrees
Da.29
Interpolation speed designation method
�: 1-axis control, : 2-axis interpolation control, 3-axis interpolation control, 4-axis interpolation control
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Major positioning control
Other control
Position-speed switching control
NOP Current value JUMP instruction changing instruction
LOOP instruction
LEND instruction
Positioning data setting items
Da.1
Operation pattern
Independent positioning control (Positioning complete)
Continuous positioning control
Continuous path control
Da.2 Control system
Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated
Forward run position/speed Reverse run position/speed
�
Da.6
Positioning address/movement amount
Da.7 Arc address
�
Da.8 Command speed
Da.9 Dwell time
Da.10 M code
Da.27 M code ON signal output timing
Da.28 ABS direction in degrees
Da.29
Interpolation speed designation method
�
�
�
�
�
�
�
�
�
�
NOP Current value JUMP instruction changing instruction
LOOP instruction
�
�
�
�
�
�
�
�
�
�
�
�
Change
�
destination
�
�
address
�
�
�
�
�
�
�
�
JUMP
�
�
destinationpositioning
�
data No.
�
Condition data No. at
JUMP
No. of repetition
�
�
�
�
�
�
�
�
�
�
�
�
� � LEND instruction � � � � � �
�
� � � �
: Always set
: Set as required
: Setting not possible (If the setting is made, the error "Continuous path control not possible" (error code: 516) or "New current value not possible" (error code: 515) 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.)
1: The "ABS (absolute) system" or "INC (incremental) system" can be used for the control system.
2: Set the M code for the reference axis and the number of pitch for the linear interpolation axis.
REMARK
It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP or GX Works2. Execution by sequence program uses many sequence programs and devices. The execution becomes complicated, and the scan times will increase.
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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, 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)
Axis 1 Positioning data No. 1
Start point address (current stop position)
0 1000
End point address (positioning address)
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
Setting example
Setting details
Da.1 Operation pattern
Positioning Set "Positioning complete" assuming the next positioning data will complete not be executed.
Da.2 Control system
ABS linear 1 Set absolute system 1-axis linear control.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
�
Setting not required (setting value will be ignored).
Da.6
Positioning address/ movement amount
8 0 0 0 . 0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement to the positioning 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.
Da.10 M code
10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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[2] 1-axis linear control (INC linear 1)
Operation chart
In incremental system 1-axis linear control, positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to the -2000 position.
Address after positioning control
Start point address (current stop position)
-3000 -2000 -1000 0 1000 2000 3000 4000 5000 6000
Positioning control in the reverse direction (movement amount -7000)
Positioning data setting example
The following table shows setting examples when "1-axis linear control (INC linear 1)" is set in positioning data No. 1 of axis 1.
Setting item
Setting example
Setting details
Da.1 Operation pattern
Positioning Set "Positioning complete" assuming the next positioning data will not complete be executed.
Da.2 Control system
INC linear 1 Set incremental system 1-axis linear control.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
�
Setting not required (setting value will be ignored).
Da.6
Positioning address/ movement amount
-7000.0 m
Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/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.
Da.10 M code
10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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Axis 1 Positioning data No. 1
9 MAJOR POSITIONING CONTROL
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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 interpolation control, specified two axes are used to perform linear interpolation positioning from the current stop position (start point address) to the address set in the " Da.6 Positioning address/movement amount" (end point address).
Forward direction (Y axis)
Start point address (X1,Y1) (current stop position) Y2
Y axiasmmoouvnetment
Y1
End point address (X2,Y2) (positioning address)
Movement by linear interpolation of the X axis and Y axis
Reverse direction
Forward direction (X axis)
X1
X2
Reverse direction
X axis movement amount
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 movement amount
(4000-1000=3000)
Axis 2 Start point address
(current stop position)
4000
End point address
(positioning address)
1000 0 1000
5000
10000
Axis 1
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 error "Outside linear movement amount range" (error code: 504) occurs
at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
ABS linear 2
�
Set absolute system 2-axis linear interpolation control.
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
�
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6
Positioning address/ movement amount
10000.0m
4000.0m
Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
Set the speed during movement 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.
Da.10 M code
10
�
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
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[2] 2-axis linear interpolation control (INC linear 2)
Operation chart
In incremental system 2-axis linear interpolation control, designated 2 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
Forward direction (Y axis)
Start point address (X1,Y1) (current stop position) Y2
Y axiasmmoouvnetment
Y1
Movement by linear interpolation positioning of the X axis and Y axis
Reverse direction
Forward direction (X axis)
X1
X2
Reverse direction
X axis movement amount
Example
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning is carried out as follows.
Start point address
Axis 2
(current stop position)
4000
Axis 2 movement amount
(-3000)
1000
0 1000
5000
Stop address after the positioning control
10000
Axis 1
Axis 1 movement amount (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 operation. If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The error "Outside linear movement amount range" (error code: 504) occurs
at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (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.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
�
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6
Positioning address/ movement amount
9000.0m
-3000.0m
Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
Set the speed during movement.
Da.9 Dwell time
500ms
Set the time the machine dwells after the positioning stop
�
(pulse output stop) to the output of the positioning complete
signal.
Da.10 M code
10
�
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
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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 absolute system 3-axis linear interpolation control, 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount".
Forward direction
(Y axis)
End point address (X2,Y2,Z2)
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Forward direction (Z axis)
Z axis movement amount
Reverse direction
X axis movement amount
Y axis movement amount
Start point address (X1,Y1,Z1) (Current stop position) Forward direction (X axis)
Reverse direction Reverse direction
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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 error "Outside linear movement amount range" (error code: 504) occurs
at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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.)
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
(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
ABS linear 3
�
�
Set absolute system 3-axis linear interpolation control.
Da.3
Acceleration time No.
1
�
Designate the value set in
�
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in
�
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Axis to be interpolated
Setting not required (setting value will be
�
�
�
ignored). When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Da.6
Positioning address/ movement amount
4000.0m
8000.0m
4000.0m
Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
Set the speed during movement 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.
Da.10 M code
10
�
Set this when other sub operation commands
�
are issued in combination with the No. 1
positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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POINTS
When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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[2] 3-axis linear interpolation control (INC linear 3)
Operation chart
In incremental system 3-axis linear interpolation control, designated 3 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
Forward direction
Y2 Forward direction
Z2 Z axis movement amount
Movement by linear interpolation positioning of the X axis, Y axis and Z axis
Y axis movement amount
X2
Reverse direction
X axis movement amount
Forward direction Start point address (X1, Y1, Z1)
(current stop position)
Reverse direction
Example
Reverse direction
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.
Axis 2
Stop address after the positioning control
Axis 3
Axis 3 movement amount (6000)
6000
5000
Start point address (current stop position)
Axis 2 movement amount (5000)
5000
10000
Axis 1 movement amount (10000)
Axis 1
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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 error "Outside linear movement amount range" (error code: 504) occurs
at a positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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.)
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
(interpolation (interpolation
axis) setting axis) setting axis) setting
example example example
Setting details
Da.1 Operation pattern
Positioning complete
�
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
INC linear 3
�
�
Set incremental system 3-axis linear interpolation control.
Da.3
Acceleration time No.
1
�
Designate the value set in
�
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in
�
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Axis to be interpolated
Setting not required (setting value will be
�
�
�
ignored). When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Da.6
Positioning address/ movement amount
10000.0m
5000.0m
6000.0m
Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
Set the speed during movement.
Da.9 Dwell time
500ms
�
Set the time the machine dwells after the
�
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Da.10 M code
10
�
Set this when other sub operation
�
commands are issued in combination with
the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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POINTS
(1) When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
(2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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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 absolute system 4-axis linear interpolation control, 4 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.6 Positioning address/movement amount".
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
Axis 4
(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
ABS linear 4
�
�
�
Set absolute system 4-axis linear interpolation control.
Da.3
Acceleration time No.
1
�
�
Designate the value set in
�
" Pr.25 Acceleration time 1"
as the acceleration time at start.
Designate the value set in
Da.4
Deceleration time No.
0
�
�
�
" Pr.10 Deceleration time 0" as the deceleration time at
deceleration.
Axis 1 Positioning data No. 1
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
4000.0m
8000.0m
4000.0m
Set the end point address. 3000.0m (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
�
Set the speed during movement to the end point address.
Da.9 Dwell time
Set the time the machine dwells
500ms
�
�
�
after the positioning stop (pulse output stop) to the output of the
positioning complete signal.
Da.10 M code
Set this when other sub
10
�
�
�
operation commands are issued in combination with the No. 1
positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS
(1) When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
(2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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[2] 4-axis linear interpolation control (INC linear 4)
Operation chart
In incremental system 4-axis linear interpolation control, designated 4 axes are used. Linear interpolation positioning of movement amount set in " Da.6 Positioning address/movement amount" is carried out from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
Axis 4
(interpolation (interpolation (interpolation
axis) setting axis) setting axis) setting axis) setting
example example example example
Setting details
Da.1 Operation pattern
Positioning complete
�
�
Set "Positioning complete"
�
assuming the next positioning
data will not be executed.
Da.2 Control system
INC linear 4
�
�
�
Set incremental system 4-axis linear interpolation control.
Designate the value set in
Da.3
Acceleration time No.
1
�
�
�
" Pr.25 Acceleration time 1" as the acceleration time at
start.
Designate the value set in
Da.4
Deceleration time No.
0
�
�
�
" Pr.10 Deceleration time 0" as the deceleration time at
deceleration.
Axis 1 Positioning data No. 1
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
4000.0m
8000.0m
4000.0m
Set the movement amount. 3000.0m (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
�
Set the speed during movement.
Da.9 Dwell time
Set the time the machine
dwells after the positioning
500ms
�
�
�
stop (pulse output stop) to the
output of the positioning
complete signal.
Da.10 M code
Set this when other sub
10
�
�
�
operation commands are issued in combination with the
No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS
(1) When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
(2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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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.
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
0
0
0
0
Positioning start
Designated movement amount
Stop position
Reverse direction
Forward direction
Movement direction for a negative movement amount
Movement direction for 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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POINT
When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start.
Accumulation/cutoff for fractional pulses
When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times;
Conversion to output pulses: 2.5[ m] 1.0 = 2.5 pulses
Movement amount
Output pulses INC line1
2.5 m 2 pulses
2.5 m
0.5 pulse hold by the QD75 is carried to next positioning. 3 pulses (=2.5+0.5)
Fixed-feed 1
2 pulses
2 pulses
0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning.
Axis 1 Positioning data No. 1
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
Setting example
Setting details
Da.1 Operation pattern
Positioning Set "Positioning complete" assuming the next positioning data will not complete be executed.
Da.2 Control system
Fixed-feed 1 Set 1-axis fixed-feed control.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
�
Setting not required (setting value will be ignored).
Da.6
Positioning address/ movement amount
8 0 0 0 . 0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Da.9 Dwell time Da.10 M code
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. (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)
(0,0)
Designated movement amount
X axis
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) If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 504) occurs at a positioning start and positioning cannot be started. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (= 230)".
(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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (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
Fixed-feed 2
�
Set 2-axis fixed-feed control.
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
Da.5
Axis to be interpolated
Axis 2
Positioning
Da.6 address/ movement 8000.0m amount
�
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.
6000.0m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
Set the speed during movement. (Designate the composite
�
speed of reference axis speed in " Pr.20 Interpolation
speed designation method".)
Da.9 Dwell time
500ms
Set the time the machine dwells after the positioning stop
�
(pulse output stop) to the output of the positioning complete
signal.
Da.10 M code
10
�
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
* Refer to Section 5.3 "List of positioning data" for information on the setting details.
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POINTS
(1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start.
Accumulation/cutoff for fractional pulses
When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times;
Conversion to output pulses: 2.5[ m] 1.0 = 2.5 pulses
Movement amount
Output pulses INC line1
2.5 m 2 pulses
2.5 m
0.5 pulse hold by the QD75 is carried to next positioning. 3 pulses (=2.5+0.5)
Fixed-feed 1
2 pulses
2 pulses
0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning.
(2) When the "reference axis speed" is set during 2-axis fixed-feed control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
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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. (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
(0,0,0)
(0,0,0)
Designated movement amount
" Md.20 Current feed value" of each axis is set to "0" at the positioning start.
Designated movement amount
X axis
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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.)
(2) If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 504) occurs at a positioning start and positioning cannot be started. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (= 230)".
(3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
Positioning data setting example
[Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis fixed-feed control (fixedfeed 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.)
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Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
(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
Fixed-feed 3
�
�
Set 3-axis fixed-feed control.
Da.3
Acceleration time No.
1
�
Designate the value set in
�
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in
�
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Axis to be interpolated
Setting not required (setting value will be
�
�
�
ignored). When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Da.6
Positioning address/ movement amount
10000.0m
5000.0m
6000.0m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
Set the speed during movement.
Da.9 Dwell time
500ms
�
Set the time the machine dwells after the
�
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Da.10 M code
10
�
Set this when other sub operation commands
�
are issued in combination with the No. 1
positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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POINTS
(1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start.
Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] 1.0 = 2.5 pulses
Movement amount
Output pulses INC line1
2.5 m 2 pulses
2.5 m
0.5 pulse hold by the QD75 is carried to next positioning. 3 pulses (=2.5+0.5)
Fixed-feed 1
2 pulses
2 pulses
0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning.
(2) When the "reference axis speed" is set during 3-axis fixed-feed control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
(3) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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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. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart
In incremental system 4-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Restrictions
(1) An axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.)
(2) For 4-axis fixed-feed control, set "1: Reference axis speed" in " Pr.20 Interpolation speed designation method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start If "0: Composite speed" is set.
(3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
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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.)
Setting item
Axis 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
Fixed-feed 4
�
�
�
Set 4-axis fixed-feed control.
Designate the value set in
Da.3
Acceleration time No.
1
�
�
�
" Pr.25 Acceleration time 1" as the acceleration time at
start.
Designate the value set in
Da.4
Deceleration time No.
0
�
�
�
" Pr.10 Deceleration time 0" as the deceleration time at
deceleration.
Axis 1 Positioning data No. 1
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
4000.0m
8000.0m
4000.0m
Set the positioning address. 3000.0m (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address
�
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
�
�
�
Set the speed during movement.
Da.9 Dwell time
Set the time the machine
dwells after the positioning stop
500ms
�
�
�
(pulse output stop) to the
output of the positioning
complete signal.
Da.10 M code
Set this when other sub
10
�
�
�
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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POINTS
(1) When the movement amount is converted to the actual number of output pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the QD75 and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the output number of pulses is maintained constant), the control is carried out after the fractional pulse is cleared to zero at start.
Accumulation/cutoff for fractional pulses When movement amount per pulse is 1.0 m and movement for 2.5 m is executed two times; Conversion to output pulses: 2.5[ m] 1.0 = 2.5 pulses
Movement amount
Output pulses INC line1
2.5 m 2 pulses
2.5 m
0.5 pulse hold by the QD75 is carried to next positioning. 3 pulses (=2.5+0.5)
Fixed-feed 1
2 pulses
2 pulses
0.5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning.
(2) For 4-axis fixed-feed control, set the "reference axis speed" and make setting so that the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value".
(3) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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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, 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
Sub point address (arc address)
Movement by circular interpolation
End point address (positioning address)
Reverse direction
Start point address (current stop position)
OP Reverse direction
Arc center point Forward 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 (=229)". (The maximum radius for which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range" (error code: 544) will occur at positioning start.
When the center point address is outside the range of "�2147483648 (�231) to 2147483647 (231�1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start.
When the start point address is the same as the end point address ... An error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in a straight line ... An error "Sub point setting error" (error code: 525) will occur.
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
ABS circular sub
�
Set absolute system, 2-axis circular interpolation control with sub point designation.
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
Da.6
Positioning address/ movement amount
8000.0m
� 6000.0m
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".)
Da.7 Arc address
4000.0m
3000.0m
Set the sub point address. (Assuming that the " setting" is set to "mm".)
Pr.1
Unit
Da.8 Command speed
6000.00 mm/min
Set the speed when moving to the end point address.
�
(Designate the composite speed in " Pr.20 Interpolation
speed designation method".)
Da.9 Dwell time
500ms
Set the time the machine dwells after the positioning stop
�
(pulse output stop) to the output of the positioning complete
signal.
Da.10 M code
10
�
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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 (arc address)
Movement by circular interpolation
Movement amount to sub point
Start point address
Movement amount to the end point
Reverse direction
Movement amount to the sub point
Arc center
Movement amount to the end point
Reverse direction
Forward 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 (=229)". (The maximum radius for which circular interpolation control is possible is "536870912 (=229)" ... 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) to 2147483647 (231�1). ... An error "Sub point setting error" (error code: 525) will occur.
When the end point address is outside the range of -2147483648 (�231) to 2147483647 (231�1). ... An error "End point setting error" (error code: 526) will occur.
When the auxiliary point address, center point address is outside the range of "�2147483648 (�231) to 2147483647 (231�1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start.
When the start point address is the same as the end point address ... An error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address ... An error "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in a straight line ... An error "Sub point setting error" (error code: 525) will occur.
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
INC circular sub
�
Set incremental system, 2-axis circular interpolation control with sub point designation.
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
Da.6
Positioning address/ movement amount
8000.0m
� 6000.0m
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".)
Da.7 Arc address
4000.0m
-3000.0m
Set the sub point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed
6000.00 mm/min
Set the speed during movement. (Designate the
�
composite speed in " Pr.20 Interpolation speed
designation method".)
Da.9 Dwell time
500ms
Set the time the machine dwells after the positioning stop
�
(pulse output stop) to the output of the positioning
complete signal.
Da.10 M code
10
�
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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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9.2.11 2-axis circular interpolation control with center point designation
In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Control system
The following table shows the rotation directions, arc center angles that can be controlled, and positioning paths for the different control systems.
Rotation direction
Arc center angle that can be controlled
Positioning path
ABS circular right
Positioning path
Clockwise
INC circular right
ABS circular left
0� < 360�
Counterclockwise
INC circular left
Start point (current stop position)
0� < < 360�
End point (positioning address)
Center point
Center point
Start point (current stop position)
0�< < 360�
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 center point address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount". (Refer to " Pr.41 Allowable circular interpolation error width".)
(1) Calculated error " Pr.41 Allowable circular interpolation error width"
Circular interpolation control to the set end point address is carried out while the error compensation is carried out. (This is called "spiral interpolation".)
Path using spiral interpolation
Error
Calculated end point address
End point address
Start point address
Center point address
In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows.
Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached.
Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached.
(2) Calculated error > " Pr.41 Allowable circular interpolation error width"
At the positioning start, an error "Large arc error deviation" (error code: 506) will occur and the control will not start. The machine will immediately stop if the error is detected during positioning control.
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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, 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 Reverse direction
Arc address
Forward 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.
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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.
When the radius exceeds "536870912 (=229)". (The maximum radius for which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range " (error code: 544) will occur at positioning start.
When the start point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur.
When the end point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur.
When the center point address is outside the range of -2147483648(-231) to 2147483647(231-1) ... An error "Center point setting error" (error code: 527) will occur.
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
ABS circular
right ABS circular
left
�
Set absolute system, 2-axis circular interpolation control with center point designation. (Select clockwise or counterclockwise according to the control.)
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
Da.6
Positioning address/ movement amount
8000.0m
� 6000.0m
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".)
Da.7 Arc address
4000.0m
3000.0m
Set the arc address. (Assuming that the " setting" is set to "mm".)
Pr.1
Unit
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 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.
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 center point designation (INC circular right, INC circular left)
Operation chart
In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" in an arc path having as its center the address (arc address) of the center point set in " Da.7 Arc address".
Forward direction Start point address
(Current stop position)
Movement by circular interpolation
Movement amount to the end point
Reverse direction
Reverse direction
Radius
Arc center point (Arc address) Movement amount to the end point
Forward direction
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".
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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.
When the radius exceeds "536870912 (=229)". (The maximum radius for which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range" (error code: 544) will occur at positioning start.
When the end point address is outside the range of -2147483648(-231) to 2147483647(231-1) ... An error "End point setting error" (error code: 526) will occur.
When the start point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur.
When the end point address is the same as the center point address ... An error "Center point setting error" (error code: 527) will occur.
When the center point address is outside the range of -2147483648(-231) to 2147483647(231-1) ... An error "Center point setting error" (error code: 527) will occur.
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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.)
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system
INC circular
right INC circular
left
Set incremental system, 2-axis circular interpolation control
�
with center point designation. (Select clockwise or
counterclockwise according to the control.)
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
Da.6
Positioning address/ movement amount
8000.0m
� 6000.0m
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".)
Da.7 Arc address
4000.0m
3000.0m
Set the center point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed
6000.00 mm/min
Set the speed when moving to the end point address.
�
(Designate the composite speed in " Pr.20 Interpolation
speed designation method".)
Da.9 Dwell time Da.10 M code
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.
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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9.2.12 3-axis helical interpolation control with sub point designation
In the 3-axis helical interpolation control, circular interpolation control is carried out with two of the three axes. The other axis tracks the movement of the circular interpolation control to carry out "helical control "or "tangential control". (* Refer to Section 9.1.6 "Interpolation control" for interpolation control.)
Control details
Outline of control
Positioning path
Helical control
In this control, the linear interpolation axis (linear control) tracks the movement of circular interpolation control, and a helical path is drawn.
Unit setting
Reference axis: mm/inch, pulse
Circular interpolation axis: Same setting as the one for the reference axis
Linear interpolation axis: mm/inch, pulse
Tangential control
In this control, the value of the linear interpolation axis (degree) changes according to the movement of circular interpolation control to keep the direction of a workpiece to the center point of the circular interpolation control. The figure on the left shows an example of the control that keeps the direction of the workpiece in the tangential direction.
Unit setting
Reference axis: mm/inch, pulse
Circular interpolation axis: Same setting as the one for the reference axis
Linear interpolation axis: degree
X-axis: Reference axis, Y-axis: Circular interpolation axis, Z-axis: Linear interpolation axis
Helical interpolation control speed
The command speed of the 3-axis helical interpolation control is the same as the speed of circular interpolation control (composite speed of reference axis and circular interpolation axis).
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POINT
When "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the command speed of ABS3/INC3 is the same as the composite speed of the 3 axes (x axis - y axis - z axis). The command speed of 3-axis helical interpolation control is the same as the composite speed of the circular interpolation axis (x axis - y axis). When continuous path control is carried out in ABS3/INC3 and 3-axis helical interpolation control, adjust the command speed to prevent the workpiece from moving unsteadily because the workpiece movement speed may change when positioning data is switched.
Rotation angle of the circular interpolation axis (X axis - Y axis)
The following shows the rotation angle of the circular interpolation axis in 3-axis helical interpolation control.
Circular interpolation axis control
Number of pitch
0
�
1
360� + �
2
720� + �
to
to
n
360� � n + �
to
to
999
360� � 999 + �
POINT
When "degree" is set for the unit setting in the absolute system, the positioning range is 0 to 359.99999�. When the axis rotates 360� or more in circular interpolation control (x axis - y axis), the tangential/normal control cannot be carried out because a degree of 360� or more cannot be set in linear control (z axis: degree). To carry out tangential/normal control in which the axis rotates 360� or more, use 3-axis helical interpolation control (INC).
Rotation direction when the unit for the linear axis (z axis) is degree
When " Pr.1 Unit setting" for the linear axis is "degree", the rotation direction is determined according to the axis control data " Cd.40 ABS direction in degrees" of the reference axis. To set the rotation direction for each positioning data, set the position data " Da.28 ABS direction in degrees".
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[1] 3-axis helical interpolation control with sub point designation (ABS helical sub)
Operation chart
In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the circular end address (X1, Y1) and linear axis end address (Z1) set in " Da.6 Positioning address/movement amount". Circular interpolation where the arc path passes through the address of the sub point (sub point address) set in " Da.7 Arc address" is carried out. Simultaneously, linear interpolation is carried out with the other linear axis. The control path is helically rotated for the number of pitch set in " Da.10 M code" of the linear axis to complete the positioning to the specified position. The resulting control path is an arc having its center as 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).
Operation chart
Circular interpolation plane
Restrictions
(1) In the following cases, 3-axis helical interpolation control cannot be set.
When "degree" is set in " Pr.1 Unit setting" for the reference axis and circular interpolation axis
When the units set in " Pr.1 Unit setting" are different between the reference axis and circular interpolation axis. ("mm" and "inch" combinations are possible.)
When a method other than "composite speed" is set in " Pr.20 Interpolation speed designation method" or " Da.29 Interpolation speed designation method"
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(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 (=229)" (The maximum radius for which circular interpolation control is possible is "536870912 (=229)".) ... An error "Outside radius range" (error code: 544) will occur at positioning start.
When the center point address is outside the range of "-2147483648 (-231) to 2147483647 (231-1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start.
Start point address = End point address ... Error "End point setting error" (error code: 526)
Start point address = Sub point address ... Error "Sub point setting error" (error code: 525)
End point address = Sub point address ... Error "Sub point setting error" (error code: 525)
When the start point address, end point address, and sub point address are in a straight line ... Error "Sub point setting error" (error code: 525)
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Positioning data setting example
[Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively.] The following table shows setting examples when "helical interpolation control with sub point designation (ABS)" 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 (reference
Axis 2 (circular Axis 3 (linear interpolation interpolation
axis) setting axis) setting axis) setting
Setting details
Item
example
example
example
Da.1
Operation pattern
Positioning complete
-
Da.2
Control system
ABS helical sub
-
-
Set "Positioning complete" assuming that the next positioning data will not be executed.
-
Set absolute system, 3-axis helical interpolation control with sub point designation.
Da.3
Acceleration time No.
1
-
-
Specify the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
-
-
Specify the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
-
-
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Positioning data No. 1
Positioning Da.6 address/move- 8000.0m
ment amount
6000.0m
3000.0m
Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address 4000.0m 3000.0m
-
Set the sub point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.8
Command speed
6000.00mm/ min
-
Set the speed during movement to the end
-
point address. (Set the composite speed in " Pr.20 Interpolation speed designation
method".)
Da.9 Dwell time
500ms
-
Set the time the machine dwells from the
-
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Da.10 M code
10
-
Set this item when other sub operation
commands are issued in combination with the
50
No. 1 positioning data.
Set the number of pitch for the linear
interpolation axis.
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 QD75N during interpolation control.)
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[2] 3-axis helical interpolation control with sub point designation (INC helical sub)
Operation chart
In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the movement amount position (X1, Y1, Z1) set in " Da.6 Positioning address/movement amount". Circular interpolation where the arc path passes through the address of the sub point (sub point address) set in " Da.7 Arc address" is carried out. Simultaneously, linear interpolation is carried out with the other linear axis. The control path is helically rotated for the number of pitch set in " Da.10 M code" of the linear axis to complete the positioning to the specified position. The movement direction is determined by the sign of the movement amount. The resulting control path is an arc having its center as 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.
Operation chart
Circular interpolation plane
Restrictions
(1) In the following cases, 3-axis helical interpolation control cannot be set. When "degree" is set in " Pr.1 Unit setting" for the reference axis and circular interpolation axis When the units set in " Pr.1 Unit setting" are different between the reference axis and circular interpolation axis. ("mm" and "inch" combinations are possible.) When a method other than "composite speed" is set in " Pr.20 Interpolation speed designation method" or " Da.29 Interpolation speed designation method"
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(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 (=229)" (The maximum radius for which circular interpolation control is possible is "536870912 (=229)".) ... An error "Outside radius range" (error code: 544) will occur at positioning start.
When the sub point address is outside the range of -2147483648 (-231) to 2147483647 (231-1) ... An error "Sub point setting error" (error code: 525) will occur at positioning start.
When the end point address is outside the range of -2147483648 (-231) to 2147483647 (231-1) ... An error "End point setting error" (error code: 526) will occur at positioning start.
When the center point address is outside the range of "-2147483648 (-231) to 2147483647 (231-1)" ... An error "Sub point setting error" (error code: 525) will occur at positioning start.
Start point address = End point address ... Error "End point setting error" (error code: 526)
Start point address = Sub point address ... Error "Sub point setting error" (error code: 525)
End point address = Sub point address ... Error "Sub point setting error" (error code: 525)
When the start point address, end point address, and sub point address are in a straight line ... Error "Sub point setting error" (error code: 525)
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Positioning data setting example
[Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively.] The following table shows setting examples when "helical interpolation control with sub point designation (INC)" 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.)
Item
Axis
Axis 1
(reference axis)
setting example
Axis 2 (circular
interpolation axis) setting
example
Axis 3 (linear
interpolation axis) setting
example
Setting details
Da.1
Operation pattern
Positioning complete
-
Set "Positioning complete" assuming that
-
the next positioning data will not be
executed.
Da.2
Control system
INC helical sub
-
Set incremental system, 3-axis helical
-
interpolation control with sub point
designation.
Da.3
Acceleration time No.
1
-
Specify the value set in
-
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Da.4
Deceleration time No.
0
-
Specify the value set in
-
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Positioning data No. 1
Da.5
Axis to be interpolated
Axis 2
-
-
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Positioning Da.6 address/move
-ment amount
8000.0m
6000.0m
Set the movement amount. (Assuming "mm" 3000.0m is set in " Pr.1 Unit setting".)
Da.7 Arc address
4000.0m
-3000.0m
-
Set the sub point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.8
Command speed
6000.00mm/ min
-
Set the speed during movement. (Set the
-
composite speed in " Pr.20 Interpolation
speed designation method".)
Da.9 Dwell time
500ms
-
Set the time the machine dwells from the
-
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this item when other sub operation
commands are issued in combination with
Da.10 M code
10
-
50
the No. 1 positioning data.
Set the number of pitch for the linear
interpolation axis.
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 QD75N during interpolation control.)
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9.2.13 3-axis helical interpolation control with center point designation
In the 3-axis helical interpolation control, circular interpolation control is carried out with two of the three axes. The other axis tracks the movement of the circular interpolation control to carry out "helical control "or "tangential control". (Refer to Section 9.1.6 "Interpolation control" for interpolation control.)
Control details
Outline of control
Positioning path
Helical control
Tangential control
In this control, the linear interpolation axis (linear control) tracks the movement of circular interpolation control, and a helical path is drawn.
Unit setting
Reference axis: mm/inch, pulse
Circular interpolation axis: Same setting as the one for the reference axis
Linear interpolation axis: mm/inch, pulse
In this control, the value of the linear interpolation axis (degree) changes according to the movement of circular interpolation control to keep the direction of a workpiece to the center point of the circular interpolation control. The figure on the left shows an example of the control that keeps the direction of the workpiece in the tangential direction.
Unit setting
Reference axis: mm/inch, pulse
Circular interpolation axis: Same setting as the one for the reference axis
Linear interpolation axis: degree
X-axis: Reference axis, Y-axis: Circular interpolation axis, Z-axis: Linear interpolation axis
Helical interpolation control speed
The command speed of the 3-axis helical interpolation control is the same as the speed of circular interpolation control (composite speed of reference axis and circular interpolation axis).
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POINT
When "0: Composite speed" is set in " Pr.20 Interpolation speed designation method", the command speed of ABS3/INC3 is the same as the composite speed of the 3 axes (x axis - y axis - z axis). The command speed of 3-axis helical interpolation control is the same as the composite speed of the circular interpolation axis (x axis - y axis). When continuous path control is carried out in ABS3/INC3 and 3-axis helical interpolation control, adjust the command speed to prevent the workpiece from moving unsteadily because the workpiece movement speed may change when positioning data is switched.
Rotation angle of the circular interpolation axis (X axis - Y axis)
The following shows the rotation angle of the circular interpolation axis in 3-axis helical interpolation control.
Circular interpolation axis control
True circle
Other than true circle
Number of pitch
0
1
360�
� 360� + �
2
720�
720� + �
to
to
to
n
360� � n
360� � n + �
to
to
to
999
360� � 999
360� � 999 + �
A true circle can be set only when the start point equals to the end point in 3-axis
helical interpolation (ABS/INC, center point).
POINT
When "degree" is set for the unit setting in the absolute system, the positioning range is 0 to 359.99999�. When the axis rotates 360� or more in circular interpolation control (x axis - y axis), the tangential/normal control cannot be carried out because a degree of 360� or more cannot be set in linear control (z axis: degree). To carry out tangential/normal control in which the axis rotates 360� or more, use 3-axis helical interpolation control (INC).
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Rotation angle of the circular interpolation axis (X axis - Y axis)
In 3-axis helical interpolation control, " Pr.41 Allowable circular interpolation error width" is made valid as well as in circular interpolation control (2 axes). When a circular interpolation error occurs, the path of the circular interpolation control (x axis - y axis) forms a spiral as shown below.
Rotation direction when the unit for the linear axis (z axis) is degree
When " Pr.1 Unit setting" for the linear axis is "degree", the rotation direction is determined according to the axis control data " Cd.40 ABS direction in degrees" of the reference axis. To set the rotation direction for each positioning data, set the position data " Da.28 ABS direction in degrees".
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[1] 3-axis helical interpolation control with center point designation (ABS helical right, ABS helical left)
Operation chart
In this control, positioning is carried out from the current stop position (X0, Y0, Z0)
to the circular end address (X1, Y1) and linear axis end address (Z1) set in
" Da.6 Positioning address/movement amount". Circular interpolation with an arc
path having its center as the address of the center point (arc address) set in
" Da.7 Arc address" is carried out. Simultaneously, linear interpolation is carried
out with the other linear axis. The control path is helically rotated for the number of
pitch set in " Da.10 M code" of the linear axis to complete the positioning to the
specified position.
Operation chart
Circular interpolation plane
Positioning of a true circle with a radius of the distance from the start point address
to the arc center point can be carried out by setting the end point address
(positioning address) of the circular interpolation axis to the same address as the
start point address.
Operation chart
Circular interpolation plane
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Restrictions
(1) In the following cases, 3-axis helical interpolation control cannot be set.
When "degree" is set in " Pr.1 Unit setting" for the reference axis and circular interpolation axis
When the units set in " Pr.1 Unit setting" are different between the reference axis and circular interpolation axis. ("mm" and "inch" combinations are possible.)
When the "reference axis speed" is set in " Pr.20 Interpolation speed designation method" or " Da.29 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 (=229)" (The maximum radius for which circular interpolation control is possible is "536870912 (=229)".) ... An error "Outside radius range" (error code: 544) will occur at positioning start.
Start point address = Center point address ... Error "Center point setting error" (error code: 527)
End point address = Center point address ... Error "Center point setting error" (error code: 527)
When the center point address is outside the range of "-2147483648 (-231) to 2147483647 (231-1)" ... Error "Center point setting error" (error code: 527)
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Positioning data setting example
[Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively.] The following table shows setting examples when "helical interpolation control with center point designation (ABS helical right, ABS helical 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 and axis 3.)
Item
Axis
Axis 1 (reference
axis) setting
example
Axis 2 (circular interpolation axis) setting example
Axis 3 (linear
interpolation axis) setting
example
Setting details
Da.1
Operation pattern
Positioning complete
-
ABS helical
Da.2
Control system
right ABS helical
-
left
-
Set "Positioning complete" assuming that the next positioning data will not be executed.
Set absolute system, 3-axis helical interpolation
control with center point designation. (Select
-
clockwise or counterclockwise according to the
control.)
Da.3
Acceleration time No.
1
-
-
Specify the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
-
-
Specify the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Positioning data No. 1
Da.5
Axis to be interpolated
Axis 2
-
-
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Positioning Da.6 address/move
-ment amount
8000.0m
6000.0m
Set the end point address. (Assuming "mm" is 3000.0m set in " Pr.1 Unit setting".)
Da.7 Arc address 4000.0m 3000.0m
-
Set the arc address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.8
Command speed
6000.00mm/ min
-
Set the speed during movement to the end
-
point address. (Set the composite speed in " Pr.20 Interpolation speed designation
method".)
Da.9 Dwell time
500ms
-
Set the time the machine dwells from the
-
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this item when other sub operation
commands are issued in combination with the
Da.10 M code
10
-
50
No. 1 positioning data.
Set the number of pitch for the linear
interpolation axis.
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 QD75N during interpolation control.)
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[1] 3-axis helical interpolation control with center point designation (INC helical right, INC helical left)
Operation chart
In this control, positioning is carried out from the current stop position (X0, Y0, Z0)
to the movement amount position (X1, Y1, Z1) set in " Da.6 Positioning
address/movement amount". Circular interpolation with an arc path having its
center as the address of the center point (arc address) set in " Da.7 Arc address"
is carried out. Simultaneously, linear interpolation is carried out with the other
linear axis. The control path is helically rotated for the number of pitch set in
" Da.10 M code" of the linear axis to complete the positioning to the specified
position.
Operation chart
Circular interpolation plane
Positioning of a true circle 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 of the circular interpolation axis to "0".
Operation chart
Circular interpolation plane
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Restrictions
(1) In the following cases, 3-axis helical interpolation control cannot be set.
When "degree" is set in " Pr.1 Unit setting" for the reference axis and circular interpolation axis
When the units set in " Pr.1 Unit setting" are different between the reference axis and circular interpolation axis. ("mm" and "inch" combinations are possible.)
When the "reference axis speed" is set in " Pr.20 Interpolation speed designation method" or " Da.29 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 (=229)" (The maximum radius for which circular interpolation control is possible is "536870912 (=229)".) ... An error "Outside radius range" (error code: 544) will occur at positioning start.
When the end point address is outside the range of -2147483648 (-231) to 2147483647 (231-1) ... An error "End point setting error" (error code: 526) will occur at positioning start.
Start point address = Center point address ... Error "Center point setting error" (error code: 527)
End point address = Center point address ... Error "Center point setting error" (error code: 527)
When the center point address is outside the range of "-2147483648 (-231) to 2147483647 (231-1)" ... Error "Center point setting error" (error code: 527)
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Positioning data setting example
[Reference axis, circular interpolation axis, and linear interpolation axis are specified as axis 1, axis 2, and axis 3, respectively.] The following table shows setting examples when "helical interpolation control with center point designation (INC helical right, INC helical 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 and axis 3.)
Axis 1
Axis 2 (circular Axis 3 (linear
Item
Axis (reference interpolation interpolation axis) setting axis) setting axis) setting
Setting details
example
example
example
Da.1
Operation pattern
Positioning complete
-
Set "Positioning complete" assuming that
-
the next positioning data will not be
executed.
Da.2
Control system
ABS helical right
ABS helical left
-
Set absolute system, 3-axis helical
-
interpolation control with center point designation. (Select clockwise or
counterclockwise according to the control.)
Da.3
Acceleration time No.
1
-
Specify the value set in
-
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Da.4
Deceleration time No.
0
-
Specify the value set in
-
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Positioning data No. 1
Da.5
Axis to be interpolated
Axis 2
-
-
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Positioning Da.6 address/move
-ment amount
8000.0m
6000.0m
Set the end point address. (Assuming "mm" 3000.0m is set in " Pr.1 Unit setting".)
Da.7 Arc address
4000.0m
3000.0m
-
Set the arc address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.8
Command speed
6000.00mm/ min
-
Set the speed during movement to the end
-
point address. (Set the composite speed in " Pr.20 Interpolation speed designation
method".)
Da.9 Dwell time
500ms
-
Set the time the machine dwells from the
-
positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this item when other sub operation
commands are issued in combination with
Da.10 M code
10
-
50
the No. 1 positioning data.
Set the number of pitch for the linear
interpolation axis.
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 QD75N during interpolation control.)
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9.2.14 1-axis speed control
In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of 1-axis speed control are "Forward run: speed 1" in which the control starts in the forward run direction, and "Reverse run: speed 1" in which control starts in the reverse run direction.
Operation chart The following chart shows the operation timing for 1-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "Positioning complete signal" is not turned ON.
V
Da. 8 Command speed
t
Positioning start signal [Y10]
BUSY signal [XC]
ON OFF
ON OFF
Positioning complete signal OFF [X14]
Axis stop signal (stop command) [Y4]
OFF
Does not turn ON even when control is stopped by stop command. ON
In speed control flag Md.31 Status:b0
ON OFF
Fig.9.9 1-axis speed control operation timing
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Speed
Current feed value during 1-axis speed control
The following table shows the " Md.20 Current feed value" during 1-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings.
" Pr.21 Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value 2: Zero clear current feed value
Md.20 Current feed value
The current feed value at speed control start is maintained. The current feed value is updated. The current feed value is fixed at 0.
In speed control
Speed
In speed control
Speed
In speed control
t
t
t
Current feed value during speed control start is maintained
Current feed value is updated
0
(a) Current feed value not updated
(b) Current feed value updated
(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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Axis 1 Positioning data No. 1
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.
Setting item
Setting example
Setting details
Da.1 Operation pattern
Positioning Setting other than "Positioning complete" is not possible in speed complete control.
Da.2 Control system
Forward run speed 1
Set 1-axis speed control.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
�
Setting not required (setting value will be ignored).
Da.6
Positioning address/ movement amount
�
Setting not required (setting value will be ignored).
Da.7 Arc address
�
Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed to be commanded.
Da.9 Dwell time Da.10 M code
�
Setting not required (setting value will be ignored).
Set this when other sub operation commands are issued in
10
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 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
Da. 8 Command speed
Interpolation axis (axis 2)
t
V Da. 8 Command speed
Referense axis (axis1)
t
Positioning start signal [Y10]
BUSY signal [XC,XD]
ON OFF
ON OFF
Positioning complete signal [X14,X15]
OFF
Axis stop signal (stop command) OFF (Either Y4 or Y5)
ON In speed control flag
Md.31 Status: b0 OFF
Does not turn ON even when control is stopped by stop command.
ON
Fig. 9.10 2-axis speed control operation timing
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Speed
Current feed value during 2-axis speed control
The following table shows the " Md.20 Current feed value" during 2-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.)
" Pr.21 Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value 2: Zero clear current feed value
Md.20 Current feed value
The current feed value at speed control start is maintained. The current feed value is updated. The current feed value is fixed at 0.
In speed control
Speed
In speed control
Speed
In speed control
t
t
t
Current feed value during speed control start is maintained
Current feed value is updated
0
(a) Current feed value not updated
(b) Current feed value updated
(c) Current feed value zero cleared
Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set. (4) When either of two axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of
" Da.8 Command speed".
(Examples)
Axis
Setting item Pr.8 Da.8
Speed limit value Command speed
Axis 1 setting
4000.00mm/min 8000.00mm/min
Axis 2 setting
5000.00mm/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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Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed.
(5) An error "No command speed" (error code: 503) occurs if a current speed (-1) is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to "degree".
Positioning data setting examples
[Setting examples when the reference axis and interpolation axis are designated as axes 1 and 2, respectively.] The following table shows the setting examples when "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1 (reference axis).
Setting item
Axis
Axis 1 (reference
Axis 2 (interpolation
axis) setting axis) setting
example example
Setting details
Da.1 Operation pattern
Positioning complete
�
Setting other than "Positioning complete" is not possible in speed control.
Da.2 Control system
Forward run speed 2
�
Set 2-axis speed control.
Da.3
Acceleration time No.
1
�
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4
Deceleration time No.
0
�
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5
Axis to be interpolated
Axis 2
�
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6
Positioning address/ movement amount
�
�
Setting not required (setting value will be ignored).
Axis 1 Positioning data No. 1
Da.7 Arc address
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
3000.00 mm/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
10
�
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 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
Da. 8 Command speed
Interpolation axis (axis 3) t
V
Da. 8 Command speed
Interpolation axis (axis 2)
t
V
Da. 8 Command speed
Referense axis (axis 1)
Positioning start signal [Y10]
BUSY signal [XC,XD,XE]
ON OFF
ON OFF
Positioning complete signal [X14,X15,X16]
OFF
Axis stop signal (stop command) (Either Y4,Y5 or Y6)
OFF
ON In speed control flag
Md.31 Status: b0 OFF
t
Does not turn ON even when control is stopped by stop command. ON
Fig. 9.11 3-axis speed control operation timing
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Speed
Current feed value during 3-axis speed control
The following table shows the " Md.20 Current feed value" during 3-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.)
" Pr.21 Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value 2: Zero clear current feed value
Md.20 Current feed value
The current feed value at speed control start is maintained. The current feed value is updated. The current feed value is fixed at 0.
In speed control
Speed
In speed control
Speed
In speed control
t
t
t
Current feed value during speed control start is maintained
Current feed value is updated
0
(a) Current feed value not updated
(b) Current feed value updated
(c) Current feed value zero cleared
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set.
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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)
Setting item Pr.8 Da.8
Axis Axis 1 setting
Speed limit value
Command speed
4000.00mm/min 8000.00mm/min
Axis 2 setting 5000.00mm/min 6000.00mm/min
Axis 3 setting 6000.00mm/min 4000.00mm/min
With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ).
Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3 command speeds).
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3 command speeds).
Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed.
(5) An error "No command speed" (error code: 503) will occur if a current speed (-1) is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to "degree".
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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).
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
(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.
1
�
Designate the value set in
�
" Pr.25 Acceleration time 1" as the
acceleration time at start.
Axis 1 Positioning data No. 1
Da.4
Deceleration time No.
0
�
Designate the value set in
�
" Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5
Axis to be interpolated
Setting not required (setting value will be
�
�
�
ignored). When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Da.6
Positioning address/ movement amount
�
�
�
Setting not required (setting value will be ignored).
Da.7 Arc address
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
3000.00 mm/min
2000.00 mm/min
Set the speed to be commanded.
Da.9 Dwell time
�
�
�
Setting not required (setting value will be ignored).
Da.10 M code
10
�
Set this when other sub operation commands
are issued in combination with the No. 1
�
positioning data. (" Pr.18 M code ON
signal output timing" setting only possible in
the WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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9.2.17 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
Da. 8 Command speed
Interpolation axis (axis 4)
t
V
Da. 8 Command speed
Interpolation axis (axis 3)
t
V
Da. 8 Command speed
Interpolation axis (axis 2)
t
V
Da. 8 Command speed
Referense axis (axis 1)
Positioning start signal [Y10]
BUSY signal [XC,XD,XE,XF]
ON OFF
ON OFF
Positioning complete signal [X14,X15,X16,X17]
OFF
Axis stop signal (stop command) OFF (Either Y4,Y5,Y6 or Y7)
ON In speed control flag
Md.31 Status: b0 OFF
t
Does not turn ON even when control is stopped by stop command. ON
Fig. 9.12 4-axis speed control operation timing
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Speed
Current feed value during 4-axis speed control
The following table shows the " Md.20 Current feed value" during 4-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.)
" Pr.21 Current feed value during speed control" setting
0: Do not update current feed value
1: Update current feed value 2: Zero clear current feed value
Md.20 Current feed value
The current feed value at speed control start is maintained. The current feed value is updated. The current feed value is fixed at 0.
In speed control
Speed
In speed control
Speed
In speed control
t
t
t
Current feed value during speed control start is maintained
Current feed value is updated
0
(a) Current feed value not updated
(b) Current feed value updated
(c) Current feed value zero cleared
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.) (2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set. (3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An error "Interpolation mode error" (error code: 523) will occur and the operation cannot start if a composite speed is set.
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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)
Setting item Pr.8 Da.8
Axis
Axis 1
setting
Axis 2 setting
Axis 3 setting
Axis 4 setting
Speed limit value
Command speed
4000.00mm/ min
8000.00mm/ min
5000.00mm/ min
6000.00mm/ min
6000.00mm/ min
4000.00mm/ min
8000.00mm/ min
1500.00mm/ 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, 3 and 4 command speeds).
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds).
Axis 4: 750.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4 command speeds).
Note: Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit. In addition, when a bias speed is set, it will be the minimum speed.
(5) An error "No command speed" (error code: 503) will occur if a current speed (-1) is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to "degree".
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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).
Setting item
Axis
Axis 1 (reference
Axis 2
Axis 3
Axis 4
(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
Da.3
Acceleration time No.
1
�
�
�
" Pr.25 Acceleration time 1" as the acceleration time at
start.
Designate the value set in
Da.4
Deceleration time No.
0
�
�
�
" Pr.10 Deceleration time 0" as the deceleration time at
deceleration.
Axis 1 Positioning data No. 1
Da.5
Axis to be interpolated
Setting not required (setting value will be ignored).
�
�
�
�
When axis 1 is used as a reference axis, the
interpolation axes are axes 2,
3 and 4.
Da.6
Positioning address/ movement amount
�
�
�
�
Setting not required (setting value will be ignored).
Da.7 Arc address
�
�
�
�
Setting not required (setting value will be ignored).
Da.8 Command speed
6000.00 mm/min
3000.00 mm/min
2000.00 mm/min
1000.00 Set the speed to be mm/min 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
10
�
�
�
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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9.2.18 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
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.150
Speedposition function selection
0
Speed-position switching control (INC mode)
34
184 334 484
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Section 5.2 "List of parameters".
Switching over from speed control to position control
(1) The control is switched over from speed control to position control by executing the external command signal set in "speed-position switching signal".
(2) Besides setting the positioning data, the " Cd.24 Speed-position switching enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from speed control to position control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
Setting item
Cd.24
Speedposition switching enable flag
Setting value
1
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Set "1: Switch from speed control to position control when the external command signal [CHG] turns ON.".
1528
1628
1728
1828
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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
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2
Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1
Set "1: Validate external command".
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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Operation chart
The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (INC mode).
V
Da. 8 Command speed
Movement amount set in " Da. 6 Positioning address/movement amount"
t
Speed control Position control
Dwell time
ON OFF Positioning start signal [Y10,Y11,Y12,Y13]
ON
BUSY signal
OFF [XC,XD,XE,XF]
ON
Positioning complete signal
OFF
[X14,X15,X16,X17]
ON OFF Speed-position switching signal
Cd. 24 Speed-position switching enable flag
In speed control flag Md. 31 Status: b0
ON OFF
ON 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
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
t1 t2
Start complete signal [X10,X11,X12,X13]
Md.26 Axis operation status
Standby
Output pulse to external source (PULSE)
Positioning operation
External speed-position switching command
Speed-position switching latch flag Md.31 Status: b1
Positioning complete signal [X14,X15,X16,X17] M code ON signal [X4,X5,X6,X7] (AFTER mode)
Cd.7 M code OFF request
Speed control t4
Position control
t3 Standby
Speed control
Position control
Speed control carried out until speed-position switching signal turns ON Position control movement amount is from the input position of the external speed-position switching signal t6
t5
t7
t2
OPR complete flag Md.31 Status: b4
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
Normal timing time
Model QD75P N/QD75D N
QD75P /QD75D
t1 0.2 to 1.1ms
1.1ms
t2 0 to 0.9ms 0 to 1.8ms
t3 0 to 0.9ms 0 to 1.8ms
t4 0.4 to 1.3ms 2.7 to 4.4ms
t5 0 to 0.9ms 0 to 1.8ms
t6 1.0ms 1.0ms
t7
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 speedposition switching control (INC mode) corresponding to the " Pr.21 Current feed value during speed control" settings.
" Pr.21 Current feed value during speed control" setting
Md.20 Current feed value
The current feed value at control start is maintained during 0: Do not update current feed value speed control, and updated from the switching to position
control.
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.
Speed Speed control Position control
Speed Speed control Position control
Speed Speed control Position control
t
Maintained
Updated
t Updated
t
0
Updated from 0
(a) Current feed value not updated
(b) Current feed value updated
(c) Current feed value zero cleared
Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.
ON
Speed-position switching signal
OFF
Speed-position switching latch flag OFF
ON 1ms
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Changing the position control movement amount
In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section.
(1) The "new movement amount" is stored in " Cd.23 Speed-position switching control movement amount change register" by the sequence program during speed control. When the speed-position switching signal is turned ON, the movement amount for position control is stored in " Cd.23 Speed-position switching control movement amount change register".
(2) The movement amount is stored in the " Md.29 Speed-position switching control positioning amount" of the axis monitor area from the point where the control changes to position control by the input of a speed-position switching signal from an external source.
Speed control Position control
Speed-position switching control (INC mode) start
Position control start
t
Movement amount change possible
Speed-position switching signal
OFF
Cd.23 Speed-position switching control,
0
movement amount change register
ON
Setting after the speed-position switching signal ON is ignored
P2
P3
P2 becomes the position control movement amount
Speed-position switching latch flag Md.31 Status : b1
ON OFF
Fig. 9.15 Position control movement amount change timing
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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) The axis error "Continuous path control not possible" (error code: 516) will occur, and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern".
(2) "Speed-position switching control" cannot be set in " Da.2 Control system"
of the positioning data when "continuous path control" has been set in
" Da.1 Operation pattern" of the immediately prior positioning data. (For
example, if the operation pattern of positioning data No. 1 is "continuous path
control", "speed-position switching control" cannot be set in positioning data
No. 2.) The axis error "Continuous path control not possible" (error code: 516)
will occur and the machine will carry out a deceleration stop if this type of
setting is carried out. (3) The error "No command speed" (error code: 503) will occur if "current speed (-
1)" is set in " Da.8 Command speed". (4) The software stroke limit range check during speed control is made only when
the following (a) and (b) are satisfied: (a) When " Pr.21 Current feed value during speed control" is "1: Update
current feed value"
If the movement amount exceeds the software stroke limit range during
speed control in cases of settings other than the one above, the error
"Software stroke limit+" (error code: 507) or "Software stroke limit�" (error
code: 508) will occur as soon as speed control is changed to position control,
and the axis will decelerate to a stop. (b) When " Pr.1 Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed. (5) If the value set in " Da.6 Positioning address/movement amount" is
negative, the error "Outside address range" (error code: 530) will occur. (6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in " Da.6 Positioning address/movement amount" is smaller than the deceleration distance from the " Da.8 Command speed". (7) Turn ON the speed-position switching signal in the speed stabilization region (constant speed status). The warning "Speed-position switching (during acceleration) signal ON" (warning code: 508) will occur because of large deviation in the droop pulse amount if the signal is turned ON during acceleration. During use of the servomotor, the actual movement amount after switching of speed control to position control is the "preset movement amount + droop pulse amount". If the signal is turned ON during acceleration/deceleration, the stop position will vary due to large variation of the droop pulse amount. Even though " Md.29 Speed-position switching control positioning amount" is the same, the stop position will change due to a change in droop pulse amount when " Da.8 Command speed" is different.
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Axis 1 Positioning data No. 1
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
Forward run: speed/position
Set speed-position switching control by forward run.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Da.5
Deceleration time No.
Axis to be interpolated
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
�
Setting not required. (Setting value is ignored.)
Da.6
Positioning address/ movement amount
10000.0m
INC mode ( Pr.150 = 0)
Set the movement amount after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.7 Arc address
�
Setting not required. (Setting value is ignored.)
Da.8 Command speed Da.9 Dwell time Da.10 M code
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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9.2.19 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
INC mode
ABS mode
mm
inch degree pulse
: Setting allowed,
: Setting disallowed (If setting is made, the error "Speed-position function selection error" (error code: 935) will occur when the PLC READY (Y0) turns ON.)
Use the detailed parameter 1 " Pr.150 Speed-position function selection" to choose "speed-position switching control (ABS mode)".
Setting item
Pr.150
Speedposition function selection
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
2
Speed-position switching control (ABS mode)
34
184 334 484
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Section 5.2 "List of parameters".
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Switching over from speed control to position control
(1) The control is switched over from speed control to position control by executing the external command signal set in "speed-position switching signal".
(2) Besides setting the positioning data, the " Cd.24 Speed-position switching enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from speed control to position control when the speed-position switching signal turns from OFF to ON again. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
Setting item
Cd.24
Speedposition switching enable flag
Setting value
1
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Set "1: Switch from speed control to position control when the external command signal [CHG] turns ON.".
1528
1628
1728
1828
Speed-position switching signal setting
The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals.
Setting item
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2
Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1
Set "1: Validate external command".
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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Operation chart
The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (ABS mode).
V
Da. 8 Command speed
Address set in " Da. 6 Positioning address/movement amount"
t
Speed control Position control
Dwell time
ON OFF Positioning start signal [Y10,Y11,Y12,Y13]
ON
BUSY signal
OFF [XC,XD,XE,XF]
ON
Positioning complete signal
OFF
[X14,X15,X16,X17]
ON OFF Speed-position switching signal
Cd. 24 Speed-position switching enable flag
In speed control flag Md. 31 Status: b0
ON OFF
ON OFF
Fig. 9.16 Speed-position switching control (ABS 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
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]
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] Md.26 Axis operation status Standby
Output pulse to external source (PULSE)
Speed control t4
t3 Position control Standby
Speed Position control control
Positioning operation External speed-position switching command
Positioning complete signal [X14,X15,X16,X17]
M code ON signal (AFTER mode) [X4,X5,X6,X7]
Cd.7 M code OFF request
Speed control carried out until speed-position switching signal turns ON
t6
t5
t7 t2
OPR complete flag Md.31 Status: b4
Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)
Normal timing time
Model QD75P N/QD75D N
QD75P /QD75D
t1 0.2 to 1.1ms
1.1ms
t2 0 to 0.9ms 0 to 1.8ms
t3 0 to 0.9ms 0 to 1.8ms
t4 0.4 to 1.3ms 2.7 to 4.4ms
t5 0 to 0.9ms 0 to 1.8ms
t6 1.0ms 1.0ms
t7
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 speedposition switching control (ABS mode) corresponding to the " Pr.21 Current feed value during speed control" settings.
" Pr.21 Current feed value during speed control" setting
Md.20 Current feed value
1: Update current feed value
The current feed value is updated during speed control and position control.
Only "1: Update current value" is valid for the setting of " Pr.21 Current feed
value during speed control" in speed-position switching control (ABS mode). The error "Speed-position function selection error" (error code: 935) will occur if the " Pr.21 Current feed value during speed control" setting is other than 1.
Speed Speed control Position control
t Updated
Current feed value updated
Switching time from speed control to position control
There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.
ON
Speed-position switching signal
OFF
Speed-position switching latch flag OFF
ON 1ms
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Restrictions
(1) The axis error "Continuous path control not possible" (error code: 516) will occur, and the operation cannot start if "continuous path control" is set in
" Da.1 Operation pattern".
(2) "Speed-position switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in
" Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "speed-position switching control" cannot be set in positioning data No. 2.) The axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) The error "No command speed" (error code: 503) will occur if "current speed
(-1)" is set in " Da.8 Command speed".
(4) If the value set in " Da.6 Positioning address/movement amount" is negative, the error "Outside address range" (error code: 530) will occur.
(5) Even though the axis control data " Cd.23 Speed-position switching control movement amount change register" was set in speed-position switching control (ABS mode), it would not function. The set value is ignored.
(6) To exercise speed-position switching control (ABS mode), the following conditions must be satisfied: (a) " Pr.1 Unit setting" is "2: degree" (b) The software stroke limit function is invalid (upper limit value = lower limit value) (c) " Pr.21 Current feed value during speed control" is "1: Update current feed value"
(d) The setting range of " Da.6 Positioning address/movement amount" is within 0 to 359.99999 (degree) (If the value is outside of the range, the error "Outside address range" (error code: 530) will occur at the start.)
(e) The " Pr.150 Speed-position function selection" setting is "2: Speedposition switching control (ABS mode)".
(7) If any of the conditions in (6)(a) to (6)(c) is not satisfied in the case of (6)(e), the error "Speed-position function selection error" (error code: 935) will occur when the PLC READY [Y0] turns from OFF to ON.
(8) If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the positioning address after N revolutions so that automatic deceleration can always be made. (N: Natural number) In the following example, since making deceleration in the path of dotted line will cause the axis to exceed the positioning addresses twice, the axis will decelerate to a stop at the third positioning address.
Speed-position switching signal
360 added
360 added
positioning address
positioning address
positioning address
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Axis 1 Positioning data No. 1
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 Da.2 Control system
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)".)
Forward run: speed/position
Set speed-position switching control by forward run.
Da.3
Acceleration time No.
1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Da.5
Deceleration time No.
Axis to be interpolated
0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
�
Setting not required. (Setting value is ignored.)
Da.6
Positioning address/ movement amount
270.00000 degree
ABS mode ( Pr.150 = 2)
Set the address after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "degree".)
Da.7 Arc address
�
Setting not required. (Setting value is ignored.)
Da.8 Command speed Da.9 Dwell time Da.10 M code
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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9.2.20 Position-speed switching control
In "position-speed switching control" (" Da.2 Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in " Da.6 Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position-speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in " Da.8 Command speed" until the input of a stop command. The two types of position-speed switching control are "Forward run: position/speed" in which the control starts in the forward run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction.
Switching over from position control to speed control
(1) The control is switched over from position control to speed control by executing the external command signal set in "position-speed switching signal".
(2) Besides setting the positioning data, the " Cd.26 Position-speed switching enable flag" must also be turned ON to switch over from position control to speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control. The control will be switched over from position control to speed control when the position-speed switching signal turns from OFF to ON again. Only speed control will be carried out when the " Cd.26 Position-speed switching enable flag" and position-speed switching signal are ON at the operation start.)
Setting item
Cd.26
Positionspeed switching enable flag
Setting value
1
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Set "1: Switch from position control to speed control when the external command signal [CHG] turns ON".
1532
1632
1732
1832
Position-speed switching signal setting
The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals.
Setting item
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2
Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1
Set "1: Validate external command".
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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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
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
ON OFF
ON OFF
Positioning complete signal [X14,X15,X16,X17]
OFF
ON
Position-speed switching signal
OFF ON
Cd.26 Position-speed switching OFF enable flag
Stop command
OFF
ON In speed control flag OFF Md.31 Status: b0
Does not turn ON even when control is stopped by stop command.
ON
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]
Md.26 Axis operation status
Output pulse to external source (PULSE)
Standby
Positioning operation
External position-speed switching command
Position-speed switching latch flag Md.31 Status: b5
Positioning complete signal [X14,X15,X16,X17] M code ON signal [X4,X5,X6,X7] (AFTER mode) Cd. 7 M code OFF request
Position control t4
Speed control
t3 Stopped
Position control
Speed control
Position control carried out until position-speed switching signal turns ON.
Speed control command speed is from the input position of t6 the external position-speed switching signal.
t2
OPR complete flag Md.31 Status: b4
Stop signal [STOP]
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time
Model
t1
t2
t3
t4
t5
QD75P N/QD75D N 0.2 to 1.1ms 0 to 0.9ms 0 to 0.9ms 0.4 to 1.3ms
-
QD75P /QD75D 1.0 to 1.4ms 0 to 1.8ms 0 to 1.8ms 2.7 to 4.4ms
-
t6 1.0ms 1.0ms
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 positionspeed switching control corresponding to the " Pr.21 Current feed value during speed control" settings.
" Pr.21 Current feed value during speed control" setting
Md.20 Current feed value
The current feed value is updated during position control,
0: Do not update current feed value
and the current feed value at the time of switching is maintained as soon as position control is switched to
speed control.
1: Update current feed value
The current feed value is updated during position control and speed control.
2: Zero clear current feed value
The current feed value is updated during positioning control, and the current feed value is cleared (to "0") as soon as position control is switched to speed control.
Speed Position control Speed control
Speed Position control Speed control
Speed Position control Speed control
t
t
t
Updated
Maintained
Updated
Updated
0
(a) Current feed value not updated
(b) Current feed value updated
(c) Current feed value zero cleared
Switching time from position control to speed control
There is 1ms from the time the position-speed switching signal is turned ON to the time the position-speed switching latch flag ( Md.31 Status: b5) turns ON.
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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
Position-speed switching signal
OFF
Cd.25 Position-speed
switching control
0
speed change register
ON
Setting after the position-speed switching signal ON is ignored.
V2
V3
V2 becomes the speed control command speed.
ON
Position-speed switching latch flag
OFF
Md.31 Status: b5
ON
Stop signal
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) The axis error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern".
(2) "Position-speed switching control" cannot be set in " Da.2 Control system"
of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For
example, if the operation pattern of positioning data No. 1 is "continuous path control", "position-speed switching control" cannot be set in positioning data No. 2.) The axis error "Continuous path control not possible" (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out. (3) The software stroke limit range is only checked during speed control if the "1: Update current feed value" is set in " Pr.21 Current feed value during speed
control". The software stroke limit range is not checked when the control unit is set to "degree". (4) The error "Software stroke limit+" or "Software stroke limit-" (error code: 507 or 508) will occur and the operation cannot start if the start point address or end point address for position control exceeds the software stroke limit range. (5) Deceleration stop will be carried out if the position-speed switching signal is not input before the machine is moved by a specified movement amount. When the position-speed switching signal is input during automatic deceleration by positioning control, acceleration is carried out again to the command speed to continue speed control. When the position-speed switching signal is input during deceleration to a stop with the stop signal, the control is switched to the speed control to stop the machine. Restart is carried out by speed control using the restart command. (6) The warning "Speed limit value over" (warning code: 501) will occur and control is continued by " Pr.8 Speed limit value" if a new speed exceeds
" Pr.8 Speed limit value" at the time of change of the command speed.
(7) If the value set in " Da.6 Positioning address/movement amount" is
negative, the error "Outside address range" (error code: 530) will occur.
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Axis 1 Positioning data No. 1
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 Da.1 Operation pattern Da.2 Control system
Setting example
Setting details
Positioning complete
Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous positioning control" and "Continuous path control" cannot be set in "position/speed changeover control".)
Forward run: position/speed
Set position-speed switching control.
Da.3 Da.4 Da.5
Acceleration time No.
Deceleration time No.
Axis to be interpolated
Da.6
Positioning address/ movement amount
1 0 � 10000.0m
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start. Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Setting not required. (Setting value 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
�
Setting not required. (Setting value is ignored.)
Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Da.9 Dwell time Da.10 M code
500ms 10
Set the time the machine dwells after the positioning stop (pulse output stop) by position control to the output of the positioning complete signal. If the machine is stopped by speed control, the setting value will be ignored.
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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9.2.21 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]
OFF
Md.20 Current feed value
50000
0
Current feed value changes to the positioning address designated by the positioning data of the current value changing.
The above chart shows an example when the positioning address is "0".
Restrictions
(1) An axis error "New current value not possible" (error code: 515) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in current value changing.)
(2) "Current value changing" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "current value changing" cannot be set in positioning data No. 2.) An axis error "New current value not possible" (error code: 515) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
(3) An axis error "Outside new current value range" (error code: 514) will occur and the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the value set in " Da.6 Positioning address/movement amount" is outside the setting range (0 to 359.99999 [degree]).
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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 +" or "Software stroke limit �" (error code: 507 or 508) will occur at the positioning start, and the operation will not start.
Positioning data setting examples
The following table shows the setting examples when " current value changing" is set in the positioning data No. 1 of axis 1.
Setting item
Da.1
Operation pattern
Axis 1 positioning data No. 1
Da.2 Da.3 Da.4 Da.5
Da.6
Da.7 Da.8 Da.9
Control system Acceleration time No. Deceleration time No. Axis to be interpolated Positioning address/ movement amount
Arc address
Command speed
Dwell time
Setting example Positioning complete
Current value changing � � �
10000.0 m
� � �
Da.10 M code
10
Refer to Section 5.3 "List of positioning data" for information on the setting details.
Setting details Set "Positioning complete" assuming that the next positioning data will be executed. ("Continuous path control" cannot be set by current value change.)
Set the current value changing.
Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.)
Set the address to which address change is desired. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
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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 +" or "Software stroke limit �" (error code: 507 or 508) will occur if the designated value is outside the software stroke limit range.
(3) The current value cannot be changed during stop commands and while the M code ON signal is ON.
(4) The M code output function is made invalid.
Current value changing procedure
The following shows the procedure for changing the current value to a new value.
1) Write the current value to " Cd. 9 Current value changing"
2) Write "9003" in " Cd. 3 Positioning start No."
3)
Turn ON the positioning start signal.
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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 "5000.0m" 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).)
Cd.3 Cd.9
Setting item Positioning start No. Current value changing
Setting value 9003
50000
Setting details Set the start No. "9003" for the new current value.
Set the new " Md.20 Current feed value".
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
1500 1600 1700 1800
1506 1606 1706 1806 1507 1607 1707 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
PLC READY signal QD75 READY signal Start complete signal
[Y10]
[Y0] [X0] [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 Data No. during positioning execution
50000 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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Example
(3) Add the following sequence program to the control program, and write it to the CPU module.
Current value changing Store new current feed value in D106 and D107
<Pulsate current value changing command> <Write current value changing to the QD75> <Write the current value changing (9003)> <Execute current value changing> <Turn OFF positioning start signal>
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9.2.22 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
Da.1 Operation pattern
Da.2 Control system
Da.3 Acceleration time No.
Da.4 Deceleration time No.
Axis 1 positioning data No. 1
Da.5 Da.6
Axis to be interpolated Positioning address/ movement
amount
Da.7 Arc address
Da.8 Da.9
Command speed
Dwell time
Da.10 M code
Setting example �
NOP instruction � � �
�
� � � �
Setting details Setting not required (Setting value is ignored.)
Set the NOP instruction
Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.)
Setting not required (Setting value is ignored.)
Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.) Setting not required (Setting value is ignored.)
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
<Use example of NOP instruction> 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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9.2.23 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.)
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Axis 1 Positioning data No. 1
(2) 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
Setting details
Da.1 Operation pattern
�
Setting not required. (Setting value is ignored.)
Da.2 Control system
Da.3 Da.4 Da.5 Da.6
Acceleration time No.
Deceleration time No.
Axis to be interpolated
Positioning address/ movement amount
JUMP instruction
�
Set the JUMP instruction. Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
Da.7 Arc address
�
Setting not required. (Setting value is ignored.)
Da.8 Command speed Da.9 Dwell time
Da.10 M code
�
Setting not required. (Setting value is ignored.)
Set the positioning data No. 1 to 600 for the JUMP destination. (The
500
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.
1
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.
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9.2.24 LOOP
Axis 1 Positioning data No. 1
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
Setting details
Da.1 Operation pattern
�
Setting not required. (Setting value is ignored.)
Da.2 Control system
LOOP
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
5
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). <Setting data> � 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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9.2.25 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. 1 2
3 4 5
Operation pattern
Continuous control Positioning complete Continuous path control Continuous control Positioning complete
Control system ABS2 LOOP
ABS2 ABS2 LEND
Conditions
Number of loop cycles: 2
6
Positioning complete
ABS2
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 Da.1 Operation pattern
Setting example
Setting details
�
Setting not required. (Setting value is ignored.)
Da.2 Control system
LEND
Set the LEND.
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
�
Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
�
Setting not required. (Setting value is ignored.)
�
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.
Axis 1 Positioning data No. 8
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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- 14 10.3.7 Repeated start (FOR condition) ..............................................................10- 15 10.3.8 Restrictions when using the NEXT start...................................................10- 16 10.4 Setting the condition data .......................................................................................10- 17 10.4.1 Relation between various controls and the condition data ......................10- 17 10.4.2 Condition data setting examples ..............................................................10- 20 10.5 Multiple axes simultaneous start control................................................................10- 21 10.6 Start program for high-level positioning control .....................................................10- 24 10.6.1 Starting high-level positioning control.......................................................10- 24 10.6.2 Example of a start program for high-level positioning control .................10- 25
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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.
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.
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 12.7.7 "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.
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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 block No.
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
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
Da.14 Parameter
Setting details
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.
Set the "positioning data No." to be executed.
Set the method by which the positioning data set in Da.12 will be started.
Set the conditions by which the start will be executed according to the commands set in Da.13 . (Designate the "condition data No." and "No. of repetitions".)
Condition data
Setting item
Setting details
Designate the "device", "buffer memory storage details", and Da.15 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").
Da.18 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 .
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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.)
Axis 1 block start data
50th point
Setting item
1st point
2nd point
Setting item Setting item
Buffer memory address Buffer memory address
Buffer memory address
26049
b15
b8 b7
b0
Da.11 Shape
Da.12 Start data No.
26000
26001
26099
b15
b8 b7
b0
Da.13Special start instruction
Da.14 Parameter
26050
26051
No.10
Setting item
No.1
No.2
Condition identifier
Setting item Setting item
Buffer memory address Buffer memory address
Condition identifier b15 b12 b11 b8 b7
b0
26110
26100
Axis 1 condition data
Da.16
Condition operator
Da.17 Address
Da.15 Condition target
Blank
Da.18 Parameter 1
Da.19 Parameter 2
Blank
26101
26102 26103 26104 26105 26106 26107 26108 26109
26111
26112 26113 26114 26115 26116 26117 26118 26119
Buffer memory address
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.)
Block No.
7000
10 - 4
Set in the QD75 with a sequence program or GX Configurator-QP.
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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.)
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10.2 High-level positioning control execution procedure
High-level positioning control is carried out using the following procedure.
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 "7000" to "7004" and write the data to the QD75, "7000" to "7004" can be set in " Cd.3 Positioning start No." in STEP 4.
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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 data setting items
Block start (Normal start)
Condition start
Wait start
Simultaneous start
Repeated start
(FOR loop)
Repeated
start (FOR condition)
NEXT start
0 : End Da.11 Shape
1 : Continue
Da.12 Start data No.
1 to 600
Da.13 Special start instruction
0
1
2
3
4
5
6
Da.14 Parameter
�
Condition data No.
No. of Condition repetitions data No.
�
: One of the two setting items must be set. : Set when required : 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.
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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
Da.11 Shape
1st point 2nd point 3rd point 4th point 5th point
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
(2) Positioning data setting example
Axis 1 positioning data No.
Da.1 Operation pattern
1
00: Positioning complete
2
11: Continuous path control
3
01: Continuous positioning control
4
00: Positioning complete
5
11: Continuous path control
6
00: Positioning complete
10
00: Positioning complete
15
00: Positioning complete
1 block 1 block
Da.14 Parameter
� � � � �
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.
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[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 2nd point settings
Operation pattern Positioning data No.
Address(+)
1(00) 2(11)
3(01)
4(00)
Address(-)
1
1
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
Positioning complete signal
OFF
[X14,X15,X16,X17]
Positioning according to the 3rd point settings
1
5(11) 6(00)
Positioning
Positioning
according to the according to the 5th
4th point settings point settings
1
10(00) t
1
1
15(00)
1 Dwell time of corresponding positioning data
Fig. 10.1 Block start control example
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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
Da.11 Shape
1st point 2nd point 3rd point
1: Continue 1: Continue 0: End
Da.12 Start data No.
Da.13
Special start instruction
1
1: Condition start
10
1: Condition start
50
0: Block start
The "condition data Nos." have been set in " Da.14 Parameter".
Da.14 Parameter
1 2 �
(2) Positioning data setting example
Axis 1 positioning data No.
Da.1 Operation pattern
1
01: Continuous positioning control
2
01: Continuous positioning control
3
00: Positioning complete
10
11: Continuous path control
11
11: Continuous path control
12
00: Positioning complete
50
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
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
1st point 2nd point 3rd point
1: Continue 1: Continue 0: End
1
2: Wait start
10
0: Block start
50
0: Block start
The "condition data Nos." have been set in " Da.14 Parameter".
Da.14 Parameter
3 � �
(2) Positioning data setting example
Axis 1 positioning data No.
Da.1 Operation pattern
1
01: Continuous positioning control
2
01: Continuous positioning control
3
00: Positioning complete
10
11: Continuous path control
11
11: Continuous path control
12
00: Positioning complete
50
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 condition judgment set in "condition data No. 3" is performed to "positioning data No. 1" of the axis 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
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
Da.14 Parameter
1st point 0: End
1
3: Simultaneous start
4
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
01: Continuous positioning control
2
01: Continuous positioning control
3
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> Check the axis operation status of axis 2 which is regarded as the
simultaneously started axis. Axis 2 is standing by Go to <2>. Axis 2 is carrying out positioning. An error occurs and simultaneous start will not be carried out.
<2> Simultaneously start the axis 1 "positioning data No. 1" and axis 2 positioning data set in "condition data No. 4".
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[3] Precautions
Positioning data No. executed by simultaneously started axes is set to condition data (" Da.18 Parameter 1"," Da.19 Parameter 2", but the setting value of start axis (the axis which carries out positioning start) should be "0". If the setting value is set to other than "0", the positioning data set in " Da.18 Parameter 1", " Da.19 Parameter 2" is given priority to be executed rather than " Da.12 Start data No.".
(For details, refer to section 5.5 "List of condition data".)
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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
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
1st point 2nd point 3rd point
1: Continue 1: Continue 0: End
1
4: FOR loop
10
0: Block start
50
6: NEXT start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example
Da.14 Parameter
2 � �
Axis 1 positioning data No.
Da.1 Operation pattern
1
01: Continuous positioning control
2
01: Continuous positioning control
3
00: Positioning complete
10
11: Continuous path control
11
00: Positioning complete
50
01: Continuous positioning control
51
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". Conditional judgment is carried out as soon as switching to the point of "6: NEXT start" (before positioning of NEXT start point).
(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
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
1st point 2nd point 3rd point
1: Continue 1: Continue 0: End
1
5: FOR condition
10
0: Block start
50
6: NEXT start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example
Da.14 Parameter
5 � �
Axis 1 positioning data No.
Da.1 Operation pattern
1
01: Continuous positioning control
2
01: Continuous positioning control
3
00: Positioning complete
10
11: Continuous path control
11
00: Positioning complete
50
01: Continuous positioning control
51
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 axis 1 "Positioning data No. 1, 2, 3, 10, 11".
<2> Execute the conditional judgment set in axis 1 "Condition data No.5". 1 Conditions not established Execute "Positioning data No. 50, 51". Go to <1> Conditions established Execute "Positioning data No.50, 51" and complete the positioning.
1: Conditional judgment is carried out as soon as switching to NEXT start point (before positioning of NEXT start point).
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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] [Operating examples with nesting structure]
Start block data 1st point 2nd point 3rd point 4th point 5th point 6th point 7th point 8th point 9th point
Da.13 Special start instruction Normal start FOR Normal start NEXT Normal start Normal start FOR Normal start NEXT
Start block data 1st point 2nd point 3rd point 4th point 5th point 6th point 7th point 8th point 9th point
Da.13 Special start instruction Normal start FOR Normal start FOR Normal start Normal start NEXT Normal start NEXT
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 9.2.23 "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
01: Device X 1
02: Device Y 1
03: Buffer memory (1 word)
04: Buffer memory (2 words)
05: Positioning data No.
Block start
High-level positioning control
Major positioning control
Wait start
Simultaneous Repeated start
start
(For condition)
JUMP instruction
: One of the setting items must be set. : Setting not possible 1: Refers to buffer memories and devices X/Y which belongs to QD75.
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
Setting item
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
01H: Device X 02H: Device Y 03H: Buffer memory
(1 word) 1 04H: Buffer memory
(2 words) 1
05H: Positioning data No.
07H : DEV=ON 08H : DEV=OFF
01H : =P1
02H : P1
03H : P1
04H : P1
05H : P1 P 2
06H : P 1 , P 2
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.)
Buffer memory address
P1 (numeric value)
�
P2 (numeric value) (Set only when Da.16 is
[05H] or [06H].)
Low-order 16 bits
Axis 1 positioning data No. 2
Low-order 16 bits
Axis 3 positioning data No. 2
--
High-order 16 bits
Axis 2 positioning data No. 2
High-order 16 bits
Axis 4 positioning data No. 2
� : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.) : Value s t o r e d in buffer memory designated in Da.17 .
1 : Comparison of and is judged as signed values. Refer to Section 5.5 "List of condition data" for the setting contents.
2 : The setting value of start axis (the axis which executes positioning start) should be "0". If the setting value is set to other than "0", the positioning data set in Da.18 Parameter 1 and Da.19 Parameter 2 is given priority to be executed rather than " Da.12 Start data No.".
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Judgment whether the condition operator is "=" or "=" at the wait start. 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.
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 "XC" (= Axis 1 Busy signal) is OFF
Da.15 Condition target
Da.16
Condition operator
01H: Device X 08H: DEV=OFF
Da.17 Address
�
Da.18 Parameter 1
Da.19 Parameter 2
0CH
�
(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 (2 words)
04H:
P1
Da.17 Address
800
Da.18 Parameter 1
Da.19 Parameter 2
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
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
05H: Positioning 20H: Axis 2
data No.
designation
�
High-order 16 bits "0003H" 1
� 1
1: The setting value of start axis (the axis which executes positioning start) should be "0000H".
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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
Multiple axes simultaneous start control is executed as follows. Set the start data No. to the buffer memory areas " Cd.30 to Cd.33 Simultaneous starting axis start data No. (axis 1 to 4 start data No.)". Set "9004" to " Cd.3 Positioning start No." of the start axis. Turn ON the positioning start signal.
[2] Restrictions
(1) The error "Error before simultaneous start" (error code: 501) will occur and all simultaneously started axes will not start 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) The error "Error before simultaneous start" (error code: 501) will occur and all simultaneously started axes will not start if either of the simultaneously started axes is BUSY.
(3) The error "Error before simultaneous start" (error code: 501) will occur and all simultaneously started axes will not start 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 12.7.7 "Prereading start function".
[3] Multiple axes simultaneous start control procedure
The procedure for multiple axes simultaneous start control is as follows.
Set " Cd.30 to Cd.33 Simultaneous starting 1) axis start data No.".
2) Write [9004] to " Cd.3 Positioning start No.".
3) 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).
Setting item
Cd.3 Cd.30 Cd.31 Cd.32 Cd.33
Positioning start No.
Simultaneous starting axis start data No. (Axis 1 start data No.)
Simultaneous starting axis start data No. (Axis 2 start data No.)
Simultaneous starting axis start data No. (Axis 3 start data No.)
Simultaneous starting axis start data No. (Axis 4 start data No.)
Setting value
Setting details
Buffer memory address
Axis Axis Axis Axis 1 2 3 4
9004
Set the multiple axes simultaneous start control start No. "9004".
1500
1600
1700
1800
1540 1640 1740 1840
1541 1641 1741 1841 Set the simultaneously started axis start data No.
Set a "0" for the axis other than the simultaneously started axes.
1542 1642 1742 1842
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 Cd.30 Cd.31 Cd.32 Cd.33
Positioning start No.
Simultaneous starting axis start data No. (Axis 1 start data No.)
Simultaneous starting axis start data No. (Axis 2 start data No.)
Simultaneous starting axis start data No. (Axis 3 start data No.)
Simultaneous starting axis start data No. (Axis 4 start data No.)
9004
Set the multiple axes simultaneous start control start No. "9004".
100
The axis 1 starts the positioning data No. 100.
Immediately after the start of the axis 1, 200 the axis 2 starts the axis 2 positioning data
No. 200.
0 Will not start simultaneously.
Immediately after the start of the axis 1, 300 the axis 4 starts the axis 4 positioning data
No. 300.
1500 1540 1541 1542 1543
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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.
CPU module
QD75 Buffer memory
1) 7000
2) 1
3)
ON
1500 1501
Input/output signal
Y10
4)
Control by designated positioning data
Drive unit
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.
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.
Setting item
Cd.3
Positioning start No.
Cd.4
Positioning starting point No.
Setting value
Setting details
Buffer memory address
Axis Axis Axis Axis 1 2 3 4
7000
Set "7000" to indicate control using " block start data".
1500
1600
1700
1800
1
Set the point No. of the " block start data" to be started.
1501 1601 1701 1801
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.
Signal name
Signal state
Device
Axis Axis Axis Axis 1 2 3 4
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag Interface signal Axis stop signal
ON
QD75 buffer memory The access is possible.
OFF Axis stop signal is OFF
X1 Y4 Y5 Y6 Y7
Start complete signal OFF Start complete signal is OFF
X10 X11 X12 X13
BUSY signal
OFF BUSY signal is OFF
XC XD XE XF
Error detection signal OFF There is no error
X8 X9 XA XB
M code ON signal
OFF M code ON signal is OFF
X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
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
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13
Special start instruction
1st point 2nd point
1: Continue 0: End
1
0: Block start
10
0: Block start
(2) Positioning data setting example
Axis 1 positioning data No.
Da.1 Operation pattern
1
11: Continuous path control
2
00: Positioning complete
10
11: Continuous path control
11
11: Continuous path control
12
00: Positioning complete
(3) Start time chart
Da.14 Parameter
� �
V Operation pattern Positioning data No.
Positioning start signal
PLC READY signal QD75 READY signal
[Y10] [Y0] [X0]
Start complete signal
[X10]
BUSY signal
[XC]
Positioning complete signal [X14]
Error detection signal
[X8]
Cd.3 Positioning start No. Cd.4 Positioning start point No.
1st point [buffer memory address 26000] 2nd point [buffer memory address 26001]
Dwell time
1(11) 2(00)
10(11)
Dwell time 11(11)12(00)
t
7000 1
-32767 (8001H) 10 (000AH)
Fig. 10.3 Start time chart for high-level positioning control (block start)
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10 HIGH-LEVEL POSITIONING CONTROL
Example
Creating the program
Set the block start data beforehand.
MELSEC-Q
Positioning start command
M104
Y10
X10
PLS M104 <Pulse the positioning start command.>
TO H0 K1500 K7000 K1
<Write the positioning data No. 7000 for block positioning.>
TO H0 K1501 K1
K1 <Write the positioning start point No.>
SET Y10 <Turn ON the positioning start signal.>
Y10: Positioning start signal X10: Start complete signal M104: Positioning start command pulse
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10 - 28
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 CPU module 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
11.2.1 Outline of JOG operation ......................................................................... 11- 4
11.2.2 JOG operation execution procedure ....................................................... 11- 7
11.2.3 Setting the required parameters for JOG operation ............................... 11- 8
11.2.4 Creating start programs for JOG operation..............................................11- 10
11.2.5 JOG operation example............................................................................11- 13
11.3 Inching operation ....................................................................................................11- 16
11.3.1 Outline of inching operation ......................................................................11- 16
11.3.2 Inching operation execution procedure ....................................................11- 19
11.3.3 Setting the required parameters for inching operation ............................11- 20
11.3.4 Creating a program to enable/disable the inching operation...................11- 21
11.3.5 Inching operation example........................................................................11- 24
11.4 Manual pulse generator operation .........................................................................11- 26
11.4.1 Outline of manual pulse generator operation...........................................11- 26
11.4.2 Manual pulse generator operation execution procedure .........................11- 30
11.4.3 Setting the required parameters for manual pulse generator operation .11- 31
11.4.4 Creating a program to enable/disable the manual pulse generator
operation ..................................................................................................11- 32
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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 outputted 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 at 1.8ms. 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 operation is performed as the JOG operation.)
Movement for pulse amount outputted in 1.8ms after the JOG START signal is ON
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.
Output pulses
QD75
M
Pulse input Manual pulse generator
Movement in response to the command pulses
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 1) 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".
4)
The operation stops when the speed becomes "0". At this time, the BUSY signal changes from ON to OFF.
Cd. 17 JOG speed
Acceleration for the acceleration time selected in Pr. 32
Forward JOG run
Deceleration for the deceleration time selected in Pr. 33
1) 2)
3) 4)
Reverse JOG run
ON
PLC READY signal QD75 READY signal
[Y0] OFF
ON [X0] OFF
ON Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Reverse run JOG start signal OFF
[Y9, YB, YD, YF]
ON
BUSY signal[XC, XD, XE, XF] OFF
Fig. 11.4 JOG operation
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Precautions during operation
(1) For safety, first set " Cd.17 JOG speed" to a smaller value and check the movement. Then gradually increase the value.
(2) The axis error "Outside JOG speed range" (error code: 300) will occur and the operation will not start if the "JOG speed" is outside the setting range at the JOG start.
(3) The axis error "JOG speed limit value error" (error code: 956) will occur and the operation will not start 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 the warning "JOG speed limit value" (warning code: 301) will occur in the QD75.
(5) The JOG operation can be continued even if an "Axis warning" has occurred. (6) 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").
Operations when stroke limit error occurs
When the operation is stopped by hardware stroke limit error or software stroke limit error, the JOG operation can execute in an opposite way (direction within normal limits) after an error reset. (An error will occur again if JOG start signal is turned ON in a direction to outside the stroke limit.)
V JOG operation
JOG operation possible
JOG operation not possible
Upper/lower limit signal
ON 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
Md. 26 Axis operation status
Standby
t2 ON
JOG operation t3
t4 Standby
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
Model QD75P N/QD75D N
QD75P /QD75D
t1 1.0 to 3.0ms 1.0 to 3.0ms
t2 0 to 0.9ms 0 to 1.8ms
t3 1.3 to 2.2ms 2.7 to 4.4ms
t4 0 to 0.9ms 0 to 1.8ms
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.
Preparation
STEP 1
Refer to CHAPTER 5 and Section 11.2.3.
)
Set the parameters Pr.1 to Pr.39 )
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)
Create a sequence program in which the "JOG start signal" is turned ON by a JOG operation start command.
One of the following two methods can be used. <Method 1> Directly set (write) the parameters in the QD75 using GX Configurator-QP.
<Method 2> Set (write) the parameters from the CPU module to the QD75 using the sequence program (TO instruction).
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 instruction.)
JOG operation start
STEP 3
Refer to CHAPTER 6.
STEP 4
Write the sequence program to the CPU module.
Write the sequence program created in STEP 1 and STEP 2 to the CPU module using GX Developer.
Turn ON the JOG start signal of the axis to be started.
Turn ON the JOG start signal.
Axis 1 Axis 2 Axis 3 Axis 4 Forward run JOG start signal Y8 YA YC YE Reverse run JOG start signal Y9 YB YD YF
Monitoring of the JOG operation
STEP 5
Monitor the JOG operation status.
One of the following two methods can be used. <Method 1> Monitor using GX Configurator-QP. <Method 2> 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.)
Setting item
Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) Pr.3 Movement amount per rotation (Al) (Unit: pulse) 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)
Setting requirement
Factory-set initial value (setting details)
3 (pulse)
20000
20000
1 (1-fold)
1 (CW/CCW mode)
0 (current value increases by forward run pulse output)
0
200000
Pr.9 Pr.10 Pr.11
Acceleration time 0 (Unit: ms) Deceleration time 0 (Unit: ms) Backlash compensation amount (Unit: pulse)
1000 1000
0
Pr.12 Pr.13 Pr.14
Software stroke limit upper limit value (Unit: pulse) Software stroke limit lower limit value (Unit: pulse) Software stroke limit selection
2147483647 �2147483648 0 (current feed value)
Pr.15 Software stroke limit valid/invalid setting Pr.17 Torque limit setting value (Unit: %)
Pr.23 Output signal logic selection
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.)
Parameters
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
Pr.25 Acceleration time 1 (Unit: ms) Pr.26 Acceleration time 2 (Unit: ms) Pr.27 Acceleration time 3 (Unit: ms) Pr.28 Deceleration time 1 (Unit: ms) Pr.29 Deceleration time 2 (Unit: ms) Pr.30 Deceleration time 3 (Unit: ms) Pr.31 JOG speed limit value (Unit: pulse/s) Pr.32 JOG operation acceleration time selection Pr.33 JOG operation deceleration time selection
Pr.34 Acceleration/deceleration process selection
Pr.35 S-curve ratio (Unit: %) Pr.36 Sudden stop deceleration time (Unit: ms)
Setting requirement
Factory-set initial value (setting details) 1000 1000 1000 1000 1000 1000 20000
0 (acceleration time 0) 0 (deceleration time 0) 0 (trapezoidal acceleration/ deceleration processing)
100 1000
Pr.37 Stop group 1 sudden stop selection Pr.38 Stop group 2 sudden stop selection Pr.39 Stop group 3 sudden stop selection
0 (deceleration stop) 0 (deceleration stop) 0 (deceleration stop)
: Setting always required. : Set according to requirements (Leave set to the initial value when not used.)
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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
Setting details
Buffer memory address
Axis Axis Axis Axis 1 2 3 4
Cd.16
Inching movement amount
0
Set "0".
1517 1617 1717 1817
Cd.17 JOG speed
10000
Set a value equal to or above the " Pr.7 speed at start" and equal to or below the
" Pr.31 JOG speed limit value".
Bias
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.
Signal name
Signal state
Device
Axis Axis Axis Axis 1234
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag Interface signal Axis stop signal
ON
QD75 buffer memory The access is possible.
OFF Axis stop signal is OFF
X1 Y4 Y5 Y6 Y7
Start complete signal OFF Start complete signal is OFF
X10 X11 X12 X13
BUSY signal
OFF QD75 is not operating
XC XD XE XF
Error detection signal OFF There is no error
X8 X9 XA XB
M code ON signal
OFF M code ON signal is OFF
X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
ON Within limit range
�
If the CPU module 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 CPU module executes calculation.
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11 MANUAL CONTROL Start time chart
MELSEC-Q
Forward JOG run
t Reverse JOG run
ON
Forward run JOG start signal [Y8] OFF ON
Reverse run JOG start signal [Y9] OFF ON
PLC READY signal QD75 READY signal
[Y0] OFF
[X0]
ON
OFF
ON
BUSY signal Error detection signal
[XC] OFF OFF
[X8]
Fig. 11.6 JOG operation start time chart
11 - 11
11 MANUAL CONTROL
E-- �xample
Creating the program
No. 10 JOG operation setting program
No.12 JOG operation/inching operation execution program
MELSEC-Q
<Set JOG operation speed (100.00mm/min)> <Set a "0" for inching movement amount> <Write JOG operation speed>
<JOG/inching operation flag ON> <JOG/inching operation termination> <Execute forward JOG/inching operation> <Execute reverse JOG operation>
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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. An error "Stop signal ON at start" (error code 106) will occur if JOG start signal is turned ON 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.
PLC READY signal QD75 READY signal
ON [Y0] OFF
ON [X0] OFF
ON
Forward
run
JOG [Y8,
start signal YA, YC, YE]
OFF
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
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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
t
ON Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON Reverse run JOG start signal OFF
[Y9, YB, YD, YF]
The reverse run JOG start signal is ignored.
Reverse run JOG operation
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
t
ON
Forward run JOG start signal [Y8, YA, YC, YE]
OFF
BUSY signal [XC, XD, XE, XF]
ON 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
t
Md.1 In test mode flag ON
ON
Forward run JOG
start signal
OFF
[Y8, YA, YC, YE]
OFF
Fig. 11.10 Operation when the JOG start signal is turned ON during a test mode
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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 1.8ms 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)
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.
2)
The workpiece is moved by a movement amount set in " amount".
Cd.16
Inching movement
3)
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.
4)
The positioning complete signal is turned from ON to OFF after a time set in " Pr.40 Positioning complete signal output time" has been elapsed.
2)
Forward run inching operation
1) 3)
4)
ON PLC READY signal [Y0]
OFF
ON
QD75 READY signal [X0]
OFF
ON
Forward run JOG start signal
OFF
[Y8,YA,YC,YE]
ON
BUSY signal [XC,XD,XE,XF]
OFF
ON
Positioning complete signal [X14,X15,X16,X17]
OFF
Pr.40 Positioning complete signal output time
Fig. 11.11 Inching operation
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Precautions during operation
(1) Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at 1.8ms. The movement direction of inching operation is reversed and, when backlash compensation is carried out, first pulses corresponding to the backlash amount are output at 1.8ms and then pulses corresponding to the designated inching movement amount are output in the next 1.8ms.) The " Cd.17 JOG speed" is ignored even if it is set. However, the error "Inching movement amount error" (error code: 301) will occur in the following cases: ( 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) 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".
Operations when stroke limit error occurs
When the operation is stopped by hardware stroke limit error or software stroke limit error, the inching operation can be performed in an opposite way (direction within normal limits) after an error reset. (An error will occur again if JOG start signal is turned ON in a direction to outside the stroke limit.)
V
Inching operation
Inching operation possible
Inching operation not possible
Upper/lower limit signal
ON 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]
BUSY signal [XC,XD,XE,XF]
OFF t1
Md.26 Axis operation status
Standby
Pulse output to external source (PULSE)
Positioning operation
Positioning complete signal [X14,X15,X16,X17]
OFF
ON
JOG operation t2
t3 Standby
ON t4
Fig. 11.12 Inching operation timing and processing times
Normal timing times
Model QD75P N/QD75D N
QD75P /QD75D
t1 1.0 to 3.0ms 1.0 to 3.0ms
t2 1.3 to 2.2ms 2.7 to 4.4ms
t3 0 to 0.9ms 0 to 1.8ms
t4
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.
Preparation
STEP 1
Refer to CHAPTER 5 and Section 11.3.3.
)
Set the parameters. Pr.1 to Pr.31 )
STEP 2
Refer to Section 11.3.4.
Set the " Cd.16 inching movement amount". (Control data setting)
Create a sequence program in which the "JOG start signal" is turned ON by an inching operation start command.
STEP 3
Refer to CHAPTER 6.
Inching operation start
STEP 4
Write the sequence program to the CPU module. Turn ON the JOG start signal of the axis to be started.
One of the following two methods can be used. <Method 1> Directly set (write) the parameters in the QD75 using GX Configurator-QP. <Method 2> Set (write) the parameters from the CPU module to the QD75 using the sequence program (TO instruction).
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 instruction.)
Write the sequence program created in STEP 1 and STEP 2 to the CPU module using GX Developer.
Turn ON the JOG start signal.
Axis 1 Axis 2 Axis 3 Axis 4 Forward run JOG start signal Y8 YA YC YE Reverse run JOG start signal Y9 YB YD YF
Monitoring of the inching operation
STEP 5
Monitor the inching operation status.
One of the following two methods can be used. <Method 1> Monitor using GX Configurator-QP. <Method 2> 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.)
Setting item
Setting requirement
Factory-set initial value (setting details)
Pr.1 Unit setting
3 (pulse)
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)
1 (1-fold)
Pr.5 Pulse output mode Pr.6 Rotation direction setting Pr.11 Backlash compensation amount (Unit: pulse)
1 (CW/CCW mode)
0 (current value increases by forward run pulse output)
0
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
0 (current feed value)
Pr.15 Software stroke limit valid/invalid setting
0 (valid)
Pr.17 Torque limit setting value (Unit: %) Pr.23 Output signal logic selection Pr.31 JOG speed limit value (Unit: pulse/s)
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.)
Parameters
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 �m" 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.
Setting item
Setting value
Setting details
Buffer memory address
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.
Cd.16
Inching movement amount
100
(The max. output pulse QD75D N: 4Mpps
1517 1617 1717 1817
QD75D : 1Mpps
QD75P N/QD75P : 200kpps)
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.
Signal name
Signal state
Device
Axis Axis Axis Axis 1 2 3 4
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag
ON
Accessible to QD75 buffer memory
X1
Interface Axis stop signal signal Start complete signal
OFF Axis stop signal is OFF OFF Start complete signal is OFF
Y4 Y5 Y6 Y7 X10 X11 X12 X13
BUSY signal
OFF QD75 is not operating
XC XD XE XF
Positioning complete signal
OFF
Positioning OFF
complete
signal
is
X14 X15 X16 X17
Error detection signal OFF There is no error
X8 X9 XA XB
M code ON signal
OFF M code ON signal is OFF
X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
ON Within limit range
�
If the CPU module 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 CPU module executes calculation.
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Start time chart
MELSEC-Q
Forward signal
run
JOG
start
[Y8]
OFF
Reverse signal
run
JOG
start
[Y9]
OFF
ON
PLC READY signal [Y0] OFF
ON QD75 READY signal [X0]
OFF
BUSY signal
[XC] OFF
OFF Error detection signal [X8]
Positioning complete signal
[X14] OFF
Forward run inching operation
t Reverse run inching operation
ON ON
ON ON
Fig. 11.13 Inching operation start time chart
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11 MANUAL CONTROL
E--�xample
Creating the program
No.11 Inching operation setting program
No.12 JOG operation/inching operation execution program
MELSEC-Q
<Set inching movement amount> <Write inching movement amount> <JOG/inching operation flag ON> <JOG/inching operation termination> <Execute forward JOG/inching operation> <Execute reverse JOG operation>
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11.3.5 Inching operation example
When executing inching operation while stop signal is turned ON:
If the JOG start signal is turned ON while the stop signal is ON, an error "Stop signal ON at start" (error code: 106) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned OFF and then turned ON.
If a JOG start signal is turned OFF and then ON while the axis stop signal is ON, an error "Stop signal ON at start" will occur.
PLC READY signal [Y0]
ON OFF
QD75 READY signal [X0]
ON OFF
Forward run JOG
ON
start signal [Y8,YA,YC,YE]
OFF
ON
Axis stop signal [Y4,Y5,Y6,Y7]
OFF
ON
BUSY signal [XC,XD,XE,XF]
OFF
Fig. 11.14 Operation when executing inching operation while stop signal is ON
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When "JOG start signal" is turned ON when peripheral devices are in the test mode:
If "JOG start 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.
JOG operation not possible because the operation is in the test mode
Inching operation not possible because JOG start signal does not rise
Forward run inching operation executed
t
ON
Md.1 In test
mode flag
ON
Forward run JOG
start signal
OFF
[Y8,YA,YC,YE]
OFF
Fig. 11.15 Operation when JOG start signal is turned ON in test mode
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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 an 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.
2)
The workpiece is moved corresponding to the No. of pulses input from the manual pulse generator.
3)
The workpiece movement stops when no more pulses are input from the manual pulse generator.
4)
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.
Cd. 21 Manual pulse generator enable flag
1) 2) 01
ON BUSY signal [XC, XD, YE, XF] OFF
Manual pulse
generator
operation stops 1t
3)
4)
0
Manual pulse generator input
Start complete signal 2 [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 90ms. 2 The start complete signal does not turn ON in manual pulse generator operation.
Fig. 11.16 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
(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 "Start during operation" (warning code: 100) will occur.
(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. (Note that this excludes when hardware/software stroke limit errors occurs.)
(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- to 4-axis simultaneous operation is possible.)
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Operations when stroke limit error occurs
When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, " Md.26 Axis operation status" will keep the status "Manual pulse generator operation" in that case. 1 After stopping, manual pulse generator input pulses to the outside direction of the limit range are not accepted, but operation can be executed within the range.
1: Only when the current feed value or the current machine feed value overflows or underflows during deceleration, the manual pulse generator operation will terminate as " Md.26 Axis operation status" is changed to "Error". To carry out manual pulse generator operation again, " Cd.21 Manual pulse generator enable flag" must be turned OFF once and turn ON.
V Manual pulse generator operation
Manual pulse generator operation possible
Manual pulse generator operation not possible
Upper/lower limit signal
ON OFF
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 0 1 enable flag (axis control data)
Manual pulse generator input
pulses
t1
0
t3 t4
BUSY signal [XC,XD,XE,XF]
Start complete signal [X10, X11, X12, X13]
The start complete signal does not turn ON in manual pulse generator operation.
Md. 26 Axis operation status Standby
Manual pulse generator operation t2
Standby
Pulse output to external source (PULSE)
Positioning operation
Fig. 11.17 Manual pulse generator operation timing and processing times
Normal timing times
Model
t1
t2
t3
t4
QD75P N/QD75D N
0 to 0.9ms
1.7 to 30.2ms 58.6 to 87.6ms 28.4 to 57.2ms
QD75P /QD75D
0 to 2.6ms
6.2 to 32ms
60.4 to 90ms 28.4 to 57.6ms
Delays may occur in the t1 timing time due to the operation status of other axes.
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Pr.1 Unit setting
Manual pulse generator 1 pulse movement amount
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
mm
inch
degree
pulse
0.1�m
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 [�m] = 200 [Current feed value]
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 �m, 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 Movement amount per pulse =
Pr.2 No. of pulses per rotation
Pr.4 Unit magnification
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.
Preparation
STEP 1
Refer to CHAPTER 5 and Section 11.4.3.
)
Set the parameters Pr.1 to Pr.24 )
One of the following two methods can be used. <Method 1> Directly set (write) the parameters in the QD75 using GX Configurator-QP. <Method 2> Set (write) the parameters from the CPU module to the QD75 using the sequence program (TO instruction).
STEP 2
Refer to Section 11.4.4.
Set " Cd. 20 Manual pulse generator 1 pulse input magnification". (control data setting)
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
Write the sequence program to the CPU module.
Using GX Developer, set the control data and create a sequence program to enable/disable the manual pulse generator operation. (Set the control data in the QD75 buffer memory using the TO instruction.)
Write the sequence program created in STEP 1 and STEP 2 to the CPU module using GX Developer.
Manual pulse generator operation start
STEP 4
Issue a command to enable the manual pulse generator operation, and input the signals from the manual pulse generator.
Write "1" in " Cd.21 Manual pulse generator enable flag", and operate the manual pulse generator.
Monitoring of the manual pulse generator operation
STEP 5
Monitor the manual pulse generator operation.
One of the following two methods can be used. <Method 1> Monitor using GX Configurator-QP. <Method 2> Monitor using GX Developer.
Manual pulse generator operation stop
STEP 6
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.)
Setting item
Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) Pr.3 Movement amount per rotation (Al) (Unit: pulse) 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) Pr.13 Software stroke limit lower limit value (Unit: pulse) 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
Setting requirement
Factory-set initial value (setting details)
3 (pulse)
20000
20000
1 (1-fold)
1 (CW/CCW mode)
0 (current value increases by forward run pulse output)
0
2147483647
�2147483648
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.)
Parameters
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
Setting details
Manual pulse Cd.20 generator 1 pulse
input magnification
Manual pulse Cd.21 generator enable
flag
1 1 (0)
Set the manual pulse generator 1 pulse input magnification.
(QD75P N/QD75D N: 1 to 1000 times QD75P /QD75D : 1 to 100 times)
Set "1: Enable manual pulse generator operation". (Set "0: Disable manual pulse generator operation" when finished with the manual pulse generator operation.)
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1522 1622 1722 1822 1523 1623 1723 1823
1524 1624 1724 1824
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.
Signal name
Signal state
Device
Axis Axis Axis Axis 1 2 3 4
PLC READY signal
ON
CPU module preparation completed
Y0
QD75 READY signal
ON QD75 preparation completed
X0
Synchronization flag Interface signal Axis stop signal
ON
QD75 buffer memory The access is possible.
OFF Axis stop signal is OFF
X1 Y4 Y5 Y6 Y7
Start complete signal OFF Start complete signal is OFF
X10 X11 X12 X13
BUSY signal
OFF QD75 is not operating
XC XD XE XF
Error detection signal OFF There is no error
X8 X9 XA XB
M code ON signal
OFF M code ON signal is OFF
X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed
�
External Stop signal
OFF Stop signal is OFF
�
signal Upper limit (FLS)
ON Within limit range
�
Lower limit (RLS)
ON Within limit range
�
If the CPU module 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 CPU module executes calculation.
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MELSEC-Q
Forward run
t Reverse run
Pulse input A phase Pulse input B phase PLC READY signal
QD75 READY signal Start complete signal BUSY signal
ON [Y0] OFF
ON [X0] OFF
[X10] OFF ON
[XC] OFF
Error detection signal
[X8] OFF
Cd. 21 Manual pulse generator
0
1
0
enable flag
Cd. 20 Manual pulse generator
1
1 pulse input magnification
Fig. 11.18 Manual pulse generator operation start time chart
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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- 12
12.3.1 Backlash compensation function..............................................................12- 12
12.3.2 Electronic gear function ............................................................................12- 14
12.3.3 Near pass function ....................................................................................12- 21
12.3.4 Output timing selection of near pass control............................................12- 23
12.4 Functions to limit the control...................................................................................12- 27
12.4.1 Speed limit function...................................................................................12- 27
12.4.2 Torque limit function..................................................................................12- 29
12.4.3 Software stroke limit function....................................................................12- 33
12.4.4 Hardware stroke limit function ..................................................................12- 39
12
12.5 Functions to change the control details .................................................................12- 41
12.5.1 Speed change function .............................................................................12- 41
12.5.2 Override function.......................................................................................12- 48
12.5.3 Acceleration/deceleration time change function ......................................12- 51
12.5.4 Torque change function ............................................................................12- 56
12.5.5 Target position change function ...............................................................12- 58
12.6 Absolute position restoration function ....................................................................12- 62
12.7 Other functions........................................................................................................12- 73
12.7.1 Step function .............................................................................................12- 73
12.7.2 Skip function..............................................................................................12- 78
12.7.3 M code output function..............................................................................12- 81
12.7.4 Teaching function......................................................................................12- 86
12.7.5 Command in-position function ..................................................................12- 93
12.7.6 Acceleration/deceleration processing function.........................................12- 96
12.7.7 Pre-reading start function..........................................................................12- 99
12.7.8 Deceleration start flag function ................................................................12-104
12.7.9 Stop command processing for deceleration stop function......................12-108
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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
Sub functions specifically for machine OPR
OPR retry function OP shift function
Backlash compensation function
Functions for compensating the control
Electronic gear function Near pass function 1
Output timing selection of near pass control
Speed limit 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. A flexible positioning system that matches the machine system can be structured with this function.
This function suppresses the machine vibration when the positioning data is
switched during continuous path control in the interpolation control.
This function allows the user to select the timing to output the difference (
) between the actual and the set positioning end addresses in continuous
path control, in which the difference ( the next positioning data.
) is output during the execution of
If the command speed exceeds " Pr.8 Speed limit value" during control, this function limits the commanded speed to within the " Pr.8 Speed limit value" setting range.
Functions to Torque limit function 2 limit the control
Software stroke limit function Hardware stroke limit function
Speed change function
Functions to change the control details
Override function
Acceleration/deceleration time change function Torque change function Target position 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 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. (function added to the speed change function and override function) This function changes the "torque limit value" during control. This function changes the target position during the execution of positioning. At the same time, this also can change the speed.
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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.
Sub function
Details
This function restores the absolute position of designated axis. By this
Absolute position restoration function 3 function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started.
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.
Other functions 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" to 1. When using another sub work before ending the control, use this function as a trigger for the sub work.
Acceleration/deceleration This function adjusts the control acceleration/deceleration.
processing function
(acceleration/deceleration time and curve).
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 for deceleration stop function
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.
3 To execute the "absolute position restoration function", the following are required: "16-point input module"; "16-point output module"; and "drive unit capable of configuring an absolute position detection system, which is a Mitsubishi Electric General-Purpose AC Servo having an absolute position detection function (absolute position data transference
protocol) equivalent to that of MR-J3- A".
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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] Control Precautions [3] Setting method
[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/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 OPR speed" in the
direction opposite to the " Pr.44 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 OPR
direction". 6) Machine OPR completion
2)
5)
1)
6)
3)
4)
ON Near-point dog
Limit signal OFF
Zero signal
Fig. 12.1 OPR retry operation by limit signal detection
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(2) OPR retry operation when the workpiece is outside the range between the upper/lower limits.
(a)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
Lower limit
Near-point dog
OP Upper limit
Zero signal
Movement range
(b)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
Lower limit
Near-point dog
Upper limit
Zero signal
Movement range
Note) The above figures in (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/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".)
Machine OPR executed again
B
Pr. 44 OPR direction
OP Machine OPR start
Stop by limit signal detection
A
Stop by near-point dog OFF
Near-point dog
Reverse run operation after limit signal detection
Limit signal OFF
Zero signal
Fig. 12.3 Setting the dwell time during an OPR retry
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[2] Control Precautions
(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 possible 1
Stopper method 2)
: Execution possible 1
Stopper method 3)
: Execution not possible
Count method 1)
: Execution possible
Count method 2)
: Execution possible
1 Starting can be executed from the position of the limit switch installed in the opposition
direction of " Pr.44 OPR direction". (The limit signal is OFF.) However, the retry
operation by the limit switch in the OPR direction cannot be executed since a stopper is installed in the OPR direction.
(2) Always establish upper/lower limit switches at the upper/lower limit positions of the machine, and connect them to the QD75. 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) Do not configure a system 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 method
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
Pr.48 OPR retry
Pr.57
Dwell time during OPR retry
Setting value
Setting details
1 Set "1: Carry out OPR retry by limit switch".
Set the deceleration stop time during OPR retry. (Random value between 0 and 65535 (ms))
Factory-set initial value
0
0
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] Control Precautions [5] Setting method
[1] Control details
The following drawing shows the operation of the OP shift function.
Pr. 46 OPR speed
Pr. 44 OPR direction
Machine OPR start
Speed selected by the " Pr. 56 Speed designation during OP shift" 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 Address decrease direction
Lower limit
Zero signal
Setting range of the positive OP shift amount
Address increase direction
Near-point dog
Pr. 44 OPR direction
Upper limit
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
Machine OPR start Near-point dog
OP
When the " Pr. 53 OP shift amount" is negative
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
Zero point
Pr. 47 Creep speed
When the " Pr. 53 OP shift amount" is positive
Machine OPR start Near-point dog
OP
When the " Pr. 53 OP shift amount" is negative
Zero signal
Fig. 12.7 OP shift operation at the creep speed
[4] Control Precautions
(1) 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 OPR request flag ( Md.31 Status: b3) is reset after completion of the OP shift. (2) " Pr.53 OP shift amount" is not added to " Md.34 Movement amount after near-point dog ON". The movement amount immediately before the OP shift operation, considering near-point dog ON as "0", is stored. For the stopper method (1) 2) 3)), the movement amount is not changed from "0". (3) When using the OP shift function with the stopper method (1) 2) 3)) selected for the OPR method, configure the OP shift operation in the opposite direction of the OPR direction. It cannot shift to the OPR direction due to a mechanical stopper in the OPR direction.
[5] Setting method
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 item
Pr.53 OP shift amount
Speed Pr.56 designation
during OP shift
Setting value
Setting details
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
Factory-set initial value
0
0
Refer to Section 5.2 "List of parameters" for setting details.
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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", "near pass function", and "output timing selection of near pass control". 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] Control Precautions [3] Setting method
[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] Control Precautions
(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. An error "Backlash compensation amount 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.)
Backlash compensation amount 0 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. The backlash compensation function cannot be used for an axis where a stepping motor is connected. Set 0 (initial value) in " Pr.11 Backlash compensation amount".
[3] Setting method
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 item
Backlash Pr.11 compensation
amount
Setting value
Setting details
Set the backlash compensation amount.
Refer to Section 5.2 "List of parameters" for setting details.
Factory-set initial value
0
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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12.3.2 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 four functions. [A] The function converts the command value (speed, movement amount from the start point to the end point), which is set in mm units, to pulse units, and determines the pulse frequency and pulse number of the command pulse.
CPU module, GX Configurator-QP
Command value
QD75
Electronic gear
Command output pulses
Set value in each unit *1. Speed: V Movement amount: L
Speed: Frequency Movement amount: Number
of pulses
Fig. 12.9 Conversion to pulse units 1: Unit specified with " Pr.1 Unit setting" (mm, inch, degree, pulse)
[B] If values less than one pulse are generated by converting the movement amount from the start point to the end point to pulse units, the values are not output and the machine stops at the front side of the positioning direction. The function accumulates values less than one pulse that could not be pulse output in the QD75 and outputs one pulse when the total cumulative value reached one pulse or more.
[C] 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.)
[D] 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 [C].
The details shown below explain about the "electronic gear function", including the method for compensating the error in [D] above, etc.
[1] Movement amount per pulse [2] Error compensation method [3] Control Precautions
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[1] Movement amount per pulse
" Pr.2 No. of pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4 Unit magnification (Am)" are the items for determining how
many rotations (equivalent to how many pulses) a motor should operate to move a machine for movement amount set in a program. The drive unit controls the motor with the pulse number. The following shows the details of control of the QD75.
QD75
CPU module, GX Configurator-QP
Command value
Ap Al Am
Command
pulses *1
Drive unit
Electronic gear
*2
Motor
Lead
Machine
Reduction gear Rotating motor depending on the number of pulses
Worm gear
Fig. 12.10 System using a ball screw 1: The upper limits of the command pulse frequency are as follows � QD75D N : 4Mpulse/s � QD75D : 1Mpulse/s � QD75P N/QD75P : 200kpulse/s 2: For a drive unit without electronic gear function, or when not using electronic gear
function, this value is 1 (single).
Consider a system with the motor connected to a ball screw, such as the figure above. 1 is set to the electronic gear of the drive unit.
The movement amount of the machine is in mm or inch unit. Set the command value in mm or inch units to the QD75 for the CPU module program. The motor is controlled by the drive unit in pulse number units. Consequently, since the command value in mm or inch units is converted to pulse units, set Ap, Al, and Am so that the following relational expressions are satisfied.
Number of pulses per rotation of motor = Ap Movement amount per rotation of motor = Al Am
In this case, the machine movement amount for the command 1 pulse output from the QD75 is calculated by the following expression.
Movement amount per pulse (A) = Al Am Ap
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POINT
The command frequency from the QD75 is limited by a ceiling. If the command frequency exceeds the upper limit, increase the "Movement amount per pulse (A)" greater (N times) to decrease the command frequency. In this case, the electronic gear on the drive unit must be increased by N times as well. The command pulse from the QD75 is changes to 1/N times. Therefore, multiply it by N on the drive unit side to keep the number of motor rotations. Since the "movement amount per pulse (A)" is increased, the position accuracy (command resolution) for the command 1 pulse from the QD75 decreases. Consider to decrease the command speed when the position accuracy is required.
(1) Setting range of Ap, Al, Am
Determined setting ranges are available for Ap, Al, and Am. The following shows the setting ranges.
Setting item Pr.2 No. of pulses per rotation (Ap)
Pr.3 Movement amount per rotation (Al)
Pr.4 Unit magnification (Am)
Setting range
1 to 65535
1 to 65535
10-1 m 10-5inch 10-5degree
pulse
1/10/100/1000
For details of the setting, refer to Section 5.2 "List of parameters". In addition, use the value set in " Pr.3 Movement amount per rotation (Al)"
as movement amount per rotation (Al) to calculate movement amount per pulse (A).
Example: Movement amount per pulse (A) when " Pr.1 Unit setting" is "0: mm"
" Pr.2 No. of pulses per rotation": 20000 " Pr.3 Movement amount per rotation": 40000 " Pr.4 Unit magnification": 1
Movement amount per pulse (A)
=
40000 10-1 20000
1
= 0.2m
If the value is beyond the setting range, setting values of each parameter can be decreased by canceling the numerator and denominator with the movement amount per pulse (A) kept.
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[2] 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".
L' Error compensation amount =
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 = A Error compensation amount
=
Al Ap
Am
L' L
=
Al' Ap'
Am'
(Adjust with Am' so that Al' and Ap' do not exceed the setting range.)
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Calculation example
(Conditions)
Movement amount per pulse No. of pulses per rotation Unit magnification
: 500 (m/rev) : 12000 (pulse/rev) : 1
(Positioning results)
Command movement amount : 100mm
Actual movement amount
: 101mm
(Compensation amount)
AL' AP'
=
5103 12000
101103 101103
=
5050 12000
=
101 240
Movement amount per pulse No. of pulses per rotation Unit magnification
: 101 (m/rev) [Set in Pr.3 ]
: 240 (pulse/rev) [Set in Pr.2 ]
: 1
[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
Pr.2
No. of pulses per rotation
Pr.3
Movement amount per rotation
Pr.4 Unit magnification
Setting value
Setting details
A p ' Set the post-compensation value.
A l ' Set the post-compensation value. A m ' Set the post-compensation value.
Pre-compensation value Ap
Al Am
Refer to Section 5.2 "List of parameters" for setting details.
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[3] Control Precautions
If values less than one pulse are generated by converting the movement amount from the start point to the end point to pulse units with the electronic gear function, the values are not output and the machine stops at the front side of the positioning direction. The function accumulates values less than one pulse that could not be pulse output in the QD75 and outputs one pulse when the total cumulative value reached one pulse or more.
Fig. 12.11 Operation when values less than one pulse are generated
To prevent values less than one pulse from being generated, set the positioning address so that the value, calculated by multiplying the inverse number of movement amount per pulse (A) to the movement amount to the end point, becomes an integer.
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 [m] for the unit
[mm]) (1) When the setting of the movement amount per pulse is decreased, the
command frequency may increase. Be careful when changing the setting.
(2) If the setting of the movement amount per pulse is less than 1, the
mechanical system may oscillate. Be sure to use the movement amount per
pulse among the range indicated below.
Movement amount per pulse (A) >
1 500
If the mechanical system oscillates, also use the electronic gear function of the drive unit and the movement amount per pulse greater.
(3) Set the movement amount per pulse so that the pulse output frequency for the drive unit becomes a value in the following table.
Pulse output frequency for drive unit
QD75P N/QD75P 200kpulse/s or less
QD75D N 4Mpulse/s or less
QD75D 1Mpulse/s or less
If the setting of pulse output frequency for the drive unit exceeds a value in the table, the QD75 may not operate correctly.
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REMARK
In the QD75, the general term for the functions in this section 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] Control Precautions
[1] Control details
The following drawing shows the path of the continuous path control by the 2axis linear interpolation control.
[The path of the near pass]
Da. 6 Positioning address
Path of positioning data No.3 V
Path of positioning data No. 4 Speed dropping does not occur.
t Positioning data No. 3 Positioning data No. 4
Fig. 12.12 The path of the continuous path control
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[2] Control Precautions
(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) The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even the movement direction changes. (See below) For this reason, the output will suddenly reverse when the reference axis movement direction changes. To prevent the sudden output reversal, assign not the continuous path control "11", but the continuous positioning control "01" to the positioning data of the passing point.
[Positioning by interpolation]
[Operation of reference axis]
Partner axis
v
Positioning data No.1
Positioning data No.2
Positioning data No.1
Reference axis Continuous path control
t Positioning data No.1 Positioning data No.2
[Operation of partner axis for interpolation]
v
t
Positioning data No.1 Positioning data No.2
Fig. 12.13 Path and output speed of various axes when movement direction varies during continuous path control
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12.3.4 Output timing selection of near pass control
The function "output timing selection of near pass control" allows the user to select the timing to output the difference ( ) between the actual and the set positioning end addresses in continuous path control, in which the difference ( ) is output during the execution of the next positioning data.
The details shown below explain about the function "output timing selection of near pass control".
[1] Control details [2] Control precautions [3] Setting method
[1] Control details
There are two options for an output timing of near pass control: "At constant speed" and "At deceleration".
� At constant speed: The distance
is output when the next positioning data
is executed in constant speed.
� At deceleration: The distance
is output when the next positioning speed
decelerates from V1 to V2.
When "At constant speed" is selected in a condition where the specified speed of positioning data No.1 and No.2 in the figure 12.14 are "V1 > V2", the distance
is output when the next positioning data is executed in constant speed; therefore, the positioning execution time is extended. When "At deceleration" is selected, the positioning execution time is not extended and remains the same as it was set.
The following drawing shows the operation of the function "output timing selection of near pass control".
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[Acceleration and deceleration as in a setting]
Speed V1
Positioning data No.1
Distance l
Positioning data No.2
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V2
QD75P N/QD75D N: Less than 0.9ms QD75P /QD75D : Less than 1.8ms
T1
Time
[Actual acceleration and deceleration through the near pass function]
Speed V1
Positioning data No.1
Positioning data No.2
Positioning execution time when "At constant speed" is
selected
T21 T1
V2
Distance l
Speed
V1 Positioning execution time when "At deceleration" is
selected
T22=T1
V2'
V2
Positioning data No.1
T21
Time
QD75P N/QD75D N: 0.9ms or more QD75P /QD75D : 1.8ms or more
Positioning data No.2
Distance l
V2': The speed in case a work moves the distance l in 0.9ms (QD75P N/QD75D N) or
1.8ms (QD75P /QD75D )
QD75P N/QD75D N: 0.9ms QD75P /QD75D : 1.8ms
T22
Time
Fig. 12.14 Acceleration and deceleration depending on the output timing selection of near pass control
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[2] Control precautions
When command speed V1 and V2 are in the condition 1) or 2) below, the command output is that of "At constant speed" even though "At deceleration" was selected.
1) When "V1 V2" 2) When "(Speed value converted from distance
)*1 V2 < V1"
1: The height of the grey area in the graph on the bottom right
1) When "V1 V2"
Speed V2
Positioning data No.1
Positioning data No.2
Speed V2
Positioning data No.1
Positioning data No.2
V1
V1
Time QD75P N/QD75D N: Less than 0.9ms QD75P /QD75D : Less than 1.8ms
2) When "(Speed value converted from distance l ) V2 V1"
Speed V1
Positioning data No.1
Positioning data No.2
Speed V1
Positioning data No.1
V2
V2
Time QD75P N/QD75D N: 0.9ms QD75P /QD75D : 1.8ms
Positioning data No.2
Time QD75P N/QD75D N: Less than 0.9ms QD75P /QD75D : Less than 1.8ms
Time QD75P N/QD75D N: 0.9ms
QD75P /QD75D : 1.8ms
Fig. 12.15 Examples of when the command output is that of "At constant speed" even though "At deceleration was selected"
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[3] Setting method
To use the function "output timing selection of near pass control", set the following control data in a sequence program. The set detail is validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
Setting item
Setting value
Setting details
Output timing Cd.43 selection of near
pass control
Select the timing to output the difference ( ) between the actual and the set positioning end addresses in continuous path control, in which the
difference ( ) is output during the execution of the next positioning data.
0: At constant speed
1: At deceleration
Refer to Section 5.7 "List of control data" for setting details.
Buffer memory address
1934
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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] Control precautions [3] Setting method
[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
Speed limit function Speed limit value
OPR control
Machine OPR control Fast OPR control
1-axis linear control
2- to 4-axis linear interpolation control
1-axis fixed-feed control
Position 2- to 4-axis fixed-feed control control (interpolation)
Major positioning control
2-axis circular interpolation control
3-axis helical interpolation control
Pr.8 Speed limit value
1- to 4-axis Speed control
Speed-position switching control, Position-speed switching control
Other control
Current value changing
JUMP instruction, NOP instruction, LOOP to LEND
� Setting value invalid
�
Manual control
JOG operation, Inching operation Manual pulse generator operation
Pr.31 JOG speed limit value
�
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] Control precautions
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. For the other axes which perform interpolation, the speed can be suppressed by the ratio of a command speed.
If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis linear interpolation control, 2- to 4-axis fixed-feed control, 2-axis circular interpolation control, or 3-axis helical interpolation control, the axis exceeding the speed limit value is controlled at the speed limit value. For the other axes performing interpolation, the speed can be suppressed by the ratio of a movement distance.
In 2- to 4-axis linear interpolation control or 2- to 4-axis fixed-feed control, the speed limit value for the interpolation axis may not function under the following condition: "1: Reference axis speed" is set in " Pr.20 Interpolation speed designation method" or " Da.29 Interpolation speed designation method", and the reference axis is the minor axis and the interpolation axis is the major axis.
In 3-axis helical interpolation control, control the composite speed of the circular interpolation axis or the speed of the linear interpolation axis so that the speeds do not exceed " Pr.8 Speed limit value".
[3] Setting method
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 item
Setting value
Setting details
Factory-set initial value
Pr.8 Speed limit value
Set the speed limit value (max. speed during control).
200000
Pr.31
JOG speed limit value
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
Speed limit value".)
20000
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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12.4.2 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 QD75 does not carry out the torque limit of servo motor directly with this function. The torque limit command to servo amplifier is carried out by the D/A converter module.
The details shown below explain about the "torque limit function". [1] System configuration for carrying out the torque limit [2] Relation between the torque limit function and various controls [3] Control details [4] Control precautions [5] Setting method
[1] System configuration for carrying out the torque limit
Carry out the torque limit in the configuration in the figure below. (The following modules are required.) D/A converter module Drive unit capable of torque limit control by analog voltage input
CPU module
QD75
Drive unit
1) Reading data by the FROM instruction
Buffer memory
826 Torque limit stored value
Positioning control
2) Writing data by the TO instruction
D/A converter module 3) Torque limit
1) Read out the " Md.35 Torque limit stored value". 2) Write the value read in 1) into the D/A converter module.
(The value must be converted according to the specifications of D/A converter module.) 3) The drive unit carries out the torque limit according to the voltage input from the D/A converter module.
Fig. 12.16 Torque limit to the drive unit (axis 1)
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POINT
The QD75 monitors the creep speed reach during the OPR control and updates the " Md.35 Torque limit stored value" to the " Pr.54 OPR torque limit value". Monitoring this value prevents the need to monitor the creep speed reach by the program. If all controls of torque limit value are carried out by the program (1) Reading data by the FROM instruction, this function must not be used.
[2] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various controls.
Control type
OPR control
Machine OPR control
Fast OPR control
1-axis linear control
2- to 4-axis linear interpolation control
1-axis fixed-feed control Position 2- to 4-axis fixed-feed control control (interpolation)
Major positioning control
2-axis circular interpolation control
3-axis helical interpolation control
1- to 4-axis Speed control
Speed-position switching control Position-speed switching control
Other control
Current value changing
JUMP instruction, NOP instruction, LOOP to LEND
Manual control
JOG operation, Inching operation Manual pulse generator operation
Torque limit function
� �
Torque limit value Pr.17 Torque limit setting value After the " Pr.47 Creep speed" is reached, this value becomes the " Pr.54 OPR torque limit value".
Pr.17 Torque limit setting value
Setting value is invalid. Pr.17 Torque limit setting value Pr.17 Torque limit setting value
: Set when required � : 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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[3] 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
100%
50%
Cd.22 New torque value
0%
0%
Torque limited at the parameter torque limit setting value (100%)
Torque limited at the parameter torque limit setting value (50%)
Md.35 Torque limit stored value
100%
50%
Fig. 12.17 Torque limit function operation
[4] Control precautions
(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 " Pr.54 OPR shift amount" exceeds " Pr.17 Torque limit setting value", the error "OPR torque limit value error" (error code: 995) will occur.
(3) 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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[5] Setting method
(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 item
Pr.17 Pr.54
Torque limit setting value
OPR torque limit value
Setting value
Setting details
Set the torque limit value as a percentage.
Set the torque limit value after the " Pr.47 Creep speed" is reached. Set as a percentage.
Factory-set initial value
300
300
Refer to Section 5.2 "List of parameters" for setting details.
Monitor item
Md.35
Torque limit stored value
The following table shows the " Md.35 Torque limit stored value" of the buffer memory address.
Monitor 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
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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12.4.3 Software stroke limit function
In the "software stroke limit function" the address established by a machine OPR is used to set the upper/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/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 method [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 (lower limit)
Software stroke limit (upper limit)
Fig. 12.18 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
5000 5000
Stop position
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. 12.19 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
Check details
Processing when an error occurs
An error shall occur if the current value 1 is outside the software
1) stroke limit range 2.
An error "Software stroke limit +" or
(Check " Md.20 Current feed value" or " Md.21 Machine feed value".) "Software stroke
An error shall occur if the command address is outside the software 2) stroke limit range.
limit �" (error code: 507 or 508) will occur.
(Check " Da.6 Positioning address/movement amount".)
1: Check whether the " Md.20 Current feed value" or " Md.21 Machine feed value" is set in " Pr.14 Software stroke limit selection".
2: Moveable 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
Machine OPR control Fast OPR control
1-axis linear control
2- to 4-axis axis linear
interpolation control
1-axis fixed-feed control
Position 2- to 4-axis fixed-feed control
control (interpolation)
2-axis circular interpolation
Major positioning control
control
3-axis helical interpolation control
1- to 4-axis speed control
Speed-position switching control Position-speed switching control
Other
Current value changing
control JUMP instruction, NOP
instruction, LOOP to LEND
JOG operation, Inching operation
Manual control
Manual pulse generator operation
Limit check
Processing at 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
5
software stroke limit range is exceeded. If the address falls out of the software stroke limit range, the operation
can be started only toward the movable range.
: 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 Current feed value during speed 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.
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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
No.10
No.11
No.12
Md. 26 Axis operation status
Position control
Immediate stop at error detection
No.13
Error
No.10 P11
No.11 P11
No.12 P11
No.13 P11
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 method
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 item
Pr.12 Pr.13
Software stroke limit upper limit value
Software stroke limit lower limit value
Pr.14
Software stroke limit selection
Software stroke Pr.15 limit valid/invalid
setting
Setting value
Setting details
Set the upper limit value of the moveable range.
Factory-set initial value
2147483647
Set the lower limit value of the moveable range.
�2147483648
Set whether to use the " Md.20 Current feed value" or 0: Current feed
" Md.21 Machine feed value" as the "current value".
value
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. (Set the value within the setting range.)
Pr.12
Software stroke limit upper limit value
=
Pr.13
Software stroke limit lower limit value
To invalidate only the 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
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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[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� 359.99999�
0�
0�
0�
Fig. 12.20 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 315�
Section A
Section B
Set in a clockwise direction
Upper limit 90�
(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. 12.21 Software stroke limit when the control unit is "degree"
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12.4.4 Hardware stroke limit function
! WARNING
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] Control Precautions [4] When the hardware stroke limit is not used
[1] Control details
The following drawing shows the operation of the hardware stroke limit function.
Mechanical stopper
Lower limit
QD75 control moveable range
Upper limit
Movement direction
Start
Start
Movement direction
Mechanical stopper
Drive unit stroke limit
Deceleration stop at lower limit switch detection
Lower limit switch
Deceleration stop at upper limit switch detection
Upper limit switch
QD75
Drive unit stroke limit
Drive unit
Fig. 12.22 Hardware stroke limit function operation 12 - 39
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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/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. 12.23 Wiring when using the hardware stroke limit
[3] Control Precautions
(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. 12.24 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 change 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] Control precautions [3] Setting the speed change function from the CPU module [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
V2
positioning by V1.
Md. 40 In speed change processing flag
V3 t
Fig. 12.25 Speed change operation 12 - 41
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[2] Control precautions
(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 ).
Positioning control P1
Next control P2
Cd. 14 New speed value Designated speed in P2 Designated speed in P1
Speed change command
[a] When no speed designation (current speed) is provided.
[b] When a speed designation is provided.
Fig. 12.26 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
A
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
Speed change
command
Restarting
Stop command command
Da. 8 Command speed Cd. 14 New speed value
t
Fig. 12.27 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. When " Cd.15 Speed change request" is turned ON, 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]
BUSY signal [XC,XD,XE,XF]
ON OFF
ON OFF
Cd.14 New speed value
0
ON
Cd.15 Speed change request
OFF
1000
Positioning operation
ON
Speed change 0 flag
OFF
Md.31 status: b10
Fig. 12.28 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" exceeds 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 one by one. Therefore, the start timing of speed change is different for each axis. (10) The speed cannot be changed to 0 during the machine OPR. The speed change request 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 CPU module
The following shows the data settings and sequence program example for changing the control speed of axis 1 from the CPU module. (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).)
Setting item
Setting value
Setting details
Cd.14 New speed value
Cd.15
Speed change request
2000 Set the new speed. 1 Set "1: Change the speed".
Buffer memory address Axis Axis Axis Axis
1 2 3 4 1514 1614 1714 1814 1515 1615 1715 1815
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 PLC READY signal
[Y10] [Y0]
QD75 READY signal Start complete signal
[X0] [X10]
BUSY signal
[XC]
Positioning complete signal [X14]
Error detection signal
[X8]
Md. 40 In speed change processing flag
Cd. 14 New speed value
Cd. 15 Speed change request
0
1
0
1
0 2000
0
Fig. 12.29 Time chart for changing the speed from the CPU module
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(3) Add the following sequence program to the control program, and write it to the CPU module.
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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).)
Setting item
Setting value
Setting details
Pr.42
External command function selection
1
Set "1: External speed change request".
Cd.8
External command valid
1
Set "1: Validate the external command".
Cd.14 New speed value 1000000 Set the new speed.
Buffer memory address Axis Axis Axis Axis
1 2 3 4
62 212 362 512
1505 1605 1705 1805
1514 1614 1714 1814 1515 1615 1715 1815
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
Positioning start signal PLC READY signal
[Y10] [Y0]
QD75 READY signal Start complete signal
[X0] [X10]
BUSY signal
[XC]
Positioning complete signal [X14]
Error detection signal
[X8]
External command signal
Pr. 42 External command function selection Md.40 In speed change processing flag Cd. 8 External command valid Cd. 14 New speed value
1
01
0
1
1000000
Dwell time t
0 0
Fig. 12.30 Time chart for changing the speed using an external command signal
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Example
(3) Add the following sequence program to the control program, and write it to the CPU module.
Write 1000000 to D108 and D109.
External command valid signal
[Speed change processing] DTOP H0 K1514 D108 K1 <Write the new speed. >
TOP H0 K62 K1 TOP H0 K1505 K1
K1 <Set the external command function selection to external speed change request. >
K1 <Set the external command signal input to valid.>
Input the external command signal.
(QD75 starts speed change processing.)
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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".
[1] Control details [2] Control precautions [3] Setting method
[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 100% or less, the warning "Less than minimum speed" (warning code: 110) is generated, and control will be carried out at speed unit "1" at the time "Feedrate" becomes a value of "1" or less.
4) If there is not enough remaining distance to change the speed by the "override function" during the "position control" or position control by the "speed-position switching control" or "position-speed switching control", the operation will be carried out at the possible speed for the distance.
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 In speed limit flag" will turn ON.
Da. 8 Command speed 50
Cd. 13 Positioning operation
speed override
100 1
50
Md. 22 Feedrate
50
1
25
V
150
100
200
75
50
75
Not affected by the override value during deceleration
Not enough remaining distance could be secured, so operation is carried out
at an increased speed.
t
Fig. 12.31 Override function operation
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[2] Control precautions
(1) When changing the speed by the "override function" 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 by the "override function" 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 by the "override function" during interpolation
control, the required speed is set in the reference axis. (4) When carrying out consecutive speed changes by the "override function", 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.) (5) When a machine OPR is performed, the speed change by the "override function" cannot be carried out after a deceleration start to the creep speed following the detection of near-point dog ON. In this case, a request for speed change is ignored. (6) When deceleration is started by the override function, the deceleration start flag does not turn ON.
[3] Setting method
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).)
Setting item
Positioning Cd.13 operation speed
override
Setting value
Setting details
200 Set the new speed as a percentage (%).
Buffer memory address 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.
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(2) The following shows a time chart for changing the speed using the override function.
V Dwell time
t
Positioning start signal PLC READY signal
[Y10] [Y0]
QD75 READY signal Start complete signal BUSY signal
[X0] [X10] [XC]
Positioning complete signal [X14]
Error detection signal
[X8]
Cd. 13 Positioning operation
200
speed override
Fig. 12.32 Time chart for changing the speed using the override function
(3) Add the following sequence program to the control program, and write it to the CPU module.
Example
No.15 Override program
<Pulsate override command> <Set override value (200%)> <Write override value>
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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 by the "speed change function" and "override 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] Control precautions [3] Setting method
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[1] Control details
After setting the following two items, carry out the speed change to change the acceleration/deceleration time during the speed change. Set change value of the acceleration/deceleration time (" Cd.10 New
acceleration time value", " Cd.11 New deceleration time value") Setting acceleration/deceleration time change to enable
(" Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection") 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
t
time change during speed change, enable/
Disabled
disable selection
[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. 12.33 Operation during an acceleration/deceleration time change
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[2] Control precautions
Example
(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.)
V
Speed change
Speed change
Positioning start
New acceleration/deceleration time ( Cd. 10 , Cd. 11 )
t
Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
Disabled
Enabled
Disabled
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Example
(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".
V
Speed change
Speed change
Speed change
New acceleration/deceleration time ( Cd. 10 , Cd. 11 )
Controlled with the acceleration/ deceleration time in the parameter.
t
Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
Disabled
Enabled
Cd.10 New acceleration time value Cd.11 New deceleration time value
0
1000
0
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 method
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 Cd.11
Cd.12
New acceleration time value
New deceleration time value
Acceleration/ deceleration time change during speed change, enable/disable selection
Setting value
Setting details
Set the new acceleration time.
Set the new deceleration time.
1
Set "1: Acceleration/deceleration time change enable".
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
Refer to Section 5.7 "List of control data" for details on the setting details.
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Example
No.16 Acceleration/deceleration time change program
MELSEC-Q
<Pulsate acceleration/deceleration time change command> <Set 2000ms for acceleration time> <Set 0 (not change) for deceleration time> <Acceleration/deceleration time change enable setting> <Write acceleration/deceleration time change enable> <Write acceleration/deceleration time change disable>
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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] Control precautions [3] Setting method
[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
PLC READY signal
[Y0] OFF
Pr.17 Torque limit setting value100%
Cd.22 New torque value
0%
Md.35 Torque limit stored value 100%
t ON
50%
Torque is limited by the torque limit setting value (50%) of the parameters.
25%
Torque is limited by the new torque value (25%) of the axis control data.
0% Ignores the new torque.
50%
25%
25%
Fig. 12.34 Torque change operation
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[2] Control precautions
(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 method
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
Setting value
Setting details
Cd.22 New torque value
Set the new torque limit value.
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1525 1625 1725 1825
Refer to Section 5.7 "List of control data" for details on the setting details.
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12.5.5 Target position change function
The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by turning ON " Cd.29 Target position change request flag".
The following shows the details of the "target position change function". [1] Control details [2] Control precautions [3] Setting method
[1] Control details
The following charts show the details of control of the target position change function.
(a) When the address after change is positioned away from the start point more than the positioning address:
Target position change request Positioning address Address after change
(b) When the speed is changed simultaneously with changing the address:
(c) When the direction of the operation is changed:
Address after change
Positioning address
Target position change request
Fig. 12.35 Target position change operation 12 - 58
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[2] Control precautions
(1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 12.35 (c).)
(2) If a command speed exceeding the speed limit value is set to change the command speed, the warning "Speed limit value over" (warning code: 501) will occur, and the new command speed will be the speed limit value. Also, if the command speed change disables the remaining distance to the target value from being assured, the warning "Insufficient remaining distance" (warning code: 509) will occur.
(3) In the following cases, the target position change request is ignored, and the warning "Target position change not possible" (warning code: 518) will occur. During interpolation control A new target position value (address) is outside the software stroke limit range. The axis is decelerating to a stop by a stop cause. While the positioning data whose operation pattern is continuous path control is executed. When the speed change 0 flag ( Md.31 Status: b10) is ON.
(4) When a command speed is changed, the current speed is also changed. When the next positioning speed uses the current speed in the continuous positioning, the next positioning operation is carried out at the new speed value. When the speed is set with the next positioning data, that speed becomes the current speed and the operation is carried out at the current speed.
(5) When a target position change request is given during automatic deceleration in position control, positioning control to a new position is exercised after the axis has stopped once if the moving direction is reversed. If the moving direction is not reversed, the axis is accelerated to the command speed again and positioned to the new position.
(6) If the constant speed status is regained or the output is reversed by a target position change made while " Md.48 Deceleration start flag" is ON, the deceleration start flag remains ON. (For details, refer to Section 12.7.8.)
(7) Carrying out the target position change to the ABS linear 1 in degrees may carry out the positioning to the new target position after the operation decelerates to stop once, even the movement direction is not is reversed.
POINT
When carrying out the target position change continuously, take an interval of 100ms or longer between the times of the target position changes. Also, take an interval of 100ms or longer when the speed change and override is carried out after changing the target position or the target position change is carried out after the speed change and override.
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[3] Setting method
The following table and chart show the example of a data setting and program used to change the target position of the axis 1 by the command from CPU module, respectively." (In this example, the target position and command speed is changed to "300.0 m" and "10000.00 mm/min".)
(1) The following data is set. (Referring to the starting time chart shown in item (2) below, carry out the setting with the program shown in item (3).)
Setting item
Setting value
Setting details
Cd.27 Cd.28 Cd.29
Target position change value
(new address)
3000 Set the new address.
Target position change value (new 1000000 Set the new speed. speed)
Target position change request flag
1 Set "1: Carry out speed change".
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1534 1634 1734 1834 1535 1635 1735 1835
1536 1636 1736 1836 1537 1637 1737 1837
1538 1638 1738 1838
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) The following shows the time chart for target position change.
V Dwell time
t
Positioning start signal [Y10]
PLC READY signal [Y0]
QD75 READY signal [X0]
Start complete signal [X10]
BUSY signal
[XC]
Positioning complete [X14] signal Error detection signal [X8]
Cd.27
Target position change value (New address)
Cd.28
Target position change value (New speed)
Cd.29
Target position change request flag
3000
1000000
0
1
0
Fig. 12.36 Time chart for target position change from CPU module
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Example
(3) The following program is added to the control program, and written to the CPU module.
No.21 Target position change program
<Pulsate target position change command> <Hold target position change command>
<Set target position change value 300.0 m (address)>
<Set target speed 10000.00mm/min>
<Set target position change request>
<Write speed change> <Turn OFF speed change request memory>
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12.6 Absolute position restoration function
! CAUTION
An absolute position restoration by the positioning function may turn off the servo-on signal (servo off) for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem, provide an electromagnetic brake to lock the motor during 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] Control precautions
[1] Configuration and preparation of absolute position detection system
(1) Configuration The following drawing shows the configuration of the absolute position detection system.
Absolute position holding battery 1)
Power supply
Servo amplifier
3) Detector cable
Control signal connector
Programmable
4)
controller system
QCPU QD75
I/O module
2)
Operation
panel
Servomotor with absolute position detector
Fig. 12.37 Configuration of absolute position detection system
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(2) Preparation Prepare the absolute position detection system taking care of the following.
1) Servo amplifier
Component
2) Servomotor 3) Detector cable
4) Programmable controller system
Details
� Use a Mitsubishi Electric General-Purpose AC Servo
which has an absolute position detection function (absolute position data transference protocol) equivalent to that of MR-J3- A).
� 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).
� As input/output modules, use the "16 point input module"
and "16 point output module".
� Place the 3 points of input signals so that the
is the
same among the input number
0 to
F. The
same for the 3 points of output signals.
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[2] Outline of absolute position detection data communication
As shown in Fig. 12.38 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 programmable controller 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.
Programmable controller system
QCPU
QD75
Current feed value Machine feed value
Pulse train command
Current position change
I/O module
Input
Output
OP data
E2PROM memory
LS0 1X0 Backup at power OFF
Battery
Servo amplifier
Current position
LS detection of number of rotations
1X Detection of position in one rotation
Position control/ speed control
Servomotor
1 pulse/rev cumulative rotation
counter
Super condenser
Counter in one rotation
A.B.Z phase signal
Detector
Fig. 12.38 System block diagram
High-speed serial communication
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Servo amplifier
[3] Absolute position signal transmission procedure
(1) Figure 12.39 shows the outline of the absolute position signal transmission procedure between the servo amplifier and the programmable controller system (CPU module, QD75, I/O module). Refer to the operation manual of the servo amplifier for details on the communication between the servo amplifier and the programmable controller system.
(2) Errors during communication (a) If the system expires during communication, an error "ABS transmission time" (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 15.3 "List of errors" for the remedial method to be taken when an error occurs.
I/O module
CPU module
QD75
<Absolute position detection request>
Servo ON signal ABS transmission mode ABS request
Current position Data transmission data
Transmission data
preparation completed
ABS transmission data bit 0
ABS transmission data bit 1
[Dedicated
instruction] <Current position data>
Z.ABRST1 Z.ABRST2
Md.20 Current feed value
Md.21
Z.ABRST3
Machine feed value
Z.ABRST4
Fig. 12.39 Absolute position signal transmission procedure
Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details of the dedicated instructions.
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<Servo amplifier> MR-J3-A
(3) Connection example The following diagram shows the example of connection between the programmable controller system and the Mitsubishi Electric servo amplifier (MR-J3-A).
<Programmable controller system> QCPU
QD75
ABS transmission data bit 0 22(ABSB0)
ABS transmission data bit 1 23(ABSB1)
ABS transmission data ready 25(ABST)
0(X47) 1(X48) 2(X49)
16 points input module *
Servo ON 15(SON)
ABS transfer mode 17(ABSM) 18(ABSR) ABS request
0(Y50) 1(Y51) 2(Y52)
16 points output module *
*: The X and Y devices can be set arbitrarily with the program.
Details of servo amplifier connector pins The following table shows the pins for setting the "absolute position detection system".
Signal name ABS transfer mode
ABS request
ABS transmission data bit 0
ABS transmission data bit 1
ABS Transmission data ready
Abbreviation ABSM ABSR ABSB0
ABSB1
ABST
Pin No. 17 18 22
23
25
Function and application
While the ABSM is turned ON, the servo amplifier is in the ABS transfer mode, and the CN1-22 � 23 � 25 functions are as shown in this table.
The ABSR is turned ON when ABS data is requested in the ABS transfer mode.
This indicates the lower order bit among 2 bits of ABS data to be transferred from the servo amplifier to the programmable controller system in the ABS transfer mode. The ABSB0 turns ON when this signal occurs.
This indicates the upper order bit among 2 bits of ABS data to be transferred from the servo amplifier to the programmable controller system in the ABS transfer mode. The ABSB1 turns ON when this signal occurs.
This indicates the ABS transmission data preparation completed in the ABS transfer mode. When the preparation is completed, the ABST is turned ON.
When "use in the absolute position detection system" is selected in the parameter No. PA03, the pin 17 is the ABS transfer mode (ABSM), and the pin 18 is the ABS request (ABSR). The signals do not return to the original signal even after the data transfer is completed.
For details on signals of the pin 17 and 18 when the ABS transfer mode is off and I/O interface, refer to the manual of the servo amplifier (MR-J3-A).
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ABRST
The following drawing shows an operation when data is transferred to the servo amplifier.
"ABRST " is executed continuously until "S+4" becomes 0.
Statuses of devices
S+4 (Status) D+0 (Complete device)
0
Values other than 0 (the phase numbers of absolute position restoration) is stored after the process starts.
0
ON for one scan
1) ON BUSY signal OFF
Statuses of the QD75
ON
Positioning complete
signal
OFF
Axis operation status
Analyzing
Standby
I/O signals from/to servo amplifier
Servo ON (SON)
ON OFF
ABS transfer mode (ABSM)
ON OFF
ABS request (ABSR) ON OFF
ABS transmission data ready (ABST)
ON OFF
Transmission (ABS) data
2) *1
ABS transmitting 3) 5)
4) 6)
Lower 2bit
7)
Checksum higher 2bit
1: Approx. 60ms + scan time
Fig. 12.40 Signal state during the absolute position detection
1) The BUSY signal is turned ON and the axis operation status is set to "Analyzing" by the dedicated instruction "ABRST ". At this time, the signal is controlled to turn OFF the servo amplifier. The servo is powered OFF in 60ms + scan time.
2) When the servo is turned ON, the ABS transfer mode is simultaneously turned ON. After receiving the ABS transfer mode, detecting the absolute position and calculating the absolute position, the servo amplifier will turn ON the ABS transmission data ready (ABST) and answer back to QD75 notifying that the send data is ready.
3) After recognizing that the ABS transmission data ready (ABST) turned ON, QD75 turns ON the ABS request (ABSR).
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4) The servo amplifier outputs the ABS lower 2 bits and ABS transmission data ready (ABST) OFF by the ABS request (ABSR).
5) After recognizing that the ABS transmission data ready (ABST) turned OFF (the ABS2bit data is output), QD75 reads the lower 2bits of ABS and turns OFF the ABS request (ABSR).
6) The servo amplifier turns ON the ABS transmission data ready (ABST) and prepares for the next transmission. After that, procedures 3) to 6) are repeated until the data corresponding to 32bits and the checksum corresponding to 6bits are sent.
7) After the sum check, the QD75 turns OFF the ABS transfer mode (ABSM). If the ABS transfer mode (ABSM) is turned OFF during the data transmission, the ABS transfer mode will be interrupted.
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[4] Control precautions
(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: m
OP
-214748364.8
0
214748364.7
Negative pulse outputs
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)
When the electronic gear of the servo amplifier is used, the electronic gear ratio must be considered. The actual range of the number of output pulses is the value of the range of output pulses above multiplied by the inverse number of the electronic gear ratio.
Condition 2. Positioning address
a) The following positioning addresses can be specified on the QD75:
When the unit is mm: -214748364.8 (m) to 214748364.7 (m) 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 (m) OP address: 0.0 (m) Feedback pulses = 8192 (pulse)
(2) Calculate the upper/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 =-26843545.6(m)
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 (m)
(3) The upper/lower limit values of the positioning address calculated are within
the range of Condition 2.
Hence, the positioning range [-26843545.6 (m) to 26843545.5 (m)]
calculated in Condition 1 can be used in the absolute position detection system.
Positioning outside of the range -26843545.6 (m) to 26843545.5 (m)
cannot be used in the absolute position detection system.
Unit: m
OP
-214748364.8
-26843545.6
0
26843545.5
214748364.7
Unusable range in absolute position detection system
Usable range in absolute position detection system
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 (m).
Lower limit value of positioning address (Positioning address) =0.1 (-268435456) + 214740000.0 =187896454.4 (m)
Upper limit value of positioning address (Positioning address) =0.1 268435455+ 214740000.0 =241583545.5 (m)
(2) Since the lower limit value of the positioning address calculated is within the
range of Condition 2, the calculated address 187896454.4 (m) 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 (m) 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 (m) to 214748364.7 (m).
Positioning in excess of 187896454.4 (m) cannot be used in the absolute
position detection system.
-214748364.8
Positioning address specifying range
214748364.7
Unit: m
187896454.4
(OP) 214740000.0
241583545.5
Unusable range in absolute position detection system
Usable range in absolute position detection system Setting disallowed
Example 3.
(1) There are the following conditions to calculate the positioning address: Movement amount per pulse: 0.9 (m) OP address: 0.0 (m) 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 (m)
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) = 0.9 268435455 + 0.0 = 241591909.5 (m)
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(3) Since the upper/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 (-214748364.8(m) to 214748364.7(m)).
Unit: m
OP
-241591910.4 -214748364.8
0
214748364.7 241591909.5
Setting disallowed
Usable range in absolute position detection system
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-on or reset.
0
Unusable in absolute position detection system. Current value cannot be restored properly at power supply on or resetting
0
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/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", "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)" 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] Control precautions [7] Setting method
[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-axis linear interpolation control
Position control
1-axis fixed-feed control
2- to 4-axis fixed-feed control (interpolation)
2-axis circular interpolation control
3-axis helical interpolation control
1- to 4-axis 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 pulse generator operation
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
: Set when required. : Setting 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
Md.26 Axis
operation status
Cd.36 Step start information
Step start results
1 step of positioning stopped normally
Step standby
1: Step continue The next positioning data is executed.
The warnings "Step not possible" (warning code: 511) will occur and the step operation will not be continued if the " Md.26 Axis operation status" is other
than "Step standby" or the step valid flag is OFF when step start information is set.
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[4] Using the step operation
The following shows the procedure for checking positioning data using the step operation.
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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
ON
Positioning start signal [Y10,Y11,Y12,Y13]
OFF ON
BUSY signal
OFF
[XC,XD,XE,XF]
ON
Positioning complete signal OFF
[X14,X15,X16,X17]
V
Positioning Positioning data No.
No.10
No.11
OFF
ON Dwell time
t
Da.1 Operation pattern
11
00
No positioning data No. unit, so operation pattern becomes one step of unit for carrying out automatic deceleration.
Fig. 12.41 Operation during step execution by deceleration unit step (2) The following drawing shows a step operation during a "data No. unit step".
Cd.35 Step valid flag
Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF]
ON
ON OFF
ON OFF
Positioning complete signal OFF [X14,X15,X16,X17]
V
Positioning
Cd.36 Step start information
00H
ON 01H
OFF
Dwell time t
00H
Positioning data No.
No.10
No.11
Da.1 Operation pattern
11
01
Operation pattern becomes one step of positioning data No. unit, regardless of continuous path control (11).
Fig. 12.42 Operation during step execution positioning data No. unit step
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[6] Control precautions
(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 standby". (The step operation will be carried out from the positioning data set in " Cd.3 Positioning start No.".)
[7] Setting method
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
Setting value
Setting details
Set "0: Deceleration unit step" or "1: Data No. unit step".
1 Set "1: Carry out step operation".
Set "1: Step continue", depending on the stop status.
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1544 1644 1744 1844
1545 1645 1745 1845
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] Control precautions [3] Setting the skip function from the CPU module [4] Setting the skip function using an external command signal
[1] Control details
The following drawing shows the skip function operation.
Fig. 12.43 Operation when a skip signal is input during positioning control
[2] Control precautions
(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 control and position-speed switching control.
(7) If the skip signal is turned ON with the M code signal turned ON, the transition to the next data is not carried out until the M code signal is turned OFF.
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[3] Setting the skip function from the CPU module
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 with a command from the CPU module. (1) Set the following data.
(The setting is carried out using the sequence program shown below in section (2)).
Setting item Cd.37 Skip command
Setting value
Setting details
1 Set "1: Skip request".
Buffer memory address 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 CPU module. 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
<Pulsate skip command>
<Save skip command ON> <Write skip command>
<Turn OFF skip command memory>
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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)).
Setting item
Setting value
Setting details
Pr.42
External command function selection
3
Set "3: Skip request".
Cd.8
External command valid
1
Set "1: Validate external command".
Buffer memory address Axis Axis Axis Axis
1 2 3 4
62 212 362 512
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 CPU module.
Example
Skip function selection command
TOP H0
K62 K3 K1
Skip request
<Select skip request>
TOP H0
K1505 K1 K1
External command valid
<Set external command valid>
Input external command signal
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12.7.3 M code output function
The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal (X4, X5, X6, X7) is turned ON during positioning execution, a No. called the M code is stored in " Md.25 Valid M code". These " Md.25 Valid M code" are read from the CPU module, and used to command auxiliary work. M codes can be set for each positioning data. (Set in setting item " Da.10 M code" of the positioning data.) The timing for outputting (storing) the M codes can also be set in the "M code output function".
The details shown below explain about the "M code output function". [1] M code ON signal output timing [2] M code OFF request [3] Control precautions [4] Setting method [5] Reading M codes
[1] M code ON signal output timing
The timing for outputting (storing) the M codes can be set in the "M code output function". (The M code is stored in " Md.25 Valid M code" when the M code ON signal is turned ON.) The following shows the two types of timing for outputting M codes: the "WITH" mode and the "AFTER" mode.
(1) WITH mode
The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning start, and the M code is stored in " Md.25 Valid M code".
ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
M code ON signal
OFF
[X4, X5, X6, X7]
Cd. 7 M code OFF request
0 10
Md. 25 Valid M code
m1
010 m2
V Positioning
Dwell time t
Da. 1 Operation pattern
01
00
m1 and m2 indicate set M codes.
Fig. 12.44 M code ON/OFF timing (WITH mode)
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(2) AFTER mode
The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning completion, and the M code is stored in " Md.25 Valid M code".
ON
Positioning start signal [Y10, Y11, Y12,
Y13]
OFF
ON
BUSY signal [XC, XD, XE, XF] OFF
M code ON
signal [X4, X5, X6, X7]
OFF
Cd. 7 M code OFF request
0
Md. 25 Valid M code
V
Positioning
Da. 1 Operation pattern
01
m1 and m2 indicate set M codes.
ON
10
m1
m2
t 00
Fig. 12.45 M code ON/OFF timing (AFTER mode)
[2] M code OFF request
When the M code ON signal (X4, X5, X6, X7) is ON, it must be turned OFF by the sequence program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in " Cd.7 M code OFF request".
Setting item
Cd.7
M code OFF request
Setting value
Setting details
1 Set "1: Turn OFF the M code ON signal".
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1504 1604 1704 1804
Refer to Section 5.7 "List of control data" for details on the setting details.
The next positioning data will be processed as follows if the M code ON signal is not turned OFF. (The processing differs according to the " Da.1 Operation
pattern".)
Da.1 Operation pattern
Processing
00 01
Independent positioning control (Positioning complete)
Continuous positioning control
The next positioning data will not be executed until the M code ON signal is turned OFF.
11 Continuous path control
The next positioning data will be executed. If the M code is set to the next positioning data, a warning "M code ON signal ON start" (warning code: 503) will occur. (Refer to Fig. 12.46.)
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ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal [XC, XD, XE, XF] OFF
M code ON signal
ON
[X4, X5, X6, X7] OFF
Cd. 7 M code OFF request
010
Md. 25 Valid M code
m1
10 m2 m3
V
Positioning
Da. 1 Operation pattern
11
m1 to m3 indicate set M codes.
t
11
00
Warning occurs at this timing.
Fig. 12.46 Warning due to an M code ON signal during continuous path control
POINT
If the M code output function is not required, set a "0" in setting item " Da.10 M code" of the positioning data.
[3] Control precautions
(1) During interpolation control, the reference axis M code ON signal is turned ON.
(2) The M code ON signal will not turn ON if "0" is set in " Da.10 M code". (The M code will not be output, and the previously output value will be held in " Md.25 Valid M code".)
(3) If the M code ON signal is ON at the positioning start, an error "M code ON signal start" (error code: 536) will occur, and the positioning will not start.
(4) If the PLC READY signal (Y0) is turned OFF, the M code ON signal will turn OFF and "0" will be stored in " Md.25 Valid M code".
(5) If the positioning operation time is short during continuous path control, there will not be enough time to turn OFF the M code ON signal, and a warning "M code ON signal ON" (warning code: 503) may occur. In this case, set a "0" in the " Da.10 M code" of that section's positioning data.
(6) In the AFTER mode during speed control, the M code is not output and the M code ON signal does not turn ON.
(7) If current value changing where "9003" has been set to " Cd.3 Positioning start No." is performed, the M code output function is made invalid.
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[4] Setting method
The following shows the settings to use the "M code output function". (1) To specify the M code ON signal output timing for each positioning data
Use " Da.27 M code ON signal output timing". The following shows the settings to use " Da.27 M code ON signal output timing". Set the M code No. in the positioning data " Da.10 M code". Set the timing to output the M code ON signal [X4, X5, X6, X7] in the
positioning data " Da.27 M code ON signal output timing".
(2) To set the same M code ON signal output timing for all positioning data Setting " Pr.18 M code ON signal output timing" enables batch specification of M code ON signal output timing for each positioning data. Set 0 in " Da.27 M code ON signal output timing" when using " Pr.18 M code ON signal output timing". When a value other than 0 is set, " Da.27 M code ON signal output timing" will be valid. (The setting in " Pr.18 M code ON signal output timing" becomes valid on the rising edge (OFF to ON) of the PLC READY signal [Y0].) The following shows the settings to use " Pr.18 M code ON signal output timing". Set the M code No. in the positioning data " Da.10 M code". Set "0: Use the set value in " Pr.18 M code ON signal output timing"." (initial value) in the positioning data " Da.27 M code ON signal output timing". Set the timing to output the M code ON signal [X4, X5, X6, X7] in the detailed parameter " Pr.18 M code ON signal output timing".
Setting item
Setting value
Setting details
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
Pr.18
M code ON signal output timing
Set the timing to output the M code ON signal.
0: WITH mode 1: AFTER mode
27 177 327 477
Da.27
M code ON signal output timing
Set the M code ON signal output timing for
each positioning data.
2003 + 8003 + 14003 20003
0: Use the set value in " Pr.18 M
N 1 N 1 +N 1 +N 1
code ON signal output timing".
(b0 to (b0 to (b0 to (b0 to
1: WITH mode
b1) b1) b1) b1)
2: AFTER mode
1 N indicates the offset address of each positioning data. N = ((Positioning data No.) - 1) � 10 Refer to Section 5.2 "List of parameters" for the information on detail settings.
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[5] Reading M codes
"M codes" are stored in the following buffer memory when the M code ON signal turns ON.
Monitor item Md.25 Valid M code
Monitor value
Storage details
The M code No. ( Da.10 M code) set in the positioning data is stored.
Buffer memory address Axis Axis Axis Axis
1 2 3 4
808 908 1008 1108
Refer to Section 5.6 "List of monitor data" for information on the storage details.
The following shows a sequence program example for reading the " Md.25 Valid M code" to the CPU module data register (D110). (The read
value is used to command the sub work.) Read M codes not as "rising edge commands", but as "ON execution commands".
Example
M code ON signal
D110: valid M codes
FROM H0
K808 D110 K1
ON execution command
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12.7.4 Teaching function
The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation, and manual pulse generator operation) in the positioning data addresses (" Da.6 Positioning address/movement amount", " Da.7 Arc address").
The details shown below explain about the "teaching function". [1] Control details [2] Control precautions [3] Data used in teaching [4] Teaching procedure [5] Teaching program example
[1] Control details (1) Teaching timing
Teaching is executed using the sequence program when the BUSY signal (XC, XD, XE, XF) is OFF. (During manual control, teaching can be carried out as long as the axis is not BUSY, even when an error or warning has occurred.)
(2) Addresses for which teaching is possible
The addresses for which teaching is possible are "current feed values" ( Md.20 Current feed value) having the OP as a reference. The settings of the "movement amount" used in incremental system positioning cannot be used. In the teaching function, these "current feed values" are set in the " Da.6 Positioning address/movement amount" or " Da.7 Arc address".
Positions aligned by manual control
"Current feed value" A
Positioning data
Da.6 Positioning address/movement amount
"Current feed value" B
Da.7 Arc address
(3) Dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH 3, ZP.TEACH 4, ZP.PFWRT"
When the dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH 3, ZP.TEACH 4, ZP.PFWRT" are used to execute the teaching function, the programming becomes easier. Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.
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[2] Control precautions
(1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, " Md.20 Current feed
value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be
executed by manual control (positions to which the workpiece cannot physically move). (During center point designation circular interpolation control, etc., teaching of " Da.7 Arc address" cannot be carried out if the
center point of the arc is not within the moveable range of the workpiece.) (3) Writing to the flash ROM can be executed up to 100,000 times.
If writing to the flash ROM exceeds 100,000 times, the writing may become impossible (assured value is up to 100,000 times). If the error "Flash ROM write number error" (error code: 805) occurs when writing to the flash ROM has been completed, check whether or not the program is created so as to write continuously to the flash ROM.
[3] Data used in teaching
The following control data is used in teaching.
Setting item
Cd.1
Flash ROM write request
Cd.38
Teaching data selection
Teaching Cd.39 positioning data
No.
Setting value
Setting details
Buffer memory address
Axis Axis Axis Axis 1 2 3 4
1
Write the set details to the flash ROM (backup the changed data).
1900
Sets to which "current feed value" is written. 0: Written to " Da.6 Positioning
address/movement amount".
1: Written to " Da.7 Arc address".
1548 1648 1748 1848
Designates the data to be taught. (Teaching is carried out when the setting value is 1 to 600.)
When teaching has been completed, this data is cleared to zero.
1549 1649 1749 1849
Refer to Section 5.7 "List of control data" for details on the setting details.
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[4] Teaching procedure
The following shows the procedure for a teaching operation. (1) When teaching to the " Da.6 Positioning address/movement amount"
(Teaching example on axis 1)
Start
Perform machine OPR on axis 1
Move the workpiece to the target position using a manual operation.
Set Writes the current feed value to Da.6 Positioning address/ movement amount in teaching data selection.
Set the positioning data No. for which the teaching will be carried out.
Confirm completion of the teaching.
Using a JOG operation, inching operation, or manual pulse generator. Set 0 in buffer memory address [1548]. Set the positioning data No. in buffer memory address [1549]. Confirm 0 in buffer memory address [1549].
NO End teaching?
YES Turn OFF the PLC READY signal [Y0].
Carry out a writing request to the flash ROM.
Confirm completion of writing.
End
Set 1 in buffer memory address [1900]. Confirm 0 in buffer memory address [1900].
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(2) When entering teaching data into " Da.7 Arc address" and then into " Da.6 Positioning address/movement amount" (Teaching example for 2axis circular interpolation control with sub point designation on axes 1 and 2)
Start
Carry out a machine OPR.
Move the workpiece to the circular interpolation sub point using a manual operation. *1
Set Writes the current feed value to Da.7 Arc address in teaching data selection.
Set the positioning data No. for which the teaching will be carried out.
Confirm completion of the teaching.
Teach arc sub point address of axis 2.
Move the workpiece to the circular interpolation end point using a manual operation. *2
Set Writes the current feed value to Da.6 Positioning address/ movement amount by teaching data selection.
Set the positioning data No. for which the teaching will be carried out.
Confirm completion of the teaching.
2)
1)
Using a JOG operation, inching operation, or manual pulse generator. Teaching arc sub point address on axis 1
Set 1 in the buffer memory address [1548].
Set the positioning data No. in buffer memory address [1549]. Confirm 0 in buffer memory address [1549].
Entering teaching data to buffer memory address [1648] and [1649], in the same fashion as for axis 1.
Using a JOG operation, inching operation, or manual pulse generator. Teaching arc end point address on axis 1
Set 0 in buffer memory address [1548].
Set the positioning data No. in buffer memory address [1549].
Confirm 0 in buffer memory address [1549].
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2)
1)
Teaching arc end point address on axis 2.
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Entering teaching data to buffer memory address [1648] and [1649], in the same fashion as for axis 1.
End teaching?
Turn OFF the PLC READY signal [Y0].
Carry out a writing request to the flash ROM.
Confirm completion of writing.
End
[Motion path]
(Axis 2) Forward direction
*1 Sub point address (arc address)
Set 1 in buffer memory address [1900]. Confirm 0 in buffer memory address [1900].
Movement by circular interpolation
*2 End point address (positioning address)
Reverse direction
Start point address (current stop position)
OP Reverse direction
Arc center point Forward direction (Axis 1)
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Example
[5] Teaching program example
The following shows a sequence program example for setting (writing) the positioning data obtained with the teaching function to the QD75.
(1) Setting conditions
When setting the current feed value as the positioning address, write it when the BUSY signal is OFF.
(2) Program example
The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction "ZP.TEACH 1". 1) Move the workpiece to the target position using a JOG operation (or an inching operation, a manual pulse generator operation).
v Target position
t
Forward run JOG
[Y8]
start signal
PLC READY signal [Y0]
QD75 READY signal [X0]
BUSY signal
[XC]
Error detection signal [X8]
Md.20 Current feed value
n1
nx
n2
Teaching is possible
Teaching is impossible
Teaching is possible
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2) Carry out the teaching operation with the following program. Example
No.19 Teaching program Position to the target position with manual operation.
<Pulsate teaching command>
<Hold teaching command> <Set teaching data> <Set positioning data No.> <Execute teaching>
<Turn OFF teaching command memory>
POINT
(1) Confirm the teaching function and teaching procedure before setting the positioning data. (2) The positioning addresses that are written are absolute address (ABS) values. (3) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the QD75 flash ROM.
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12.7.5 Command in-position function
The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and set a flag to 1. This flag is called the "command in-position flag". The command in-position flag is used as a frontloading signal indicating beforehand the completion of the position control.
The details shown below explain about the "command in-position function". [1] Control details [2] Control precautions [3] Setting method [4] Confirming the command in-position flag
[1] Control details
The following shows control details of the command in-position function. (1) When the remaining distance to the stop position during the automatic
deceleration of positioning control becomes equal to or less than the value set in " Pr.16 Command in-position width", "1" is stored in the command in-position flag ( Md.31 Status: b2).
(Command in-position width check) Remaining distance " Pr.16 Command in-position width" setting value
V
Positioning ON
Command in-position flag OFF [ Md.31 Status : b2]
t
Command in-position width setting value
Fig. 12.47 Command in-position operation
(2) A command in-position width check is carried out every 0.9ms (QD75P N/QD75D N) or 1.8ms (QD75P /QD75D ).
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[2] Control precautions
(1) A command in-position width check will not be carried out in the following cases. During speed control During speed control in speed-position switching control During speed control in position-speed switching control
V
Positioning control start
Command in-position
width setting value
Speed to position switching
Speed-position
switching
Command in-position
control start
width setting value
Command in-position flag
ON
[ Md. 31 Status: b2] OFF
Execution of the command in-position width check
t Execution of the command in-position width check
Fig. 12.48 Command in-position width check
(2) The command in-position flag will be turned OFF in the following cases. ("0" will be stored in " Md.31 Status: b2".) At the positioning control start At the speed control start At the speed-position switching control, position-speed switching control start At the OPR control start At the JOG operation start At the inching operation start When the manual pulse generator operation is enabled.
(3) The " Pr.16 Command in-position width" and command in-position flag ( Md.31 Status: b2) of the reference axis are used during interpolation control. When the " Pr.20 Interpolation speed designation method" is
"Composite speed", the command in-position width check is carried out in the remaining distance on the composite axis (line/arc connecting the start point address and end point address).
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[3] Setting method
To use the "command in-position function", set the required value 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 item
Pr.16
Command inposition width
Setting value
Setting details
Turn ON the command in-position flag, and set the remaining distance to the stop position of the position control.
Factory-set initial value
100
Refer to Section 5.2 "List of parameters" for setting details.
[4] Confirming the command in-position flag
The "command in-position flag" is stored in the following buffer memory.
Monitor item Md.31 Status
Monitor value
Storage details
The command in-position flag is stored in the "b2" position.
Buffer memory address Axis Axis Axis Axis
1 2 3 4
817 917 1017 1117
Refer to Section 5.6 "List of monitor data" for information on the storage 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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12.7.6 Acceleration/deceleration processing function
The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/deceleration curve suitable for devices. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: Trapezoidal acceleration/deceleration S-curve acceleration/deceleration
The details shown below explain about the "acceleration/deceleration processing function".
[1] "Acceleration/deceleration time 0 to 3" control details and setting [2] "Acceleration/deceleration method setting" control details and setting
[1] "Acceleration/deceleration time 0 to 3" control details and setting
In the QD75, four types each of acceleration time and deceleration time can be set. By using separate acceleration/deceleration times, control can be carried out with different acceleration/deceleration times for positioning control, JOG operation, OPR, etc. Set the required values for the acceleration/deceleration time in the parameters shown in the following table, and write them to the QD75. The set details are validated when written to the QD75.
Setting item
Setting value
Setting details
Pr.9 Acceleration time 0
Pr.25 Acceleration time 1 Pr.26 Acceleration time 2
Set the acceleration time at a value within the range of 1 to 8388608ms.
Pr.27 Acceleration time 3
Pr.10 Deceleration time 0
Pr.28 Deceleration time 1 Pr.29 Deceleration time 2
Set the deceleration time at a value within the range of 1 to 8388608ms.
Pr.30 Deceleration time 3
Factory-set initial value
1000 1000 1000 1000 1000 1000 1000 1000
Refer to Section 5.2 "List of parameters" for setting details.
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[2] "Acceleration/deceleration method setting" control details and setting
In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration (except for inching operation and manual pulse generator operation). The two types of "acceleration/deceleration method setting" are shown below.
(1) Trapezoidal acceleration/deceleration processing method
This is a method in which linear acceleration/deceleration is carried out based on the acceleration time, deceleration time, and speed limit value set by the user.
Velocity
Time
Fig. 12.49 Trapezoidal acceleration/deceleration processing method
(2) S-curve acceleration/deceleration processing method
In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and " Pr.35 S-curve ratio" (1 to 100%) set by the user. When the stepping motor is used, the acceleration around the inflection point on the s shape is faster compared with the trapezoidal acceleration/deceleration. This may cause step-out. 1 In this case, adjust the acceleration/deceleration time to decrease the acceleration around the inflection point, or use a servo motor.
1: When comparing the trapezoidal acceleration/deceleration and S-curve acceleration/deceleration processing method in the same acceleration/deceleration time.
Velocity
Time
Fig. 12.50 S-curve acceleration/deceleration processing method
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When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at the start of a speed change request or an override request.
When speed change request is not given
Speed change (acceleration) Command speed before speed change
Speed change request
Speed change (deceleration)
Fig. 12.51 Speed change during S-curve acceleration/deceleration processing
Set the required values for the "acceleration/deceleration method setting" in the parameters shown in the following table, and write them to the QD75. The set details are validated when written to the QD75.
Setting item
Acceleration/ Pr.34 deceleration
process selection
Pr.35 S-curve ratio
Setting value
Setting details
Set the acceleration/deceleration method. 0: Trapezoidal acceleration/deceleration processing 1: S-curve acceleration/deceleration processing
Set the acceleration/deceleration curve when "1" is set in " Pr.34 Acceleration/deceleration processing selection".
Factory-set initial value
0
100
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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12.7.7 Pre-reading start function
The "pre-reading start function" does not output pulses while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts outputting pulses within 1.3ms (QD75P N/QD75D N) or 3ms (QD75P /QD75D ) after OFF of the execution prohibition flag is detected. The positioning start request is given when the axis is in a standby status, and the execution prohibition flag is turned OFF at the axis operating timing. This shortens the virtual start time. The QD75 normally takes 1.5 to 2.0ms (QD75P N/QD75D N) or 6 to 7ms (QD75P /QD75D ) from when it receives a positioning start request until it starts pulse output (start time). Some systems often need the start time to be shortened. This "pre-reading start function" can improve the tact time of the system.
The "pre-reading start function" will be explained below. [1] Control details [2] Control precautions [3] Program examples
[1] Control details
The pre-reading start function is performed by turning ON the positioning start signal [Y10, Y11, Y12, Y13] with the execution prohibition flag [Y14, Y15, Y16, Y17] ON, or by executing the dedicated instruction (ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4). However, if positioning is started with the execution prohibition flag ON, the positioning data is analyzed but pulse output is not provided. While the execution prohibition flag is ON, " Md.26 Axis operation status" remains unchanged from "5: Analyzing". Pulse output starts within 1.3ms (QD75P N/QD75D N) or 3ms (QD75P /QD75D ) after the execution prohibition flag [Y14, Y15, Y16, Y17] has turned OFF, and " Md.26 Axis operation status" changes to the status (e.g. "Position control", "Speed control") that matches the control system. (Refer to Fig. 12.52)
V
Positioning start ON signal
[Y10,Y11,Y12,Y13]
Execution
prohibition flag
OFF
[Y14,Y15,Y16,Y17]
BUSY signal
ON
[XC,XD,XE,XF]
t Start time
OFF ON
OFF
ON
Positioning data analysis
Positioning start timing Ta
OFF
1.3ms or less (QD75P N/QD75D N) or 3ms or less(QD75P /QD75D )
ON
Execution prohibition flag OFF waiting
Md.26 Axis operation Position control status
Standby
Analyzing
Position control
Fig. 12.52 Operations of pre-reading start function
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The pre-reading start function is effective for the system as shown below.
Cutter
Cutter shaft Feed shaft
Stock
Fig. 12.53 System example using pre-reading start function
Fig. 12.53 shows a system example which repeats: 1) Feeding a stock with a feed shaft; and 2) Cutting it with a cutter
to cut the stock to fixed size. The operations of the feed shaft and cutter shaft are represented as shown in Fig. 12.54.
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V
MELSEC-Q
Feed shaft
Start time Ts
t
Stop time Tw
Start time Ts
Cutter shaft
Start
t
time
Ts
Feed shaft start request
Cutter shaft start request
1
2
Fig. 12.54 Operation timings of system example
The cutter shaft starts from the moment the feed shaft has completed feeding the stock " 1 ", and the feed shaft starts from the moment the cutter shaft has returned to the standby position " 2 ". Actually, however, there is a delay of start time Ts (1.5 to 2.0ms (QD75P N/QD75D N) or 6 to 7ms (QD75P /QD75D )) from when the QD75 receives a start request until it outputs pulses. The system's tact time can be reduced by the shortening of this delay with the Pre-reading start function. In Fig. 12.54, the feed shaft stands by during the stop time Tw. Hence, pre-reading of the next data starts during the stop time Tw. If Tw is a certain period of time, the analysis of the next data is completed during that period, and the system is placed in an execution prohibition flag OFF waiting status. Therefore, replacing the positioning start timing at 2 with the execution prohibition flag OFF allows the time from when the axis operation request turns ON until pulse output starts to be reduced to within 1.3ms (QD75P N/QD75D N) or 3ms (QD75P /QD75D ) in the sequence program. (Refer to Fig. 12.52.)
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[2] Control precautions
(1) The time required to analyze the positioning data is up to 7ms. (2) After positioning data analysis, the system is put in an execution prohibition
flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal. (3) The pre-reading start function is invalid if the execution prohibition flag is turned OFF between when the positioning start signal has turned ON and when positioning data analysis is completed (Ta<start time, Ta: Refer to Fig. 12.52). (4) The data No. which can be executed positioning start using " Cd.3 Positioning start No." with the pre-reading start function are No. 1 to 600 only. Performing the pre-reading start function at the setting of No. 7000 to 7004 or 9001 to 9004 will result in an error "Outside start No. range" (error code: 543). (5) Always turn ON the execution prohibition flag at the same time or before turning ON the positioning start signal. Pre-reading may not be started if the execution prohibition flag is turned ON during Ta after the positioning start signal is turned ON. The pre-reading start function is invalid if the execution prohibition flag is turned ON after positioning start (pulse output) with the execution prohibition flag OFF. (It is made valid at the next positioning start.)
[3] Program examples
Pre-reading start function (when positioning start signal Y10 is used)
<Pre-reading start command pulse>
<Sets 1 to positioning start No.>
<Turns ON execution prohibition flag>
<Turns ON positioning start signal>
<Turns OFF execution prohibition flag>
<Turns OFF positioning start signal>
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Pre-reading start function (when dedicated instruction PSTRT1 is used)
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<Turns ON execution prohibition flag> <Sets 1 to positioning start No.> <Executes positioning start> <Turns OFF execution prohibition flag> <Normal termination of positioning> <Sets error code> <Abnormal termination of positioning>
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12.7.8 Deceleration start flag function
The "deceleration start flag function" 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". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc. for the next position control.
For the "deceleration start flag function", the following will be explained. [1] Control details [2] Control precautions [3] Setting method [4] Checking of deceleration start flag
[1] Control details
When deceleration for a stop is started in the position control whose operation pattern is "Positioning complete", "1" is stored into " Md.48 Deceleration start flag". When the next operation start is made or the manual pulse generator operation enable status is gained, "0" is stored. (Refer to Fig. 12.55.)
(1) Start made with positioning data No. specified
Fig. 12.55 Operation of deceleration start flag
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(2) Block start At a block start, this function is valid for only the position control whose operation pattern is "Positioning complete" at the point whose shape has been set to "End". (Refer to Fig. 12.56.)
The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data.
Block start data
Da.11 Shape
1st point 2nd point 3rd point
1: Continue 1: Continue 0: End
Da.12 Start data No.
1 3 4
Da.13 Special start instruction
0: Block start 0: Block start 0: Block start
Positioning Data No.
1 2 3 4 5
Da.1 Operation pattern
01: Continuous positioning control 00: Positioning complete 00: Positioning complete 11: Continuous path control 00: Positioning complete
V
Operation pattern
1st point: Continue (1)
2nd point: Continue (1)
3rd point: End (0)
Continuous positioning control (01)
Positioning complete (00) Positioning complete (00)
Positioning complete (00)
Continuous path control (11)
Md.48 Deceleration start flag 0
Positioning data No. 1
Positioning data No. 2
Positioning data No. 3
Positioning data No. 4
Positioning data No. 5
t
1
Fig. 12.56 Operation of deceleration start flag at block start
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[2] Control precautions
(1) The deceleration start flag function is valid for the control system of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". (In the case of linear interpolation control, the function is valid for only the reference axis.) Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions".
(2) The deceleration start flag does not turn ON when the operation pattern is "continuous positioning control" or "continuous path control".
(3) The deceleration start flag function is invalid for an OPR, JOG operation, inching operation, manual pulse generator operation, and deceleration made with a stop signal.
(4) The deceleration start flag does not turn ON when a speed change or override is used to make deceleration.
(5) If a target position change is made while the deceleration start flag is ON, the deceleration start flag remains ON.
(6) When the movement direction is reversed by a target position change, the deceleration start flag turns ON.
Operation pattern: Positioning complete (00)
Execution of target position change request
Time
Md.48 Deceleration start flag 0
1
(7) During position control of position-speed switching control, the deceleration start flag is turned ON by automatic deceleration. The deceleration start flag remains ON if position control is switched to speed control by the position-speed switching signal after the deceleration start flag has turned ON.
(8) If the condition start of a block start is not made since the condition is not satisfied, the deceleration start flag turns ON when the shape is "End".
(9) When a continuous operation interrupt request is issued, the deceleration start flag turns ON at a start of deceleration in the positioning data being executed.
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[3] Setting method
To use the "deceleration start flag function", set "1" to the following control data using a sequence program. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0].
Setting item
Setting value
Setting details
Buffer memory address
Cd.41
Deceleration start flag valid
Set whether the deceleration start flag function is made valid or invalid.
0: Deceleration start flag invalid
1: Deceleration start flag valid
Refer to Section 5.7 "List of control data" for details on the setting details.
1905
[4] Checking of deceleration start flag
The "deceleration start flag" is stored into the following buffer memory addresses.
Monitor item
Monitor value
Storage details
Md.48
Deceleration start flag
0: Status other than below
1: Status from deceleration start to next operation start
Buffer memory address Axis Axis Axis Axis
1 2 3 4
899 999 1099 1199
Refer to Section 5.6 "List of monitor data" for information on the storage details.
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12.7.9 Stop command processing for deceleration stop function
The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both trapezoidal and S-curve acceleration/deceleration processing methods. (For the stop cause, refer to Section 1.2.3 Outline of stopping.)
The "stop command processing for deceleration stop function" performs the following two operations:
(1) Deceleration curve re-processing
Re-processes a deceleration curve starting from the speed at stop cause occurrence to stop, according to the preset deceleration time.
(2) Deceleration curve continuation
Continues the current deceleration curve after a stop cause has occurred.
This section explains the "stop command processing for deceleration stop function" as follows:
[1] Control details [2] Control precautions [3] Setting method
[1] Control details
The operation of "stop command processing for deceleration stop function" is explained below.
(1) Deceleration curve re-processing
A deceleration curve is re-processed starting from the speed at stop cause occurrence to stop, according to the preset deceleration time. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing stops as soon as the target has reached the positioning address specified in the positioning data that is currently executed.
Deceleration curve according
Stop cause
to preset deceleration time
V
occurrence
Immediate stop at the specified positioning address
Deceleration stop processing (automatic
deceleration) start
Deceleration curve when stop cause does not occur
t
Fig. 12.57 Deceleration curve re-processing operation (for position control or S-curve acceleration/deceleration processing)
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(2) Deceleration curve continuation
The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed.
V
Stop cause occurrence
Deceleration stop processing (automatic
deceleration) start
t
Fig. 12.58 Deceleration curve continuation operation (for position control or S-curve acceleration/deceleration processing)
[2] Control precautions
(1) In manual control (JOG operation, inching operation, manual pulse generator operation), the stop command processing for deceleration stop function is invalid.
(2) The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in " Pr.37 Stop group 1 sudden stop selection" to " Pr.39 Stop group 3 sudden stop selection" as the stopping method for stop cause occurrence.
(3) The stop command processing for deceleration stop function is invalid when "1: Sudden stop" is set in " Pr.37 Stop group 1 sudden stop selection" to " Pr.39 Stop group 3 sudden stop selection". (A deceleration curve is reprocessed, according to the " Pr.36 Sudden stop deceleration time" (starting from the speed at stop cause occurrence to a stop)) In the position control (including position control of speed/position changeover control or position/speed changeover control) mode, positioning may stop immediately depending on the stop cause occurrence timing and " Pr.36 Sudden stop deceleration time" setting.
Stop cause occurrence
V
(Sudden stop cause)
Deceleration curve according to sudden stop deceleration time
Deceleration stop processing (automatic
deceleration) start
Deceleration curve when stop cause does not occur
V
Stop cause occurrence
(Sudden stop cause) Deceleration curve
according to sudden
stop deceleration time
Deceleration stop processing (automatic
deceleration) start
Deceleration curve when stop cause does not occur
t (Sudden stop in front of the specified positioning address)
t (Immediate stop at the specified positioning address)
Fig. 12.59 Sudden stop operation (for position control or S-curve acceleration/deceleration processing) 12 - 109
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[3] Setting method
To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC READY signal [Y0] is irrelevant.
Setting item
Setting value
Setting details
Cd.42
Stop command
processing for deceleration stop selection
Set the stop command processing for deceleration stop function.
0: Deceleration curve re-processing
1: Deceleration curve continuation
For details of the setting details, refer to "Section 5.7 Control data list".
Buffer memory address 1907
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CHAPTER 13 COMMON FUNCTIONS
The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the QD75, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
13.1 Outline of common functions................................................................................. 13- 2 13.2 Parameter initialization function ............................................................................ 13- 3 13.3 Execution data backup function ............................................................................ 13- 5 13.4 External I/O signal logic switching function........................................................... 13- 7 13.5 External I/O signal monitor function ...................................................................... 13- 8
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13.1 Outline of common functions
"Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by peripheral devices or using sequence programs.
The following table shows the functions included in the "common functions".
Means
Common function
Details
Sequence program
Peripheral devices
Parameter initialization function
This function returns the
parameter stored in the QD75 buffer memory and flash ROM to the factory-set initial value.
Execution data backup function
This function writes the "execution data", currently being used for control, to the flash ROM.
External I/O signal logic switching function
This function switches I/O signal
logic according to the equipment
connected to the QD75.
For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
This function monitors the
external I/O signal monitor
External I/O signal monitor function
information in the module's detailed information which can be
displayed on the system monitor
of GX Developer .
For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2.
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13.2 Parameter initialization function
The "parameter initialization function" is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set initial values.
The details shown below explain about the "parameter initialization function". [1] Parameter initialization means [2] Control details [3] Control Precautions [4] Parameter initialization method
[1] Parameter initialization means
� Initialization is executed with a sequence program. � Initialization is executed by peripheral device.
Refer to GX Configurator-QP Operating Manual for the execution method by peripheral device.
[2] Control details
The following table shows the setting data initialized by the "parameter initialization function". (The data initialized are "buffer memory" and " flash ROM " setting data.)
Setting data Basic parameters ( Pr.1 to Pr.10 ) Detailed parameters ( Pr.11 to Pr.42 , Pr.70 , Pr.150 ) OPR basic parameters ( Pr.43 to Pr.48 ) OPR detailed parameters ( Pr.49 to Pr.57 ) Positioning data (No.1 to No.600)
Block start data (No.7000 to No.7004)
[3] Control Precautions
(1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal (Y0) is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY [Y0] is ON.
(2) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible, and the error "Flash ROM write error" (error code: 801) will occur.
(3) A "CPU module reset" or "CPU module power restart" must be carried out after the parameters are initialized.
(4) If an error occurs on the parameter set in the QD75 when the PLC READY signal [Y0] is turned ON, the QD75 READY signal [X0] will not be turned ON and the control cannot be carried out.
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Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes required.) Do not turn the power ON/OFF; reset the CPU module, etc., during parameter initialization. If the power is turned OFF or the CPU module is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
[4] Parameter initialization method
(1) Parameter initialization is carried out using the dedicated instruction "ZP.PINIT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.)
(2) Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO instruction /intelligent function device. The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory.
Setting item
Setting value
Setting details
Cd.2
Parameter initialization request
1
Set "1" (parameter initialization request).
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1901
Refer to Section 5.7 "List of control data" for details on the setting details.
When the initialization is complete, "0" will be set in " Cd.2 Parameter initialization request" by the QD75 automatically.
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13.3 Execution data backup function
When the QD75 buffer memory data is rewritten from the CPU module, "the data backed up in the QD75 flash ROM" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the programmable controller power is turned OFF. (Refer to CHAPTER 7 "MEMORY CONFIGURATION AND DATA PROCESS") In cases like these, the "execution data backup function" backs up the data being executed by writing it to the flash ROM. The data that was backed up is then written to the buffer memory when the power is turned ON next.
The details shown below explain about the "execution data backup function". [1] Execution data backup means [2] Control details [3] Control Precautions [4] Execution data backup method
[1] Execution data backup (written to flash ROM) means
� The backup is executed with a sequence program. � The backup is executed by peripheral device.
Refer to GX Configurator-QP Operating Manual for execution data backup method by peripheral device.
[2] Control details
The following shows the data that can be written to the flash ROM using the
"execution data backup function".
Buffer memory
Flash ROM
Parameters ( Pr.1 to Pr.57 , Pr.70 , Pr.150 )
Parameters ( Pr.1 to Pr.57 , Pr.70 , Pr.150 )
Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004)
Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004)
[3] Control Precautions
(1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal (Y0) is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY [Y0] is ON.
(2) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible, and the error "Flash ROM write error" (error code: 801) will occur.
(3) After one power ON/CPU module reset operation, writing to the flash ROM using a sequence program is limited to up to 25 times. If the 26th writing is executed, the error "Flash ROM write number error" (error code: 805) will occur. If this error occurs, carry out the power OFF ON/CPU module reset operation again. Refer to Md.19 of Section 5.1.7 "Types and roles of monitor data" for details.
Important
If the power is turned OFF or the CPU module is reset to forcibly end the process,
the data backed up in the flash ROM will be lost.
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[4] Execution data backup method
(1) Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "PFWRT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.)
(2) Refer to Section 7.2 "Data transmission process" for the data transmission processing at the backup of the execution data.
(3) Execution data backup can also be carried out by the writing of the data shown in the table below to the QD75 buffer memory using the TO instruction /intelligent function device. The writing to the flash ROM is executed at the time point the data is written to the QD75 buffer memory.
Setting item
Cd.1
Flash ROM write request
Setting value
Setting details
1 Set "1" (flash ROM write request).
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1900
Refer to Section 5.7 "List of control data" for details on the setting details.
When the writing to the flash ROM is complete, "0" will be set in " Cd.1 Flash ROM write request" by the QD75 automatically.
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13.4 External I/O signal logic switching function
This function switches the signal logic according to the external equipment connected to the QD75. For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic". When the drive unit READY, upper limit switch, and lower limit switch are used, ensure to use them with b-contact.
The details shown below explain about the "external I/O signal logic switching function". [1] Parameter setting details [2] Precautions on parameter setting
[1] Parameter setting details
To use the "external I/O signal logic switching function", set the parameters shown in the following table.
Setting item Pr.22 Input signal logic
selection Pr.23 Output signal logic
selection
Setting details
� Selection of logic of signals input from external source to
QD75
b0
Lower limit
b1
Upper limit
b2
Drive unit READY
b3
Stop signal
0: Negative logic,
b4
External
1: Positive logic
command signal
b5
Zero signal
b6
Near-point dog signal
b7
Unused
Set "0".
b8
Manual pulse 0: Negative logic, generator input 1: Positive logic
b9 to b15
Unused
Set "0".
� Selection of logic of signals output from QD75 to external
source
b0
Command pulse 0: Negative logic,
signal
1: Positive logic
b1 to b3
Unused
Set "0".
b4
Deviation counter 0: Negative logic,
clear signal
1: Positive logic
b5 to b15
Unused
Set "0".
Factory-set initial value
0
0
Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4
31 181 331 481
32 182 332 482
Refer to Section 5.2 "List of parameters" for the information on detail settings.
[2] Precautions on parameter setting
(1) The external I/O signal logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.)
(2) If each signal logic is set erroneously, the operation may not be carried out correctly. Before setting, check the specifications of the equipment to be used.
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13.5 External I/O signal monitor function
The "external I/O signal monitor function" monitors the module's information and external I/O signal monitor information in the module's detailed information which can be displayed on the system monitor of GX Developer 1.
The information that can be monitored are the module's information (same as the QD75 front "RUN", "ERR" LED indicators) and the following external I/O signals. (Set the logic of the external I/O signals in " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection".)
0:OFF, 1:ON
Axis-by-axis external I/O signals and module RUN, ERR LEDs
Indicates that Drive unit ready of axis 1 is ON.
1: For the QD75P /QD75D , this function is available in GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual. For the QD75P N/QD75D N, external I/O signals cannot be monitored on GX Developer. Use the system monitor of GX Works2. For details on the system monitor of GX Works2, refer to GX Works2 Version 1 Operating Manual (Common).
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CHAPTER 14 DEDICATED INSTRUCTIONS
The QD75 dedicated instructions are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal.
14.1 List of dedicated instructions ................................................................................. 14- 2 14.2 Interlock during dedicated instruction is executed................................................ 14- 2 14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 .................................................. 14- 3 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 ......................................... 14- 8 14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4.........................................14- 12 14.6 ZP.PFWRT..............................................................................................................14- 16 14.7 ZP.PINIT .................................................................................................................14- 20
14
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14.1 List of dedicated instructions
The dedicated instructions explained in this Chapter are listed in Table 14.1.
Application Absolute position restoration
Positioning start
Teaching Writing to flash ROM Parameter initialization
Table 14.1 List of dedicated instructions
Dedicated instruction
Outline of functions
Reference
Z.ABRST1
Z.ABRST2 Z.ABRST3
This function restores the absolute position of the designated axis of the QD75.
Section 14.3
Z.ABRST4
ZP.PSTRT1
ZP.PSTRT2 This function starts the positioning control of the designated ZP.PSTRT3 axis of the QD75.
Section 14.4
ZP.PSTRT4
ZP.TEACH1
ZP.TEACH2 This function carries out teaching the designated axis of the ZP.TEACH3 QD75.
Section 14.5
ZP.TEACH4
ZP.PFWRT
This function writes the buffer memory parameters, positioning data and block start data to the flash ROM.
Section 14.6
ZP.PINIT
This function initializes the buffer memory and flash ROM setting data to the factory-set data (initial values).
Section 14.7
14.2 Interlock during dedicated instruction is executed
The absolute position restoration instruction (Z.ABRST ), positioning start instruction (ZP.PSTRT ) and teaching instruction (ZP.TEACH ) cannot be executed simultaneously in each axis. If they are executed at the same time, the second and later instructions are ignored by an internal interlock (no error will occur).
The timing of the positioning start dedicated instruction (ZP.PSTRT ) is as shown below.
ON
ZP.PSTRT instruction ON
OFF
ON
Interlock provided by CPU module OFF
ON
BUSY (XC to XF)
OFF
ON
Positioning completed (X14 to X17) OFF
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14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4
Setting data
(S) (D)
These dedicated instructions restore the absolute position of the designated axis.
Internal device
Bit
Word
�
File register
�
Usable device
Link direct device J \ Intelligent
function
Bit
Word
module
U \G
�
�
Index register
Zn
Constant
K, H
� �
Others
� �
[Instruction symbol] Z.ABRST1
[Execution condition]
Z.ABRST1 "Un" (S) (D) *1
Z.ABRST2
Z.ABRST2 "Un" (S) (D) *1
Z.ABRST3
Z.ABRST3 "Un" (S) (D) *1
Z.ABRST4
Z.ABRST4 "Un" (S) (D) *1
*1 If the originating station is a Basic model QCPU (function version B or later), universal model QCPU, or safety CPU, "" (double quotation) of the first argument can be omitted.
When Z.ABRST1, Z.ABRST2, Z.ABRST3, and Z.ABRST4 are common to each other, they are designated as " Z.ABRST ".
[Setting data]
Setting data
Setting details
Setting side ( 1)
Data type
"Un"
QD75 head I/O number (00 to FE: High-order two digits of I/O number expressed in three digits)
User
BIN 16 bits
(S)
Head number of a device in which control data is stored
�
Device name
Head number of a bit device which turns ON the operation by one scan at the
(D)
time of completion of the instruction.
System
Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data. 1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
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[Control data]
Device
Item
Setting data
Setting range
Setting side ( 1)
(S)+0 System area
�
�
�
The state at the time of completion is stored.
(S)+1 Complete status
� 0
:Normal completion
�
� Other than 0 :Abnormal completion (error code)( 2)
System
(S)+2
The following signal states taken in from the servo
Signal received from servo amplifier
amplifier to the input module are written. � b0: ABS data bit 0 � b1: ABS data bit 1
� b2: Transmission data READY flag
b0: 0/1 b1: 0/1 b2: 0/1
User
The ON/OFF states of the following data which are
calculated using the dedicated instructions by the
(S)+3
Signal transmitted to servo amplifier
"signals received from the servo amplifier" and output to the servo amplifier are stored.
� b0: Servo amplifier ON
�
� b1: ABS transfer mode
� b2: ABS request flag
System
(S)+4 Status
Status of communication with servo amplifier
� 0
: Communication completed (Set by user at communication start)
0
User/system
� Other than 0 : During communication (System stores)
(S)+5 to (S)+7
System area
�
�
�
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
2: Refer to Section 15.3 for error codes at abnormal completion.
[Functions]
(1) The positioning data is read from the servo amplifier capable of processing the absolute positions of the axes to be set (See below), and the values converted with respect to a unit are stored in " Md.20 Current feed value" and " Md.21 Machine feed value" area of the QD75.
� Z.ABRST1: Axis 1 � Z.ABRST2: Axis 2 � Z.ABRST3: Axis 3 � Z.ABRST4: Axis 4 For absolute position detection system, carry out the absolute position restoration operation each time the power is turned ON or CPU module is reset.
Servo amplifier
Input module Output module
CPU module
Control data
(S)+0 (S)+1 (S)+2 (S)+3 (S)+4 (S)+5
to (S)+7
Z.ABRST
QD75 Current feed value Machine feed value
Current value data
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14 DEDICATED INSTRUCTIONS
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(2) An I/O module is used for communication (data read/write) with the servo amplifier capable of processing the absolute positions. When using the Z.ABRST , prepare the input/output with the following number of points, for each axis, for communication with the servo amplifier. � Input : 3 points � Output : 3 points Refer to Section 12.6 for wiring of I/O signals.
(3) The Z.ABRST instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which Z.ABRST instruction is completed, and turned OFF by the next END processing.
Sequence program
Z.ABRST instruction Complete device Complete state display device
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to the state in which Z.ABRST
instruction is completed.
� When completed normally : Kept unchanged at OFF.
� When completed abnormally : This device is turned ON by the END
processing of the scan for which
Z.ABRST instruction is completed, and
turned OFF by the next END processing
(same ON/OFF operation as complete
device).
END processing
END processing
END
END
processing processing
ON OFF
Z.ABRST instruction execution completion
ON
OFF OFF
When
ON
completed abnormally
When completed normally
1 scan
The completion of absolute position restoration can be confirmed using the ((S)+4) "status".
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(4) Using the Z.ABRST instruction, the absolute position restoration is carried out in the following procedure.
Start
Output the ((S)+3) data. Set the data in ((S)+2).
. . . . . . . . . Output the servo ON, ABS transfer mode, and ABS request flag to the output module using the sequence program.
. . . . . . . . . Set the ABS data bit 0/bit 1 and transmission data READY flag using the sequence program.
Execute the Z.ABRST instruction.
Other than "0"
Is ((S)+4) "0"?
[Errors] [Precautions]
0
End
(1) When a dedicated instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take a measure against the error referring to Section 15.3 "List of error codes".
(1) After the absolute position detection system is configured, the absolute position restoration must be carried out at least once after the power is turned ON or reset. Unless the absolute position restoration of the QD75 is completed, the servo amplifier will not be turned ON.
(2) Execute absolute position restoration when the PLC READY signal [Y0] is OFF. (3) The restoration of the absolute position (Z.ABRST instruction execution) can
also be carried out when the servo amplifier is turned ON. If this is carried out, however, the servo ON signal is turned OFF for approx. 60ms + scan time (servo OFF) and the motor may move. When carrying out the absolute position restoration during servo OFF, install an electromagnetic brake and output the Z.ABRST instruction to that brake during the Z.ABRST instruction execution. (4) The following dedicated instructions cannot be executed simultaneously for the same axis. (Can be executed simultaneously for different axes.)
� Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4) � Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4) � Teaching instructions (ZP.TEACH1 to ZP.TEACH4) (5) When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (Z.ABRST ) is unusable. (For the sequence program example of when the dedicated instruction is not used, refer to the "Absolute Position Detection System" Installation Guide of the Mitsubishi Electric General-Purpose AC Servo.) : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
(6) If the Z.ABRST instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and absolute position restoration cannot be carried out. � Any value other than 0 is set to "Status" (device: (S)+4) of the control data (at communication start with servo amplifier). � The instruction for a non-existent axis is specified. (Example: The Z.ABRST2 instruction is specified when the QD75P1 is used.) � "Status" (device: (S)+4) of the control data is changed during absolute position restoration (during communication with servo amplifier).
[Program examples]
Program to restore the absolute position of axis 1. The X47 to X49 and Y50 to Y52 are used for communication with the servo amplifier.
X47: ABS data bit 0 X48: ABS data bit 1 X49: Transmission data READY flag Y50: Servo ON signal Y51: ABS transfer mode Y52: ABS request flag
(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
<D42 to D45 reset> <Error code transmission to D49>
(3) ABS data setting and ABRST1 instruction execution 823
<ABS data bit 0 ON/OFF>
<ABS data bit 1 ON/OFF> <Transmission data preparation complete flag ON/OFF> <ABRST1 instruction execution>
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4
Setting data
(S) (D)
These dedicated instructions are used to start the positioning of the designated axis.
Internal device
Bit
Word
�
File register
�
Usable device
Link direct device J \ Intelligent
function
Bit
Word
module
U \G
�
�
Index register
Zn
Constant
K, H
� �
Others
� �
[Instruction symbol] ZP.PSTRT1
[Execution condition]
ZP.PSTRT1 "Un" (S) (D) *1
ZP.PSTRT2
ZP.PSTRT2 "Un" (S) (D) *1
ZP.PSTRT3
ZP.PSTRT3 "Un" (S) (D) *1
ZP.PSTRT4
ZP.PSTRT4 "Un" (S) (D) *1
*1 If the originating station is a Basic model QCPU (function version B or later), universal model QCPU, or safety CPU, "" (double quotation) of the first argument can be omitted.
When ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, and ZP.PSTRT4 are common to each other, they are designated as " ZP.PSTRT ".
[Setting data]
Setting data
Setting details
Setting side ( 1)
Data type
"Un"
QD75 head I/O number (00 to FE: High-order two digits of I/O number expressed in three digits)
User
BIN 16 bits
(S)
Head number of a device in which control data is stored
�
Device name
Head number of a bit device which turns ON the operation by one scan at the
(D)
time of completion of the instruction.
System
Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Control data]
Device
Item
Setting data
Setting range
Setting side ( 1)
(S)+0 System area
�
�
�
The state at the time of completion is stored.
(S)+1 Complete status
� 0
: Normal completion
�
System
� Other than 0: Abnormal completion (error code)( 2)
The following data Nos. to be started by the ZP.PSTRT
(S)+2 Start No.
instruction are designated.
� Positioning data No.
: 1 to 600
� Block start
: 7000 to 7004
� Machine OPR
: 9001
� Fast OPR
: 9002
� Current value changing
: 9003
� Multiple axes simultaneous start: 9004
1 to 600 7000 to 7004 9001 to 9004
User
1: The data on the setting side is as follows.
� User : Data before the execution of dedicated instructions is stored by user.
� System : Data after the execution of dedicated instruction is stored by CPU module.
2: Refer to Section 15.3 for error codes at abnormal completion.
[Functions]
(1) The positioning start of the axes to be processed (See below) is carried out. � ZP.PSTRT1: Axis 1 � ZP.PSTRT2: Axis 2 � ZP.PSTRT3: Axis 3 � ZP.PSTRT4: Axis 4
(2) The block start, OPR start, current value changing, and multiple axes simultaneous start can be carried out by the setting of "start number" 7000 to 7004/9001 to 9004 in ((S)+2).
(3) The ZP.PSTRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PSTRT instruction is completed, and turned OFF by the next END processing.
(b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which ZP.PSTRT instruction is completed. � When completed normally : Kept unchanged at OFF. � When completed abnormally : This device is turned ON by the END processing of the scan for which ZP.PSTRT instruction is completed, and turned OFF by the next END processing (same ON/OFF operation as complete device).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
Sequence program
END processing
END processing
ON ZP.PSTRT instruction OFF
Complete device
OFF
Complete state display OFF device
ZP.PSTRT instruction execution completion
END
END
processing processing
ON
When
ON
completed abnormally
When completed normally
1 scan
[Errors] [Precautions]
(1) When an ZP.PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take a measure against the error referring to Section 15.3 "List of error codes".
(1) When positioning is started by the ZP.PSTRT instruction, the positioning start signals (Y10 to Y13) will not turn ON. Therefore, the start complete signal (X10 to X13) cannot be used for confirming completion of start of positioning. To confirm that positioning control is being executed, use the ZP.PSTRT start command or BUSY signals (XC to XF).
(2) If, after positioning has been started by the ZP.PSTRT instruction, a stop command is input before positioning is complete, the complete device (D) turns ON one scan and the execution of the ZP.PSTRT instruction is completed.
(3) The following dedicated instructions cannot be executed simultaneously for the same axis. (Can be executed simultaneously for different axes.) � Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4) � Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4) � Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(4) The ZP.PSTRT instruction can only be executed when the QD75 READY signal (X0) is turned ON. Even if the ZP.PSTRT instruction execution request is given when the QD75 READY signal is turned OFF, the ZP.PSTRT instruction will not be executed. (not processed.) Before executing the ZP.PSTRT instruction, turn ON the PLC READY signal (Y0), and turn ON the QD75 READY signal (X0).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
(5) When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (ZP.PSTRT ) is unusable. : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
(6) If the ZP.PSTRT instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. � Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number" (device: (S)+2) of the control data. � The instruction for a non-existent axis is specified. (Example: The ZP.PSTRT2 instruction is specified when the QD75P1 is used.)
(7) When the multiple axes simultaneous start is executed by ZP.PSTRT instruction, the completion device (D) will turn ON when the positioning of the axes executed by ZP.PSTRT instructions is completed. (When the instructions is ZP.PSTRT1, the axis will be axis 1.)
[Program examples]
� The following program executes the positioning start of positioning data No. 1 when X100 turns ON. Use D30 to D32 as the control data devices of positioning data No. 1, and M32 and M33 as the completion devices.
(1) Positioning start program
<Positioning start command pulse> <Positioning start No. 1 setting> <Positioning start command hold> <Positioning start execution> <Positioning start command storage OFF>
(2) Positioning start program (when the dedicated instruction is not used)
DX0C
<Positioning start command pulse> <Positioning start No. 1 setting> <Positioning start execution> <Positioning start signal OFF>
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4
Setting data
(S) (D)
This dedicated instruction is used to teach the designated axis.
Usable device
Internal device
Link direct device J \ Intelligent
Bit
File
Word
register
Bit
Word
function module
Zn
U \G
�
�
�
�
Constant
K, H
� �
Others
� �
[Instruction symbol] ZP.TEACH1
[Execution condition]
ZP.TEACH1 "Un" (S) (D) *1
ZP.TEACH2
ZP.TEACH2 "Un" (S) (D) *1
ZP.TEACH3
ZP.TEACH3 "Un" (S) (D) *1
ZP.TEACH4
ZP.TEACH4 "Un" (S) (D) *1
*1 If the originating station is a Basic model QCPU (function version B or later), universal model QCPU, or safety CPU, "" (double quotation) of the first argument can be omitted.
When ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, and ZP.TEACH4 are common to each other, they are designated as "ZP.TEACH ".
[Setting data]
Setting data
Setting details
Setting side ( 1)
Data type
"Un"
QD75 head I/O number (00 to FE: High-order two digits of I/O number expressed in three digits)
User
BIN 16 bits
(S)
Head number of a device in which control data is stored
�
Device name
Head number of a bit device which turns ON the operation by one scan at the
(D)
time of completion of the instruction.
System
Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Control data]
Device
Item
Setting data
Setting range
Setting side ( 1)
(S)+0 System area
�
�
�
The state at the time of completion is stored.
(S)+1 Complete status
0
: Normal completion
�
Other than 0 : Abnormal completion (error code)( 2)
System
(S)+2
Teaching data selection
The address (positioning address/arc address) to which
the current feed value is written is set. 0: Current feed value is written to positioning address.
0, 1
1: Current feed value is written to arc address.
User
(S)+3
Positioning data No.
The positioning data No. for which teaching is carried out is set.
1 to 600
User
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
2: Refer to Section 15.3 for error codes at abnormal completion.
[Functions]
(1) The "current feed value" of the axes to be set (See below) is set in the positioning address or arc address. The positioning data other than the positioning addresses and arc addresses are set by peripheral device or using a sequence program. � ZP.TEACH1: Axis 1 � ZP.TEACH2: Axis 2 � ZP.TEACH3: Axis 3 � ZP.TEACH4: Axis 4
(2) Teaching can be carried out for the positioning data No. 1 to 600.
(3) The movement of the machine to the address (position) set in the positioning address/arc address of the positioning data is carried out by the JOG operation, inching operation, or manual pulse generator operation.
(4) The ZP.TEACH instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.TEACH instruction is completed, and turned OFF by the next END processing.
(b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which ZP.TEACH instruction is completed. � When completed normally : Kept unchanged at OFF. � When completed abnormally : This device is turned ON by the END processing of the scan for which ZP.TEACH instruction is completed, and turned OFF by the next END processing (same ON/OFF operation as complete device).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
Sequence program
END
END
processing processing
ON ZP.TEACH instruction OFF
Complete device
OFF
Complete state display OFF device
ZP.TEACH instruction execution completion
END
END
processing processing
ON
When
ON
completed abnormally
When completed normally
1 scan
[Errors] [Precautions]
(1) When a ZP.TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1. Check and take a measure against the error referring to Section 15.3 "List of error codes".
(1) The following dedicated instructions cannot be executed simultaneously for the same axis. (Can be executed simultaneously for different axes.) � Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4) � Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4) � Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(2) The ZP.TEACH instruction can only be executed when the BUSY signal (XC, XD, XE, XF) is turned OFF. When the BUSY signal is turned ON, the ZP.TEACH instruction will not be executed. (not processed.) Before executing the ZP.TEACH instruction, make sure that the BUSY signal for the axis to be processed is turned OFF.
(3) When the remote I/O station* (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (ZP.TEACH ) is unusable. : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
(4) If the ZP.TEACH instruction is executed in any of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and teaching cannot be performed. � Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of the control data. � Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the control data. � The instruction for a non-existent axis is specified. (Example: The ZP.TEACH2 instruction is specified when the QD75P1 is used.)
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Program example]
Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON.
(1) Teaching program Positioning is carried out for a target position by manual operation.
<Teaching command pulse> <Teaching command hold> <Teaching data setting> <Positioning data No. setting> <Teaching execution> <Teaching command storage OFF>
(2) Teaching program (when the dedicated instruction is not used) Positioning is carried out for a target position by manual operation.
<Teaching command pulse> <Teaching command hold> <Teaching positioning address> <Sets teaching positioning data No. to 1> <Turns OFF teaching command storage>
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
14.6 ZP.PFWRT
Setting data
(S) (D)
These dedicated instructions are used to write the QD75 parameters, positioning data and block start data to the flash ROM.
Internal device
Bit
Word
�
File register
�
Usable device
Link direct device J \ Intelligent
function
Bit
Word
module
U \G
�
�
Index register
Zn
Constant
K, H
� �
Others
� �
[Instruction symbol]
[Execution condition]
ZP.PFWRT
ZP.PFWRT "Un" (S) (D) *1
*1 If the originating station is a Basic model QCPU (function version B or later), universal model QCPU, or safety CPU, "" (double quotation) of the first argument can be omitted.
[Setting data]
Setting data
Setting details
Setting side ( 1)
Data type
"Un"
QD75 head I/O number (00 to FE: High-order two digits of I/O number expressed in three digits)
User
BIN 16 bits
(S)
Head number of a device in which control data is stored
�
Device name
Head number of a bit device which turns ON the operation by one scan at the
(D)
time of completion of the instruction.
System
Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
[Control data]
Device
Item
Setting data
Setting Range
(S)+0 System area
�
�
The state at the time of completion is stored.
(S)+1 Complete status
0
:Normal completion
�
Other than 0 :Abnormal completion (error code)( 2)
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
2: Refer to Section 15.3 for error codes at abnormal completion.
Setting side ( 1) �
System
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Functions]
(1) The ZP.PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing.
(b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which ZP.PFWRT instruction is completed. � When completed normally : Kept unchanged at OFF. � When completed abnormally : This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing (same ON/OFF operation as complete device).
Program
END processing END processing
END processing END processing
ON OFF ZP.PFWRT instruction
ZP.PFWRT instruction execution completion
ON
Complete device
OFF
Complete state display OFF device
When completed
ON abnormally
When completed normally
1 scan
[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take measures against the error referring to Section 15.3 "List of error codes".
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Precautions]
(1) Do not turn ON the power and reset the CPU module while parameters, positioning data and block start data are written to the flash ROM using the ZP.PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM. If this occurs, restart the operation by the method shown below. � For GX Configurator-QP or GX Works2, write the parameters, positioning data and block start data again to the flash ROM. � For a sequence program, write the parameters, positioning data and block start data to the QD75 after initializing the parameters (ZP.PINIT instruction execution and others). Then execute the ZP.PFWRT instruction again.
(2) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible.
(3) After the power ON and CPU module reset operation, writing to the flash ROM using a sequence program is limited to up to 25 times. (Not limited to up to 25 times when writing to the flash ROM is carried out by peripheral device.) If the 26th or more writing is requested after the power ON/CPU module reset operation, an error "flash ROM write number error" (error code: 805) will occur, and the writing will be disabled. If a flash ROM write error occurs by one writing to the flash ROM, check and correct the flash ROM writing program. Then reset the error or turn ON the power and reset the CPU module again.
(4) The ZP.PFWRT instruction can only be executed when the QD75 READY signal (X0) is turned OFF. When the QD75 READY signal is turned ON, the ZP.PFWRT instruction cannot be executed. Before executing the ZP.PFWRT instruction, turn OFF the PLC READY signal (Y0) and then turn OFF the QD75 READY signal.
(5) When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (ZP.PFWRT) is unusable. : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Program example]
Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON. (1) Flash ROM write program
<Flash ROM write command pulse> <Flash ROM write command hold> <PLC READY output to QD75 standby> <Flash ROM write execution> <Flash ROM write command storage OFF>
[Program example for use when dedicated instruction is not used]
(2) Flash ROM write program (when the dedicated instruction is not used)
<Flash ROM write command pulse> <Flash ROM write command hold> <PLC READY output to QD75 standby> <Flash ROM write execution> <Flash ROM write command storage OFF>
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
14.7 ZP.PINIT
Setting data
(S) (D)
This dedicated instruction is used to initialize the setting data of the QD75.
Internal device
Bit
Word
�
File register
�
Usable device
Link direct device J \
Bit
Word
U \G
� �
Index register
Zn
Constant
K, H
� �
Others
� �
[Instruction symbol]
[Execution condition]
ZP.PINIT
ZP.PINIT "Un" (S) (D) *1
*1 If the originating station is a Basic model QCPU (function version B or later), Universal model QCPU, or safety CPU, "" (double quotation) of the first argument can be omitted.
[Setting data]
Setting data
Setting details
Setting side ( 1)
Data type
"Un"
QD75 head I/O number (00 to FE: High-order two digits of I/O number expressed in three digits)
(S)
Head number of a device in which control data is stored
User �
BIN 16 bits Device name
Head number of a bit device which turns ON the operation by one scan at the
(D)
time of completion of the instruction.
System
Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.
1: The data on the setting side is as follows. � User : Data before the execution of dedicated instructions is stored by user. � System : Data after the execution of dedicated instruction is stored by CPU module.
[Control data]
Device
Item
Setting data
Setting range
Setting side ( 1)
(S)+0 System area
�
�
�
The state at the time of completion is stored.
(S)+1 Complete status
0
: Normal completion
�
System
Other than 0: Abnormal completion (error code)( 2)
1: The data on the setting side is as follows.
� User : Data before the execution of dedicated instructions is stored by user.
� System : Data after the execution of dedicated instruction is stored by CPU module.
2: Refer to Section 15.3 for error codes at abnormal completion.
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
[Functions]
(1) This dedicated instruction is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set data (initial values). Initialized setting data
Parameters ( Pr.1 to Pr.57 , Pr.70 , Pr.150 ) Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004)
Sequence program ZP.PINIT instruction
(2) The ZP.PINIT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PINIT instruction is completed, and turned OFF by the next END processing.
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to the state in which ZP.PINIT
instruction is completed.
� When completed normally : Kept unchanged at OFF.
� When completed abnormally : This device is turned ON by the END
processing of the scan for which ZP.PINIT
instruction is completed, and turned OFF
by the next END processing (same
ON/OFF operation as complete device).
END
END
processing processing
END
END
processing processing
ON OFF
ZP.PINIT instruction execution completion
ON
Complete device
OFF
Complete state display OFF device
When
ON
completed abnormally
When completed normally
1 scan
[Errors] [Precautions]
(1) When a dedicated instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take measures against the error referring to Section 15.3 "List of error codes".
(1) The ZP.PINIT instruction can only be executed when the QD75 READY signal (X0) is turned OFF. When the QD75 READY signal is turned ON, the ZP.PINIT instruction cannot be executed. Before executing the ZP.PINIT instruction, turn OFF the PLC READY signal (Y0) and then turn OFF the QD75 READY signal.
(2) When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (ZP.PINIT) is unusable. : For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
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14 DEDICATED INSTRUCTIONS
MELSEC-Q
(3) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible.
(4) After the power ON and CPU module reset operation, writing to the flash ROM using a sequence program is limited to up to 25 times. (Not limited to up to 25 times when writing to the flash ROM is carried out by peripheral device.) If the 26th or more writing is requested after the power ON/CPU module reset operation, an error "flash ROM write number error" (error code: 805) will occur, and the writing will be disabled. If a flash ROM write error occurs by one writing to the flash ROM, check and correct the flash ROM writing program. Then reset the error or turn ON the power and reset the CPU module again.
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[Program example]
The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON. (1) Parameter initialization program
<Parameter initialization command pulse> <Parameter initialization command hold> <PLC READY output to QD75 standby> <Parameter initialization execution> <Parameter initialization command storage OFF>
(2) Parameter initialization program (when the dedicated instruction is not used)
<Parameter initialization command pulse> <Parameter initialization command hold> <PLC READY output to QD75 standby> <Parameter initialization execution> <Parameter initialization
command storage OFF>
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14 DEDICATED INSTRUCTIONS
MEMO
MELSEC-Q
14 - 24
CHAPTER 15 TROUBLESHOOTING
The "errors" and "warnings" detected by the QD75 are explained in this chapter. Errors can be confirmed with the QD75 LED display and peripheral devices. When an error or warning is detected, confirm the detection details and carry out the required measures.
15.1 Troubleshooting .......................................................................................................15- 2 15.2 Error and warning details.........................................................................................15- 6 15.3 List of errors ............................................................................................................15- 10 15.4 List of warnings .......................................................................................................15- 42
15
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15.1 Troubleshooting
(1) Troubleshooting using the LEDs
Check items and corrective actions for troubleshooting using the indicator LEDs of the QD75 are described below.
(a) When the RUN LED turns off
Check item Is the power supplied?
Is the power supply capacity sufficient?
Is the module connected correctly?
Action
Check that the voltage supplied to the power supply module is within the rated range.
Calculate the total current consumption of the connected modules (CPU module, I/O modules, and intelligent function modules) and check that the power supply capacity is not insufficient.
Check that the module is correctly connected to the base unit.
If there is no problem on the above check items, a watchdog timer error may have occurred. Reset the CPU module and check that the RUN LED turns on. If not, the possible cause is a hardware failure. Please consult your local Mitsubishi representative.
(b) When the ERR. LED turns on
Check item Is there a system error?
Action
An error may have occurred in the CPU module. Check the error and take a corrective action.
(c) When the ERR. LED and axis LED flash
Check item Is there an axis error?
Action
Check the error code and take the action described in Section 15.3.
(d) When all LEDs turn on Reset the CPU module and check that the module is in the normal status. If all LEDs still turn on, the possible cause is a hardware failure. Please consult your local Mitsubishi representative.
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(2) Troubleshooting when a motor does not rotate
Check items and corrective actions for troubleshooting when a motor does not rotate are described below.
POINT
The following signals must be ON for the QD75 to operate (excluding when the positioning test function of GX Works2 is used). � QD75 READY signal (X0) � Drive unit READY signal � Upper limit signal and Lower limit signal
The status of the drive unit READY signal and upper/lower limit signals can be checked in b0 to b2 of " Md.30 External I/O signal".
Check item
Action
Are the QD75 READY signal (X0), drive Review and correct the program and wiring so that all the
unit READY signal, and upper/lower QD75 READY signal (X0), drive unit READY signal, and
limit signals ON?
upper/lower limit signals turn ON.
Is there an error in the QD75? (ERR. LED is on or flashing)
Check the error code and take a corrective action.
Is the drive unit powered ON?
Power on the drive unit.
Is there an error in the drive unit?
Check the error code of the drive unit and take a corrective action.
Is the wiring between the QD75 and drive unit correct?
Check the wiring between the QD75 and drive unit, and correct it.
Is the wiring between the drive unit and Check the wiring between the drive unit and motor, and
motor correct?
correct it.
Is the value in " Md.20 Current feed value" changed after positioning control Review the start program. is performed?
Is the number of the input pulses for monitoring changed after positioning control is performed? 1
Refer to the drive unit operating manual and check that the function to suppress the motor rotation is not working.
Isn't the value in " Md.26 Axis operation status" "1: Stopped"?
� Review the stop program. � Check that the stop signal (STOP) is not input.
Does the pulse output mode setting meet the specifications of the drive unit?
Set the value in " Pr.5 Pulse output mode" so that it satisfies the specifications of the drive unit.
Does the output logic setting of the command pulse signal meet the specifications of the drive unit?
Set the value of the logic selection of the command pulse signal ( Pr.23 Output signal logic selection: b0) so that it satisfies the specifications of the drive unit.
1: This check item applies only for the drive unit having a monitor function for the number of input pulses.
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If a motor does not rotate even after the above items are checked, the possible cause is a hardware failure. Please consult your local Mitsubishi representative.
(3) Troubleshooting when a motor does not rotate as intended.
Check items and corrective actions for troubleshooting when a motor does not rotate as intended are described below. (a) When a motor rotates only in one direction
Check item
Is the wiring correct?
Does the pulse output mode setting meet the specifications of the drive unit?
Action Check that the signal line of the pulse output (for axis 1, connector pin No. "1A15 to 18") is correctly wired or not disconnected.
Set the value in " Pr.5 Pulse output mode" so that it satisfies the specifications of the drive unit.
(b) When a motor rotates in the opposite direction
Check item
Action
Is the wiring correct?
Check that the signal line of the pulse output (for axis 1, connector pin No. "1A15 to 18") is wired correctly. (CW
and CCW or phase A and phase B should be correctly wired.)
Do the values in " Pr.6
Rotation direction setting" and Check that the values in " Pr.6 Rotation direction
" Pr.23 Output signal logic setting" and " Pr.23 Output signal logic selection (b0:
selection (b0: Command
Command pulse signal)" match the settings of the drive
pulse signal) " match the
unit.
settings of the drive unit?
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(c) When a motor does not rotate at the set speed
Check item
Action [When " Md.28 Axis feedrate" indicates the set speed]
� Check that the values in " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per rotation", and " Pr.4 Unit magnification" meet the system.
� When the drive unit has the electronic gear function, check that the settings meet the system.
Does the value in " Md.28 [When " Md.28 Axis feedrate" does not indicate the Axis feedrate" indicate the set set speed] speed?
� Check that the speed is not limited by the value in " Pr.8 Speed limit value".
� In the JOG operation, Check that the speed is not limited by the value in " Pr.31 JOG speed limit value".
� In the JOG operation, check that Forward/Reverse run JOG start signals (Y8 to YF) do not repeatedly turn ON and OFF.
(d) When the set position is not reached
Check item
Does the value in " Md.20 Current feed value" indicate the intended position when the motor stops?
Action
[When " Md.20 Current feed value" reaches the set position]
� Check that the values in " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per rotation", and " Pr.4 Unit magnification" meet the system. � When the drive unit has the electronic gear function, check that the settings meet the system.
[When " Md.20 Current feed value" does not reaches the set position]
� Check that the motor is not stopped by Axis stop signals (Y4 to Y7) or a stop signal (STOP). If a motor is stopped by them, the value "1: Stopped" is stored in " Md.26 Axis operation status".
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15.2 Error and warning details
[1] Errors
Types of errors
Errors detected by the QD75 include parameter setting range errors and errors at the operation start or during operation.
(1) Parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y0]. An error will occur if there is a mistake in the parameter setting details at that time. When this kind of error occurs, the QD75 READY signal does not turn ON. To cancel this kind of error, set the correct value in the parameter for which the error occurred, and then turn ON the PLC READY signal [Y0].
(2) Errors at the operation start or during operation These are errors that occur at the operation start or during operation when the positioning control, JOG operation, or inching operation is used. If an axis error occurs during interpolation operation, the error No. will be stored in both the reference axis and the interpolation axis. Note that, in the following cases (a) and (b), the axis error No. will be stored only in the reference axis during analysis of the positioning data set in each point of the positioning start data table. (a) When the interpolation axis is BUSY. (b) When the error occurred in positioning data or parameters unrelated to interpolation control.
If the error occurred at the simultaneous start of a positioning operation, the axis error storage details will differ depending on whether the error occurred before or after the simultaneous start. If the error occurred before the simultaneous start (illegal axis No., other axis
BUSY, etc.), an error "Error before simultaneous start" (error code: 501) will occur. If the error occurred after the simultaneous start (positioning data error, software stroke limit error, etc.), an error code corresponding to the axis in which the error occurred will be stored. Because a simultaneous start cannot be carried out due to this, an error "Simultaneous start not possible" (error code: 532) error code will be stored in all axes in which an error has not occurred. The axis operation status will be displayed as "error occurring" for axes in which an error occurred. If an error occurs during operation, any moving axes will deceleration stop, and their operation status will be displayed as "error occurring". All axes will decelerate to a stop during interpolation operations, even if the error occurs in only one axis.
(3) Types of error codes
Error code 001 to 009 100 to 199 200 to 299
300 to 399
500 to 599 800 to 899 900 to 999
Error type
Fatal error Common error Error at OPR or absolute position restoration Error during JOG operation or during inching operation Error during positioning operation I/F (Interface) error Error during parameter setting range check
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Error storage
When an error occurs, the error detection signal turns ON, and the error code corresponding to the error details is stored in the following buffer memory address ( Md.23 Axis error No.) for axis error No. storage.
Axis No. 1 2 3 4
Error detection signal X8 X9 XA XB
Buffer memory address 806 906 1006 1106
A new error code is stored in the buffer memory address ( Md.23 Axis error No.) for axis error storage every time an error occurs.
POINT
When any of the following errors is detected, it is stored in the axis error No. of axis 1. Error code: 001, 002, 107, 800, 801, 802, 805
[2] Warnings
Types of warnings
(1) Warnings include system warnings and axis warnings. The types of system warnings are shown below.
System control data setting warnings An axis warning for axis 1 will occur.
Positioning data setting warnings An axis warning for each axis will occur. Note that a warning will occur for the reference axis when an interpolation designation or axis setting warning occurs.
(2) Axis warnings occur due to setting warnings from operations such as positioning operations, JOG operations, manual pulse generator operations, or system errors. They can be canceled by turning ON the " Cd.5 Axis error
reset". Note that some warnings cannot be canceled unless the cause of the warning is eliminated. The axis operation status does not change even if an axis warning occurs.
(3) Types of warning codes
Warning code 100 to 199 300 to 399 400 to 499 500 to 599
Warning type Common warning Warning during JOG operation Warning during manual pulse generator operation Warning during positioning operation
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Warning storage
(1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ( Md.24 Axis warning No.) for axis warning No. storage.
Axis No. 1 2 3 4
Buffer memory address 807 907 1007 1107
(2) When an axis warning occurs in a positioning operation, etc., "1" is set in bit 9 (b9) of the following buffer memory ( Md.31 Status) for axis status storage.
Axis No. 1 2 3 4
Buffer memory address 817 917 1017 1117
[3] Resetting errors and warnings
Remove the cause of error or warning following the actions described in Section 15.3 and 15.4, before cancel an error or warning state by resetting the error.
How to clear errors or warnings
An error or warning state is canceled after the following processing has been carried out by setting a "1" in the address [1502 (for axis 1)], [1602 (for axis 2)], [1702 (for axis 3)], and [1802 (for axis 4)] of the buffer memory for axis error resetting ( Cd.5 Axis error reset).
Axis error detection signal turned OFF " Md.23 Axis error No." cleared " Md.24 Axis warning No." cleared Changing of " Md.26 Axis operation status" from "Error" to "Standby". Axis warning detection "( Md.31 Status : b9)" turned OFF
[4] Confirming the error and warning definitions
The error and warning definitions can be confirmed with the error and warning codes. Confirming them requires GX Developer or GX Configurator-QP. For details, refer to GX Developer Operating Manual or GX Configurator-QP Operating Manual. (Refer to Section 15.3 and Section 15.4 for details of the error and warning codes.)
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15.3 List of errors
The following table shows the error details and remedies to be taken when an error occurs.
Classification Error of errors code
Error name
Error
Operation status at error occurrence
-- Fatal errors
000 (Normal status)
--
--
001 002
Faults Internal circuit fault
Hardware is faulty.
The system stops.
101
PLC READY OFF during operation
A PLC READY signal (Y0) is turned OFF during operation.
The system stops with the setting
(deceleration stop/sudden stop) of the detailed parameter 2 Sudden stop
selection (stop group 2). (Note that the deceleration stop only occurs during the manual pulse generator operation.)
The drive unit READY signal is turned OFF during operation.
The system stops immediately.
102
Drive unit READY OFF
The start of an operation is requested when the drive unit READY signal is OFF.
The system does not start.
Common
103
Test mode faults during operation
The personal computer cannot communicate with the CPU unit.
The system stops with the setting
(deceleration stop/sudden stop) of the detailed parameter 2 Sudden stop selection (stop group 2).
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
104
Hardware stroke limit (+)
The system stops with the setting
(deceleration stop/sudden stop) of the
The hardware stroke limit (upper limit detailed parameter 2 Sudden stop
signal FLS) is turned OFF during selection (stop group 1).
operation.
(Note that the deceleration stop only
occurs during the manual pulse
generator operation.)
The start of an operation is requested when the hardware stroke The system does not start. limit (upper limit signal FLS) is OFF.
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Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
-- -- -- --
Set range (Setting with sequence program)
--
Remedy --
-- -- -- --
--
Check that there is no influence from noise.
-- -- -- -- -- -- -- -- -- -- -- --
-- -- -- --
-- -- -- -- -- -- -- --
--
Review the sequence program which turns ON/OFF PLC READY signal (Y0).
--
Check the power, wiring, and connector connection status of the drive unit.
� Check the power, wiring, and connector connection status of the drive unit.
� Check the values in Pr.22 Input signal logic
--
selection.
� When a drive unit without READY signal output is
used, wire the system so that the drive unit READY signal input of the QD75 is always ON.
� Check that there is no error on the personal computer side I/F to which a cable is connected.
� Because communication takes a long time between
the personal computer and a CPU module, ensure
high-speed communication by setting the
--
transmission speed to high at the transfer setup of GX Configurator-QP or GX Works2, or connecting the
personal computer directly to the communication I/F
of the CPU module.
� Reduce the load of communication by stopping the access to a CPU module from GX Developer or GX Works2 (such as monitor function).
After making an axis error reset (refer to [3] in Section
--
15.2), perform manual control operation (refer to CHAPTER 11) to move the axis to the other position in
order that the upper limit signal (FLS) will not turn OFF.
� Check the wiring of the upper limit signal (FLS).
� Check if the values in Pr.22 Input signal logic
--
selection meet the specifications of the limit switch.
� In a system which does not require a hardware stroke
limit (limit switch), wire the system so that the upper
limit signal (FLS) input of the QD75 is always ON.
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Classification Error of errors code
Error name
105
Hardware stroke limit (�)
Common
Error
Operation status at error occurrence
The system stops with the setting
(deceleration stop/sudden stop) of the
The hardware stroke limit (lower limit detailed parameter 2 Sudden stop
signal RLS) is turned OFF during selection (stop group 1).
operation.
(Note that the deceleration stop only
occurs during the manual pulse
generator operation.)
The start of an operation is requested when the hardware stroke The system does not start. limit (lower limit signal RLS) is OFF.
106
Stop signal ON at start
Start is requested is turned ON.
when
a
stop
signal
The
system
does
not
start.
OPR
107
READY OFF during BUSY
201 Start at OP
ON
The PLC READY signal is turned from OFF to ON when BUSY signal
is turned ON.
The QD75 READY signal (X0) is not turned ON.
When the OPR retry invalid is set, the near-point dog machine OPR is started with the OPR complete flag turned ON.
The machine OPR is not started.
The near-point dog signal is turned
203
Dog detection timing OFF during the deceleration from an
fault
OPR speed to a creep speed by the
near-point dog machine OPR.
The system stops with the setting
(deceleration stop/sudden stop) of the
The zero signal is turned OFF during detailed parameter 2 Sudden stop
204
OP detection timing the deceleration from an OPR speed selection (stop group 3).
fault
to a creep speed by the stopper
(Note that the deceleration stop only
method 2)-OPR.
occurs during the manual pulse
A dwell time is passed during the
generator operation.)
205 Dwell time fault
deceleration from a creep speed to a OPR speed by the stopper method
1)-OPR.
In the count method 1 and 2
206
Count method movement amount fault
machine OPR, a parameter "Setting
of movement amount after nearpoint dog ON" is smaller than a
The machine OPR is not started.
distance necessary for deceleration
stop from an OPR speed.
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Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
-- -- -- --
After making an axis error reset (refer to [3] in Section
--
15.2), perform manual control operation (refer to CHAPTER 11) to move the axis to the other position in
order that the lower limit signal (RLS) will not turn OFF.
-- -- -- --
-- -- -- -- -- -- -- -- 78 228 378 528
--
--
-- <OPR retry>
0, 1
� Check the wiring of the lower limit signal (RLS).
� Check if the values in Pr.22 Input signal logic selection meet the specifications of the limit switch.
� In a system which does not require a hardware stroke limit (limit switch), wire the system so that the lower limit signal (RLS) input of the QD75 is always ON.
The start timing is reviewed so that the operation starts after the stop command is reset. � Output signals to QD75
Axis 1: Y4, Axis 2: Y5, Axis 3: Y6, Axis 4: Y7 � External input
Connectors for external device connection: Stop signals (STOP)
Turn ON the PLC READY signal (Y0) with the BUSY signals of all axes OFF.
� Validate the OPR retry function (set value: 1). (Refer to Section 12.1.1)
� Move the workpiece from the current position (on OP) using the manual control operation (refer to CHAPTER 11), then carry out a machine OPR again.
74 224 374 524
<OPR speed>
75 225 375 525 QD75P N/QD75D N:
1 to 4000000 [pulse/s]
1 to 2000000000
[10-2mm/min or others]
74 224 374 524 QD75P /QD75D :
75 225 375 525
1 to 1000000 [pulse/s]
1 to 2000000000
74 224 374 524
[10-2mm/min or others]
75 225 375 525
79 229 379 529
<OPR dwell time> 0 to 65535
� Lower the OPR speed. � Increase the dog signal input time.
(Refer to Section 8.2.3)
� Lower the OPR speed. � Input external zero signals during the movement at a
creep speed. (Refer to Section 8.2.5)
� Lower the OPR speed. � Increase the OPR dwell time.
(Refer to Section 8.2.4)
80 81
230 380 530 231 381 531
<Movement amount setting after near-point dog ON> 0 to 2147483647
� Calculate the movement distance using a speed limit,
<OPR speed>
QD75P N/QD75D N:
1 to 4000000 [pulse/s]
74 75
224 225
374 375
524 525
1 to 2000000000 [10-2mm/min or others] QD75P /QD75D :
1 to 1000000 [pulse/s]
1 to 2000000000
OPR speed, and deceleration time, and set the movement amount after near-point dog ON so that the distance becomes a deceleration distance or longer.
� Lower the OPR speed.
� Adjust the near-point dog position so that the movement amount after near-point dog ON becomes longer. (Refer to Section 8.2.7, 8.2.8)
[10-2mm/min or others]
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Classification Error of errors code
Error name
Error
Operation status at error occurrence
OPR
207 OPR request ON
The OPR request flag is turned ON
when a fast-OPR is started
The fast OPR is not started.
(positioning start No. 9002).
209
OPR restart not possible
213
ABS transmission time
214
ABS transmission SUM
The restart command is turned ON after the machine OPR is stopped using a stop signal.
The restart is not carried out.
Communication cannot be carried
out with the servo-amplifier using an The absolute position restoration is
absolute position restoration
not carried out.
instruction.
300
Outside JOG speed range
At the time of JOG starting, the JOG speed comes out of a specified range.
The JOG operation is not carried out when the JOG speed is outside the setting range at the time of JOG start.
JOG inching
301
Inching movement amount error
The inching movement amount does not meet the setting condition.
(The setting value is larger.)
Setting condition:
"Inching movement amount (A) The inching operation is not carried
JOG speed limit value"
out.
(A)...
When the setting unit is pulse: 562.5
When the setting unit is other than pulse: 337.5
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Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4 1500 1600 1700 1800
1500 1600 1700 1800
-- -- -- --
-- -- -- --
Set range (Setting with sequence program)
<Positioning start No.> 1 to 600
7000 to 7004 9001 to 9004 <Positioning start No.>
1 to 600 7000 to 7004 9001 to 9004
--
--
Remedy
Execute the machine OPR (positioning No. 9001). (Refer to Section 8.2)
Start the machine OPR (positioning start No. 9001) again. (Refer to Section 8.2)
� Review the wiring. (Refer to Section 12.6) � Review the sequence program. � Review the wiring. (Refer to Section 12.6) � Review the sequence program. � Review the dedicated instruction parameters.
(Refer to Section 14.3)
1518 1519
1618 1619
1718 1719
<JOG speed>
QD75P N/QD75D N:
1 to 4000000 [pulse/s]
1818 1819
1 to 2000000000 [10-2mm/min or others] QD75P /QD75D :
1 to 1000000 [pulse/s]
1 to 2000000000
[10-2mm/min or others]
Bring the JOG speed into the setting range. (Refer to Section 11.2)
1517 1617 1717 1817
<Inching movement amount> 0 to 65535
Reduce the inching movement amount to satisfy setting conditions. (Refer to Section 11.3)
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Classification Error of errors code
Error name
Error
Operation status at error occurrence
Positioning operation
Positioning operation
The condition data No. is outside the
setting range when a block using the
500
Illegal condition data No.
condition data is started by a special starting (conditional start, wait start,
The operation is terminated.
simultaneous start, FOR (condition)).
(1 Condition data No. 10)
<When blocks are started simultaneously>
� The partner axis for simultaneous start is BUSY.
501
Error before simultaneous start
<When multiple axes are started and
controlled simultaneously>
At start: The system will not operate.
� The partner axis for simultaneous start is BUSY.
� The "Simultaneous start axis start data No." of the start axis is 0 or is outside the setting range.
During operation: The system stops immediately.
� The "Simultaneous start axis start
data No." of those axes other than the start axis is outside the setting range.
502 Illegal data No.
� The positioning data No. tried to be executed is outside the ranges of 1 to 600, 7000 to 7004, and 9001 to 9004.
� The designation of a JUMP
The positioning data is not executed.
destination is executed currently.
� The designation of a JUMP destination is outside the ranges of 1 to 600.
� At the start of positioning, a current
speed (�1) is set for the command
speed of the positioning data to be
503
initially executed.
No command speed � The current speed is set by speed control.
At the start of positioning, operation does not start.
� The current speed is set for speedposition switching control or position-speed switching control.
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Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
Refer to Section 5.4 "List of block start data"
<Condition data No.> 1 to 10
Review the condition data No. (Refer to Section 5.4 Da.14 )
Refer to Section 5.5 "List of condition data"
<Condition operators>
Axis designation: 10H, 20H, 30H, 40H, 50H, 60H, 70H, 80H, 90H, A0H, B0H, C0H, D0H, E0H
1540 1640 1740 1840 Axis 1 start data No.
Normalize the condition operators. (Refer to Section 5.5 Da.16 )
1541 1542
1641 1642
1741 1742
1841
Axis 2 start data No.
Simultaneous
start axis start data No.
Normalize the simultaneous start axis start data No. (Refer to Section 10.5)
1842 Axis 3 start data No. 0 to 600
1543 1643 1743 1843 Axis 4 start data No.
1500 1600 1700 1800
<Positioning start No.>
1 to 600, 7000 to 7004, 9001 to 9004
<JUMP destination> 1 to 600
Normalize the positioning start No., positioning start data (in block start), and positioning data (in JUMP instruction).
Refer to Section 5.3 "List of positioning data"
<Command speed>
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Normalize the positioning data.
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Classification Error of errors code
Error name
Error
Operation status at error occurrence
Positioning operation
� When the parameter or positioning
data "Interpolation speed
designation method" performs a
linear interpolation in setting a
"composite speed", the axis
504
Outside linear movement amount range
movement amount for each positioning data exceeds 1073741824(230).
� The positioning address is �360.00000 or less or 360.00000
At start: The system will not operate.
During operation: The system stops immediately.
or more using INC instruction,
where the control unit is set to
"degree" and software stroke limit
upper limit is not equal to the
software stroke limit lower limit.
506
Large arc error deviation
When an arc or helical is interpolated
with center point designation, a
difference between a radius of start point-center point and a radius of end point-center point exceeds the parameter "Allowable circular
At start: The system will not operate.
During operation: The system will stop immediately.
interpolation error width".
15 - 18
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
Refer to Section 5.3 "List of positioning data"
<Positioning address/movement amount>
� ABS
unit [mm] [pulse] [inch] �2147483648 to 2147483647 Unit [degree] 0 to 35999999
� INC
(When software stroke limits are valid) Unit [degree]: �35999999 to 35999999 Unit [mm], [pulse], [inch]: �2147483648 to 2147483647 (When software stroke limits are invalid) �2147483648 to 2147483647
� Speed-position switching INC mode: 0 to 2147483647 ABS mode: 0 to 35999999
� Position-speed switching 0 to 2147483647
<Arc address> �2147483648 to 2147483647
Review the positioning address.
� Center point address (arc address) � End address (positioning address)
Correct.
15 - 19
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
507
Software stroke limit+
Positioning operation
508
Software stroke limit�
Error
Operation status at error occurrence
At start: The system will not operate.
�
Positioning is carried out at a position beyond the software limit upper limit.
stroke
In
the
analysis of new current Current value is not changed.
value:
� The positioning address and new During operation:
current value exceed the software
� The system stops
stroke limit upper limit.
immediately when the
� The sub point exceeds the software stroke limit upper limit in the
circular interpolation or helical interpolation with sub point designation.
positioning address during position control (including position control in speedposition switching control or position-speed switching control) is switched to the
data outside the software
stroke limit range.
� Positioning is carried out at a position beyond the software stroke limit lower limit.
� The positioning address and new current value exceed the software stroke limit lower limit.
� The sub point exceeds the software stroke limit lower limit in the circular interpolation or helical interpolation with sub point designation.
� The system makes a stop at the setting (normal deceleration stop only) of
sudden stop selection (stop group 3) in the detailed parameter 2 when the current feed value or
machine feed value during speed control (including speed control in speedposition switching control or
position-speed switching control) or during manual control falls outside the software stroke limit range.
15 - 20
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
New current value
Remedy
1506 1606 1706 1806 1507 1607 1707 1807
Software stroke limit upper limit
18 168 318 468 19 169 319 469
<New current value>
<Software stroke upper and lower limits>
� [mm] [inch] [pulse] �2147483648 to 2147483647
� [degree] 0 to 35999999
Software stroke limit lower limit
At start: Bring the current feed value into the software stroke limit using the manual control operation. (Refer to CHAPTER 11) Correct the positioning address (Also check the arc address in the circular interpolation or helical interpolation with sub point designation.).
New current value: Bring the new current value into the software stroke limit. (Refer to Section 9.2.21)
During operation:
Correct the positioning address.
(For the positioning and arc addresses, refer to Da.6 and Da.7 in Section 5.3.)
20 170 320 470 21 171 321 471
15 - 21
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
Positioning operation
514
Outside new current value range
The new current address is outside the ranges of 0 to 359.99999, where the control unit is set to "degree".
515
New current value not possible
� The operation pattern "continuous path control" is set in the positioning data in which the control system "current value changing" is set.
� The control system "current value changing" is set in the positioning data following the positioning data in which the operation pattern "continuous path control" is set.
The current value is not changed.
� The continuous path control is
designated using a control system
which is not allowed to use for
continuous path control such as
speed control, speed-position
switching control, position-speed
switching control, fixed-feed, and
516
Continuous path control not possible
current value change.
� The previous data such as those on speed control, speed-position
At start, the system will not operate.
switching control, position-speed
switching control, fixed-feed, and
current value change shows a
continuous path control.
� The continuous positioning control is designated for speed control or position-speed switching control.
518
Outside operation pattern range
� The operation pattern set value is 2.
Interpolation while 519 interpolation axis
BUSY
520
Unit group unmatched
Interpolation is started during the operation of the interpolation axis.
When the "composite speed" has been set in "Interpolation speed designation method" of the parameter or positioning data, the units of the reference axis and interpolation axis differ.
At start: The system will not operate.
During operation: The system stops with the setting (deceleration stop/sudden stop) of the detailed parameter 2 Sudden stop selection (stop group 3).
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
521
Illegal interpolation description command
� The self-axis or a non-existent axis
is set as the axis to be interpolated in the 2-axis interpolation or helical interpolation.
15 - 22
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
1506 1606 1706 1806 1507 1607 1707 1807
<New current value> [degree] 0 to 35999999
Bring the new current value into the setting range. (Refer to Section 9.2.21)
Refer to Section 5.3 "List of positioning data"
<Control system> 01H to 1EH, 80H to 84H
� 03H, 0CH, 17H, 1CH: 1 to 4 axis fixed-feed control
� 04H, 05H, 13H, 14H, 18H, 19H, 1DH, 1EH: 1 to 4 axis speed control
� 81H: current value changing
� Speed-position switching control: 06H, 07H
� Position-speed switching control: 08H, 09H
<Operation pattern> 00, 01, 11
� 01: Continuous positioning control
� 11: Continuous path control
� Do not designate the "continuous path control" using the "current value changing".
� Do not designate the "current value changing" using the positioning data following the positioning data that the "continuous path control" is designated. (Refer to Section 9.2.21)
� Do not designate a speed control, fixed-feed, speedposition switching control, position-speed switching control, and current value change using the positioning data following the continuous path control data.
� Do not carry out the fixed-feed, speed control, speedposition switching control, position-speed switching control, and current value change using the continuous path control operation pattern.
� Do not carry out the speed control and position-speed switching control using the continuous path control operation pattern. (Refer to CHAPTER 9)
Same as error codes 515 to 516
0 150 300 450
<Unit setting> 0, 1, 2, 3
Same as error codes 515 to 516
Correct the operation pattern. (Refer to Section 5.3 Da.1 )
Correct the control system. (Refer to Section 5.3 Da.2 )
Correct the positioning data or change the parameter "Unit setting" of the axis to be interpolated. (Refer to Section 9.1.6)
� Correct the control system. (Refer to Section 5.3 Da.2 )
� Correct the axis to be interpolated. (Refer to Section 5.3 Da.5 )
15 - 23
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
522
Command speed setting error
The command speed is outside the setting range.
Linear interpolation, circular interpolation, helical interpolation: Reference axis is outside the setting range. Speed control interpolation: Either of reference axis and interpolation axis is outside the speed range.
Positioning operation
� In the interpolation control of the
speed control, 4-axis linear interpolation control, or 4-axis fixed-feed control, the system is
started while a composite speed is
set in "Interpolation speed
designation method" of the
At start: The system will not operate.
523
Interpolation mode error
parameter or positioning data of the During operation:
reference axis.
The system stops with the
� In the circular interpolation control
setting (deceleration
or helical interpolation control, the
stop/sudden stop) of the
system is started while a reference
detail parameter 2 Sudden
axis speed is set in "Interpolation
stop selection
speed designation method" of the
(stop group 3).
parameter or positioning reference axis.
data
of
the
(Note that the occurs during
deceleration stop the manual pulse
only
� The control system setting value is generator operation.) outside the specified limit.
524
Control system setting error
� The number of control axes or the axis to be interpolated differs from the previous data when the operation is continuously performed by setting the continuous positioning control or continuous path control.
� Machine OPR, fast OPR, or speedposition or position-speed switching control was performed in the wiring-less mode.
� The NOP instruction was set to the control system of positioning data No. 600.
� Any value other than 0 was set at buffer memory address 1906 (use prohibited area).
525
Sub point setting error
One of the following settings is
configured in circular interpolation or
helical interpolation with sub point
designation.
� Start point = sub point
At start: The system will not operate.
� �
End point = sub point Start point, end point, and sub are in line with each other.
point
During
operation: The system stops immediately.
� Sub point address and center point address are outside the range of �2147483648 to 2147483647.
15 - 24
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
Command speed storage addresses of positioning
data No. 1 to 600
<Command speed>
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Correct the command speed. (Refer to Section 5.3 Da.8 )
29
179 329
479
<Interpolation speed designation
method> 0: Composite speed 1: Reference axis speed
Set the "Interpolation speed designation method" correctly. (Refer to Section 9.1.6)
Same as error codes 515 to 516
� Correct the control system axis to be interpolated, or parameter. (Refer to Section 9.1.6, 9.2.22)
� Do not make setting at buffer memory address 1906 (use prohibited area).
Refer to Section 5.3 "List of positioning data"
<Positioning address/movement amount>
� unit [mm] [pulse] [inch] �2147483648 to 2147483647 (Unit [degree] cannot be set.)
<Arc address> �2147483648 to 2147483647
Correct the sub address (arc address). (Refer to Section 9.2.10, 9.2.12)
15 - 25
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
Positioning operation
526
End point setting error
� The start point is equal to the end
point in circular interpolation or
helical interpolation with sub point
designation.
At start: The system will not operate.
� The end point address is outside During operation:
the range of -2147483648 to 2147483647 in circular interpolation or helical interpolation
The system stops immediately.
with sub point designation or center
point designation.
One of the following settings is
configured in circular interpolation or
527
Center point setting error
helical interpolation with center point designation.
At start:
The system will not operate.
� Start point = Center point
During operation:
� End point = Center point � Center point address is outside the
The system stops immediately.
range of �2147483648 to
2147483647.
� In the speed-position switching
control and the position-speed switching control, the setting value
At start:
The system will not operate.
of a positioning address is
During operation:
530
Outside address range
negative.
� In the 1-axis linear control (ABS), 2to 4-axis linear interpolation control (ABS), or helical interpolation control (ABS), the setting value of a positioning address is outside the range of 0 to 359.99999 [degree].
The system stops immediately with the setting (deceleration stop/sudden
stop) of the detailed parameter 2 sudden stop selection (stop group 3).
532
Simultaneous start not possible
Among the axes to be started simultaneously, there is an axis on which an error other than this error
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
occurs.
� The condition setting values are not
set or outside the setting range.
� The condition operator setting
values are not set or outside the
setting range.
� The condition operator is a bit
operator, and the parameter 1 is 32
or more.
533
Condition data error
� An unusable condition operator is set for the set condition.
� The conditional operator has been
[parameter 1 parameter 2] with
05H (P1 ** P2).
The operation is terminated.
� The value in 'address' is out of the
setting range when the condition
target is set to 'Buffer memory (1-
word/2-word)'. (1-word: 0 to 32767,
2-word: 0 to 32766)
534
Special start instruction error
No applicable special start instruction is present.
535
Circular interpolation not possible
The circular interpolation or helical interpolation is carried out for the axis with the "degree" unit setting.
15 - 26
15 TROUBLESHOOTING
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
MELSEC-Q
Remedy
Correct the end address (positioning address). (Refer to Section 9.2.10, 9.2.12)
Same as in error codes 525.
Refer to Section 5.3 "List of positioning data"
Correct the center point address (arc address). (Refer to Section 9.2.11, 9.2.13)
Same as in error codes 504, 506.
Correct the positioning address. (Refer to Section 9.2.18, 9.2.19, 9.2.20)
Refer to Section 5.3 "List of positioning data"
and Section 5.4 "Block start data"
In the error history, check the axis where the error
--
other than this error occurred, and remove the error
factor. Correct the block start data and positioning data.
Refer to Section 5.4 "Block start data"
--
Normalize the block start data.
Refer to Section 5.3 "List of positioning data"
<Special start instruction> 00H to 06H
Correct the special start instruction code. (Refer to Section 5.4 Da.13 )
--
Correct the control system. (Refer to Section 5.3 Da.2 )
15 - 27
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
536
M code ON signal start
The positioning start is carried out when an M code ON signal (X4 to X7) is turned ON.
537
PLC READY OFF start
The positioning start is carried out when the PLC READY signal (Y0) is turned OFF.
538 READY OFF start
543
Outside start No. range
The positioning start is carried out
when the QD75 READY signal (X0)
is turned OFF.
At start, the system will not operate.
� At the start of positioning, the
setting value of the "positioning
start No." of the axis control data is
outside the ranges of 1 to 600,
7000 to 7004, and 9001 to 9004.
� At a Pre-reading start, the "positioning start No." setting of the axis control data is other than 1 to 600.
At start: The system will not operate.
544
Outside radius range The arc radius exceeds 536870912.
During operation: The system stops
immediately.
545
Control system LOOP setting error
A "0" is set for number of repetitions of the control system "LOOP".
The operation is terminated.
Positioning operation
At start: The system will not operate.
During operation:
The setting value of ABS direction in
The system decelerates to a
Illegal setting of ABS the unit of degree is as follows.
stop.
546 direction in unit of � Set outside the setting range.
(Note that, in the continuous
degree
� A figure other than "0" is set when the software stroke limit is valid.
positioning control and continuous path control, the system continues operating with the setting set at the
time of start even if the setting is changed during the operation.)
553
M code ON timing error
The setting value of the positioning data "M code ON signal output timing" is outside the range.
At start: The system will not operate.
During operation:
The system stops with the
554
Interpolation speed designation method error
The setting value of the positioning data "Interpolation speed
designation method" is outside the range.
setting (deceleration stop/sudden stop) of the detailed parameter 2 sudden stop selection (stop group 3).
In the helical interpolation, the
555
Outside range of the number of pitches set in the number of pitches positioning data "M code" of the linear
interpolation axis is outside the range.
15 - 28
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
1504
1604
1704
1804
<M code OFF request>
After turning OFF the M code ON signal, start the
1: M code ON signal is turned OFF system. (Refer to Section 12.7.3)
-- -- -- -- -- -- -- --
Check the sequence program which turns ON/OFF the
--
PLC READY signal (Y0), and turn ON the PLC READY
signal. Then start the system.
--
Check the QD75 READY ON signal, and then start the system. (Refer to Section 3.3.2)
1500 1600 1700 1800
<Positioning start No.>
1 to 600, 7000 to 7004, 9001 to 9004
Normalize the positioning start No. (Refer to Section 12.7.7)
Refer to Section 5.3 "List of positioning data"
ABS setting direction in the unit of degree
1550 1650 1750 1850
<Maximum radius> 536870912
<LOOP to LEND> 1 to 65535
0: Shortcut 1: ABS clockwise 2: ABS counterclockwise
Software stroke limit upper limit
18 168 318 468 19 169 319 469
Software stroke limit lower limit
20 170 320 470 21 171 321 471
� [mm] [inch] [pulse] �2147483648 to 2147483647
� [degree] 0 to 35999999
Correct the positioning data. (Refer to Section 9.2.10, 9.2.11)
Set 1 to 65535 for number of repetitions of the "LOOP". (Refer to Section 9.2.22) � Set the ABS setting direction in the unit of degree
within the setting range. � Set "0" when the software stroke limits are valid.
(Refer to Section 9.1.5)
Invalidate the software stroke limit. (To invalidate, set the software stroke limit upper limit value to the software stroke limit lower limit value.) (Refer to Section 9.1.5)
0: Use the set value in " Pr.18 M code ON signal output timing". 1: WITH mode 2: AFTER mode
Correct the positioning data "M code ON signal output timing" to 0 to 2.
Refer to Section 5.3 "List of positioning data"
0: Use the set value in " Pr.20 Interpolation speed designation method".
1: Composite speed
2: Reference axis speed
<Number of pitch> 0 to 999
Correct the positioning data "Interpolation speed designation method" to 0 to 2.
Correct the number of pitch set in the positioning data "M code" of the linear interpolation axis to 0 to 999.
15 - 29
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
800 Hold error
I/F
801
Flash ROM write error
802
Flash ROM sum check error
Error
Operation status at error occurrence
At start: The system will not operate.
During operation:
The system stops with the
In the CPU module parameter "Output at error stop", the setting for QD75 is "Hold".
setting (deceleration
stop/sudden stop) of the detailed parameter 2 sudden stop selection (stop group 3).
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
Data is not written to the flash ROM.
While data is written to the flash ROM, the power is turned OFF.
At start: The system will not operate.
15 - 30
15 TROUBLESHOOTING
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
MELSEC-Q
Remedy
-- -- -- --
--
Clear the setting of the CPU module parameter "Output at error stop".
-- -- -- --
The flash ROM is expected to be at the end of its
--
writable life.
Replace the flash ROM with a new one.
1901
<Parameter initialization request> 1: Parameter initialization is requested
Return the parameter to that set at the time of delivery from the plant. (Refer to Section 13.2)
15 - 31
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
803 PLC CPU error
The CPU module resulted in an error.
At start: The system will not operate.
During operation: The system stops with the setting (deceleration stop/sudden stop) of the detailed parameter 2 sudden stop selection (stop group 2).
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
� The Z.ABRST instruction is executed with the status set to other than 0 (at the start of communication with the servoamplifier).
� The status of the Z.ABRST instruction is changed during absolute position restoration (during communication with the servo-amplifier).
� The ZP.PSTRT instruction is
I/F
804
Dedicated instruction executed with the start No. set to
error
other than 1 to 600, 7000 to 7004
The function corresponding to the instruction is not executed.
and 9001 to 9004.
� The ZP.TEACH instruction is executed with the teaching data selection set to other than 0 and 1.
� The ZP.TEACH instruction is executed with the positioning data No. set to other than 1 to 600.
� The instruction of a non-existent axis is specified by the Z.ABRST , ZP.PSTRT or ZP.TEACH instruction.
805
Flash ROM write number error
Data is written to the flash ROM
continuously 25 times or more from
the sequence program.
At start: The system will not operate.
806
Dedicated instruction Mismatching occurs between the
I/F error
CPU module and QD75.
15 - 32
15 TROUBLESHOOTING
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
MELSEC-Q
Remedy
-- -- -- --
--
Check the error code of CPU module and refer to the QCPU User's Manual.
< Z.ABRST status>
0: Communication complete
(received from the servo amplifier) � When executing the Z.ABRST instruction, set the
< ZP.PSTRT start No.>
status to 0 (refer to Section 14.3).
1 to 600 7000 to 7004 9001 to 9004
� Do not change the status during absolute position restoration by the Z.ABRST instruction.
� When executing the ZP.PSTRT instruction, set the start No. to within the setting range (refer to Section
--
--
--
--
< ZP.TEACH teaching data
14.4).
0:
selection>
The current feed value is the positioning address.
written
to
�
When executing the ZP.TEACH instruction, set the teaching data selection and positioning data No. to within the setting range (refer to Section 14.5).
1: The current feed value is written to � Do not specify the instruction of a non-existent axis by
the arc address.
the Z.ABRST , ZP.PSTRT and ZP.TEACH
< ZP.TEACH positioning data instructions (refer to Section 14.3 to Section 14.5).
No.>
1 to 600
-- -- -- -- -- -- -- --
Review the sequence program so that data is not
written continuously to the flash ROM.
(Using Md.19 in Section 5.6.1, the number of flash
--
ROM write times can be monitored.)
(If this error has occurred in a proper using method, writing is enabled by resetting the error, switching power OFF, then ON, or resetting the CPU module.)
--
A trouble occurs. Repair.
15 - 33
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
900
Outside unit setting range
The set value of the basic parameter 1 "Unit setting" is outside the setting range.
Outside pulse
The set value of the basic parameter 1
901 number per rotation "No. of pulses per rotation" is outside
range
the setting range.
Outside movement The set value of the basic parameter 1
902 amount per rotation "Movement amount per rotation" is
range
outside the setting range.
903
Outside unit magnification range
The set value of the basic parameter 1 "Unit magnification" is outside the setting range.
904
Pulse output mode error
The set value of the basic parameter 1 The QD75 READY signal (X0) is
"Pulse output mode" is outside the
not turned ON.
setting range.
905
Rotation direction setting error
The set value of the basic parameter 1 "Rotation direction setting" is outside the setting range.
Parameter
� The set value of the basic parameter 1
906
Outside bias speed range
"Bias speed at start" is outside the setting range.
� The bias speed exceeds the speed
limit.
� The set value of the basic parameter 2 "Speed limit value" is outside the setting range.
910
Outside speed limit value range
� The value obtained by the conversion of the speed limit value with respect to When the power is turned ON or the frequency exceeds the maximum PLC READY signal (Y0) is turned
output frequency of the unit.
from OFF to ON:
� The speed limit value is smaller than the OPR speed.
QD75 READY signal (X0) is not turned ON.
911
Outside acceleration time 0 range
The set value of the basic parameter 2 "Acceleration time 0" is outside the setting range.
At start: The system will not operate.
912
Outside deceleration time 0 range
The set value of the basic parameter 2 "Deceleration time 0" is outside the setting range.
Backlash 920 compensation
amount error
The value converted into pulse number using the movement amount per pulse is 256 pulses or more.
� In the unit of degree, the set value of
the detailed parameter 1 "Software
stroke limit upper limit value" is
921
Software stroke limit outside the setting range.
upper limit
� In a unit other than degree, the
The QD75 READY signal (X0) is not turned ON.
software stroke limit upper limit value
is smaller than the software stroke
limit lower limit value.
15 - 34
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
0 150 300 450
0, 1, 2, 3
Remedy
1 151 301 451
1 to 65535
2 152 302 452 3 153 303 453
1 to 65535 1, 10, 100, 1000
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
4 154 304 454
0, 1, 2, 3
5 155 305 455
0, 1
QD75P N/QD75D N:
0 to 4000000 [pulse/s]
0 to 2000000000
6 156 306 456
[10-2mm/min or others]
7 157 307 457 QD75P /QD75D :
0 to 1000000 [pulse/s]
0 to 2000000000
[10-2mm/min or others]
QD75P N/QD75D N:
1 to 4000000 [pulse/s]
1 to 2000000000
10 160 310 460
[10-2mm/min or others]
11 161 311 461 QD75P /QD75D :
1 to 1000000 [pulse/s]
1 to 2000000000
[10-2mm/min or others]
12 162 312 462 13 163 313 463
1 to 8388608
14 164 314 464 15 165 315 465
1 to 8388608
17 167 317 467
0 to 255
Set the bias speed to not more than the speed limit value. With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
� The value converted into the frequency should not exceed the maximum output frequency of the module.
� Set a value which is not less than the OPR speed. � With the setting brought into the setting range, turn
the PLC READY signal [Y0] from OFF to ON.
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Set the value converted into the pulse number using "the movement amount per pulse" to less than 256 pulses. (Refer to Section 12.3.1)
18 19
168 169
318 319
468 469
� [mm] [inch] [pulse] �2147483648 to 2147483647
� [degree] 0 to 35999999
� Bring the setting into the setting range.
� In a unit other than degree, set the setting so that the lower limit value is smaller than the upper limit value.
15 - 35
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
Parameter
� In the unit of degree, the set value of
the detailed parameter 1 "Software
stroke limit lower limit value" is outside
922
Software stroke limit the setting range.
lower limit
� In a unit other than degree, the
software stroke limit upper limit value
is smaller than the software stroke
limit lower limit value.
923
Software stroke limit selection
The set value of the detailed parameter 1 "Software stroke limit selection" is outside the setting range.
924
Software stroke limit valid/invalid setting
The set value of the detailed parameter 1 "Software stroke limit valid/invalid setting" is outside the setting range.
925
Command in-position width
The set value of the detailed parameter 1 "Command in-position width" is outside the setting range.
926
Illegal torque limit setting value
The set value of the detailed parameter 1 "Torque limit setting value" is outside the setting range.
927
M code ON timing error
The set value of the detailed parameter 1 The QD75 READY signal (X0) is
"M code ON signal output timing" is
not turned ON.
outside the setting range.
928
Speed changeover mode error
The set value of the detailed parameter 1 "Speed changeover mode" is outside the setting range.
Interpolation speed The set value of the detailed parameter
929 designation method 1 "Interpolation speed designation
error
method" is outside the setting range.
930
Current request
value error
update
The set value of the detailed parameter 1 "Current feed value during speed control" is outside the setting range.
Manual pulse 932 generator input
mode error
The set value of the detailed parameter 1 "Manual pulse generator input selection" is outside the setting range.
Speed-position 935 function selection
error
The detailed parameter 1 "speedposition function selection" is preset to 2 and the following three conditions are not satisfied:
1) Unit is "degree".
2) Software stroke limits are invalid.
3) Update current feed value.
950
Acceleration time 1 setting error
The set value of the detailed parameter 2 "Acceleration time 1" is outside the setting range.
At start: The system will not operate.
During operation:
951
Acceleration time 2 setting error
The set value of the detailed parameter 2 "Acceleration time 2" is outside the setting range.
The system stops with the setting (deceleration stop/sudden stop) of the
952
Acceleration time 3 setting error
The set value of the detailed parameter 2 "Acceleration time 3" is outside the setting range.
detailed parameter 2 sudden stop selection (stop group 3).
953
Deceleration time 1 setting error
The set value of the detailed parameter 2 "Deceleration time 1" is outside the setting range.
(Note that the deceleration stop only occurs during the manual pulse generator operation.)
15 - 36
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
20 21
170 171
320 321
470 471
� [mm] [inch] [pulse] �2147483648 to 2147483647
� [degree] 0 to 35999999
� Bring the setting into the setting range.
� In a unit other than degree, set so that the lower limit value is smaller than the upper limit value.
22 172 322 472
23 173 323 473 24 174 324 474 25 175 325 475 26 176 326 476
27 177 327 477
28 178 328 478
29 179 329 479
30 180 330 480
33
34 184 334 484
36 186 336 486 37 187 337 487 38 188 338 488 39 189 339 489 40 190 340 490 41 191 341 491 42 192 342 492 43 193 343 493
0, 1
0, 1 1 to 2147483647
1 to 500 0, 1 0, 1
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
0, 1
0, 1, 2
0, 1, 2, 3
Speed-position switching control (ABS mode) should
satisfy the conditions 1) to 3) given on the left. When
0, 2
speed-position switching control (ABS mode) is not to
be exercised, set 0 to speed-position function selection
and turn the PLC READY signal (Y0) from OFF to ON.
1 to 8388608
1 to 8388608 1 to 8388608
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
1 to 8388608 15 - 37
15 TROUBLESHOOTING
MELSEC-Q
Classification Error of errors code
Error name
Error
Operation status at error occurrence
954
Deceleration time 2 setting error
The set value of the detailed parameter 2 "Deceleration time 2" is outside the setting range.
955
Deceleration time 3 setting error
The set value of the detailed parameter 2 "Deceleration time 3" is outside the setting range.
956
JOG speed limit value error
� The set value of the detailed parameter 2 "JOG speed limit value" is outside the setting range.
� The set range of the detailed parameter 2 "JOG speed limit value" exceeds the speed limit.
Parameter
JOG acceleration The set value of the detailed parameter
957 time selection setting 2 "JOG acceleration time selection
error
setting" is outside the setting range.
JOG deceleration The set value of the detailed parameter
958 time selection setting 2 "JOG deceleration time selection
error
setting" is outside the setting range.
At start: The system will not
Acceleration/
The set value of the detailed parameter
operate.
959
deceleration process 2 "Acceleration/deceleration process During operation:
selection setting selection setting" is outside the setting
The system stops with the
error
range.
setting (deceleration
960
S-curve ratio setting error
The set value of the detailed parameter 2 "S-curve ratio" is outside the setting range.
stop/sudden stop) of the detailed parameter 2 Sudden stop selection
961
Illegal sudden stop deceleration time
The set value of the detailed 2 "Sudden stop deceleration outside the setting range.
parameter time" is
(stop group 3).
(Note that the deceleration stop occurs during the manual pulse generator operation.)
only
962
Stop group 1 sudden stop selection error
The set value of the detailed parameter 2 "Stop group 1 sudden stop selection" is outside the setting range.
963
Stop group 2 sudden stop selection error
The set value of the detailed parameter 2 "Stop group 2 sudden stop selection" is outside the setting range.
964
Stop group 3 sudden stop selection error
The set value of the detailed parameter 2 "Stop group 3 sudden stop selection" is outside the setting range.
Outside allowance The set value of the detailed parameter
966 circular interpolation 2 "Allowance circular interpolation error
error width
width" is outside the setting range.
External command The set value of the detailed parameter
967 function selection 2 "External command function
error
selection" is outside the setting range.
The set value of the OPR basic 980 OPR method error parameter "OPR method" is outside
the setting range.
The QD75 READY signal (X0) is not turned ON.
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15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
44 194 344 494 45 195 345 495
46 196 346 496 47 197 347 497
1 to 8388608 1 to 8388608
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
QD75P N/QD75D N:
1 to 4000000 [pulse/s]
1 to 2000000000
48 198 348 498
[10-2mm/min or others]
49 199 349 499 QD75P /QD75D :
1 to 1000000 [pulse/s]
1 to 2000000000
[10-2mm/min or others]
� With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
� Bring the setting into the speed limit value or below.
50 200 350 500
0, 1, 2, 3
51 201 351 501
0, 1, 2, 3
52 202 352 502
0, 1
53 203 353 503 54 204 354 504 55 205 355 505 56 206 356 506
57 207 357 507
1 to 100 1 to 8388608
0, 1 0, 1
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
58 208 358 508
60 210 360 510 61 211 361 511
62 212 362 512
0, 1 0 to 10000 0, 1, 2, 3
70 220 370 520
0, 1, 2, 3, 4, 5
15 - 39
15 TROUBLESHOOTING
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Classification Error of errors code
Error name
Error
Operation status at error occurrence
Parameter
The set value of the OPR basic
981 OPR direction error parameter "OPR direction" is outside the setting range.
982
OP address setting error
The set value of the OPR basic parameter "OP address" is outside the setting range.
983 OPR speed error
� The set value of the OPR basic parameter "OPR speed" is outside the setting range.
� The set value of the OPR basic parameter "OPR speed" is smaller than the bias speed at start.
984 Creep speed error
� The set value of the OPR basic parameter "Creep speed" is outside the setting range.
� The set value of the OPR basic parameter "Creep speed" is larger than the OPR speed.
� The set value of the OPR basic parameter "Creep speed" is smaller than the bias speed at start.
985 OPR retry error
The set value of the OPR basic parameter "OPR retry" is outside the setting range.
991
Setting for the movement amount after near-point dog
The set value of the OPR detailed parameter "Setting for the movement amount after near-point dog ON" is
The QD75 READY turned ON.
signal
(X0)
is
not
ON error
outside the setting range.
The set value of the OPR detailed
992
OPR acceleration time selection error
parameter "OPR acceleration time selection" is outside the setting
range.
The set value of the OPR detailed
993
OPR deceleration time selection error
parameter "OPR deceleration time selection" is outside the setting
range.
995
OPR torque limit value error
� The set value of the OPR detailed parameter "OPR torque limit value" is outside the setting range.
� The OPR detailed parameter "OPR torque limit value" has exceeded the detailed parameter 1 "Torque limit setting value".
Deviation counter 996 clear signal output
time setting error
The set value of the OPR detailed
parameter "Deviation counter clear signal output time" is outside the setting range.
The set value of the OPR detailed
997
Speed designation parameter "Speed designation during OP shift error during OP shift" is outside the setting
range.
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15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
71 221 371 521
0, 1
72 73
222 223
372 373
522 523
� [mm] [inch] [pulse] �2147483648 to 2147483647
� [degree] 0 to 35999999
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
74 224 374 524 75 225 375 525
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D :
1 to 1000000 [pulse/s]
76 226 376 526 77 227 377 527
1 to 2000000000 [10-2mm/min or others]
� Bring the setting into the setting range. � Set the speed to the bias speed at start or higher.
(Refer to Section 5.2.5)
� Bring the setting into the setting range. � Set the speed to that below the OPR speed. � Set the value to the bias speed at start or higher.
(Refer to Section 5.2.5)
78 228 378 528 80 230 380 530 81 231 381 531 82 232 382 532 83 233 383 533
86 236 386 536
0, 1 0 to 2147483647
0, 1, 2, 3 0, 1, 2, 3
1 to 300
With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
87 237 387 537 88 238 388 538
1 to 65535 0, 1
15 - 41
15 TROUBLESHOOTING
MELSEC-Q
15.4 List of warnings
The following table shows the warning details and remedies to be taken when a warning occurs.
Classification Warning of warnings code
Warning name
Warning
Operation status at warning occurrence
--
000 (Normal status)
--
--
100
Start during operation
The start request is issued while the axis is BUSY.
Continue the operation.
102
Deviation counter clear request
The deviation counter clear request The deviation counter clear request is is issued while the axis is BUSY. ignored.
The restart command is issued when
104 Restart not possible the axis operation status is not
Continue the operation.
"Stopped".
109
Teaching in BUSY
The teaching request is issued while the axis is BUSY.
The warning is issued for the axis designated at the time of the teaching request.
110
Less than minimum speed
The overridden speed becomes "0".
The system is controlled with the currently executing unit of 1.
Common
111 In PLC READY
The request for writing to the flash ROM is issued when the PLC READY is turned ON.
The warning for axis 1 is issued.
112
Illegal override value
� Controlled at a setting value of
A value other than 1 to 300 is set for 0 : 100.
the override value.
� Controlled at a setting value of
301 or over : 300.
113
Outside new torque The new torque value exceeds the
value range
torque limit setting value.
Set a value smaller than the torque limit setting value to the new torque value.
114
Below bias speed
The command speed is below the bias speed at start.
Operate by the bias speed at start.
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15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
-- -- -- --
Set range (Setting with sequence program)
--
Remedy --
-- -- -- --
--
Normalize the start request ON timing.
-- -- -- --
1503 1603 1703 1803
1548 1648 1748 1848 1549 1649 1749 1849
1513 1613 1713 1813
1900 1901
--
<Restart command> 1: Restart
<Teaching data selection> 0, 1
<Teaching positioning data No.> 1 to 600
<Positioning operation speed override> 1 to 300
Do not carry out the deviation counter clear while the axis is running. (Refer to CHAPTER 8) Normalize the start request ON timing. (Refer to Section 6.5.5) (Do not issue the restart command when the axis operation is not stopped.)
Carry out the teaching request when the axis is not BUSY. (Refer to Section 12.7.4)
Prevent the overridden speed from being reduced to 0. (Refer to Section 12.5.2)
<Flash ROM write request> 1: Flash ROM write request <Parameter initialization request> 1: Parameter initialization request
Issue a write request when PLC READY signal (Y0) is OFF.
1513 1613 1713 1813
<Positioning operation speed override> 1 to 300
1525 1625 1725 1825
<New torque value> 1 to [Torque limit set value]
26 176 326 476
<Torque limit set value> 1 to 500
Refer to Section 5.3 "List of positioning data"
for command speed
<Command speed>
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Bias speed at start
6 156 306 456 7 157 307 457
<Bias speed at start>
QD75P N/QD75D N: 0 to 4000000 [pulse/s] 0 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 0 to 1000000 [pulse/s] 0 to 2000000000 [10-2mm/min or others]
Set a value within the setting range. Set a value smaller than the torque limit setting value to the new torque value.
Re-set the command speed/bias speed at start so that the command speed is equal to or larger than the bias speed at start.
15 - 43
15 TROUBLESHOOTING
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Classification Warning of warnings code
Warning name
Warning
Operation status at warning occurrence
300
Speed change during deceleration
The speed change request is issued
during deceleration stop with JOG The speed change is not carried out. start signal OFF.
JOG
301
JOG speed limit value
� When the speed exceeds the JOG � The JOG speed exceeds the JOG speed limit, the JOG operation is
speed limit value at the JOG start. carried out with the JOG speed limit � The new speed value exceeds the value.
JOG speed limit value when the � While the speed is limited by the speed is changed during operation. JOG speed limit value, the "Speed
limiting flag" is turned ON.
� When input magnification is set at
The manual pulse generator 1 pulse 1001 or higher: Re-set to 1000.
Outside manual input magnification is set as follows. (QD75P N/QD75D N)
Manual pulse generator
401
pulse generator � 0 or 1001 or higher input magnification (QD75P N/QD75D N)
� When input magnification is set at 101 or higher: Re-set to 100.
range
� 0 or 101 or higher
(QD75P /QD75D )
(QD75P /QD75D )
� When input magnification is set at 0:
Re-set to 1.
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15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
Remedy
1516 1616 1716 1816
<Speed change request>
Do not carry out the JOG speed change during
1: Speed change is requested deceleration with the JOG start signal OFF.
New speed value
QD75P N/QD75D N:
0 to 4000000 [pulse/s]
0 to 2000000000
[10-2mm/min or others]
1514 1515
1614 1615
1714 1715
1814 1815
QD75P /QD75D : 0 to 1000000 [pulse/s]
0 to 2000000000
[10-2mm/min or others]
JOG speed limit value
48 198 348 498 49 199 349 499
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Bring the set value into the setting range.
1522 1622 1722 1822 1523 1623 1723 1823
<Manual pulse generator 1 pulse
input magnification> 1 to 1000 (QD75P N/QD75D N)
1 to 100 (QD75P /QD75D )
Set the manual pulse generator 1 pulse input magnification to within the setting range.
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15 TROUBLESHOOTING
MELSEC-Q
Classification Warning of warnings code
Warning name
Warning
Operation status at warning occurrence
500
Deceleration/stop speed change
The speed change request is issued during deceleration stop.
The speed change is not carried out.
501
Speed limit value over
The new value exceeds the speed limit value when the speed is changed during operation.
� The speed is controlled with the speed limit value.
� The "speed limiting flag" is turned ON.
Positioning operation
503
M code ON signal ON start
The M code ON signal is turned ON when the positioning data is executed.
Continue executing the positioning data.
505
No operation termination setting
In the positioning by block starting, the 50th point of the positioning start The operation is terminated. data is set to CONTINUE.
506
FOR to NEXT nest construction
FOR to NEXT is nested.
Speed-position
The switching signal for speed-
508
switching (during position switching control (INC acceleration) signal mode) is turned ON during
ON
acceleration.
The operation is continued.
� When a command speed is
changed:
� At a continuous operation interrupt
Change to a value as near a new
request, the distance required
speed value as possible.
deceleration stop is not long
� When a target position is changed:
509
Insufficient
enough.
remaining distance � At a speed change request, the
Adjust the speed to a value as near the command speed as
remaining distance is shorter than
possible, and then change to a
the distance required for speed
target position.
change.
(When the operation pattern is a
continuous path control, ignore the
operations stated above.)
15 - 46
15 TROUBLESHOOTING
MELSEC-Q
Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
1516 1616 1716 1816
<Speed change request> 1: Speed change is requested
New speed value
QD75P N/QD75D N:
0 to 4000000 [pulse/s]
0 to 2000000000
[10-2mm/min or others]
1514 1614 1714 1814 QD75P /QD75D : 1515 1615 1715 1815 0 to 1000000 [pulse/s]
0 to 2000000000
[10-2mm/min or others]
Speed limit value
10 160 310 460 11 161 311 461
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Remedy Do not carry out the speed change during deceleration with a stop command, during stoppage, or during automatic deceleration with position control.
Set the new speed value to a range of 0 to "speed limit value".
1504
1604
1704
1804
<M code OFF request>
Normalize the ON and OFF timings of the "M code
1: M code ON signal is turned OFF OFF request". (Refer to Section 12.7.3)
Refer to Section 5.3 "List of positioning data"
-- -- -- --
<Operation pattern> 00: Positioning complete 01: Continuous positioning control 11: Continuous path control
--
Set the operation termination to the 50th point. (Refer to CHAPTER 10)
Make 1 nest construction for FOR to NEXT. (Refer to Section 10.3.8)
-- -- -- --
Do not turn ON the speed-position switching signal
--
during acceleration.
(Refer to Section 9.2.16)
-- -- -- --
--
Give a request at the position where there is an enough remaining distance.
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Classification Warning of warnings code
Warning name
Warning
Operation status at warning occurrence
511 Step not possible
Code 1 is set for the step start
information when the step is outside The step will not start. standby.
512
Illegal external command function
The detailed parameter 2 "External Even if the external command signal
command function selection" setting is turned ON, the system will not
range is exceeded.
perform anything.
513
Insufficient
The movement amount is not large
movement amount enough for automatic deceleration.
The system stops immediately after it reaches the positioning address.
514
Outside command The command speed exceeds the
speed range
speed limit.
� The command speed is controlled at the "speed limit value".
� The "speed limiting flag" turns ON.
Positioning operation
516
Illegal teaching data The positioning data No. is set
No.
outside the setting range.
Teaching is not carried out when the set value is 0 or 601 or more. (A "0" is canceled by the QD75 automatically even when a "0" or "601" or more is set.)
517
Illegal teaching data The teaching data selection set
selection
value is outside the setting range.
Teaching is not carried out.
� A target position change request was given for the control system other than ABS1 and INC1.
� The target position change request is turned ON during continuous path control.
518
Target position change not possible
� A new target position address is outside the software stroke limit range.
The target position change is not carried out.
� A target position change request was given during deceleration to a stop.
� A target position change request is given while the speed change 0 flag (Md.31 Status: b10) is ON.
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Related buffer memory address
Axis 1 Axis 2 Axis 3 Axis 4
Set range (Setting with sequence program)
1546 1646 1746 1846
<Step start information> 1: Step is continued
2: Re-start is carried out
62 212 362 512
<External command function selection> 0, 1, 2, 3
Refer to Section 5.3 "List of positioning data"
--
For command speed, refer to Section 5.3
"List of positioning data" Speed limit value
10 160 310 460 11 161 311 461
QD75P N/QD75D N: 1 to 4000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
QD75P /QD75D : 1 to 1000000 [pulse/s] 1 to 2000000000 [10-2mm/min or others]
Remedy
Do not set a "1" to the step start information when the step is not in standby state. (Refer to Section 12.7.1) Set the detailed parameter 2 "External command function selection" to within the setting range. Set a decelerating address or a movement amount to the positioning data.
Set the command speed to within the setting range.
1549 1649 1749 1849
<Teaching positioning data No.> 1 to 600
Set the positioning data No. to within the setting range.
1548 1648 1748 1848
<Teaching data selection> 0, 1
Set the teaching data selection set value to within the setting range.
1538 1638 1738 1838
<Target position change request flag>
1: Target position change request
� Do not turn ON the target position change request in the following cases.
� An operating pattern "continuous path control" is used.
� A control system other than ABS1, and INC1 is used.
� During deceleration stop.
� When the speed change 0 flag ( Md.31 Status: b10) is ON.
� When the target position change address is outside the stroke limit, correct the target position change address. (Refer to Section 12.5.5)
15 - 49
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MEMO
MELSEC-Q
15 - 50
APPENDICES
Appendix 1 Version up of the functions .................................................................................Appendix- 2
Appendix 1.1 Comparison of functions according to function versions........................Appendix- 2
Appendix 1.2 Precautions for the replacement of QD75P /QD75D with
QD75P N/QD75D N ............................................................................Appendix- 3
Appendix 2 Format sheets ....................................................................................................Appendix- 7
Appendix 2.1 Positioning Module operation chart ........................................................Appendix- 7
Appendix 2.2 Parameter setting value entry table .......................................................Appendix- 10
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses ....................Appendix- 16
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI
Electric Corporation............................................................................................Appendix- 48
Appendix 4.1 Connection example of QD75D N and MR-J3- A
(Differential driver) ...........................................................................Appendix- 48
Appendix 4.2 Connection example of QD75D N and MR-H A
(Differential driver) ...........................................................................Appendix- 49
Appendix 4.3 Connection example of QD75D N and MR-J2/J2S- A
(Differential driver) ...........................................................................Appendix- 50
Appendix 4.4 Connection example of QD75D N and MR-C A
(Differential driver) ...........................................................................Appendix- 51
Appendix 5 Connection examples with stepping motors manufactured by
ORIENTALMOTOR Co., Ltd............................................................................Appendix- 52
Appendix 5.1 Connection example of QD75P N and VEXTA UPD
(Open collector) ...............................................................................Appendix- 52
Appendix 6 Connection examples with servo amplifiers manufactured by
Panasonic Corporation .....................................................................................Appendix- 53
Appendix 6.1 Connection example of QD75D N and MINAS-A series
(Differential driver) ...........................................................................Appendix- 53
Appendix 7 Connection examples with servo amplifiers manufactured by
SANYO DENKI Co., Ltd.....................................................................................Appendix- 54
Appendix 7.1 Connection example of QD75D N and PYO series
(Differential driver) ...........................................................................Appendix- 54
Appendix 8 Connection examples with servo amplifiers manufactured by
YASKAWA Electric Corporation. .......................................................................Appendix- 55
Appendix 8.1 Connection example of QD75D N and - series
(Differential driver) ...........................................................................Appendix- 55
Appendix 9 Comparisons with conventional positioning modules .......................................Appendix- 56
Appendix 9.1 Comparisons with A1SD71S2 model.....................................................Appendix- 56
Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models
.......................................................................................................................................Appendix- 57
Appendix 10 When using GX Works2 ..................................................................................Appendix- 80
Appendix 10.1 Adding a module...................................................................................Appendix- 81
Appendix 10.2 Setting parameters ...............................................................................Appendix- 82
Appendix 10.3 Setting auto refresh ..............................................................................Appendix- 87
Appendix 10.4 Positioning monitor ...............................................................................Appendix- 88
Appendix 10.5 Positioning test......................................................................................Appendix- 98
Appendix 10.6 Wave trace ...........................................................................................Appendix-106
Appendix 10.7 Location trace ......................................................................................Appendix-109
Appendix 10.8 Parameter initialization function ..........................................................Appendix-112
Appendix 10.9 Execution data backup function ..........................................................Appendix-114
Appendix 10.10 External I/O signal logic switching function.......................................Appendix-116
Appendix 10.11 External I/O signal monitor function ..................................................Appendix-117
Appendix 10.12 History monitor function.....................................................................Appendix-118
Appendix 10.13 Checking errors ................................................................................Appendix- 120
Appendix 11 MELSEC Explanation of positioning terms ....................................................Appendix-124
Appendix 12 Positioning control troubleshooting ................................................................Appendix-144 Appendix 13 List of buffer memory addresses ....................................................................Appendix-150
A
Appendix 14 External dimension drawing ...........................................................................Appendix-159
Appendix - 1
APPENDICES
MELSEC-Q
Appendix 1 Version up of the functions Appendix 1.1 Comparison of functions according to function versions
The following tables list the QD75 functions compared according to function versions and the buffer memory for their additional functions.
(1) Function comparison
Item
Speed-position switching control (ABS mode) Pre-reading start function External I/O signal monitor function Multiple programmable controller compatible function 3 Deceleration start flag function Stop command processing for deceleration stop function Output timing selection of near pass control
3-axis helical interpolation control
Positioning option
Function versions
QD75P N/ QD75D N
QD75P /QD75D
A
A
B
1
2
Reference
Section 9.2.19 Section 12.7.7 Section 13.5
4
Section 12.7.8
5
Section 12.7.9
6
7
Section 12.3.4
8
Section 9.2.12
Section 9.2.13
8
Section 5.3
:Available :Not available
1: For the QD75P N/QD75D N, external I/O signals can not be monitored on GX Developer. Use the system monitor of GX Works2.
2: Usable on GX Developer of SW6D5C-GPPW-E or later.
3: Compatible with QCPU of function version B.
4: Supported by the module whose first five digits of SERIAL No. are "03042" or later.
5: Supported by the module whose first five digits of SERIAL No. are "05072" or later.
6: Supported by the module whose first five digits of SERIAL No. are "14032" or later.
7: Supported by the module whose first five digits of SERIAL No. are "14012" or later. 8: Supported by the module whose first five digits of the serial number are "17102" or later.
GX Configurator-QP does not support these functions. Only GX Works2 (Version 1.540N or later) supports the functions.
Appendix - 2
APPENDICES
MELSEC-Q
(2) Additional buffer memory
Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4
34
184 334 484
140 899 999 1099 1199
1905
1907
2003 8003 14003 20003
1
1
1
1
Name
Speed-position function selection
Positioning option valid/invalid setting
Deceleration start flag
Deceleration start flag valid
Stop command processing for deceleration stop selection
M code ON signal output timing
ABS direction in degrees
Interpolation speed designation method
Used function
Speed-position switching control Positioning option
Deceleration start flag function
Stop command processing for deceleration stop function
Positioning option
1: The listed buffer memory addresses are those of the positioning data No. 1 of each axis. For the buffer memory address of other positioning data No., refer to Appendix 3.
(3) Additional devices
Device No. Y14 Y15 Y16 Y17
Axis 1 Axis 2 Axis 3 Axis 4
Name Execution prohibition flag
Used function Pre-reading start function
Appendix - 3
APPENDICES
MELSEC-Q
Appendix 1.2 Precautions for the replacement of the QD75P /QD75D with the QD75P N/QD75D N
(1) Specification differences between the QD75P N/QD75D N and the QD75P /QD75D
The following table shows the differences. The specifications not listed below are
the same for the both models.
Item Max. output pulse
Speed command (pulse unit) Starting time (1-axis linear control)
Monitor data refreshing cycle
Current feed value
Other axis monitors (except external I/O signals)
Manual pulse generator 1 pulse input magnification
ON
voltage/current of external input
External command signal
OFF voltage/current of external input
External command signal
Input resistance of external input
Zero signal (5VDC)
Manual pulse generator A/B phase
External command signal
Internal current consumption (5VDC)
Weight
QD75P N/QD75D N 4Mpulse/s (QD75D N) 1 to 4000000pulse/s Trapezoidal acceleration/ deceleration: 1.5ms S-curve acceleration/ deceleration: 1.6ms 0.9ms
0.9ms
1 to 1000
19VDC or more/2.7mA or more
QD75P /QD75D 1Mpulse/s (Q75D ) 1 to 1000000pulse/s Trapezoidal acceleration/ deceleration: 6ms S-curve acceleration/ deceleration: 6.5ms 1.8ms
56.8ms
1 to 100
17.5VDC or more/ 3.5mA or more
7VDC or less/ 0.8mA or less
Approx. 620
Approx. 1.1k
Approx. 7.7k QD75P1N: 0.29A QD75P2N: 0.30A QD75P4N: 0.36A QD75D1N: 0.43A QD75D2N: 0.45A QD75D4N: 0.66A QD75P1N: 0.14kg QD75P2N: 0.14kg QD75P4N: 0.16kg QD75D1N: 0.15kg QD75D2N: 0.15kg QD75D4N: 0.16kg
7VDC or less/ 1.7mA or less
Approx. 300
Approx. 1.5k
Approx. 4.3k QD75P1: 0.40A QD75P2: 0.46A QD75P4: 0.58A QD75D1: 0.52A QD75D2: 0.56A QD75D4: 0.82A QD75P1: 0.15kg QD75P2: 0.15kg QD75P4: 0.16kg QD75D1: 0.15kg QD75D2: 0.15kg QD75D4: 0.16kg
Appendix - 4
APPENDICES
MELSEC-Q
(2) Precaution on the use of sequence programs
The QD75P N/QD75D N is upgraded from the QD75P /QD75D . Therefore, the recognized sequence programs for the QD75P /QD75D can be applied to the QD75P N/QD75D N. Note that specifications such as time takes for startup and data update cycle are improved. When applying a sequence program to the QD75P N/QD75D N, modify the sequence program if necessary, checking the processing timing.
(3) Transferring the set data of the QD75P /QD75D using GX Works2
When GX Works2 is used, the set data of the QD75P /QD75D can be transferred to the QD75P N/QD75D N in the following procedure.
(a) Saving the set data of the QD75P /QD75D from "Save the Positioning Module Data..." 1) In the project view, select the QD75P /QD75D from where the set data is transferred. 2) Go to [Project] [Intelligent Function Module] [Save the Positioning Module Data...]. 3) Input the file name, and save the set data.
(b) Reading the set data to the QD75P N/QD75D N from "Read from the Positioning Module Data..." 1) In the project view, select the QD75P N/QD75D N to where the saved data is transferred. 2) Go to [Project] [Intelligent Function Module] [Read from the Positioning Module Data...]. 3) Select the name of the file saved in step (a), and open it. The following window opens.
4) Check the data to read and click QD75P N/QD75D N.
. The set data is read to the
Appendix - 5
APPENDICES
MELSEC-Q
(4) Precaution on the use of GX Configurator-QP
To use the QD75PN/QD75DN with GX Configurator-QP, select the QD75P/QD75D in "Select module type". The QD75PN/QD75DN can be used in the same manner as the QD75P/QD75D. Note that a speed exceeding 1000000pulse/s cannot be set in the following items when "Pulse" is set in " Pr.1 Unit setting"). To set a value outside a setting range in GX
Configurator-QP, set it through a sequence program or GX Works2 of the version 1.64S or later.
Setting item Pr.7 Bias speed at start Pr.8 Speed limit value
Pr.31 JOG speed limit value
Pr.46 OPR speed Pr.47 Creep speed Da.8 Command speed
Setting range in GX Configurator-QP 0 to 1000000(pulse/s) [QD75PN] 1 to 200000(pulse/s) [QD75DN] 1 to 1000000(pulse/s)
1 to 1000000(pulse/s)
Setting range in GX Works2 and sequence programs 0 to 4000000(pulse/s)
1 to 4000000(pulse/s)
Appendix - 6
APPENDICES
Appendix 2 Format sheets Appendix 2.1 Positioning Module operation chart
MELSEC-Q
Axis address mm, inch, degree, pulse
Axis address mm, inch, degree, pulse
Appendix - 7
APPENDICES
MELSEC-Q
Axis address mm, inch, degree, pulse
Axis address mm, inch, degree, pulse
Appendix - 8
APPENDICES
MEMO
MELSEC-Q
Appendix - 9
APPENDICES
MELSEC-Q
Appendix 2.2 Parameter setting value entry table
Basic parameters 1
Basic parameters 2
Setting range
Item
mm
inch
degree
pulse
Pr.1 Unit setting
0
1
2
3
Pr.2 No. of pulses per rotation (Ap)
1 to 65535 pulse
Pr.3
Movement amount per rotation 1 to 65535
1 to 65535
1 to 65535
1 to 65535
(Al)
10-1m
10-5inch 10-5degree
pulse
Pr.4 Unit magnification (Am)
1: 1-fold, 10: 10-fold, 100: 100-fold, 1000: 1000-fold
Pr.5 Pulse output mode Pr.6 Rotation direction setting Pr.7 Bias speed at start
Pr.8 Speed limit value
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
QD75P N/QD75D N: 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 4000000 pulse/s
10-2mm/min 10-3inch/min 10-3degree/min QD75P /QD75D : 0 to 1000000 pulse/s
QD75P N/QD75D N: 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 4000000 pulse/s
10-2mm/min 10-3mm/min 10-3degree/min QD75P /QD75D :
1 to 1000000 pulse/s
Pr.9 Acceleration time 0 Pr.10 Deceleration time 0
1 to 8388608ms
Pr.11 Pr.12 Pr.13 Pr.14
Pr.15
Pr.16
Backlash compensation amount
0 to 65535
0 to 65535
0 to 65535
0 to 65535
10-1m
10-5inch 10-5degree
pulse
Software stroke limit upper limit value
Software stroke limit lower limit value
�2147483648 to 2147483647
10-1m
�2147483648 to 2147483647
10-5inch
0 to 35999999 10-5degree
�2147483648 to 2147483647
pulse
Software stroke limit selection
0: Apply software stroke limit on current feed value 1: Apply software stroke limit on machine feed value
Software stroke limit valid/invalid setting
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
Command in-position width
1 to 2147483647 1 to 2147483647 1 to 2147483647 1 to 2147483647
10-1m
10-5inch 10-5degree
pulse
Pr.17 Torque limit setting value
1 to 500%
Pr.18 M code ON signal output timing 0: WITH mode, 1: AFTER mode
Pr.19 Pr.20 Pr.21
Speed switching mode
0: Standard speed switching mode 1: Front-loading speed switching mode
Interpolation method
speed
designation
0:
Composite
speed,
1:
Reference
axis
speed
Current feed value during speed control
0: Do not update current feed value, 1: Update current feed value 2: Clear current feed value
Appendix - 10
Detailed parameters 1
APPENDICES
MELSEC-Q
Initial value
Axis 1
3 20000 20000
1 1 0
0
Axis 2
Axis 3
Axis 4
20000
1000 1000
0 2147483647 �2147483648
0
0
100 300
0 0 0 0
Appendix - 11
Remarks
APPENDICES
MELSEC-Q
Detailed parameters 1
Setting range
Item
mm
inch
degree
pulse
Pr.22
Pr.23 Pr.24 Pr.70
b0 Lower limit b3 Stop signal
Input signal logic selection b1 Upper limit
b4
External command
b2
Drive unit READY
b5 Zero signal
Output signal logic selection
b0
Command pulse signal
b2 Unused
b1 Unused
b3 Unused
Manual pulse generator input selection Positioning option valid/invalid setting
0: A phase/B phase multiple of 4 1: A phase/B phase multiple of 2 2: A phase/B phase multiple of 1 3: PULSE/SIGN mode
0: Invalid 1: Valid
b6
Near-point dog signal
b7, b9 to b15
Unused
Setting of each bit value
b8
Manual pulse 0: Negative logic generator input 1: Positive logic
b4
Deviation
("0" is set for unused
counter clear bit.)
b5 to b15
Unused
Pr.150 Speed -position function 0: Speed-position switching control (INC mode)
selection
2: Speed-position switching control (ABS mode)
Pr.25 Acceleration time 1
Pr.26 Acceleration time 2
Pr.27 Acceleration time 3 Pr.28 Deceleration time 1
1 to 8388608ms
Pr.29 Deceleration time 2
Pr.30 Deceleration time 3
Pr.31 JOG speed limit value
1 to 2000000000 10-2mm/min
1 to 2000000000 10-3inch/min
1 to 2000000000 10-3degree/min
QD75P N/QD75D N: 1 to 4000000 pulse/s QD75P /QD75D : 1 to 1000000 pulse/s
Pr.32 Pr.33 Pr.34 Pr.35 Pr.36 Pr.37 Pr.38 Pr.39 Pr.40 Pr.41
JOG operation
acceleration time selection JOG operation
0 to 3
deceleration time selection
Acceleration/deceleration 0: Trapezoidal acceleration/deceleration process
process selection
1: S-curve acceleration/deceleration process
S-curve ratio
1 to 100%
Sudden stop deceleration time
1 to 8388608ms
Stop group 1 sudden stop selection
Stop group 2 sudden stop 0: Normal deceleration stop
selection
1: Sudden stop
Stop group 3 sudden stop selection
Positioning complete signal output time
0 to 65535ms
Allowable circular
1 to 100000
interpolation error width
10-1m
1 to 100000
1 to 100000
1 to 100000
10-5inch 10-5degree
pulse
Appendix - 12
Detailed parameters 2
APPENDICES
Initial value
Axis 1
Axis 2
Axis 3
Axis 4
0
0
0
0 0 1000 1000 1000 1000 1000 1000
20000
0 0 0 100 1000 0 0 0 300 100
Appendix - 13
MELSEC-Q
Remarks
APPENDICES
MELSEC-Q
Setting range
Item
mm
inch
degree
pulse
Detailed parameters 2
Pr.42
External command function selection
0: External positioning start 1: External speed change request 2: Speed-position or position-speed switching request 3: Skip request
OPR basic parameters
Pr.43 OPR method
Pr.44 OPR direction Pr.45 OP address Pr.46 OPR speed Pr.47 Creep speed Pr.48 OPR retry
0: Near-point dog method 1: Stopper method 1) (By dwell time elapse) 2: Stopper method 2) (By OP signal when stopper is hit) 3: Stopper method 3) (Without near-point dog method) 4: Count method 1) (Use zero signal) 5: Count method 2) (Do not use zero signal)
0: Positive direction (address increment direction) 1: Negative direction (address decrement direction)
�2147483648 to 2147483647
10-1m
�2147483648 to 2147483647
10-5inch
0 to 35999999 10-5degree
�2147483648 to 2147483647
pulse
QD75P N/QD75D N: 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 4000000 pulse/s
10-2mm/min 10-3inch/min 10-3degree/min QD75P /QD75D : 1 to 1000000 pulse/s
0: Do not retry OPR with upper/lower limit switch 1: Retry OPR with upper/lower limit switch
Pr.49 OPR dwell time
0 to 65535ms
Pr.50 Pr.51 Pr.52
Setting for the movement amount after near-point dog ON
OPR acceleration time selection
OPR deceleration time selection
Pr.53 OP shift amount
0 to 2147483647 0 to 2147483647 0 to 2147483647 0 to 2147483647
10-1m
10-5inch 10-5degree
pulse
0 to 3
�2147483648 to �2147483648 to �2147483648 to �2147483648 to
2147483647 2147483647 2147483647 2147483647
10-1m
10-5inch 10-5degree
pulse
Pr.54 OPR torque limit value
1 to 300%
Pr.55 Pr.56
Deviation counter clear signal output time
Speed designation during OP shift
1 to 65535ms 0: OPR speed 1: Creep speed
Pr.57 Dwell time during OPR retry 0 to 65535ms
OPR detailed parameters
Appendix - 14
APPENDICES
Initial value
Axis 1
Axis 2
Axis 3
Axis 4
0
MELSEC-Q
Remarks
0
0 0 1 1 0 0 0 0 0 0 300 11 0 0
Appendix - 15
APPENDICES
MELSEC-Q
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses
(1) For axis 1
PosiData tioning M No. identi- code
fier
Dwell time
Command speed
Low- Highorder order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
1 2000 2001 2002 2004 2005 2006 2007 2008 2009 2 2010 2011 2012 8014 2015 2016 2017 2018 2019 3 2020 2021 2022 2024 2025 2026 2027 2028 2029 4 2030 2031 2032 2034 2035 2036 2037 2038 2039 5 2040 2041 2042 2044 2045 2046 2047 2048 2049
6 2050 2051 2052 2054 2055 2056 2057 2058 2059 7 2060 2061 2062 2064 2065 2066 2067 2068 2069 8 2070 2071 2072 2074 2075 2076 2077 2078 2079 9 2080 2081 2082 2084 2085 2086 2087 2088 2089 10 2090 2091 2092 2094 2095 2096 2097 2098 2099
11 2100 2101 2102 2104 2105 2106 2107 2108 2109
12 2110 2111 2112 2114 2115 2116 2117 2118 2119
13 2120 2121 2122 2124 2125 2126 2127 2128 2129
14 2130 2131 2132 2134 2135 2136 2137 2138 2139
15 2140 2141 2142 2144 2145 2146 2147 2148 2149
16 2150 2151 2152 2154 2155 2156 2157 2158 2159
17 2160 2161 2162 2164 2165 2166 2167 2168 2169
18 2170 2171 2172 2174 2175 2176 2177 2178 2179
19 2180 2181 2182 2184 2185 2186 2187 2188 2189
20 2190 2191 2192 2194 2195 2196 2197 2198 2199
21 2200 2201 2202 2204 2205 2206 2207 2208 2209
22 2210 2211 2212 2214 2215 2216 2217 2218 2219
23 2220 2221 2222 2224 2225 2226 2227 2228 2229
24 2230 2231 2232 2234 2235 2236 2237 2238 2239
25 2240 2241 2242 2244 2245 2246 2247 2248 2249
26 2250 2251 2252 2254 2255 2256 2257 2258 2259
27 2260 2261 2262 2264 2265 2266 2267 2268 2269
28 2270 2271 2272 2274 2275 2276 2277 2278 2279
29 2280 2281 2282 2284 2285 2286 2287 2288 2289
30 2290 2291 2292 2294 2295 2296 2297 2298 2299
31 2300 2301 2302 2304 2305 2306 2307 2308 2309
32 2310 2311 2312 2314 2315 2316 2317 2318 2319
33 2320 2321 2322 2324 2325 2326 2327 2328 2329
34 2330 2331 2332 2334 2335 2336 2337 2338 2339
35 2340 2341 2342 2344 2345 2346 2347 2348 2349
36 2350 2351 2352 2354 2355 2356 2357 2358 2359
37 2360 2361 2362 2364 2365 2366 2367 2368 2369
38 2370 2371 2372 2374 2375 2376 2377 2378 2379
39 2380 2381 2382 2384 2385 2386 2387 2388 2389
40 2390 2391 2392 2394 2395 2396 2397 2398 2399
41 2400 2401 2402 2404 2405 2406 2407 2408 2409
42 2410 2411 2412 2414 2415 2416 2417 2418 2419
43 2420 2421 2422 2424 2425 2426 2427 2428 2429
44 2430 2431 2432 2434 2435 2436 2437 2438 2439
45 2440 2441 2442 2444 2445 2446 2447 2448 2449
46 2450 2451 2452 2454 2455 2456 2457 2458 2459
47 2460 2461 2462 2464 2465 2466 2467 2468 2469
48 2470 2471 2472 2474 2475 2476 2477 2478 2479
49 2480 2481 2482 2484 2485 2486 2487 2488 2489
50 2490 2491 2492 2494 2495 2496 2497 2498 2499
Data No.
Positioning M identi- code
fier
Dwell time
Command speed
Low- Highorder order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
51 2500 2501 2502 2504 2505 2506 2507 2508 2509 52 2510 2511 2512 2514 2515 2516 2517 2518 2519 53 2520 2521 2522 2524 2525 2526 2527 2528 2529 54 2530 2531 2532 2534 2535 2536 2537 2538 2539 55 2540 2541 2542 2544 2545 2546 2547 2548 2549
56 2550 2551 2552 2554 2555 2556 2557 2558 2559 57 2560 2561 2562 2564 2565 2566 2567 2568 2569 58 2570 2571 2572 2574 2575 2576 2577 2578 2579 59 2580 2581 2582 2584 2585 2586 2587 2588 2589 60 2590 2591 2592 2594 2595 2596 2597 2598 2599
61 2600 2601 2602 2604 2605 2606 2607 2608 2609
62 2610 2611 2612 2614 2615 2616 2617 2618 2619
63 2620 2621 2622 2624 2625 2626 2627 2628 2629
64 2630 2631 2632 2634 2635 2636 2637 2638 2639
65 2640 2641 2642 2644 2645 2646 2647 2648 2649
66 2650 2651 2652 2654 2655 2656 2657 2658 2659
67 2660 2661 2662 2664 2665 2666 2667 2668 2669
68 2670 2671 2672 2674 2675 2676 2677 2678 2679
69 2680 2681 2682 2684 2685 2686 2687 2688 2689
70 2690 2691 2692 2694 2695 2696 2697 2698 2699
71 2700 2701 2702 2704 2705 2706 2707 2708 2709
72 2710 2711 2712 2714 2715 2716 2717 2718 2719
73 2720 2721 2722 2724 2725 2726 2727 2728 2729
74 2730 2731 2732 2734 2735 2736 2737 2738 2739
75 2740 2741 2742 2744 2745 2746 2747 2748 2749
76 2750 2751 2752 2754 2755 2756 2757 2758 2759
77 2760 2761 2762 2764 2765 2766 2767 2768 2769
78 2770 2771 2772 2774 2775 2776 2777 2778 2779
79 2780 2781 2782 2784 2785 2786 2787 2788 2789
80 2790 2791 2792 2794 2795 2796 2797 2798 2799
81 2800 2801 2802 2804 2805 2806 2807 2808 2809
82 2810 2811 2812 2814 2815 2816 2817 2818 2819
83 2820 2821 2822 2824 2825 2826 2827 2828 2829
84 2830 2831 2832 2834 2835 2836 2837 2838 2839
85 2840 2841 2842 2844 2845 2846 2847 2848 2849
86 2850 2851 2852 2854 2855 2856 2857 2858 2859
87 2860 2861 2862 2864 2865 2866 2867 2868 2869
88 2870 2871 2872 2874 2875 2876 2877 2878 2879
89 2880 2881 2882 2884 2885 2886 2887 2888 2889
90 2890 2891 2892 2894 2895 2896 2897 2898 2899
91 2900 2901 2902 2904 2905 2906 2907 2908 2909
92 2910 2911 2912 2914 2915 2916 2917 2918 2919
93 2920 2921 2922 2924 2925 2926 2927 2928 2929
94 2930 2931 2932 2934 2935 2936 2937 2938 2939
95 2940 2941 2942 2944 2945 2946 2947 2948 2949
96 2950 2951 2952 2954 2955 2956 2957 2958 2959
97 2960 2961 2962 2964 2965 2966 2967 2968 2969
98 2970 2971 2972 2974 2975 2976 2977 2978 2979
99 2980 2981 2982 2984 2985 2986 2987 2988 2989
100 2990 2991 2992 2994 2995 2996 2997 2998 2999
Appendix - 16
APPENDICES
MELSEC-Q
(1) For axis 1
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
101 3000 3001 3002 3004 3005 3006 3007 3008 3009
102 3010 3011 3012 3014 3015 3016 3017 3018 3019
103 3020 3021 3022 3024 3025 3026 3027 3028 3029
104 3030 3031 3032 3034 3035 3036 3037 3038 3039
105 3040 3041 3042 3044 3045 3046 3047 3048 3049
106 3050 3051 3052 3054 3055 3056 3057 3058 3059
107 3060 3061 3062 3064 3065 3066 3067 3068 3069
108 3070 3071 3072 3074 3075 3076 3077 3078 3079
109 3080 3081 3082 3084 3085 3086 3087 3088 3089
110 3090 3091 3092 3094 3095 3096 3097 3098 3099
111 3100 3101 3102 3104 3105 3106 3107 3108 3109
112 3110 3111 3112 3114 3115 3116 3117 3118 3119
113 3120 3121 3122 3124 3125 3126 3127 3128 3129
114 3130 3131 3132 3134 3135 3136 3137 3138 3139
115 3140 3141 3142 3144 3145 3146 3147 3148 3149
116 3150 3151 3152 3154 3155 3156 3157 3158 3159
117 3160 3161 3162 3164 3165 3166 3167 3168 3169
118 3170 3171 3172 3174 3175 3176 3177 3178 3179
119 3180 3181 3182 3184 3185 3186 3187 3188 3189
120 3190 3191 3192 3194 3195 3196 3197 3198 3199
121 3200 3201 3202 3204 3205 3206 3207 3208 3209
122 3210 3211 3212 3214 3215 3216 3217 3218 3219
123 3220 3221 3222 3224 3225 3226 3227 3228 3229
124 3230 3231 3232 3234 3235 3236 3237 3238 3239
125 3240 3241 3242 3244 3245 3246 3247 3248 3249
126 3250 3251 3252 3254 3255 3256 3257 3258 3259
127 3260 3261 3262 3264 3265 3266 3267 3268 3269
128 3270 3271 3272 3274 3275 3276 3277 3278 3279
129 3280 3281 3282 3284 3285 3286 3287 3288 3289
130 3290 3291 3292 3294 3295 3296 3297 3298 3299
131 3300 3301 3302 3304 3305 3306 3307 3308 3309
132 3310 3311 3312 3314 3315 3316 3317 3318 3319
133 3320 3321 3322 3324 3325 3326 3327 3328 3329
134 3330 3331 3332 3334 3335 3336 3337 3338 3339
135 3340 3341 3342 3344 3345 3346 3347 3348 3349
136 3350 3351 3352 3354 3355 3356 3357 3358 3359
137 3360 3361 3362 3364 3365 3366 3367 3368 3369
138 3370 3371 3372 3374 3375 3376 3377 3378 3379
139 3380 3381 3382 3384 3385 3386 3387 3388 3389
140 3390 3391 3392 3394 3395 3396 3397 3398 3399
141 3400 3401 3402 3404 3405 3406 3407 3408 3409
142 3410 3411 3412 3414 3415 3416 3417 3418 3419
143 3420 3421 3422 3424 3425 3426 3427 3428 3429
144 3430 3431 3432 3434 3435 3436 3437 3438 3439
145 3440 3441 3442 3444 3445 3446 3447 3448 3449
146 3450 3451 3452 3454 3455 3456 3457 3458 3459
147 3460 3461 3462 3464 3465 3466 3467 3468 3469
148 3470 3471 3472 3474 3475 3476 3477 3478 3479
149 3480 3481 3482 3484 3485 3486 3487 3488 3489
150 3490 3491 3492 3494 3495 3496 3497 3498 3499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
151 3500 3501 3502 3504 3505 3506 3507 3508 3509
152 3510 3511 3512 3514 3515 3516 3517 3518 3519
153 3520 3521 3522 3524 3525 3526 3527 3528 3529
154 3530 3531 3532 3534 3535 3536 3537 3538 3539
155 3540 3541 3542 3544 3545 3546 3547 3548 3549
156 3550 3551 3552 3554 3555 3556 3557 3558 3559
157 3560 3561 3562 3564 3565 3566 3567 3568 3569
158 3570 3571 3572 3574 3575 3576 3577 3578 3579
159 3580 3581 3582 3584 3585 3586 3587 3588 3589
160 3590 3591 3592 3594 3595 3596 3597 3598 3599
161 3600 3601 3602 3604 3605 3606 3607 3608 3609
162 3610 3611 3612 3614 3615 3616 3617 3618 3619
163 3620 3621 3622 3624 3625 3626 3627 3628 3629
164 3630 3631 3632 3634 3635 3636 3637 3638 3639
165 3640 3641 3642 3644 3645 3646 3647 3648 3649
166 3650 3651 3652 3654 3655 3656 3657 3658 3659
167 3660 3661 3662 3664 3665 3666 3667 3668 3669
168 3670 3671 3672 3674 3675 3676 3677 3678 3679
169 3680 3681 3682 3684 3685 3686 3687 3688 3689
170 3690 3691 3692 3694 3695 3696 3697 3698 3699
171 3700 3701 3702 3704 3705 3706 3707 3708 3709
172 3710 3711 3712 3714 3715 3716 3717 3718 3719
173 3720 3721 3722 3724 3725 3726 3727 3728 3729
174 3730 3731 3732 3734 3735 3736 3737 3738 3739
175 3740 3741 3742 3744 3745 3746 3747 3748 3749
176 3750 3751 3752 3754 3755 3756 3757 3758 3759
177 3760 3761 3762 3764 3765 3766 3767 3768 3769
178 3770 3771 3772 3774 3775 3776 3777 3778 3779
179 3780 3781 3782 3784 3785 3786 3787 3788 3789
180 3790 3791 3792 3794 3795 3796 3797 3798 3799
181 3800 3801 3802 3804 3805 3806 3807 3808 3809
182 3810 3811 3812 3814 3815 3816 3817 3818 3819
183 3820 3821 3822 3824 3825 3826 3827 3828 3829
184 3830 3831 3832 3834 3835 3836 3837 3838 3839
185 3840 3841 3842 3844 3845 3846 3847 3848 3849
186 3850 3851 3852 3854 3855 3856 3857 3858 3859
187 3860 3861 3862 3864 3865 3866 3867 3868 3869
188 3870 3871 3872 3874 3875 3876 3877 3878 3879
189 3880 3881 3882 3884 3885 3886 3887 3888 3889
190 3890 3891 3892 3894 3895 3896 3897 3898 3899
191 3900 3901 3902 3904 3905 3906 3907 3908 3909
192 3910 3911 3912 3914 3915 3916 3917 3918 3919
193 3920 3921 3922 3924 3925 3926 3927 3928 3929
194 3930 3931 3932 3934 3935 3936 3937 3938 3939
195 3940 3941 3942 3944 3945 3946 3947 3948 3949
196 3950 3951 3952 3954 3955 3956 3957 3958 3959
197 3960 3961 3962 3964 3965 3966 3967 3968 3969
198 3970 3971 3972 3974 3975 3976 3977 3978 3979
199 3980 3981 3982 3984 3985 3986 3987 3988 3989
200 3990 3991 3992 3994 3995 3996 3997 3998 3999
Appendix - 17
APPENDICES
MELSEC-Q
(1) For axis 1
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
201 4000 4001 4002 4004 4005 4006 4007 4008 4009
202 4010 4011 4012 4014 4015 4016 4017 4018 4019
203 4020 4021 4022 4024 4025 4026 4027 4028 4029
204 4030 4031 4032 4034 4035 4036 4037 4038 4039
205 4040 4041 4042 4044 4045 4046 4047 4048 4049
206 4050 4051 4052 4054 4055 4056 4057 4058 4059
207 4060 4061 4062 4064 4065 4066 4067 4068 4069
208 4070 4071 4072 4074 4075 4076 4077 4078 4079
209 4080 4081 4082 4084 4085 4086 4087 4088 4089
210 4090 4091 4092 4094 4095 4096 4097 4098 4099
211 4100 4101 4102 4104 4105 4106 4107 4108 4109
212 4110 4111 4112 4114 4115 4116 4117 4118 4119
213 4120 4121 4122 4124 4125 4126 4127 4128 4129
214 4130 4131 4132 4134 4135 4136 4137 4138 4139
215 4140 4141 4142 4144 4145 4146 4147 4148 4149
216 4150 4151 4152 4154 4155 4156 4157 4158 4159
217 4160 4161 4162 4164 4165 4166 4167 4168 4169
218 4170 4171 4172 4174 4175 4176 4177 4178 4179
219 4180 4181 4182 4184 4185 4186 4187 4188 4189
220 4190 4191 4192 4194 4195 4196 4197 4198 4199
221 4200 4201 4202 4204 4205 4206 4207 4208 4209
222 4210 4211 4212 4214 4215 4216 4217 4218 4219
223 4220 4221 4222 4224 4225 4226 4227 4228 4229
224 4230 4231 4232 4234 4235 4236 4237 4238 4239
225 4240 4241 4242 4244 4245 4246 4247 4248 4249
226 4250 4251 4252 4254 4255 4256 4257 4258 4259
227 4260 4261 4262 4264 4265 4266 4267 4268 4269
228 4270 4271 4272 4274 4275 4276 4277 4278 4279
229 4280 4281 4282 4284 4285 4286 4287 4288 4289
230 4290 4291 4292 4294 4295 4296 4297 4298 4299
231 4300 4301 4302 4304 4305 4306 4307 4308 4309
232 4310 4311 4312 4314 4315 4316 4317 4318 4319
233 4320 4321 4322 4324 4325 4326 4327 4328 4329
234 4330 4331 4332 4334 4335 4336 4337 4338 4339
235 4340 4341 4342 4344 4345 4346 4347 4348 4349
236 4350 4351 4352 4354 4355 4356 4357 4358 4359
237 4360 4361 4362 4364 4365 4366 4367 4368 4369
238 4370 4371 4372 4374 4375 4376 4377 4378 4379
239 4380 4381 4382 4384 4385 4386 4387 4388 4389
240 4390 4391 4392 4394 4395 4396 4397 4398 4399
241 4400 4401 4402 4404 4405 4406 4407 4408 4409
242 4410 4411 4412 4414 4415 4416 4417 4418 4419
243 4420 4421 4422 4424 4425 4426 4427 4428 4429
244 4430 4431 4432 4434 4435 4436 4437 4438 4439
245 4440 4441 4442 4444 4445 4446 4447 4448 4449
246 4450 4451 4452 4454 4455 4456 4457 4458 4459
247 4460 4461 4462 4464 4465 4466 4467 4468 4469
248 4470 4471 4472 4474 4475 4476 4477 4478 4479
249 4480 4481 4482 4484 4485 4486 4487 4488 4489
250 4490 4491 4492 4494 4495 4496 4497 4498 4499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
251 4500 4501 4502 4504 4505 4506 4507 4508 4509
252 4510 4511 4512 4514 4515 4516 4517 4518 4519
253 4520 4521 4522 4524 4525 4526 4527 4528 4529
254 4530 4531 4532 4534 4535 4536 4537 4538 4539
255 4540 4541 4542 4544 4545 4546 4547 4548 4549
256 4550 4551 4552 4554 4555 4556 4557 4558 4559
257 4560 4561 4562 4564 4565 4566 4567 4568 4569
258 4570 4571 4572 4574 4575 4576 4577 4578 4579
259 4580 4581 4582 4584 4585 4586 4587 4588 4589
260 4590 4591 4592 4594 4595 4596 4597 4598 4599
261 4600 4601 4602 4604 4605 4606 4607 4608 4609
262 4610 4611 4612 4614 4615 4616 4617 4618 4619
263 4620 4621 4622 4624 4625 4626 4627 4628 4629
264 4630 4631 4632 4634 4635 4636 4637 4638 4639
265 4640 4641 4642 4644 4645 4646 4647 4648 4649
266 4650 4651 4652 4654 4655 4656 4657 4658 4659
267 4660 4661 4662 4664 4665 4666 4667 4668 4669
268 4670 4671 4672 4674 4675 4676 4677 4678 4679
269 4680 4681 4682 4684 4685 4686 4687 4688 4689
270 4690 4691 4692 4694 4695 4696 4697 4698 4699
271 4700 4701 4702 4704 4705 4706 4707 4708 4709
272 4710 4711 4712 4714 4715 4716 4717 4718 4719
273 4720 4721 4722 4724 4725 4726 4727 4728 4729
274 4730 4731 4732 4734 4735 4736 4737 4738 4739
275 4740 4741 4742 4744 4745 4746 4747 4748 4749
276 4750 4751 4752 4754 4755 4756 4757 4758 4759
277 4760 4761 4762 4764 4765 4766 4767 4768 4769
278 4770 4771 4772 4774 4775 4776 4777 4778 4779
279 4780 4781 4782 4784 4785 4786 4787 4788 4789
280 4790 4791 4792 4794 4795 4796 4797 4798 4799
281 4800 4801 4802 4804 4805 4806 4807 4808 4809
282 4810 4811 4812 4814 4815 4816 4817 4818 4819
283 4820 4821 4822 4824 4825 4826 4827 4828 4829
284 4830 4831 4832 4834 4835 4836 4837 4838 4839
285 4840 4841 4842 4844 4845 4846 4847 4848 4849
286 4850 4851 4852 4854 4855 4856 4857 4858 4859
287 4860 4861 4862 4864 4865 4866 4867 4868 4869
288 4870 4871 4872 4874 4875 4876 4877 4878 4879
289 4880 4881 4882 4884 4885 4886 4887 4888 4889
290 4890 4891 4892 4894 4895 4896 4897 4898 4899
291 4900 4901 4902 4904 4905 4906 4907 4908 4909
292 4910 4911 4912 4914 4915 4916 4917 4918 4919
293 4920 4921 4922 4924 4925 4926 4927 4928 4929
294 4930 4931 4932 4934 4935 4936 4937 4938 4939
295 4940 4941 4942 4944 4945 4946 4947 4948 4949
296 4950 4951 4952 4954 4955 4956 4957 4958 4959
297 4960 4961 4962 4964 4965 4966 4967 4968 4969
298 4970 4971 4972 4974 4975 4976 4977 4978 4979
299 4980 4981 4982 4984 4985 4986 4987 4988 4989
300 4990 4991 4992 4994 4995 4996 4997 4998 4999
Appendix - 18
APPENDICES
MELSEC-Q
(1) For axis 1
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
301 5000 5001 5002 5004 5005 5006 5007 5008 5009
302 5010 5011 5012 5014 5015 5016 5017 5018 5019
303 5020 5021 5022 5024 5025 5026 5027 5028 5029
304 5030 5031 5032 5034 5035 5036 5037 5038 5039
305 5040 5041 5042 5044 5045 5046 5047 5048 5049
306 5050 5051 5052 5054 5055 5056 5057 5058 5059
307 5060 5061 5062 5064 5065 5066 5067 5068 5069
308 5070 5071 5072 5074 5075 5076 5077 5078 5079
309 5080 5081 5082 5084 5085 5086 5087 5088 5089
310 5090 5091 5092 5094 5095 5096 5097 5098 5099
311 5100 5101 5102 5104 5105 5106 5107 5108 5109
312 5110 5111 5112 5114 5115 5116 5117 5118 5119
313 5120 5121 5122 5124 5125 5126 5127 5128 5129
314 5130 5131 5132 5134 5135 5136 5137 5138 5139
315 5140 5141 5142 5144 5145 5146 5147 5148 5149
316 5150 5151 5152 5154 5155 5156 5157 5158 5159
317 5160 5161 5162 5164 5165 5166 5167 5168 5169
318 5170 5171 5172 5174 5175 5176 5177 5178 5179
319 5180 5181 5182 5184 5185 5186 5187 5188 5189
320 5190 5191 5192 5194 5195 5196 5197 5198 5199
321 5200 5201 5202 5204 5205 5206 5207 5208 5209
322 5210 5211 5212 5214 5215 5216 5217 5218 5219
323 5220 5221 5222 5224 5225 5226 5227 5228 5229
324 5230 5231 5232 5234 5235 5236 5237 5238 5239
325 5240 5241 5242 5244 5245 5246 5247 5248 5249
326 5250 5251 5252 5254 5255 5256 5257 5258 5259
327 5260 5261 5262 5264 5265 5266 5267 5268 5269
328 5270 5271 5272 5274 5275 5276 5277 5278 5279
329 5280 5281 5282 5284 5285 5286 5287 5288 5289
330 5290 5291 5292 5294 5295 5296 5297 5298 5299
331 5300 5301 5302 5304 5305 5306 5307 5308 5309
332 5310 5311 5312 5314 5315 5316 5317 5318 5319
333 5320 5321 5322 5324 5325 5326 5327 5328 5329
334 5330 5331 5332 5334 5335 5336 5337 5338 5339
335 5340 5341 5342 5344 5345 5346 5347 5348 5349
336 5350 5351 5352 5354 5355 5356 5357 5358 5359
337 5360 5361 5362 5364 5365 5366 5367 5368 5369
338 5370 5371 5372 5374 5375 5376 5377 5378 5379
339 5380 5381 5382 5384 5385 5386 5387 5388 5389
340 5390 5391 5392 5394 5395 5396 5397 5398 5399
341 5400 5401 5402 5404 5405 5406 5407 5408 5409
342 5410 5411 5412 5414 5415 5416 5417 5418 5419
343 5420 5421 5422 5424 5425 5426 5427 5428 5429
344 5430 5431 5432 5434 5435 5436 5437 5438 5439
345 5440 5441 5442 5444 5445 5446 5447 5448 5449
346 5450 5451 5452 5454 5455 5456 5457 5458 5459
347 5460 5461 5462 5464 5465 5466 5467 5468 5469
348 5470 5471 5472 5474 5475 5476 5477 5478 5479
349 5480 5481 5482 5484 5485 5486 5487 5488 5489
350 5490 5491 5492 5494 5495 5496 5497 5498 5499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
351 5500 5501 5502 5504 5505 5506 5507 5508 5509
352 5510 5511 5512 5514 5515 5516 5517 5518 5519
353 5520 5521 5522 5524 5525 5526 5527 5528 5529
354 5530 5531 5532 5534 5535 5536 5537 5538 5539
355 5540 5541 5542 5544 5545 5546 5547 5548 5549
356 5550 5551 5552 5554 5555 5556 5557 5558 5559
357 5560 5561 5562 5564 5565 5566 5567 5568 5569
358 5570 5571 5572 5574 5575 5576 5577 5578 5579
359 5580 5581 5582 5584 5585 5586 5587 5588 5589
360 5590 5591 5592 5594 5595 5596 5597 5598 5599
361 5600 5601 5602 5604 5605 5606 5607 5608 5609
362 5610 5611 5612 5614 5615 5616 5617 5618 5619
363 5620 5621 5622 5624 5625 5626 5627 5628 5629
364 5630 5631 5632 5634 5635 5636 5637 5638 5639
365 5640 5641 5642 5644 5645 5646 5647 5648 5649
366 5650 5651 5652 5654 5655 5656 5657 5658 5659
367 5660 5661 5662 5664 5665 5666 5667 5668 5669
368 5670 5671 5672 5674 5675 5676 5677 5678 5679
369 5680 5681 5682 5684 5685 5686 5687 5688 5689
370 5690 5691 5692 5694 5695 5696 5697 5698 5699
371 5700 5701 5702 5704 5705 5706 5707 5708 5709
372 5710 5711 5712 5714 5715 5716 5717 5718 5719
373 5720 5721 5722 5724 5725 5726 5727 5728 5729
374 5730 5731 5732 5734 5735 5736 5737 5738 5739
375 5740 5741 5742 5744 5745 5746 5747 5748 5749
376 5750 5751 5752 5754 5755 5756 5757 5758 5759
377 5760 5761 5762 5764 5765 5766 5767 5768 5769
378 5770 5771 5772 5774 5775 5776 5777 5778 5779
379 5780 5781 5782 5784 5785 5786 5787 5788 5789
380 5790 5791 5792 5794 5795 5796 5797 5798 5799
381 5800 5801 5802 5804 5805 5806 5807 5808 5809
382 5810 5811 5812 5814 5815 5816 5817 5818 5819
383 5820 5821 5822 5824 5825 5826 5827 5828 5829
384 5830 5831 5832 5834 5835 5836 5837 5838 5839
385 5840 5841 5842 5844 5845 5846 5847 5848 5849
386 5850 5851 5852 5854 5855 5856 5857 5858 5859
387 5860 5861 5862 5864 5865 5866 5867 5868 5869
388 5870 5871 5872 5874 5875 5876 5877 5878 5879
389 5880 5881 5882 5884 5885 5886 5887 5888 5889
390 5890 5891 5892 5894 5895 5896 5897 5898 5899
391 5900 5901 5902 5904 5905 5906 5907 5908 5909
392 5910 5911 5912 5914 5915 5916 5917 5918 5919
393 5920 5921 5922 5924 5925 5926 5927 5928 5929
394 5930 5931 5932 5934 5935 5936 5937 5938 5939
395 5940 5941 5942 5944 5945 5946 5947 5948 5949
396 5950 5951 5952 5954 5955 5956 5957 5958 5959
397 5960 5961 5962 5964 5965 5966 5967 5968 5969
398 5970 5971 5972 5974 5975 5976 5977 5978 5979
399 5980 5981 5982 5984 5985 5986 5987 5988 5989
400 5990 5991 5992 5994 5995 5996 5997 5998 5999
Appendix - 19
APPENDICES
MELSEC-Q
(1) For axis 1
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
401 6000 6001 6002 6004 6005 6006 6007 6008 6009
402 6010 6011 6012 6014 6015 6016 6017 6018 6019
403 6020 6021 6022 6024 6025 6026 6027 6028 6029
404 6030 6031 6032 6034 6035 6036 6037 6038 6039
405 6040 6041 6042 6044 6045 6046 6047 6048 6049
406 6050 6051 6052 6054 6055 6056 6057 6058 6059
407 6060 6061 6062 6064 6065 6066 6067 6068 6069
408 6070 6071 6072 6074 6075 6076 6077 6078 6079
409 6080 6081 6082 6084 6085 6086 6087 6088 6089
410 6090 6091 6092 6094 6095 6096 6097 6098 6099
411 6100 6101 6102 6104 6105 6106 6107 6108 6109
412 6110 6111 6112 6114 6115 6116 6117 6118 6119
413 6120 6121 6122 6124 6125 6126 6127 6128 6129
414 6130 6131 6132 6134 6135 6136 6137 6138 6139
415 6140 6141 6142 6144 6145 6146 6147 6148 6149
416 6150 6151 6152 6154 6155 6156 6157 6158 6159
417 6160 6161 6162 6164 6165 6166 6167 6168 6169
418 6170 6171 6172 6174 6175 6176 6177 6178 6179
419 6180 6181 6182 6184 6185 6186 6187 6188 6189
420 6190 6191 6192 6194 6195 6196 6197 6198 6199
421 6200 6201 6202 6204 6205 6206 6207 6208 6209
422 6210 6211 6212 6214 6215 6216 6217 6218 6219
423 6220 6221 6222 6224 6225 6226 6227 6228 6229
424 6230 6231 6232 6234 6235 6236 6237 6238 6239
425 6240 6241 6242 6244 6245 6246 6247 6248 6249
426 6250 6251 6252 6254 6255 6256 6257 6258 6259
427 6260 6261 6262 6264 6265 6266 6267 6268 6269
428 6270 6271 6272 6274 6275 6276 6277 6278 6279
429 6280 6281 6282 6284 6285 6286 6287 6288 6289
430 6290 6291 6292 6294 6295 6296 6297 6298 6299
431 6300 6301 6302 6304 6305 6306 6307 6308 6309
432 6310 6311 6312 6314 6315 6316 6317 6318 6319
433 6320 6321 6322 6324 6325 6326 6327 6328 6329
434 6330 6331 6332 6334 6335 6336 6337 6338 6339
435 6340 6341 6342 6344 6345 6346 6347 6348 6349
436 6350 6351 6352 6354 6355 6356 6357 6358 6359
437 6360 6361 6362 6364 6365 6366 6367 6368 6369
438 6370 6371 6372 6374 6375 6376 6377 6378 6379
439 6380 6381 6382 6384 6385 6386 6387 6388 6389
440 6390 6391 6392 6394 6395 6396 6397 6398 6399
441 6400 6401 6402 6404 6405 6406 6407 6408 6409
442 6410 6411 6412 6414 6415 6416 6417 6418 6419
443 6420 6421 6422 6424 6425 6426 6427 6428 6429
444 6430 6431 6432 6434 6435 6436 6437 6438 6439
445 6440 6441 6442 6444 6445 6446 6447 6448 6449
446 6450 6451 6452 6454 6455 6456 6457 6458 6459
447 6460 6461 6462 6464 6465 6466 6467 6468 6469
448 6470 6471 6472 6474 6475 6476 6477 6478 6479
449 6480 6481 6482 6484 6485 6486 6487 6488 6489
450 6490 6491 6492 6494 6495 6496 6497 6498 6499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
451 6500 6501 6502 6504 6505 6506 6507 6508 6509
452 6510 6511 6512 6514 6515 6516 6517 6518 6519
453 6520 6521 6522 6524 6525 6526 6527 6528 6529
454 6530 6531 6532 6534 6535 6536 6537 6538 6539
455 6540 6541 6542 6544 6545 6546 6547 6548 6549
456 6550 6551 6552 6554 6555 6556 6557 6558 6559
457 6560 6561 6562 6564 6565 6566 6567 6568 6569
458 6570 6571 6572 6574 6575 6576 6577 6578 6579
459 6580 6581 6582 6584 6585 6586 6587 6588 6589
460 6590 6591 6592 6594 6595 6596 6597 6598 6599
461 6600 6601 6602 6604 6605 6606 6607 6608 6609
462 6610 6611 6612 6614 6615 6616 6617 6618 6619
463 6620 6621 6622 6624 6625 6626 6627 6628 6629
464 6630 6631 6632 6634 6635 6636 6637 6638 6639
465 6640 6641 6642 6644 6645 6646 6647 6648 6649
466 6650 6651 6652 6654 6655 6656 6657 6658 6659
467 6660 6661 6662 6664 6665 6666 6667 6668 6669
468 6670 6671 6672 6674 6675 6676 6677 6678 6679
469 6680 6681 6682 6684 6685 6686 6687 6688 6689
470 6690 6691 6692 6694 6695 6696 6697 6698 6699
471 6700 6701 6702 6704 6705 6706 6707 6708 6709
472 6710 6711 6712 6714 6715 6716 6717 6718 6719
473 6720 6721 6722 6724 6725 6726 6727 6728 6729
474 6730 6731 6732 6734 6735 6736 6737 6738 6739
475 6740 6741 6742 6744 6745 6746 6747 6748 6749
476 6750 6751 6752 6754 6755 6756 6757 6758 6759
477 6760 6761 6762 6764 6765 6766 6767 6768 6769
478 6770 6771 6772 6774 6775 6776 6777 6778 6779
479 6780 6781 6782 6784 6785 6786 6787 6788 6789
480 6790 6791 6792 6794 6795 6796 6797 6798 6799
481 6800 6801 6802 6804 6805 6806 6807 6808 6809
482 6810 6811 6812 6814 6815 6816 6817 6818 6819
483 6820 6821 6822 6824 6825 6826 6827 6828 6829
484 6830 6831 6832 6834 6835 6836 6837 6838 6839
485 6840 6841 6842 6844 6845 6846 6847 6848 6849
486 6850 6851 6852 6854 6855 6856 6857 6858 6859
487 6860 6861 6862 6864 6865 6866 6867 6868 6869
488 6870 6871 6872 6874 6875 6876 6877 6878 6879
489 6880 6881 6882 6884 6885 6886 6887 6888 6889
490 6890 6891 6892 6894 6895 6896 6897 6898 6899
491 6900 6901 6902 6904 6905 6906 6907 6908 6909
492 6910 6911 6912 6914 6915 6916 6917 6918 6919
493 6920 6921 6922 6924 6925 6926 6927 6928 6929
494 6930 6931 6932 6934 6935 6936 6937 6938 6939
495 6940 6941 6942 6944 6945 6946 6947 6948 6949
496 6950 6951 6952 6954 6955 6956 6957 6958 6959
497 6960 6961 6962 6964 6965 6966 6967 6968 6969
498 6970 6971 6972 6974 6975 6976 6977 6978 6979
499 6980 6981 6982 6984 6985 6986 6987 6988 6989
500 6990 6991 6992 6994 6995 6996 6997 6998 6999
Appendix - 20
APPENDICES
MELSEC-Q
(1) For axis 1
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
501 7000 7001 7002 7004 7005 7006 7007 7008 7009
502 7010 7011 7012 7014 7015 7016 7017 7018 7019
503 7020 7021 7022 7024 7025 7026 7027 7028 7029
504 7030 7031 7032 7034 7035 7036 7037 7038 7039
505 7040 7041 7042 7044 7045 7046 7047 7048 7049
506 7050 7051 7052 7054 7055 7056 7057 7058 7059
507 7060 7061 7062 7064 7065 7066 7067 7068 7069
508 7070 7071 7072 7074 7075 7076 7077 7078 7079
509 7080 7081 7082 7084 7085 7086 7087 7088 7089
510 7090 7091 7092 7094 7095 7096 7097 7098 7099
511 7100 7101 7102 7104 7105 7106 7107 7108 7109
512 7110 7111 7112 7114 7115 7116 7117 7118 7119
513 7120 7121 7122 7124 7125 7126 7127 7128 7129
514 7130 7131 7132 7134 7135 7136 7137 7138 7139
515 7140 7141 7142 7144 7145 7146 7147 7148 7149
516 7150 7151 7152 7154 7155 7156 7157 7158 7159
517 7160 7161 7162 7164 7165 7166 7167 7168 7169
518 7170 7171 7172 7174 7175 7176 7177 7178 7179
519 7180 7181 7182 7184 7185 7186 7187 7188 7189
520 7190 7191 7192 7194 7195 7196 7197 7198 7199
521 7200 7201 7202 7204 7205 7206 7207 7208 7209
522 7210 7211 7212 7214 7215 7216 7217 7218 7219
523 7220 7221 7222 7224 7225 7226 7227 7228 7229
524 7230 7231 7232 7234 7235 7236 7237 7238 7239
525 7240 7241 7242 7244 7245 7246 7247 7248 7249
526 7250 7251 7252 7254 7255 7256 7257 7258 7259
527 7260 7261 7262 7264 7265 7266 7267 7268 7269
528 7270 7271 7272 7274 7275 7276 7277 7278 7279
529 7280 7281 7282 7284 7285 7286 7287 7288 7289
530 7290 7291 7292 7294 7295 7296 7297 7298 7299
531 7300 7301 7302 7304 7305 7306 7307 7308 7309
532 7310 7311 7312 7314 7315 7316 7317 7318 7319
533 7320 7321 7322 7324 7325 7326 7327 7328 7329
534 7330 7331 7332 7334 7335 7336 7337 7338 7339
535 7340 7341 7342 7344 7345 7346 7347 7348 7349
536 7350 7351 7352 7354 7355 7356 7357 7358 7359
537 7360 7361 7362 7364 7365 7366 7367 7368 7369
538 7370 7371 7372 7374 7375 7376 7377 7378 7379
539 7380 7381 7382 7384 7385 7386 7387 7388 7389
540 7390 7391 7392 7394 7395 7396 7397 7398 7399
541 7400 7401 7402 7404 7405 7406 7407 7408 7409
542 7410 7411 7412 7414 7415 7416 7417 7418 7419
543 7420 7421 7422 7424 7425 7426 7427 7428 7429
544 7430 7431 7432 7434 7435 7436 7437 7438 7439
545 7440 7441 7442 7444 7445 7446 7447 7448 7449
546 7450 7451 7452 7454 7455 7456 7457 7458 7459
547 7460 7461 7462 7464 7465 7466 7467 7468 7469
548 7470 7471 7472 7474 7475 7476 7477 7478 7479
549 7480 7481 7482 7484 7485 7486 7487 7488 7489
550 7490 7491 7492 7494 7495 7496 7497 7498 7499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
551 7500 7501 7502 7504 7505 7506 7507 7508 7509
552 7510 7511 7512 7514 7515 7516 7517 7518 7519
553 7520 7521 7522 7524 7525 7526 7527 7528 7529
554 7530 7531 7532 7534 7535 7536 7537 7538 7539
555 7540 7541 7542 7544 7545 7546 7547 7548 7549
556 7550 7551 7552 7554 7555 7556 7557 7558 7559
557 7560 7561 7562 7564 7565 7566 7567 7568 7569
558 7570 7571 7572 7574 7575 7576 7577 7578 7579
559 7580 7581 7582 7584 7585 7586 7587 7588 7589
560 7590 7591 7592 7594 7595 7596 7597 7598 7599
561 7600 7601 7602 7604 7605 7606 7607 7608 7609
562 7610 7611 7612 7614 7615 7616 7617 7618 7619
563 7620 7621 7622 7624 7625 7626 7627 7628 7629
564 7630 7631 7632 7634 7635 7636 7637 7638 7639
565 7640 7641 7642 7644 7645 7646 7647 7648 7649
566 7650 7651 7652 7654 7655 7656 7657 7658 7659
567 7660 7661 7662 7664 7665 7666 7667 7668 7669
568 7670 7671 7672 7674 7675 7676 7677 7678 7679
569 7680 7681 7682 7684 7685 7686 7687 7688 7689
570 7690 7691 7692 7694 7695 7696 7697 7698 7699
571 7700 7701 7702 7704 7705 7706 7707 7708 7709
572 7710 7711 7712 7714 7715 7716 7717 7718 7719
573 7720 7721 7722 7724 7725 7726 7727 7728 7729
574 7730 7731 7732 7734 7735 7736 7737 7738 7739
575 7740 7741 7742 7744 7745 7746 7747 7748 7749
576 7750 7751 7752 7754 7755 7756 7757 7758 7759
577 7760 7761 7762 7764 7765 7766 7767 7768 7769
578 7770 7771 7772 7774 7775 7776 7777 7778 7779
579 7780 7781 7782 7784 7785 7786 7787 7788 7789
580 7790 7791 7792 7794 7795 7796 7797 7798 7799
581 7800 7801 7802 7804 7805 7806 7807 7808 7809
582 7810 7811 7812 7814 7815 7816 7817 7818 7819
583 7820 7821 7822 7824 7825 7826 7827 7828 7829
584 7830 7831 7832 7834 7835 7836 7837 7838 7839
585 7840 7841 7842 7844 7845 7846 7847 7848 7849
586 7850 7851 7852 7854 7855 7856 7857 7858 7859
587 7860 7861 7862 7864 7865 7866 7867 7868 7869
588 7870 7871 7872 7874 7875 7876 7877 7878 7879
589 7880 7881 7882 7884 7885 7886 7887 7888 7889
590 7890 7891 7892 7894 7895 7896 7897 7898 7899
591 7900 7901 7902 7904 7905 7906 7907 7908 7909
592 7910 7911 7912 7914 7915 7916 7917 7918 7919
593 7920 7921 7922 7924 7925 7926 7927 7928 7929
594 7930 7931 7932 7934 7935 7936 7937 7938 7939
595 7940 7941 7942 7944 7945 7946 7947 7948 7949
596 7950 7951 7952 7954 7955 7956 7957 7958 7959
597 7960 7961 7962 7964 7965 7966 7967 7968 7969
598 7970 7971 7972 7974 7975 7976 7977 7978 7979
599 7980 7981 7982 7984 7985 7986 7987 7988 7989
600 7990 7991 7992 7994 7995 7996 7997 7998 7999
Appendix - 21
APPENDICES
MELSEC-Q
(1) For axis 1 (positioning option)
Data No.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Positioning option
2003 2013 2023 2033 2043 2053 2063 2073 2083 2093 2103 2113 2123 2133 2143 2153 2163 2173 2183 2193 2203 2213 2223 2233 2243 2253 2263 2273 2283 2293 2303 2313 2323 2333 2343 2353 2363 2373 2383 2393 2403 2413 2423 2433 2443 2453 2463 2473 2483 2493
Data No.
51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
Positioning option
2503 2513 2523 2533 2543 2553 2563 2573 2583 2593 2603 2613 2623 2633 2643 2653 2663 2673 2683 2693 2703 2713 2723 2733 2743 2753 2763 2773 2783 2793 2803 2813 2823 2833 2843 2853 2863 2873 2883 2893 2903 2913 2923 2933 2943 2953 2963 2973 2983 2993
Data No.
101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150
Positioning option
3003 3013 3023 3033 3043 3053 3063 3073 3083 3093 3103 3113 3123 3133 3143 3153 3163 3173 3183 3193 3203 3213 3223 3233 3243 3253 3263 3273 3283 3293 3303 3313 3323 3333 3343 3353 3363 3373 3383 3393 3403 3413 3423 3433 3443 3453 3463 3473 3483 3493
Data No.
151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
Positioning option
3503 3513 3523 3533 3543 3553 3563 3573 3583 3593 3603 3613 3623 3633 3643 3653 3663 3673 3683 3693 3703 3713 3723 3733 3743 3753 3763 3773 3783 3793 3803 3813 3823 3833 3843 3853 3863 3873 3883 3893 3903 3913 3923 3933 3943 3953 3963 3973 3983 3993
Data No.
201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250
Positioning option
4003 4013 4023 4033 4043 4053 4063 4073 4083 4093 4103 4113 4123 4133 4143 4153 4163 4173 4183 4193 4203 4213 4223 4233 4243 4253 4263 4273 4283 4293 4303 4313 4323 4333 4343 4353 4363 4373 4383 4393 4403 4413 4423 4433 4443 4453 4463 4473 4483 4493
Data No.
251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300
Positioning option
4503 4513 4523 4533 4543 4553 4563 4573 4583 4593 4603 4613 4623 4633 4643 4653 4663 4673 4683 4693 4703 4713 4723 4733 4743 4753 4763 4773 4783 4793 4803 4813 4823 4833 4843 4853 4863 4873 4883 4893 4903 4913 4923 4933 4943 4953 4963 4973 4983 4993
Appendix - 22
APPENDICES
MELSEC-Q
(1) For axis 1 (positioning option)
Data No.
301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350
Positioning option
5003 5013 5023 5033 5043 5053 5063 5073 5083 5093 5103 5113 5123 5133 5143 5153 5163 5173 5183 5193 5203 5213 5223 5233 5243 5253 5263 5273 5283 5293 5303 5313 5323 5333 5343 5353 5363 5373 5383 5393 5403 5413 5423 5433 5443 5453 5463 5473 5483 5493
Data No.
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400
Positioning option
5503 5513 5523 5533 5543 5553 5563 5573 5583 5593 5603 5613 5623 5633 5643 5653 5663 5673 5683 5693 5703 5713 5723 5733 5743 5753 5763 5773 5783 5793 5803 5813 5823 5833 5843 5853 5863 5873 5883 5893 5903 5913 5923 5933 5943 5953 5963 5973 5983 5993
Data No.
401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
Positioning option
6003 6013 6023 6033 6043 6053 6063 6073 6083 6093 6103 6113 6123 6133 6143 6153 6163 6173 6183 6193 6203 6213 6223 6233 6243 6253 6263 6273 6283 6293 6303 6313 6323 6333 6343 6353 6363 6373 6383 6393 6403 6413 6423 6433 6443 6453 6463 6473 6483 6493
Data No.
451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500
Positioning option
6503 6513 6523 6533 6543 6553 6563 6573 6583 6593 6603 6613 6623 6633 6643 6653 6663 6673 6683 6693 6703 6713 6723 6733 6743 6753 6763 6773 6783 6793 6803 6813 6823 6833 6843 6853 6863 6873 6883 6893 6903 6913 6923 6933 6943 6953 6963 6973 6983 6993
Data No.
501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550
Positioning option
7003 7013 7023 7033 7043 7053 7063 7073 7083 7093 7103 7113 7123 7133 7143 7153 7163 7173 7183 7193 7203 7213 7223 7233 7243 7253 7263 7273 7283 7293 7303 7313 7323 7333 7343 7353 7363 7373 7383 7393 7403 7413 7423 7433 7443 7453 7463 7473 7483 7493
Data No.
551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600
Positioning option
7503 7513 7523 7533 7543 7553 7563 7573 7583 7593 7603 7613 7623 7633 7643 7653 7663 7673 7683 7693 7703 7713 7723 7733 7743 7753 7763 7773 7783 7793 7803 7813 7823 7833 7843 7853 7863 7873 7883 7893 7903 7913 7923 7933 7943 7953 7963 7973 7983 7993
Appendix - 23
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M
No. identi- code fier
Command Dwell speed
time Low- Highorder order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
1 8000 8001 8002 8004 8005 8006 8007 8008 8009
2 8010 8011 8012 8014 8015 8016 8017 8018 8019
3 8020 8021 8022 8024 8025 8026 8027 8028 8029
4 8030 8031 8032 8034 8035 8036 8037 8038 8039
5 8040 8041 8042 8044 8045 8046 8047 8048 8049
6 8050 8051 8052 8054 8055 8056 8057 8058 8059
7 8060 8061 8062 8064 8065 8066 8067 8068 8069
8 8070 8071 8072 8074 8075 8076 8077 8078 8079
9 8080 8081 8082 8084 8085 8086 8087 8088 8089
10 8090 8091 8092 8094 8095 8096 8097 8098 8099
11 8100 8101 8102 8104 8105 8106 8107 8108 8109
12 8110 8111 8112 8114 8115 8116 8117 8118 8119
13 8120 8121 8122 8124 8125 8126 8127 8128 8129
14 8130 8131 8132 8134 8135 8136 8137 8138 8139
15 8140 8141 8142 8144 8145 8146 8147 8148 8149
16 8150 8151 8152 8154 8155 8156 8157 8158 8159
17 8160 8161 8162 8164 8165 8166 8167 8168 8169
18 8170 8171 8172 8174 8175 8176 8177 8178 8179
19 8180 8181 8182 8184 8185 8186 8187 8188 8189
20 8190 8191 8192 8194 8195 8196 8197 8198 8199
21 8200 8201 8202 8204 8205 8206 8207 8208 8209
22 8210 8211 8212 8214 8215 8216 8217 8218 8219
23 8220 8221 8222 8224 8225 8226 8227 8228 8229
24 8230 8231 8232 8234 8235 8236 8237 8238 8239
25 8240 8241 8242 8244 8245 8246 8247 8248 8249
26 8250 8251 8252 8254 8255 8256 8257 8258 8259
27 8260 8261 8262 8264 8265 8266 8267 8268 8269
28 8270 8271 8272 8274 8275 8276 8277 8278 8279
29 8280 8281 8282 8284 8285 8286 8287 8288 8289
30 8290 8291 8292 8294 8295 8296 8297 8298 8299
31 8300 8301 8302 8304 8305 8306 8307 8308 8309
32 8310 8311 8312 8314 8315 8316 8317 8318 8319
33 8320 8321 8322 8324 8325 8326 8327 8328 8329
34 8330 8331 8332 8334 8335 8336 8337 8338 8339
35 8340 8341 8342 8344 8345 8346 8347 8348 8349
36 8350 8351 8352 8354 8355 8356 8357 8358 8359
37 8360 8361 8362 8364 8365 8366 8367 8368 8369
38 8370 8371 8372 8374 8375 8376 8377 8378 8379
39 8380 8381 8382 8384 8385 8386 8387 8388 8389
40 8390 8391 8392 8394 8395 8396 8397 8398 8399
41 8400 8401 8402 8404 8405 8406 8407 8408 8409
42 8410 8411 8412 8414 8415 8416 8417 8418 8419
43 8420 8421 8422 8424 8425 8426 8427 8428 8429
44 8430 8431 8432 8434 8435 8436 8437 8438 8439
45 8440 8441 8442 8444 8445 8446 8447 8448 8449
46 8450 8451 8452 8454 8455 8456 8457 8458 8459
47 8460 8461 8462 8464 8465 8466 8467 8468 8469
48 8470 8471 8472 8474 8475 8476 8477 8478 8479
49 8480 8481 8482 8484 8485 8486 8487 8488 8489
50 8490 8491 8492 8494 8495 8496 8497 8498 8499
Data No.
Positioning M
identi- code fier
Command Dwell speed
time Low- Highorder order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
51 8500 8501 8502 8504 8505 8506 8507 8508 8509
52 8510 8511 8512 8514 8515 8516 8517 8518 8519
53 8520 8521 8522 8524 8525 8526 8527 8528 8529
54 8530 8531 8532 8534 8535 8536 8537 8538 8539
55 8540 8541 8542 8544 8545 8546 8547 8548 8549
56 8550 8551 8552 8554 8555 8556 8557 8558 8559
57 8560 8561 8562 8564 8565 8566 8567 8568 8569
58 8570 8571 8572 8574 8575 8576 8577 8578 8579
59 8580 8581 8582 8584 8585 8586 8587 8588 8589
60 8590 8591 8592 8594 8595 8596 8597 8598 8599
61 8600 8601 8602 8604 8605 8606 8607 8608 8609
62 8610 8611 8612 8614 8615 8616 8617 8618 8619
63 8620 8621 8622 8624 8625 8626 8627 8628 8629
64 8630 8631 8632 8634 8635 8636 8637 8638 8639
65 8640 8641 8642 8644 8645 8646 8647 8648 8649
66 8650 8651 8652 8654 8655 8656 8657 8658 8659
67 8660 8661 8662 8664 8665 8666 8667 8668 8669
68 8670 8671 8672 8674 8675 8676 8677 8678 8679
69 8680 8681 8682 8684 8685 8686 8687 8688 8689
70 8690 8691 8692 8694 8695 8696 8697 8698 8699
71 8700 8701 8702 8704 8705 8706 8707 8708 8709
72 8710 8711 8712 8714 8715 8716 8717 8718 8719
73 8720 8721 8722 8724 8725 8726 8727 8728 8729
74 8730 8731 8732 8734 8735 8736 8737 8738 8739
75 8740 8741 8742 8744 8745 8746 8747 8748 8749
76 8750 8751 8752 8754 8755 8756 8757 8758 8759
77 8760 8761 8762 8764 8765 8766 8767 8768 8769
78 8770 8771 8772 8774 8775 8776 8777 8778 8779
79 8780 8781 8782 8784 8785 8786 8787 8788 8789
80 8790 8791 8792 8794 8795 8796 8797 8798 8799
81 8800 8801 8802 8804 8805 8806 8807 8808 8809
82 8810 8811 8812 8814 8815 8816 8817 8818 8819
83 8820 8821 8822 8824 8825 8826 8827 8828 8829
84 8830 8831 8832 8834 8835 8836 8837 8838 8839
85 8840 8841 8842 8844 8845 8846 8847 8848 8849
86 8850 8851 8852 8854 8855 8856 8857 8858 8859
87 8860 8861 8862 8864 8865 8866 8867 8868 8869
88 8870 8871 8872 8874 8875 8876 8877 8878 8879
89 8880 8881 8882 8884 8885 8886 8887 8888 8889
90 8890 8891 8892 8894 8895 8896 8897 8898 8899
91 8900 8901 8902 8904 8905 8906 8907 8908 8909
92 8910 8911 8912 8914 8915 8916 8917 8918 8919
93 8920 8921 8922 8924 8925 8926 8927 8928 8929
94 8930 8931 8932 8934 8935 8936 8937 8938 8939
95 8940 8941 8942 8944 8945 8946 8947 8948 8949
96 8950 8951 8952 8954 8955 8956 8957 8958 8959
97 8960 8961 8962 8964 8965 8966 8967 8968 8969
98 8970 8971 8972 8974 8975 8976 8977 8978 8979
99 8980 8981 8982 8984 8985 8986 8987 8988 8989
100 8990 8991 8992 8994 8995 8996 8997 8998 8999
Appendix - 24
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
101 9000 9001 9002 9004 9005 9006 9007 9008 9009
102 9010 9011 9012 9014 9015 9016 9017 9018 9019
103 9020 9021 9022 9024 9025 9026 9027 9028 9029
104 9030 9031 9032 9034 9035 9036 9037 9038 9039
105 9040 9041 9042 9044 9045 9046 9047 9048 9049
106 9050 9051 9052 9054 9055 9056 9057 9058 9059
107 9060 9061 9062 9064 9065 9066 9067 9068 9069
108 9070 9071 9072 9074 9075 9076 9077 9078 9079
109 9080 9081 9082 9084 9085 9086 9087 9088 9089
110 9090 9091 9092 9094 9095 9096 9097 9098 9099
111 9100 9101 9102 9104 9105 9106 9107 9108 9109
112 9110 9111 9112 9114 9115 9116 9117 9118 9119
113 9120 9121 9122 9124 9125 9126 9127 9128 9129
114 9130 9131 9132 9134 9135 9136 9137 9138 9139
115 9140 9141 9142 9144 9145 9146 9147 9148 9149
116 9150 9151 9152 9154 9155 9156 9157 9158 9159
117 9160 9161 9162 9164 9165 9166 9167 9168 9169
118 9170 9171 9172 9174 9175 9176 9177 9178 9179
119 9180 9181 9182 9184 9185 9186 9187 9188 9189
120 9190 9191 9192 9194 9195 9196 9197 9198 9199
121 9200 9201 9202 9204 9205 9206 9207 9208 9209
122 9210 9211 9212 9214 9215 9216 9217 9218 9219
123 9220 9221 9222 9224 9225 9226 9227 9228 9229
124 9230 9231 9232 9234 9235 9236 9237 9238 9239
125 9240 9241 9242 9244 9245 9246 9247 9248 9249
126 9250 9251 9252 9254 9255 9256 9257 9258 9259
127 9260 9261 9262 9264 9265 9266 9267 9268 9269
128 9270 9271 9272 9274 9275 9276 9277 9278 9279
129 9280 9281 9282 9284 9285 9286 9287 9288 9289
130 9290 9291 9292 9294 9295 9296 9297 9298 9299
131 9300 9301 9302 9304 9305 9306 9307 9308 9309
132 9310 9311 9312 9314 9315 9316 9317 9318 9319
133 9320 9321 9322 9324 9325 9326 9327 9328 9329
134 9330 9331 9332 9334 9335 9336 9337 9338 9339
135 9340 9341 9342 9344 9345 9346 9347 9348 9349
136 9350 9351 9352 9354 9355 9356 9357 9358 9359
137 9360 9361 9362 9364 9365 9366 9367 9368 9369
138 9370 9371 9372 9374 9375 9376 9377 9378 9379
139 9380 9381 9382 9384 9385 9386 9387 9388 9389
140 9390 9391 9392 9394 9395 9396 9397 9398 9399
141 9400 9401 9402 9404 9405 9406 9407 9408 9409
142 9410 9411 9412 9414 9415 9416 9417 9418 9419
143 9420 9421 9422 9424 9425 9426 9427 9428 9429
144 9430 9431 9432 9434 9435 9436 9437 9438 9439
145 9440 9441 9442 9444 9445 9446 9447 9448 9449
146 9450 9451 9452 9454 9455 9456 9457 9458 9459
147 9460 9461 9462 9464 9465 9466 9467 9468 9469
148 9470 9471 9472 9474 9475 9476 9477 9478 9479
149 9480 9481 9482 9484 9485 9486 9487 9488 9489
150 9490 9491 9492 9494 9495 9496 9497 9498 9499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
151 9500 9501 9502 9504 9505 9506 9507 9508 9509
152 9510 9511 9512 9514 9515 9516 9517 9518 9519
153 9520 9521 9522 9524 9525 9526 9527 9528 9529
154 9530 9531 9532 9534 9535 9536 9537 9538 9539
155 9540 9541 9542 9544 9545 9546 9547 9548 9549
156 9550 9551 9552 9554 9555 9556 9557 9558 9559
157 9560 9561 9562 9564 9565 9566 9567 9568 9569
158 9570 9571 9572 9574 9575 9576 9577 9578 9579
159 9580 9581 9582 9584 9585 9586 9587 9588 9589
160 9590 9591 9592 9594 9595 9596 9597 9598 9599
161 9600 9601 9602 9604 9605 9606 9607 9608 9609
162 9610 9611 9612 9614 9615 9616 9617 9618 9619
163 9620 9621 9622 9624 9625 9626 9627 9628 9629
164 9630 9631 9632 9634 9635 9636 9637 9638 9639
165 9640 9641 9642 9644 9645 9646 9647 9648 9649
166 9650 9651 9652 9654 9655 9656 9657 9658 9659
167 9660 9661 9662 9664 9665 9666 9667 9668 9669
168 9670 9671 9672 9674 9675 9676 9677 9678 9679
169 9680 9681 9682 9684 9685 9686 9687 9688 9689
170 9690 9691 9692 9694 9695 9696 9697 9698 9699
171 9700 9701 9702 9704 9705 9706 9707 9708 9709
172 9710 9711 9712 9714 9715 9716 9717 9718 9719
173 9720 9721 9722 9724 9725 9726 9727 9728 9729
174 9730 9731 9732 9734 9735 9736 9737 9738 9739
175 9740 9741 9742 9744 9745 9746 9747 9748 9749
176 9750 9751 9752 9754 9755 9756 9757 9758 9759
177 9760 9761 9762 9764 9765 9766 9767 9768 9769
178 9770 9771 9772 9774 9775 9776 9777 9778 9779
179 9780 9781 9782 9784 9785 9786 9787 9788 9789
180 9790 9791 9792 9794 9795 9796 9797 9798 9799
181 9800 9801 9802 9804 9805 9806 9807 9808 9809
182 9810 9811 9812 9814 9815 9816 9817 9818 9819
183 9820 9821 9822 9824 9825 9826 9827 9828 9829
184 9830 9831 9832 9834 9835 9836 9837 9838 9839
185 9840 9841 9842 9844 9845 9846 9847 9848 9849
186 9850 9851 9852 9854 9855 9856 9857 9858 9859
187 9860 9861 9862 9864 9865 9866 9867 9868 9869
188 9870 9871 9872 9874 9875 9876 9877 9878 9879
189 9880 9881 9882 9884 9885 9886 9887 9888 9889
190 9890 9891 9892 9894 9895 9896 9897 9898 9899
191 9900 9901 9902 9904 9905 9906 9907 9908 9909
192 9910 9911 9912 9914 9915 9916 9917 9918 9919
193 9920 9921 9922 9924 9925 9926 9927 9928 9929
194 9930 9931 9932 9934 9935 9936 9937 9938 9939
195 9940 9941 9942 9944 9945 9946 9947 9948 9949
196 9950 9951 9952 9954 9955 9956 9957 9958 9959
197 9960 9961 9962 9964 9965 9966 9967 9968 9969
198 9970 9971 9972 9974 9975 9976 9977 9978 9979
199 9980 9981 9982 9984 9985 9986 9987 9988 9989
200 9990 9991 9992 9994 9995 9996 9997 9998 9999
Appendix - 25
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
201 10000 10001 10002 10004 10005 10006 10007 10008 10009 202 10010 10011 10012 10014 10015 10016 10017 10018 10019 203 10020 10021 10022 10024 10025 10026 10027 10028 10029 204 10030 10031 10032 10034 10035 10036 10037 10038 10039 205 10040 10041 10042 10044 10045 10046 10047 10048 10049
206 10050 10051 10052 10054 10055 10056 10057 10058 10059 207 10060 10061 10062 10064 10065 10066 10067 10068 10069 208 10070 10071 10072 10074 10075 10076 10077 10078 10079 209 10080 10081 10082 10084 10085 10086 10087 10088 10089 210 10090 10091 10092 10094 10095 10096 10097 10098 10099
211 10100 10101 10102 10104 10105 10106 10107 10108 10109 212 10110 10111 10112 10114 10115 10116 10117 10118 10119 213 10120 10121 10122 10124 10125 10126 10127 10128 10129 214 10130 10131 10132 10134 10135 10136 10137 10138 10139 215 10140 10141 10142 10144 10145 10146 10147 10148 10149
216 10150 10151 10152 10154 10155 10156 10157 10158 10159 217 10160 10161 10162 10164 10165 10166 10167 10168 10169 218 10170 10171 10172 10174 10175 10176 10177 10178 10179 219 10180 10181 10182 10184 10185 10186 10187 10188 10189 220 10190 10191 10192 10194 10195 10196 10197 10198 10199
221 10200 10201 10202 10204 10205 10206 10207 10208 10209 222 10210 10211 10212 10214 10215 10216 10217 10218 10219 223 10220 10221 10222 10224 10225 10226 10227 10228 10229 224 10230 10231 10232 10234 10235 10236 10237 10238 10239 225 10240 10241 10242 10244 10245 10246 10247 10248 10249
226 10250 10251 10252 10254 10255 10256 10257 10258 10259 227 10260 10261 10262 10264 10265 10266 10267 10268 10269 228 10270 10271 10272 10274 10275 10276 10277 10278 10279 229 10280 10281 10282 10284 10285 10286 10287 10288 10289 230 10290 10291 10292 10294 10295 10296 10297 10298 10299
231 10300 10301 10302 10304 10305 10306 10307 10308 10309 232 10310 10311 10312 10314 10315 10316 10317 10318 10319 233 10320 10321 10322 10324 10325 10326 10327 10328 10329 234 10330 10331 10332 10334 10335 10336 10337 10338 10339 235 10340 10341 10342 10344 10345 10346 10347 10348 10349
236 10350 10351 10352 10354 10355 10356 10357 10358 10359 237 10360 10361 10362 10364 10365 10366 10367 10368 10369 238 10370 10371 10372 10374 10375 10376 10377 10378 10379 239 10380 10381 10382 10384 10385 10386 10387 10388 10389 240 10390 10391 10392 10394 10395 10396 10397 10398 10399
241 10400 10401 10402 10404 10405 10406 10407 10408 10409 242 10410 10411 10412 10414 10415 10416 10417 10418 10419 243 10420 10421 10422 10424 10425 10426 10427 10428 10429 244 10430 10431 10432 10434 10435 10436 10437 10438 10439 245 10440 10441 10442 10444 10445 10446 10447 10448 10449
246 10450 10451 10452 10454 10455 10456 10457 10458 10459 247 10460 10461 10462 10464 10465 10466 10467 10468 10469 248 10470 10471 10472 10474 10475 10476 10477 10478 10479 249 10480 10481 10482 10484 10485 10486 10487 10488 10489 250 10490 10491 10492 10494 10495 10496 10497 10498 10499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
251 10500 10501 10502 10504 10505 10506 10507 10508 10509 252 10510 10511 10512 10514 10515 10516 10517 10518 10519 253 10520 10521 10522 10524 10525 10526 10527 10528 10529 254 10530 10531 10532 10534 10535 10536 10537 10538 10539 255 10540 10541 10542 10544 10545 10546 10547 10548 10549
256 10550 10551 10552 10554 10555 10556 10557 10558 10559 257 10560 10561 10562 10564 10565 10566 10567 10568 10569 258 10570 10571 10572 10574 10575 10576 10577 10578 10579 259 10580 10581 10582 10584 10585 10586 10587 10588 10589 260 10590 10591 10592 10594 10595 10596 10597 10598 10599
261 10600 10601 10602 10604 10605 10606 10607 10608 10609 262 10610 10611 10612 10614 10615 10616 10617 10618 10619 263 10620 10621 10622 10624 10625 10626 10627 10628 10629 264 10630 10631 10632 10634 10635 10636 10637 10638 10639 265 10640 10641 10642 10644 10645 10646 10647 10648 10649
266 10650 10651 10652 10654 10655 10656 10657 10658 10659 267 10660 10661 10662 10664 10665 10666 10667 10668 10669 268 10670 10671 10672 10674 10675 10676 10677 10678 10679 269 10680 10681 10682 10684 10685 10686 10687 10688 10689 270 10690 10691 10692 10694 10695 10696 10697 10698 10699
271 10700 10701 10702 10704 10705 10706 10707 10708 10709 272 10710 10711 10712 10714 10715 10716 10717 10718 10719 273 10720 10721 10722 10724 10725 10726 10727 10728 10729 274 10730 10731 10732 10734 10735 10736 10737 10738 10739 275 10740 10741 10742 10744 10745 10746 10747 10748 10749
276 10750 10751 10752 10754 10755 10756 10757 10758 10759 277 10760 10761 10762 10764 10765 10766 10767 10768 10769 278 10770 10771 10772 10774 10775 10776 10777 10778 10779 279 10780 10781 10782 10784 10785 10786 10787 10788 10789 280 10790 10791 10792 10794 10795 10796 10797 10798 10799
281 10800 10801 10802 10804 10805 10806 10807 10808 10809 282 10810 10811 10812 10814 10815 10816 10817 10818 10819 283 10820 10821 10822 10824 10825 10826 10827 10828 10829 284 10830 10831 10832 10834 10835 10836 10837 10838 10839 285 10840 10841 10842 10844 10845 10846 10847 10848 10849
286 10850 10851 10852 10854 10855 10856 10857 10858 10859 287 10860 10861 10862 10864 10865 10866 10867 10868 10869 288 10870 10871 10872 10874 10875 10876 10877 10878 10879 289 10880 10881 10882 10884 10885 10886 10887 10888 10889 290 10890 10891 10892 10894 10895 10896 10897 10898 10899
291 10900 10901 10902 10904 10905 10906 10907 10908 10909 292 10910 10911 10912 10914 10915 10916 10917 10918 10919 293 10920 10921 10922 10924 10925 10926 10927 10928 10929 294 10930 10931 10932 10934 10935 10936 10937 10938 10939 295 10940 10941 10942 10944 10945 10946 10947 10948 10949
296 10950 10951 10952 10954 10955 10956 10957 10958 10959 297 10960 10961 10962 10964 10965 10966 10967 10968 10969 298 10970 10971 10972 10974 10975 10976 10977 10978 10979 299 10980 10981 10982 10984 10985 10986 10987 10988 10989 300 10990 10991 10992 10994 10995 10996 10997 10998 10999
Appendix - 26
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
301 11000 11001 11002 11004 11005 11006 11007 11008 11009 302 11010 11011 11012 11014 11015 11016 11017 11018 11019 303 11020 11021 11022 11024 11025 11026 11027 11028 11029 304 11030 11031 11032 11034 11035 11036 11037 11038 11039 305 11040 11041 11042 11044 11045 11046 11047 11048 11049
306 11050 11051 11052 11054 11055 11056 11057 11058 11059 307 11060 11061 11062 11064 11065 11066 11067 11068 11069 308 11070 11071 11072 11074 11075 11076 11077 11078 11079 309 11080 11081 11082 11084 11085 11086 11087 11088 11089 310 11090 11091 11092 11094 11095 11096 11097 11098 11099
311 11100 11101 11102 11104 11105 11106 11107 11108 11109 312 11110 11111 11112 11114 11115 11116 11117 11118 11119 313 11120 11121 11122 11124 11125 11126 11127 11128 11129 314 11130 11131 11132 11134 11135 11136 11137 11138 11139 315 11140 11141 11142 11144 11145 11146 11147 11148 11149
316 11150 11151 11152 11154 11155 11156 11157 11158 11159 317 11160 11161 11162 11164 11165 11166 11167 11168 11169 318 11170 11171 11172 11174 11175 11176 11177 11178 11179 319 11180 11181 11182 11184 11185 11186 11187 11188 11189 320 11190 11191 11192 11194 11195 11196 11197 11198 11199
321 11200 11201 11202 11204 11205 11206 11207 11208 11209 322 11210 11211 11212 11214 11215 11216 11217 11218 11219 323 11220 11221 11222 11224 11225 11226 11227 11228 11229 324 11230 11231 11232 11234 11235 11236 11237 11238 11239 325 11240 11241 11242 11244 11245 11246 11247 11248 11249
326 11250 11251 11252 11254 11255 11256 11257 11258 11259 327 11260 11261 11262 11264 11265 11266 11267 11268 11269 328 11270 11271 11272 11274 11275 11276 11277 11278 11279 329 11280 11281 11282 11284 11285 11286 11287 11288 11289 330 11290 11291 11292 11294 11295 11296 11297 11298 11299
331 11300 11301 11302 11304 11305 11306 11307 11308 11309 332 11310 11311 11312 11314 11315 11316 11317 11318 11319 333 11320 11321 11322 11324 11325 11326 11327 11328 11329 334 11330 11331 11332 11334 11335 11336 11337 11338 11339 335 11340 11341 11342 11344 11345 11346 11347 11348 11349
336 11350 11351 11352 11354 11355 11356 11357 11358 11359 337 11360 11361 11362 11364 11365 11366 11367 11368 11369 338 11370 11371 11372 11374 11375 11376 11377 11378 11379 339 11380 11381 11382 11384 11385 11386 11387 11388 11389 340 11390 11391 11392 11394 11395 11396 11397 11398 11399
341 11400 11401 11402 11404 11405 11406 11407 11408 11409 342 11410 11411 11412 11414 11415 11416 11417 11418 11419 343 11420 11421 11422 11424 11425 11426 11427 11428 11429 344 11430 11431 11432 11434 11435 11436 11437 11438 11439 345 11440 11441 11442 11444 11445 11446 11447 11448 11449
346 11450 11451 11452 11454 11455 11456 11457 11458 11459 347 11460 11461 11462 11464 11465 11466 11467 11468 11469 348 11470 11471 11472 11474 11475 11476 11477 11478 11479 349 11480 11481 11482 11484 11485 11486 11487 11488 11489 350 11490 11491 11492 11494 11495 11496 11497 11498 11499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
351 11500 11501 11502 11504 11505 11506 11507 11508 11509 352 11510 11511 11512 11514 11515 11516 11517 11518 11519 353 11520 11521 11522 11524 11525 11526 11527 11528 11529 354 11530 11531 11532 11534 11535 11536 11537 11538 11539 355 11540 11541 11542 11544 11545 11546 11547 11548 11549
356 11550 11551 11552 11554 11555 11556 11557 11558 11559 357 11560 11561 11562 11564 11565 11566 11567 11568 11569 358 11570 11571 11572 11574 11575 11576 11577 11578 11579 359 11580 11581 11582 11584 11585 11586 11587 11588 11589 360 11590 11591 11592 11594 11595 11596 11597 11598 11599
361 11600 11601 11602 11604 11605 11606 11607 11608 11609 362 11610 11611 11612 11614 11615 11616 11617 11618 11619 363 11620 11621 11622 11624 11625 11626 11627 11628 11629 364 11630 11631 11632 11634 11635 11636 11637 11638 11639 365 11640 11641 11642 11644 11645 11646 11647 11648 11649
366 11650 11651 11652 11654 11655 11656 11657 11658 11659 367 11660 11661 11662 11664 11665 11666 11667 11668 11669 368 11670 11671 11672 11674 11675 11676 11677 11678 11679 369 11680 11681 11682 11684 11685 11686 11687 11688 11689 370 11690 11691 11692 11694 11695 11696 11697 11698 11699
371 11700 11701 11702 11704 11705 11706 11707 11708 11709 372 11710 11711 11712 11714 11715 11716 11717 11718 11719 373 11720 11721 11722 11724 11725 11726 11727 11728 11729 374 11730 11731 11732 11734 11735 11736 11737 11738 11739 375 11740 11741 11742 11744 11745 11746 11747 11748 11749
376 11750 11751 11752 11754 11755 11756 11757 11758 11759 377 11760 11761 11762 11764 11765 11766 11767 11768 11769 378 11770 11771 11772 11774 11775 11776 11777 11778 11779 379 11780 11781 11782 11784 11785 11786 11787 11788 11789 380 11790 11791 11792 11794 11795 11796 11797 11798 11799
381 11800 11801 11802 11804 11805 11806 11807 11808 11809 382 11810 11811 11812 11814 11815 11816 11817 11818 11819 383 11820 11821 11822 11824 11825 11826 11827 11828 11829 384 11830 11831 11832 11834 11835 11836 11837 11838 11839 385 11840 11841 11842 11844 11845 11846 11847 11848 11849
386 11850 11851 11852 11854 11855 11856 11857 11858 11859 387 11860 11861 11862 11864 11865 11866 11867 11868 11869 388 11870 11871 11872 11874 11875 11876 11877 11878 11879 389 11880 11881 11882 11884 11885 11886 11887 11888 11889 390 11890 11891 11892 11894 11895 11896 11897 11898 11899
391 11900 11901 11902 11904 11905 11906 11907 11908 11909 392 11910 11911 11912 11914 11915 11916 11917 11918 11919 393 11920 11921 11922 11924 11925 11926 11927 11928 11929 394 11930 11931 11932 11934 11935 11936 11937 11938 11939 395 11940 11941 11942 11944 11945 11946 11947 11948 11949
396 11950 11951 11952 11954 11955 11956 11957 11958 11959 397 11960 11961 11962 11964 11965 11966 11967 11968 11969 398 11970 11971 11972 11974 11975 11976 11977 11978 11979 399 11980 11981 11982 11984 11985 11986 11987 11988 11989 400 11990 11991 11992 11994 11995 11996 11997 11998 11999
Appendix - 27
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
401 12000 12001 12002 12004 12005 12006 12007 12008 12009 402 12010 12011 12012 12014 12015 12016 12017 12018 12019 403 12020 12021 12022 12024 12025 12026 12027 12028 12029 404 12030 12031 12032 12034 12035 12036 12037 12038 12039 405 12040 12041 12042 12044 12045 12046 12047 12048 12049
406 12050 12051 12052 12054 12055 12056 12057 12058 12059 407 12060 12061 12062 12064 12065 12066 12067 12068 12069 408 12070 12071 12072 12074 12075 12076 12077 12078 12079 409 12080 12081 12082 12084 12085 12086 12087 12088 12089 410 12090 12091 12092 12094 12095 12096 12097 12098 12099
411 12100 12101 12102 12104 12105 12106 12107 12108 12109 412 12110 12111 12112 12114 12115 12116 12117 12118 12119 413 12120 12121 12122 12124 12125 12126 12127 12128 12129 414 12130 12131 12132 12134 12135 12136 12137 12138 12139 415 12140 12141 12142 12144 12145 12146 12147 12148 12149
416 12150 12151 12152 12154 12155 12156 12157 12158 12159 417 12160 12161 12162 12164 12165 12166 12167 12168 12169 418 12170 12171 12172 12174 12175 12176 12177 12178 12179 419 12180 12181 12182 12184 12185 12186 12187 12188 12189 420 12190 12191 12192 12194 12195 12196 12197 12198 12199
421 12200 12201 12202 12204 12205 12206 12207 12208 12209 422 12210 12211 12212 12214 12215 12216 12217 12218 12219 423 12220 12221 12222 12224 12225 12226 12227 12228 12229 424 12230 12231 12232 12234 12235 12236 12237 12238 12239 425 12240 12241 12242 12244 12245 12246 12247 12248 12249
426 12250 12251 12252 12254 12255 12256 12257 12258 12259 427 12260 12261 12262 12264 12265 12266 12267 12268 12269 428 12270 12271 12272 12274 12275 12276 12277 12278 12279 429 12280 12281 12282 12284 12285 12286 12287 12288 12289 430 12290 12291 12292 12294 12295 12296 12297 12298 12299
431 12300 12301 12302 12304 12305 12306 12307 12308 12309 432 12310 12311 12312 12314 12315 12316 12317 12318 12319 433 12320 12321 12322 12324 12325 12326 12327 12328 12329 434 12330 12331 12332 12334 12335 12336 12337 12338 12339 435 12340 12341 12342 12344 12345 12346 12347 12348 12349
436 12350 12351 12352 12354 12355 12356 12357 12358 12359 437 12360 12361 12362 12364 12365 12366 12367 12368 12369 438 12370 12371 12372 12374 12375 12376 12377 12378 12379 439 12380 12381 12382 12384 12385 12386 12387 12388 12389 440 12390 12391 12392 12394 12395 12396 12397 12398 12399
441 12400 12401 12402 12404 12405 12406 12407 12408 12409 442 12410 12411 12412 12414 12415 12416 12417 12418 12419 443 12420 12421 12422 12424 12425 12426 12427 12428 12429 444 12430 12431 12432 12434 12435 12436 12437 12438 12439 445 12440 12441 12442 12444 12445 12446 12447 12448 12449
446 12450 12451 12452 12454 12455 12456 12457 12458 12459 447 12460 12461 12462 12464 12465 12466 12467 12468 12469 448 12470 12471 12472 12474 12475 12476 12477 12478 12479 449 12480 12481 12482 12484 12485 12486 12487 12488 12489 450 12490 12491 12492 12494 12495 12496 12497 12498 12499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
451 12500 12501 12502 12504 12505 12506 12507 12508 12509 452 12510 12511 12512 12514 12515 12516 12517 12518 12519 453 12520 12521 12522 12524 12525 12526 12527 12528 12529 454 12530 12531 12532 12534 12535 12536 12537 12538 12539 455 12540 12541 12542 12544 12545 12546 12547 12548 12549
456 12550 12551 12552 12554 12555 12556 12557 12558 12559 457 12560 12561 12562 12564 12565 12566 12567 12568 12569 458 12570 12571 12572 12574 12575 12576 12577 12578 12579 459 12580 12581 12582 12584 12585 12586 12587 12588 12589 460 12590 12591 12592 12594 12595 12596 12597 12598 12599
461 12600 12601 12602 12604 12605 12606 12607 12608 12609 462 12610 12611 12612 12614 12615 12616 12617 12618 12619 463 12620 12621 12622 12624 12625 12626 12627 12628 12629 464 12630 12631 12632 12634 12635 12636 12637 12638 12639 465 12640 12641 12642 12644 12645 12646 12647 12648 12649
466 12650 12651 12652 12654 12655 12656 12657 12658 12659 467 12660 12661 12662 12664 12665 12666 12667 12668 12669 468 12670 12671 12672 12674 12675 12676 12677 12678 12679 469 12680 12681 12682 12684 12685 12686 12687 12688 12689 470 12690 12691 12692 12694 12695 12696 12697 12698 12699
471 12700 12701 12702 12704 12705 12706 12707 12708 12709 472 12710 12711 12712 12714 12715 12716 12717 12718 12719 473 12720 12721 12722 12724 12725 12726 12727 12728 12729 474 12730 12731 12732 12734 12735 12736 12737 12738 12739 475 12740 12741 12742 12744 12745 12746 12747 12748 12749
476 12750 12751 12752 12754 12755 12756 12757 12758 12759 477 12760 12761 12762 12764 12765 12766 12767 12768 12769 478 12770 12771 12772 12774 12775 12776 12777 12778 12779 479 12780 12781 12782 12784 12785 12786 12787 12788 12789 480 12790 12791 12792 12794 12795 12796 12797 12798 12799
481 12800 12801 12802 12804 12805 12806 12807 12808 12809 482 12810 12811 12812 12814 12815 12816 12817 12818 12819 483 12820 12821 12822 12824 12825 12826 12827 12828 12829 484 12830 12831 12832 12834 12835 12836 12837 12838 12839 485 12840 12841 12842 12844 12845 12846 12847 12848 12849
486 12850 12851 12852 12854 12855 12856 12857 12858 12859 487 12860 12861 12862 12864 12865 12866 12867 12868 12869 488 12870 12871 12872 12874 12875 12876 12877 12878 12879 489 12880 12881 12882 12884 12885 12886 12887 12888 12889 490 12890 12891 12892 12894 12895 12896 12897 12898 12899
491 12900 12901 12902 12904 12905 12906 12907 12908 12909 492 12910 12911 12912 12914 12915 12916 12917 12918 12919 493 12920 12921 12922 12924 12925 12926 12927 12928 12929 494 12930 12931 12932 12934 12935 12936 12937 12938 12939 495 12940 12941 12942 12944 12945 12946 12947 12948 12949
496 12950 12951 12952 12954 12955 12956 12957 12958 12959 497 12960 12961 12962 12964 12965 12966 12967 12968 12969 498 12970 12971 12972 12974 12975 12976 12977 12978 12979 499 12980 12981 12982 12984 12985 12986 12987 12988 12989 500 12990 12991 12992 12994 12995 12996 12997 12998 12999
Appendix - 28
APPENDICES
MELSEC-Q
(2) For axis 2
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
501 13000 13001 13002 13004 13005 13006 13007 13008 13009 502 13010 13011 13012 13014 13015 13016 13017 13018 13019 503 13020 13021 13022 13024 13025 13026 13027 13028 13029 504 13030 13031 13032 13034 13035 13036 13037 13038 13039 505 13040 13041 13042 13044 13045 13046 13047 13048 13049
506 13050 13051 13052 13054 13055 13056 13057 13058 13059 507 13060 13061 13062 13064 13065 13066 13067 13068 13069 508 13070 13071 13072 13074 13075 13076 13077 13078 13079 509 13080 13081 13082 13084 13085 13086 13087 13088 13089 510 13090 13091 13092 13094 13095 13096 13097 13098 13099
511 13100 13101 13102 13104 13105 13106 13107 13108 13109 512 13110 13111 13112 13114 13115 13116 13117 13118 13119 513 13120 13121 13122 13124 13125 13126 13127 13128 13129 514 13130 13131 13132 13134 13135 13136 13137 13138 13139 515 13140 13141 13142 13144 13145 13146 13147 13148 13149
516 13150 13151 13152 13154 13155 13156 13157 13158 13159 517 13160 13161 13162 13164 13165 13166 13167 13168 13169 518 13170 13171 13172 13174 13175 13176 13177 13178 13179 519 13180 13181 13182 13184 13185 13186 13187 13188 13189 520 13190 13191 13192 13194 13195 13196 13197 13198 13199
521 13200 13201 13202 13204 13205 13206 13207 13208 13209 522 13210 13211 13212 13214 13215 13216 13217 13218 13219 523 13220 13221 13222 13224 13225 13226 13227 13228 13229 524 13230 13231 13232 13234 13235 13236 13237 13238 13239 525 13240 13241 13242 13244 13245 13246 13247 13248 13249
526 13250 13251 13252 13254 13255 13256 13257 13258 13259 527 13260 13261 13262 13264 13265 13266 13267 13268 13269 528 13270 13271 13272 13274 13275 13276 13277 13278 13279 529 13280 13281 13282 13284 13285 13286 13287 13288 13289 530 13290 13291 13292 13294 13295 13296 13297 13298 13299
531 13300 13301 13302 13304 13305 13306 13307 13308 13309 532 13310 13311 13312 13314 13315 13316 13317 13318 13319 533 13320 13321 13322 13324 13325 13326 13327 13328 13329 534 13330 13331 13332 13334 13335 13336 13337 13338 13339 535 13340 13341 13342 13344 13345 13346 13347 13348 13349
536 13350 13351 13352 13354 13355 13356 13357 13358 13359 537 13360 13361 13362 13364 13365 13366 13367 13368 13369 538 13370 13371 13372 13374 13375 13376 13377 13378 13379 539 13380 13381 13382 13384 13385 13386 13387 13388 13389 540 13390 13391 13392 13394 13395 13396 13397 13398 13399
541 13400 13401 13402 13404 13405 13406 13407 13408 13409 542 13410 13411 13412 13414 13415 13416 13417 13418 13419 543 13420 13421 13422 13424 13425 13426 13427 13428 13429 544 13430 13431 13432 13434 13435 13436 13437 13438 13439 545 13440 13441 13442 13444 13445 13446 13447 13448 13449
546 13450 13451 13452 13454 13455 13456 13457 13458 13459 547 13460 13461 13462 13464 13465 13466 13467 13468 13469 548 13470 13471 13472 13474 13475 13476 13477 13478 13479 549 13480 13481 13482 13484 13485 13486 13487 13488 13489 550 13490 13491 13492 13494 13495 13496 13497 13498 13499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
551 13500 13501 13502 13504 13505 13506 13507 13508 13509 552 13510 13511 13512 13514 13515 13516 13517 13518 13519 553 13520 13521 13522 13524 13525 13526 13527 13528 13529 554 13530 13531 13532 13534 13535 13536 13537 13538 13539 555 13540 13541 13542 13544 13545 13546 13547 13548 13549
556 13550 13551 13552 13554 13555 13556 13557 13558 13559 557 13560 13561 13562 13564 13565 13566 13567 13568 13569 558 13570 13571 13572 13574 13575 13576 13577 13578 13579 559 13580 13581 13582 13584 13585 13586 13587 13588 13589 560 13590 13591 13592 13594 13595 13596 13597 13598 13599
561 13600 13601 13602 13604 13605 13606 13607 13608 13609 562 13610 13611 13612 13614 13615 13616 13617 13618 13619 563 13620 13621 13622 13624 13625 13626 13627 13628 13629 564 13630 13631 13632 13634 13635 13636 13637 13638 13639 565 13640 13641 13642 13644 13645 13646 13647 13648 13649
566 13650 13651 13652 13654 13655 13656 13657 13658 13659 567 13660 13661 13662 13664 13665 13666 13667 13668 13669 568 13670 13671 13672 13674 13675 13676 13677 13678 13679 569 13680 13681 13682 13684 13685 13686 13687 13688 13689 570 13690 13691 13692 13694 13695 13696 13697 13698 13699
571 13700 13701 13702 13704 13705 13706 13707 13708 13709 572 13710 13711 13712 13714 13715 13716 13717 13718 13719 573 13720 13721 13722 13724 13725 13726 13727 13728 13729 574 13730 13731 13732 13734 13735 13736 13737 13738 13739 575 13740 13741 13742 13744 13745 13746 13747 13748 13749
576 13750 13751 13752 13754 13755 13756 13757 13758 13759 577 13760 13761 13762 13764 13765 13766 13767 13768 13769 578 13770 13771 13772 13774 13775 13776 13777 13778 13779 579 13780 13781 13782 13784 13785 13786 13787 13788 13789 580 13790 13791 13792 13794 13795 13796 13797 13798 13799
581 13800 13801 13802 13804 13805 13806 13807 13808 13809 582 13810 13811 13812 13814 13815 13816 13817 13818 13819 583 13820 13821 13822 13824 13825 13826 13827 13828 13829 584 13830 13831 13832 13834 13835 13836 13837 13838 13839 585 13840 13841 13842 13844 13845 13846 13847 13848 13849
586 13850 13851 13852 13854 13855 13856 13857 13858 13859 587 13860 13861 13862 13864 13865 13866 13867 13868 13869 588 13870 13871 13872 13874 13875 13876 13877 13878 13879 589 13880 13881 13882 13884 13885 13886 13887 13888 13889 590 13890 13891 13892 13894 13895 13896 13897 13898 13899
591 13900 13901 13902 13904 13905 13906 13907 13908 13909 592 13910 13911 13912 13914 13915 13916 13917 13918 13919 593 13920 13921 13922 13924 13925 13926 13927 13928 13929 594 13930 13931 13932 13934 13935 13936 13937 13938 13939 595 13940 13941 13942 13944 13945 13946 13947 13948 13949
596 13950 13951 13952 13954 13955 13956 13957 13958 13959 597 13960 13961 13962 13964 13965 13966 13967 13968 13969 598 13970 13971 13972 13974 13975 13976 13977 13978 13979 599 13980 13981 13982 13984 13985 13986 13987 13988 13989 600 13990 13991 13992 13994 13995 13996 13997 13998 13999
Appendix - 29
APPENDICES
MELSEC-Q
(2) For axis 2 (positioning option)
Data No.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Positioning option
8003 8013 8023 8033 8043 8053 8063 8073 8083 8093 8103 8113 8123 8133 8143 8153 8163 8173 8183 8193 8203 8213 8223 8233 8243 8253 8263 8273 8283 8293 8303 8313 8323 8333 8343 8353 8363 8373 8383 8393 8403 8413 8423 8433 8443 8453 8463 8473 8483 8493
Data No.
51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
Positioning option
8503 8513 8523 8533 8543 8553 8563 8573 8583 8593 8603 8613 8623 8633 8643 8653 8663 8673 8683 8693 8703 8713 8723 8733 8743 8753 8763 8773 8783 8793 8803 8813 8823 8833 8843 8853 8863 8873 8883 8893 8903 8913 8923 8933 8943 8953 8963 8973 8983 8993
Data No.
101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150
Positioning option
9003 9013 9023 9033 9043 9053 9063 9073 9083 9093 9103 9113 9123 9133 9143 9153 9163 9173 9183 9193 9203 9213 9223 9233 9243 9253 9263 9273 9283 9293 9303 9313 9323 9333 9343 9353 9363 9373 9383 9393 9403 9413 9423 9433 9443 9453 9463 9473 9483 9493
Data No.
151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
Positioning option
9503 9513 9523 9533 9543 9553 9563 9573 9583 9593 9603 9613 9623 9633 9643 9653 9663 9673 9683 9693 9703 9713 9723 9733 9743 9753 9763 9773 9783 9793 9803 9813 9823 9833 9843 9853 9863 9873 9883 9893 9903 9913 9923 9933 9943 9953 9963 9973 9983 9993
Data No.
201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250
Positioning option
10003 10013 10023 10033 10043 10053 10063 10073 10083 10093 10103 10113 10123 10133 10143 10153 10163 10173 10183 10193 10203 10213 10223 10233 10243 10253 10263 10273 10283 10293 10303 10313 10323 10333 10343 10353 10363 10373 10383 10393 10403 10413 10423 10433 10443 10453 10463 10473 10483 10493
Data No.
251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300
Positioning option
10503 10513 10523 10533 10543 10553 10563 10573 10583 10593 10603 10613 10623 10633 10643 10653 10663 10673 10683 10693 10703 10713 10723 10733 10743 10753 10763 10773 10783 10793 10803 10813 10823 10833 10843 10853 10863 10873 10883 10893 10903 10913 10923 10933 10943 10953 10963 10973 10983 10993
Appendix - 30
APPENDICES
MELSEC-Q
(2) For axis 2 (positioning option)
Data No.
301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350
Positioning option
11003 11013 11023 11033 11043 11053 11063 11073 11083 11093 11103 11113 11123 11133 11143 11153 11163 11173 11183 11193 11203 11213 11223 11233 11243 11253 11263 11273 11283 11293 11303 11313 11323 11333 11343 11353 11363 11373 11383 11393 11403 11413 11423 11433 11443 11453 11463 11473 11483 11493
Data No.
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400
Positioning option
11503 11513 11523 11533 11543 11553 11563 11573 11583 11593 11603 11613 11623 11633 11643 11653 11663 11673 11683 11693 11703 11713 11723 11733 11743 11753 11763 11773 11783 11793 11803 11813 11823 11833 11843 11853 11863 11873 11883 11893 11903 11913 11923 11933 11943 11953 11963 11973 11983 11993
Data No.
401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
Positioning option
12003 12013 12023 12033 12043 12053 12063 12073 12083 12093 12103 12113 12123 12133 12143 12153 12163 12173 12183 12193 12203 12213 12223 12233 12243 12253 12263 12273 12283 12293 12303 12313 12323 12333 12343 12353 12363 12373 12383 12393 12403 12413 12423 12433 12443 12453 12463 12473 12483 12493
Data No.
451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500
Positioning option
12503 12513 12523 12533 12543 12553 12563 12573 12583 12593 12603 12613 12623 12633 12643 12653 12663 12673 12683 12693 12703 12713 12723 12733 12743 12753 12763 12773 12783 12793 12803 12813 12823 12833 12843 12853 12863 12873 12883 12893 12903 12913 12923 12933 12943 12953 12963 12973 12983 12993
Data No.
501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550
Positioning option
13003 13013 13023 13033 13043 13053 13063 13073 13083 13093 13103 13113 13123 13133 13143 13153 13163 13173 13183 13193 13203 13213 13223 13233 13243 13253 13263 13273 13283 13293 13303 13313 13323 13333 13343 13353 13363 13373 13383 13393 13403 13413 13423 13433 13443 13453 13463 13473 13483 13493
Data No.
551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600
Positioning option
13503 13513 13523 13533 13543 13553 13563 13573 13583 13593 13603 13613 13623 13633 13643 13653 13663 13673 13683 13693 13703 13713 13723 13733 13743 13753 13763 13773 13783 13793 13803 13813 13823 13833 13843 13853 13863 13873 13883 13893 13903 13913 13923 13933 13943 13953 13963 13973 13983 13993
Appendix - 31
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
1 14000 14001 14002 14004 14005 14006 14007 14008 14009 2 14010 14011 14012 14014 14015 14016 14017 14018 14019 3 14020 14021 14022 14024 14025 14026 14027 14028 14029 4 14030 14031 14032 14034 14035 14036 14037 14038 14039 5 14040 14041 14042 14044 14045 14046 14047 14048 14049
6 14050 14051 14052 14054 14055 14056 14057 14058 14059 7 14060 14061 14062 14064 14065 14066 14067 14068 14069 8 14070 14071 14072 14074 14075 14076 14077 14078 14079 9 14080 14081 14082 14084 14085 14086 14087 14088 14089 10 14090 14091 14092 14094 14095 14096 14097 14098 14099
11 14100 14101 14102 14104 14105 14106 14107 14108 14109 12 14110 14111 14112 14114 14115 14116 14117 14118 14119 13 14120 14121 14122 14124 14125 14126 14127 14128 14129 14 14130 14131 14132 14134 14135 14136 14137 14138 14139 15 14140 14141 14142 14144 14145 14146 14147 14148 14149
16 14150 14151 14152 14154 14155 14156 14157 14158 14159 17 14160 14161 14162 14164 14165 14166 14167 14168 14169 18 14170 14171 14172 14174 14175 14176 14177 14178 14179 19 14180 14181 14182 14184 14185 14186 14187 14188 14189 20 14190 14191 14192 14194 14195 14196 14197 14198 14199
21 14200 14201 14202 14204 14205 14206 14207 14208 14209 22 14210 14211 14212 14214 14215 14216 14217 14218 14219 23 14220 14221 14222 14224 14225 14226 14227 14228 14229 24 14230 14231 14232 14234 14235 14236 14237 14238 14239 25 14240 14241 14242 14244 14245 14246 14247 14248 14249
26 14250 14251 14252 14254 14255 14256 14257 14258 14259 27 14260 14261 14262 14264 14265 14266 14267 14268 14269 28 14270 14271 14272 14274 14275 14276 14277 14278 14279 29 14280 14281 14282 14284 14285 14286 14287 14288 14289 30 14290 14291 14292 14294 14295 14296 14297 14298 14299
31 14300 14301 14302 14304 14305 14306 14307 14308 14309 32 14310 14311 14312 14314 14315 14316 14317 14318 14319 33 14320 14321 14322 14324 14325 14326 14327 14328 14329 34 14330 14331 14332 14334 14335 14336 14337 14338 14339 35 14340 14341 14342 14344 14345 14346 14347 14348 14349
36 14350 14351 14352 14354 14355 14356 14357 14358 14359 37 14360 14361 14362 14364 14365 14366 14367 14368 14369 38 14370 14371 14372 14374 14375 14376 14377 14378 14379 39 14380 14381 14382 14384 14385 14386 14387 14388 14389 40 14390 14391 14392 14394 14395 14396 14397 14398 14399
41 14400 14401 14402 14404 14405 14406 14407 14408 14409 42 14410 14411 14412 14414 14415 14416 14417 14418 14419 43 14420 14421 14422 14424 14425 14426 14427 14428 14429 44 14430 14431 14432 14434 14435 14436 14437 14438 14439 45 14440 14441 14442 14444 14445 14446 14447 14448 14449
46 14450 14451 14452 14454 14455 14456 14457 14458 14459 47 14460 14461 14462 14464 14465 14466 14467 14468 14469 48 14470 14471 14472 14474 14475 14476 14477 14478 14479 49 14480 14481 14482 14484 14485 14486 14487 14488 14489 50 14490 14491 14492 14494 14495 14496 14497 14498 14499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
51 14500 14501 14502 14504 14505 14506 14507 14508 14509 52 14510 14511 14512 14514 14515 14516 14517 14518 14519 53 14520 14521 14522 14524 14525 14526 14527 14528 14529 54 14530 14531 14532 14534 14535 14536 14537 14538 14539 55 14540 14541 14542 14544 14545 14546 14547 14548 14549
56 14550 14551 14552 14554 14555 14556 14557 14558 14559 57 14560 14561 14562 14564 14565 14566 14567 14568 14569 58 14570 14571 14572 14574 14575 14576 14577 14578 14579 59 14580 14581 14582 14584 14585 14586 14587 14588 14589 60 14590 14591 14592 14594 14595 14596 14597 14598 14599
61 14600 14601 14602 14604 14605 14606 14607 14608 14609 62 14610 14611 14612 14614 14615 14616 14617 14618 14619 63 14620 14621 14622 14624 14625 14626 14627 14628 14629 64 14630 14631 14632 14634 14635 14636 14637 14638 14639 65 14640 14641 14642 14644 14645 14646 14647 14648 14649
66 14650 14651 14652 14654 14655 14656 14657 14658 14659 67 14660 14661 14662 14664 14665 14666 14667 14668 14669 68 14670 14671 14672 14674 14675 14676 14677 14678 14679 69 14680 14681 14682 14684 14685 14686 14687 14688 14689 70 14690 14691 14692 14694 14695 14696 14697 14698 14699
71 14700 14701 14702 14704 14705 14706 14707 14708 14709 72 14710 14711 14712 14714 14715 14716 14717 14718 14719 73 14720 14721 14722 14724 14725 14726 14727 14728 14729 74 14730 14731 14732 14734 14735 14736 14737 14738 14739 75 14740 14741 14742 14744 14745 14746 14747 14748 14749
76 14750 14751 14752 14754 14755 14756 14757 14758 14759 77 14760 14761 14762 14764 14765 14766 14767 14768 14769 78 14770 14771 14772 14774 14775 14776 14777 14778 14779 79 14780 14781 14782 14784 14785 14786 14787 14788 14789 80 14790 14791 14792 14794 14795 14796 14797 14798 14799
81 14800 14801 14802 14804 14805 14806 14807 14808 14809 82 14810 14811 14812 14814 14815 14816 14817 14818 14819 83 14820 14821 14822 14824 14825 14826 14827 14828 14829 84 14830 14831 14832 14834 14835 14836 14837 14838 14839 85 14840 14841 14842 14844 14845 14846 14847 14848 14849
86 14850 14851 14852 14854 14855 14856 14857 14858 14859 87 14860 14861 14862 14864 14865 14866 14867 14868 14869 88 14870 14871 14872 14874 14875 14876 14877 14878 14879 89 14880 14881 14882 14884 14885 14886 14887 14888 14889 90 14890 14891 14892 14894 14895 14896 14897 14898 14899
91 14900 14901 14902 14904 14905 14906 14907 14908 14909 92 14910 14911 14912 14914 14915 14916 14917 14918 14919 93 14920 14921 14922 14924 14925 14926 14927 14928 14929 94 14930 14931 14932 14934 14935 14936 14937 14938 14939 95 14940 14941 14942 14944 14945 14946 14947 14948 14949
96 14950 14951 14952 14954 14955 14956 14957 14958 14959 97 14960 14961 14962 14964 14965 14966 14967 14968 14969 98 14970 14971 14972 14974 14975 14976 14977 14978 14979 99 14980 14981 14982 14984 14985 14986 14987 14988 14989 100 14990 14991 14992 14994 14995 14996 14997 14998 14999
Appendix - 32
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
101 15000 15001 15002 15004 15005 15006 15007 15008 15009 102 15010 15011 15012 15014 15015 15016 15017 15018 15019 103 15020 15021 15022 15024 15025 15026 15027 15028 15029 104 15030 15031 15032 15034 15035 15036 15037 15038 15039 105 15040 15041 15042 15044 15045 15046 15047 15048 15049
106 15050 15051 15052 15054 15055 15056 15057 15058 15059 107 15060 15061 15062 15064 15065 15066 15067 15068 15069 108 15070 15071 15072 15074 15075 15076 15077 15078 15079 109 15080 15081 15082 15084 15085 15086 15087 15088 15089 110 15090 15091 15092 15094 15095 15096 15097 15098 15099
111 15100 15101 15102 15104 15105 15106 15107 15108 15109 112 15110 15111 15112 15114 15115 15116 15117 15118 15119 113 15120 15121 15122 15124 15125 15126 15127 15128 15129 114 15130 15131 15132 15134 15135 15136 15137 15138 15139 115 15140 15141 15142 15144 15145 15146 15147 15148 15149
116 15150 15151 15152 15154 15155 15156 15157 15158 15159 117 15160 15161 15162 15164 15165 15166 15167 15168 15169 118 15170 15171 15172 15174 15175 15176 15177 15178 15179 119 15180 15181 15182 15184 15185 15186 15187 15188 15189 120 15190 15191 15192 15194 15195 15196 15197 15198 15199
121 15200 15201 15202 15204 15205 15206 15207 15208 15209 122 15210 15211 15212 15214 15215 15216 15217 15218 15219 123 15220 15221 15222 15224 15225 15226 15227 15228 15229 124 15230 15231 15232 15234 15235 15236 15237 15238 15239 125 15240 15241 15242 15244 15245 15246 15247 15248 15249
126 15250 15251 15252 15254 15255 15256 15257 15258 15259 127 15260 15261 15262 15264 15265 15266 15267 15268 15269 128 15270 15271 15272 15274 15275 15276 15277 15278 15279 129 15280 15281 15282 15284 15285 15286 15287 15288 15289 130 15290 15291 15292 15294 15295 15296 15297 15298 15299
131 15300 15301 15302 15304 15305 15306 15307 15308 15309 132 15310 15311 15312 15314 15315 15316 15317 15318 15319 133 15320 15321 15322 15324 15325 15326 15327 15328 15329 134 15330 15331 15332 15334 15335 15336 15337 15338 15339 135 15340 15341 15342 15344 15345 15346 15347 15348 15349
136 15350 15351 15352 15354 15355 15356 15357 15358 15359 137 15360 15361 15362 15364 15365 15366 15367 15368 15369 138 15370 15371 15372 15374 15375 15376 15377 15378 15379 139 15380 15381 15382 15384 15385 15386 15387 15388 15389 140 15390 15391 15392 15394 15395 15396 15397 15398 15399
141 15400 15401 15402 15404 15405 15406 15407 15408 15409 142 15410 15411 15412 15414 15415 15416 15417 15418 15419 143 15420 15421 15422 15424 15425 15426 15427 15428 15429 144 15430 15431 15432 15434 15435 15436 15437 15438 15439 145 15440 15441 15442 15444 15445 15446 15447 15448 15449
146 15450 15451 15452 15454 15455 15456 15457 15458 15459 147 15460 15461 15462 15464 15465 15466 15467 15468 15469 148 15470 15471 15472 15474 15475 15476 15477 15478 15479 149 15480 15481 15482 15484 15485 15486 15487 15488 15489 150 15490 15491 15492 15494 15495 15496 15497 15498 15499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
151 15500 15501 15502 15504 15505 15506 15507 15508 15509 152 15510 15511 15512 15514 15515 15516 15517 15518 15519 153 15520 15521 15522 15524 15525 15526 15527 15528 15529 154 15530 15531 15532 15534 15535 15536 15537 15538 15539 155 15540 15541 15542 15544 15545 15546 15547 15548 15549
156 15550 15551 15552 15554 15555 15556 15557 15558 15559 157 15560 15561 15562 15564 15565 15566 15567 15568 15569 158 15570 15571 15572 15574 15575 15576 15577 15578 15579 159 15580 15581 15582 15584 15585 15586 15587 15588 15589 160 15590 15591 15592 15594 15595 15596 15597 15598 15599
161 15600 15601 15602 15604 15605 15606 15607 15608 15609 162 15610 15611 15612 15614 15615 15616 15617 15618 15619 163 15620 15621 15622 15624 15625 15626 15627 15628 15629 164 15630 15631 15632 15634 15635 15636 15637 15638 15639 165 15640 15641 15642 15644 15645 15646 15647 15648 15649
166 15650 15651 15652 15654 15655 15656 15657 15658 15659 167 15660 15661 15662 15664 15665 15666 15667 15668 15669 168 15670 15671 15672 15674 15675 15676 15677 15678 15679 169 15680 15681 15682 15684 15685 15686 15687 15688 15689 170 15690 15691 15692 15694 15695 15696 15697 15698 15699
171 15700 15701 15702 15704 15705 15706 15707 15708 15709 172 15710 15711 15712 15714 15715 15716 15717 15718 15719 173 15720 15721 15722 15724 15725 15726 15727 15728 15729 174 15730 15731 15732 15734 15735 15736 15737 15738 15739 175 15740 15741 15742 15744 15745 15746 15747 15748 15749
176 15750 15751 15752 15754 15755 15756 15757 15758 15759 177 15760 15761 15762 15764 15765 15766 15767 15768 15769 178 15770 15771 15772 15774 15775 15776 15777 15778 15779 179 15780 15781 15782 15784 15785 15786 15787 15788 15789 180 15790 15791 15792 15794 15795 15796 15797 15798 15799
181 15800 15801 15802 15804 15805 15806 15807 15808 15809 182 15810 15811 15812 15814 15815 15816 15817 15818 15819 183 15820 15821 15822 15824 15825 15826 15827 15828 15829 184 15830 15831 15832 15834 15835 15836 15837 15838 15839 185 15840 15841 15842 15844 15845 15846 15847 15848 15849
186 15850 15851 15852 15854 15855 15856 15857 15858 15859 187 15860 15861 15862 15864 15865 15866 15867 15868 15869 188 15870 15871 15872 15874 15875 15876 15877 15878 15879 189 15880 15881 15882 15884 15885 15886 15887 15888 15889 190 15890 15891 15892 15894 15895 15896 15897 15898 15899
191 15900 15901 15902 15904 15905 15906 15907 15908 15909 192 15910 15911 15912 15914 15915 15916 15917 15918 15919 193 15920 15921 15922 15924 15925 15926 15927 15928 15929 194 15930 15931 15932 15934 15935 15936 15937 15938 15939 195 15940 15941 15942 15944 15945 15946 15947 15948 15949
196 15950 15951 15952 15954 15955 15956 15957 15958 15959 197 15960 15961 15962 15964 15965 15966 15967 15968 15969 198 15970 15971 15972 15974 15975 15976 15977 15978 15979 199 15980 15981 15982 15984 15985 15986 15987 15988 15989 200 15990 15991 15992 15994 15995 15996 15997 15998 15999
Appendix - 33
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
201 16000 16001 16002 16004 16005 16006 16007 16008 16009 202 16010 16011 16012 16014 16015 16016 16017 16018 16019 203 16020 16021 16022 16024 16025 16026 16027 16028 16029 204 16030 16031 16032 16034 16035 16036 16037 16038 16039 205 16040 16041 16042 16044 16045 16046 16047 16048 16049
206 16050 16051 16052 16054 16055 16056 16057 16058 16059 207 16060 16061 16062 16064 16065 16066 16067 16068 16069 208 16070 16071 16072 16074 16075 16076 16077 16078 16079 209 16080 16081 16082 16084 16085 16086 16087 16088 16089 210 16090 16091 16092 16094 16095 16096 16097 16098 16099
211 16100 16101 16102 16104 16105 16106 16107 16108 16109 212 16110 16111 16112 16114 16115 16116 16117 16118 16119 213 16120 16121 16122 16124 16125 16126 16127 16128 16129 214 16130 16131 16132 16134 16135 16136 16137 16138 16139 215 16140 16141 16142 16144 16145 16146 16147 16148 16149
216 16150 16151 16152 16154 16155 16156 16157 16158 16159 217 16160 16161 16162 16164 16165 16166 16167 16168 16169 218 16170 16171 16172 16174 16175 16176 16177 16178 16179 219 16180 16181 16182 16184 16185 16186 16187 16188 16189 220 16190 16191 16192 16194 16195 16196 16197 16198 16199
221 16200 16201 16202 16204 16205 16206 16207 16208 16209 222 16210 16211 16212 16214 16215 16216 16217 16218 16219 223 16220 16221 16222 16224 16225 16226 16227 16228 16229 224 16230 16231 16232 16234 16235 16236 16237 16238 16239 225 16240 16241 16242 16244 16245 16246 16247 16248 16249
226 16250 16251 16252 16254 16255 16256 16257 16258 16259 227 16260 16261 16262 16264 16265 16266 16267 16268 16269 228 16270 16271 16272 16274 16275 16276 16277 16278 16279 229 16280 16281 16282 16284 16285 16286 16287 16288 16289 230 16290 16291 16292 16294 16295 16296 16297 16298 16299
231 16300 16301 16302 16304 16305 16306 16307 16308 16309 232 16310 16311 16312 16314 16315 16316 16317 16318 16319 233 16320 16321 16322 16324 16325 16326 16327 16328 16329 234 16330 16331 16332 16334 16335 16336 16337 16338 16339 235 16340 16341 16342 16344 16345 16346 16347 16348 16349
236 16350 16351 16352 16354 16355 16356 16357 16358 16359 237 16360 16361 16362 16364 16365 16366 16367 16368 16369 238 16370 16371 16372 16374 16375 16376 16377 16378 16379 239 16380 16381 16382 16384 16385 16386 16387 16388 16389 240 16390 16391 16392 16394 16395 16396 16397 16398 16399
241 16400 16401 16402 16404 16405 16406 16407 16408 16409 242 16410 16411 16412 16414 16415 16416 16417 16418 16419 243 16420 16421 16422 16424 16425 16426 16427 16428 16429 244 16430 16431 16432 16434 16435 16436 16437 16438 16439 245 16440 16441 16442 16444 16445 16446 16447 16448 16449
246 16450 16451 16452 16454 16455 16456 16457 16458 16459 247 16460 16461 16462 16464 16465 16466 16467 16468 16469 248 16470 16471 16472 16474 16475 16476 16477 16478 16479 249 16480 16481 16482 16484 16485 16486 16487 16488 16489 250 16490 16491 16492 16494 16495 16496 16497 16498 16499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
251 16500 16501 16502 16504 16505 16506 16507 16508 16509 252 16510 16511 16512 16514 16515 16516 16517 16518 16519 253 16520 16521 16522 16524 16525 16526 16527 16528 16529 254 16530 16531 16532 16534 16535 16536 16537 16538 16539 255 16540 16541 16542 16544 16545 16546 16547 16548 16549
256 16550 16551 16552 16554 16555 16556 16557 16558 16559 257 16560 16561 16562 16564 16565 16566 16567 16568 16569 258 16570 16571 16572 16574 16575 16576 16577 16578 16579 259 16580 16581 16582 16584 16585 16586 16587 16588 16589 260 16590 16591 16592 16594 16595 16596 16597 16598 16599
261 16600 16601 16602 16604 16605 16606 16607 16608 16609 262 16610 16611 16612 16614 16615 16616 16617 16618 16619 263 16620 16621 16622 16624 16625 16626 16627 16628 16629 264 16630 16631 16632 16634 16635 16636 16637 16638 16639 265 16640 16641 16642 16644 16645 16646 16647 16648 16649
266 16650 16651 16652 16654 16655 16656 16657 16658 16659 267 16660 16661 16662 16664 16665 16666 16667 16668 16669 268 16670 16671 16672 16674 16675 16676 16677 16678 16679 269 16680 16681 16682 16684 16685 16686 16687 16688 16689 270 16690 16691 16692 16694 16695 16696 16697 16698 16699
271 16700 16701 16702 16704 16705 16706 16707 16708 16709 272 16710 16711 16712 16714 16715 16716 16717 16718 16719 273 16720 16721 16722 16724 16725 16726 16727 16728 16729 274 16730 16731 16732 16734 16735 16736 16737 16738 16739 275 16740 16741 16742 16744 16745 16746 16747 16748 16749
276 16750 16751 16752 16754 16755 16756 16757 16758 16759 277 16760 16761 16762 16764 16765 16766 16767 16768 16769 278 16770 16771 16772 16774 16775 16776 16777 16778 16779 279 16780 16781 16782 16784 16785 16786 16787 16788 16789 280 16790 16791 16792 16794 16795 16796 16797 16798 16799
281 16800 16801 16802 16804 16805 16806 16807 16808 16809 282 16810 16811 16812 16814 16815 16816 16817 16818 16819 283 16820 16821 16822 16824 16825 16826 16827 16828 16829 284 16830 16831 16832 16834 16835 16836 16837 16838 16839 285 16840 16841 16842 16844 16845 16846 16847 16848 16849
286 16850 16851 16852 16854 16855 16856 16857 16858 16859 287 16860 16861 16862 16864 16865 16866 16867 16868 16869 288 16870 16871 16872 16874 16875 16876 16877 16878 16879 289 16880 16881 16882 16884 16885 16886 16887 16888 16889 290 16890 16891 16892 16894 16895 16896 16897 16898 16899
291 16900 16901 16902 16904 16905 16906 16907 16908 16909 292 16910 16911 16912 16914 16915 16916 16917 16918 16919 293 16920 16921 16922 16924 16925 16926 16927 16928 16929 294 16930 16931 16932 16934 16935 16936 16937 16938 16939 295 16940 16941 16942 16944 16945 16946 16947 16948 16949
296 16950 16951 16952 16954 16955 16956 16957 16958 16959 297 16960 16961 16962 16964 16965 16966 16967 16968 16969 298 16970 16971 16972 16974 16975 16976 16977 16978 16979 299 16980 16981 16982 16984 16985 16986 16987 16988 16989 300 16990 16991 16992 16994 16995 16996 16997 16998 16999
Appendix - 34
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
301 17000 17001 17002 17004 17005 17006 17007 17008 17009 302 17010 17011 17012 17014 17015 17016 17017 17018 17019 303 17020 17021 17022 17024 17025 17026 17027 17028 17029 304 17030 17031 17032 17034 17035 17036 17037 17038 17039 305 17040 17041 17042 17044 17045 17046 17047 17048 17049
306 17050 17051 17052 17054 17055 17056 17057 17058 17059 307 17060 17061 17062 17064 17065 17066 17067 17068 17069 308 17070 17071 17072 17074 17075 17076 17077 17078 17079 309 17080 17081 17082 17084 17085 17086 17087 17088 17089 310 17090 17091 17092 17094 17095 17096 17097 17098 17099
311 17100 17101 17102 17104 17105 17106 17107 17108 17109 312 17110 17111 17112 17114 17115 17116 17117 17118 17119 313 17120 17121 17122 17124 17125 17126 17127 17128 17129 314 17130 17131 17132 17134 17135 17136 17137 17138 17139 315 17140 17141 17142 17144 17145 17146 17147 17148 17149
316 17150 17151 17152 17154 17155 17156 17157 17158 17159 317 17160 17161 17162 17164 17165 17166 17167 17168 17169 318 17170 17171 17172 17174 17175 17176 17177 17178 17179 319 17180 17181 17182 17184 17185 17186 17187 17188 17189 320 17190 17191 17192 17194 17195 17196 17197 17198 17199
321 17200 17201 17202 17204 17205 17206 17207 17208 17209 322 17210 17211 17212 17214 17215 17216 17217 17218 17219 323 17220 17221 17222 17224 17225 17226 17227 17228 17229 324 17230 17231 17232 17234 17235 17236 17237 17238 17239 325 17240 17241 17242 17244 17245 17246 17247 17248 17249
326 17250 17251 17252 17254 17255 17256 17257 17258 17259 327 17260 17261 17262 17264 17265 17266 17267 17268 17269 328 17270 17271 17272 17274 17275 17276 17277 17278 17279 329 17280 17281 17282 17284 17285 17286 17287 17288 17289 330 17290 17291 17292 17294 17295 17296 17297 17298 17299
331 17300 17301 17302 17304 17305 17306 17307 17308 17309 332 17310 17311 17312 17314 17315 17316 17317 17318 17319 333 17320 17321 17322 17324 17325 17326 17327 17328 17329 334 17330 17331 17332 17334 17335 17336 17337 17338 17339 335 17340 17341 17342 17344 17345 17346 17347 17348 17349
336 17350 17351 17352 17354 17355 17356 17357 17358 17359 337 17360 17361 17362 17364 17365 17366 17367 17368 17369 338 17370 17371 17372 17374 17375 17376 17377 17378 17379 339 17380 17381 17382 17384 17385 17386 17387 17388 17389 340 17390 17391 17392 17394 17395 17396 17397 17398 17399
341 17400 17401 17402 17404 17405 17406 17407 17408 17409 342 17410 17411 17412 17414 17415 17416 17417 17418 17419 343 17420 17421 17422 17424 17425 17426 17427 17428 17429 344 17430 17431 17432 17434 17435 17436 17437 17438 17439 345 17440 17441 17442 17444 17445 17446 17447 17448 17449
346 17450 17451 17452 17454 17455 17456 17457 17458 17459 347 17460 17461 17462 17464 17465 17466 17467 17468 17469 348 17470 17471 17472 17474 17475 17476 17477 17478 17479 349 17480 17481 17482 17484 17485 17486 17487 17488 17489 350 17490 17491 17492 17494 17495 17496 17497 17498 17499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
351 17500 17501 17502 17504 17505 17506 17507 17508 17509 352 17510 17511 17512 17514 17515 17516 17517 17518 17519 353 17520 17521 17522 17524 17525 17526 17527 17528 17529 354 17530 17531 17532 17534 17535 17536 17537 17538 17539 355 17540 17541 17542 17544 17545 17546 17547 17548 17549
356 17550 17551 17552 17554 17555 17556 17557 17558 17559 357 17560 17561 17562 17564 17565 17566 17567 17568 17569 358 17570 17571 17572 17574 17575 17576 17577 17578 17579 359 17580 17581 17582 17584 17585 17586 17587 17588 17589 360 17590 17591 17592 17594 17595 17596 17597 17598 17599
361 17600 17601 17602 17604 17605 17606 17607 17608 17609 362 17610 17611 17612 17614 17615 17616 17617 17618 17619 363 17620 17621 17622 17624 17625 17626 17627 17628 17629 364 17630 17631 17632 17634 17635 17636 17637 17638 17639 365 17640 17641 17642 17644 17645 17646 17647 17648 17649
366 17650 17651 17652 17654 17655 17656 17657 17658 17659 367 17660 17661 17662 17664 17665 17666 17667 17668 17669 368 17670 17671 17672 17674 17675 17676 17677 17678 17679 369 17680 17681 17682 17684 17685 17686 17687 17688 17689 370 17690 17691 17692 17694 17695 17696 17697 17698 17699
371 17700 17701 17702 17704 17705 17706 17707 17708 17709 372 17710 17711 17712 17714 17715 17716 17717 17718 17719 373 17720 17721 17722 17724 17725 17726 17727 17728 17729 374 17730 17731 17732 17734 17735 17736 17737 17738 17739 375 17740 17741 17742 17744 17745 17746 17747 17748 17749
376 17750 17751 17752 17754 17755 17756 17757 17758 17759 377 17760 17761 17762 17764 17765 17766 17767 17768 17769 378 17770 17771 17772 17774 17775 17776 17777 17778 17779 379 17780 17781 17782 17784 17785 17786 17787 17788 17789 380 17790 17791 17792 17794 17795 17796 17797 17798 17799
381 17800 17801 17802 17804 17805 17806 17807 17808 17809 382 17810 17811 17812 17814 17815 17816 17817 17818 17819 383 17820 17821 17822 17824 17825 17826 17827 17828 17829 384 17830 17831 17832 17834 17835 17836 17837 17838 17839 385 17840 17841 17842 17844 17845 17846 17847 17848 17849
386 17850 17851 17852 17854 17855 17856 17857 17858 17859 387 17860 17861 17862 17864 17865 17866 17867 17868 17869 388 17870 17871 17872 17874 17875 17876 17877 17878 17879 389 17880 17881 17882 17884 17885 17886 17887 17888 17889 390 17890 17891 17892 17894 17895 17896 17897 17898 17899
391 17900 17901 17902 17904 17905 17906 17907 17908 17909 392 17910 17911 17912 17914 17915 17916 17917 17918 17919 393 17920 17921 17922 17924 17925 17926 17927 17928 17929 394 17930 17931 17932 17934 17935 17936 17937 17938 17939 395 17940 17941 17942 17944 17945 17946 17947 17948 17949
396 17950 17951 17952 17954 17955 17956 17957 17958 17959 397 17960 17961 17962 17964 17965 17966 17967 17968 17969 398 17970 17971 17972 17974 17975 17976 17977 17978 17979 399 17980 17981 17982 17984 17985 17986 17987 17988 17989 400 17990 17991 17992 17994 17995 17996 17997 17998 17999
Appendix - 35
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
401 18000 18001 18002 18004 18005 18006 18007 18008 18009 402 18010 18011 18012 18014 18015 18016 18017 18018 18019 403 18020 18021 18022 18024 18025 18026 18027 18028 18029 404 18030 18031 18032 18034 18035 18036 18037 18038 18039 405 18040 18041 18042 18044 18045 18046 18047 18048 18049
406 18050 18051 18052 18054 18055 18056 18057 18058 18059 407 18060 18061 18062 18064 18065 18066 18067 18068 18069 408 18070 18071 18072 18074 18075 18076 18077 18078 18079 409 18080 18081 18082 18084 18085 18086 18087 18088 18089 410 18090 18091 18092 18094 18095 18096 18097 18098 18099
411 18100 18101 18102 18104 18105 18106 18107 18108 18109 412 18110 18111 18112 18114 18115 18116 18117 18118 18119 413 18120 18121 18122 18124 18125 18126 18127 18128 18129 414 18130 18131 18132 18134 18135 18136 18137 18138 18139 415 18140 18141 18142 18144 18145 18146 18147 18148 18149
416 18150 18151 18152 18154 18155 18156 18157 18158 18159 417 18160 18161 18162 18164 18165 18166 18167 18168 18169 418 18170 18171 18172 18174 18175 18176 18177 18178 18179 419 18180 18181 18182 18184 18185 18186 18187 18188 18189 420 18190 18191 18192 18194 18195 18196 18197 18198 18199
421 18200 18201 18202 18204 18205 18206 18207 18208 18209 422 18210 18211 18212 18214 18215 18216 18217 18218 18219 423 18220 18221 18222 18224 18225 18226 18227 18228 18229 424 18230 18231 18232 18234 18235 18236 18237 18238 18239 425 18240 18241 18242 18244 18245 18246 18247 18248 18249
426 18250 18251 18252 18254 18255 18256 18257 18258 18259 427 18260 18261 18262 18264 18265 18266 18267 18268 18269 428 18270 18271 18272 18274 18275 18276 18277 18278 18279 429 18280 18281 18282 18284 18285 18286 18287 18288 18289 430 18290 18291 18292 18294 18295 18296 18297 18298 18299
431 18300 18301 18302 18304 18305 18306 18307 18308 18309 432 18310 18311 18312 18314 18315 18316 18317 18318 18319 433 18320 18321 18322 18324 18325 18326 18327 18328 18329 434 18330 18331 18332 18334 18335 18336 18337 18338 18339 435 18340 18341 18342 18344 18345 18346 18347 18348 18349
436 18350 18351 18352 18354 18355 18356 18357 18358 18359 437 18360 18361 18362 18364 18365 18366 18367 18368 18369 438 18370 18371 18372 18374 18375 18376 18377 18378 18379 439 18380 18381 18382 18384 18385 18386 18387 18388 18389 440 18390 18391 18392 18394 18395 18396 18397 18398 18399
441 18400 18401 18402 18404 18405 18406 18407 18408 18409 442 18410 18411 18412 18414 18415 18416 18417 18418 18419 443 18420 18421 18422 18424 18425 18426 18427 18428 18429 444 18430 18431 18432 18434 18435 18436 18437 18438 18439 445 18440 18441 18442 18444 18445 18446 18447 18448 18449
446 18450 18451 18452 18454 18455 18456 18457 18458 18459 447 18460 18461 18462 18464 18465 18466 18467 18468 18469 448 18470 18471 18472 18474 18475 18476 18477 18478 18479 449 18480 18481 18482 18484 18485 18486 18487 18488 18489 450 18490 18491 18492 18494 18495 18496 18497 18498 18499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
451 18500 18501 18502 18504 18505 18506 18507 18508 18509 452 18510 18511 18512 18514 18515 18516 18517 18518 18519 453 18520 18521 18522 18524 18525 18526 18527 18528 18529 454 18530 18531 18532 18534 18535 18536 18537 18538 18539 455 18540 18541 18542 18544 18545 18546 18547 18548 18549
456 18550 18551 18552 18554 18555 18556 18557 18558 18559 457 18560 18561 18562 18564 18565 18566 18567 18568 18569 458 18570 18571 18572 18574 18575 18576 18577 18578 18579 459 18580 18581 18582 18584 18585 18586 18587 18588 18589 460 18590 18591 18592 18594 18595 18596 18597 18598 18599
461 18600 18601 18602 18604 18605 18606 18607 18608 18609 462 18610 18611 18612 18614 18615 18616 18617 18618 18619 463 18620 18621 18622 18624 18625 18626 18627 18628 18629 464 18630 18631 18632 18634 18635 18636 18637 18638 18639 465 18640 18641 18642 18644 18645 18646 18647 18648 18649
466 18650 18651 18652 18654 18655 18656 18657 18658 18659 467 18660 18661 18662 18664 18665 18666 18667 18668 18669 468 18670 18671 18672 18674 18675 18676 18677 18678 18679 469 18680 18681 18682 18684 18685 18686 18687 18688 18689 470 18690 18691 18692 18694 18695 18696 18697 18698 18699
471 18700 18701 18702 18704 18705 18706 18707 18708 18709 472 18710 18711 18712 18714 18715 18716 18717 18718 18719 473 18720 18721 18722 18724 18725 18726 18727 18728 18729 474 18730 18731 18732 18734 18735 18736 18737 18738 18739 475 18740 18741 18742 18744 18745 18746 18747 18748 18749
476 18750 18751 18752 18754 18755 18756 18757 18758 18759 477 18760 18761 18762 18764 18765 18766 18767 18768 18769 478 18770 18771 18772 18774 18775 18776 18777 18778 18779 479 18780 18781 18782 18784 18785 18786 18787 18788 18789 480 18790 18791 18792 18794 18795 18796 18797 18798 18799
481 18800 18801 18802 18804 18805 18806 18807 18808 18809 482 18810 18811 18812 18814 18815 18816 18817 18818 18819 483 18820 18821 18822 18824 18825 18826 18827 18828 18829 484 18830 18831 18832 18834 18835 18836 18837 18838 18839 485 18840 18841 18842 18844 18845 18846 18847 18848 18849
486 18850 18851 18852 18854 18855 18856 18857 18858 18859 487 18860 18861 18862 18864 18865 18866 18867 18868 18869 488 18870 18871 18872 18874 18875 18876 18877 18878 18879 489 18880 18881 18882 18884 18885 18886 18887 18888 18889 490 18890 18891 18892 18894 18895 18896 18897 18898 18899
491 18900 18901 18902 18904 18905 18906 18907 18908 18909 492 18910 18911 18912 18914 18915 18916 18917 18918 18919 493 18920 18921 18922 18924 18925 18926 18927 18928 18929 494 18930 18931 18932 18934 18935 18936 18937 18938 18939 495 18940 18941 18942 18944 18945 18946 18947 18948 18949
496 18950 18951 18952 18954 18955 18956 18957 18958 18959 497 18960 18961 18962 18964 18965 18966 18967 18968 18969 498 18970 18971 18972 18974 18975 18976 18977 18978 18979 499 18980 18981 18982 18984 18985 18986 18987 18988 18989 500 18990 18991 18992 18994 18995 18996 18997 18998 18999
Appendix - 36
APPENDICES
MELSEC-Q
(3) For axis 3
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
501 19000 19001 19002 19004 19005 19006 19007 19008 19009 502 19010 19011 19012 19014 19015 19016 19017 19018 19019 503 19020 19021 19022 19024 19025 19026 19027 19028 19029 504 19030 19031 19032 19034 19035 19036 19037 19038 19039 505 19040 19041 19042 19044 19045 19046 19047 19048 19049
506 19050 19051 19052 19054 19055 19056 19057 19058 19059 507 19060 19061 19062 19064 19065 19066 19067 19068 19069 508 19070 19071 19072 19074 19075 19076 19077 19078 19079 509 19080 19081 19082 19084 19085 19086 19087 19088 19089 510 19090 19091 19092 19094 19095 19096 19097 19098 19099
511 19100 19101 19102 19104 19105 19106 19107 19108 19109 512 19110 19111 19112 19114 19115 19116 19117 19118 19119 513 19120 19121 19122 19124 19125 19126 19127 19128 19129 514 19130 19131 19132 19134 19135 19136 19137 19138 19139 515 19140 19141 19142 19144 19145 19146 19147 19148 19149
516 19150 19151 19152 19154 19155 19156 19157 19158 19159 517 19160 19161 19162 19164 19165 19166 19167 19168 19169 518 19170 19171 19172 19174 19175 19176 19177 19178 19179 519 19180 19181 19182 19184 19185 19186 19187 19188 19189 520 19190 19191 19192 19194 19195 19196 19197 19198 19199
521 19200 19201 19202 19204 19205 19206 19207 19208 19209 522 19210 19211 19212 19214 19215 19216 19217 19218 19219 523 19220 19221 19222 19224 19225 19226 19227 19228 19229 524 19230 19231 19232 19234 19235 19236 19237 19238 19239 525 19240 19241 19242 19244 19245 19246 19247 19248 19249
526 19250 19251 19252 19254 19255 19256 19257 19258 19259 527 19260 19261 19262 19264 19265 19266 19267 19268 19269 528 19270 19271 19272 19274 19275 19276 19277 19278 19279 529 19280 19281 19282 19284 19285 19286 19287 19288 19289 530 19290 19291 19292 19294 19295 19296 19297 19298 19299
531 19300 19301 19302 19304 19305 19306 19307 19308 19309 532 19310 19311 19312 19314 19315 19316 19317 19318 19319 533 19320 19321 19322 19324 19325 19326 19327 19328 19329 534 19330 19331 19332 19334 19335 19336 19337 19338 19339 535 19340 19341 19342 19344 19345 19346 19347 19348 19349
536 19350 19351 19352 19354 19355 19356 19357 19358 19359 537 19360 19361 19362 19364 19365 19366 19367 19368 19369 538 19370 19371 19372 19374 19375 19376 19377 19378 19379 539 19380 19381 19382 19384 19385 19386 19387 19388 19389 540 19390 19391 19392 19394 19395 19396 19397 19398 19399
541 19400 19401 19402 19404 19405 19406 19407 19408 19409 542 19410 19411 19412 19414 19415 19416 19417 19418 19419 543 19420 19421 19422 19424 19425 19426 19427 19428 19429 544 19430 19431 19432 19434 19435 19436 19437 19438 19439 545 19440 19441 19442 19444 19445 19446 19447 19448 19449
546 19450 19451 19452 19454 19455 19456 19457 19458 19459 547 19460 19461 19462 19464 19465 19466 19467 19468 19469 548 19470 19471 19472 19474 19475 19476 19477 19478 19479 549 19480 19481 19482 19484 19485 19486 19487 19488 19489 550 19490 19491 19492 19494 19495 19496 19497 19498 19499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
551 19500 19501 19502 19504 19505 19506 19507 19508 19509 552 19510 19511 19512 19514 19515 19516 19517 19518 19519 553 19520 19521 19522 19524 19525 19526 19527 19528 19529 554 19530 19531 19532 19534 19535 19536 19537 19538 19539 555 19540 19541 19542 19544 19545 19546 19547 19548 19549
556 19550 19551 19552 19554 19555 19556 19557 19558 19559 557 19560 19561 19562 19564 19565 19566 19567 19568 19569 558 19570 19571 19572 19574 19575 19576 19577 19578 19579 559 19580 19581 19582 19584 19585 19586 19587 19588 19589 560 19590 19591 19592 19594 19595 19596 19597 19598 19599
561 19600 19601 19602 19604 19605 19606 19607 19608 19609 562 19610 19611 19612 19614 19615 19616 19617 19618 19619 563 19620 19621 19622 19624 19625 19626 19627 19628 19629 564 19630 19631 19632 19634 19635 19636 19637 19638 19639 565 19640 19641 19642 19644 19645 19646 19647 19648 19649
566 19650 19651 19652 19654 19655 19656 19657 19658 19659 567 19660 19661 19662 19664 19665 19666 19667 19668 19669 568 19670 19671 19672 19674 19675 19676 19677 19678 19679 569 19680 19681 19682 19684 19685 19686 19687 19688 19689 570 19690 19691 19692 19694 19695 19696 19697 19698 19699
571 19700 19701 19702 19704 19705 19706 19707 19708 19709 572 19710 19711 19712 19714 19715 19716 19717 19718 19719 573 19720 19721 19722 19724 19725 19726 19727 19728 19729 574 19730 19731 19732 19734 19735 19736 19737 19738 19739 575 19740 19741 19742 19744 19745 19746 19747 19748 19749
576 19750 19751 19752 19754 19755 19756 19757 19758 19759 577 19760 19761 19762 19764 19765 19766 19767 19768 19769 578 19770 19771 19772 19774 19775 19776 19777 19778 19779 579 19780 19781 19782 19784 19785 19786 19787 19788 19789 580 19790 19791 19792 19794 19795 19796 19797 19798 19799
581 19800 19801 19802 19804 19805 19806 19807 19808 19809 582 19810 19811 19812 19814 19815 19816 19817 19818 19819 583 19820 19821 19822 19824 19825 19826 19827 19828 19829 584 19830 19831 19832 19834 19835 19836 19837 19838 19839 585 19840 19841 19842 19844 19845 19846 19847 19848 19849
586 19850 19851 19852 19854 19855 19856 19857 19858 19859 587 19860 19861 19862 19864 19865 19866 19867 19868 19869 588 19870 19871 19872 19874 19875 19876 19877 19878 19879 589 19880 19881 19882 19884 19885 19886 19887 19888 19889 590 19890 19891 19892 19894 19895 19896 19897 19898 19899
591 19900 19901 19902 19904 19905 19906 19907 19908 19909 592 19910 19911 19912 19914 19915 19916 19917 19918 19919 593 19920 19921 19922 19924 19925 19926 19927 19928 19929 594 19930 19931 19932 19934 19935 19936 19937 19938 19939 595 19940 19941 19942 19944 19945 19946 19947 19948 19949
596 19950 19951 19952 19954 19955 19956 19957 19958 19959 597 19960 19961 19962 19964 19965 19966 19967 19968 19969 598 19970 19971 19972 19974 19975 19976 19977 19978 19979 599 19980 19981 19982 19984 19985 19986 19987 19988 19989 600 19990 19991 19992 19994 19995 19996 19997 19998 19999
Appendix - 37
APPENDICES
MELSEC-Q
(3) For axis 3 (positioning option)
Data No.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Positioning option
14003 14013 14023 14033 14043 14053 14063 14073 14083 14093 14103 14113 14123 14133 14143 14153 14163 14173 14183 14193 14203 14213 14223 14233 14243 14253 14263 14273 14283 14293 14303 14313 14323 14333 14343 14353 14363 14373 14383 14393 14403 14413 14423 14433 14443 14453 14463 14473 14483 14493
Data No.
51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
Positioning option
14503 14513 14523 14533 14543 14553 14563 14573 14583 14593 14603 14613 14623 14633 14643 14653 14663 14673 14683 14693 14703 14713 14723 14733 14743 14753 14763 14773 14783 14793 14803 14813 14823 14833 14843 14853 14863 14873 14883 14893 14903 14913 14923 14933 14943 14953 14963 14973 14983 14993
Data No.
101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150
Positioning option
15003 15013 15023 15033 15043 15053 15063 15073 15083 15093 15103 15113 15123 15133 15143 15153 15163 15173 15183 15193 15203 15213 15223 15233 15243 15253 15263 15273 15283 15293 15303 15313 15323 15333 15343 15353 15363 15373 15383 15393 15403 15413 15423 15433 15443 15453 15463 15473 15483 15493
Data No.
151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
Positioning option
15503 15513 15523 15533 15543 15553 15563 15573 15583 15593 15603 15613 15623 15633 15643 15653 15663 15673 15683 15693 15703 15713 15723 15733 15743 15753 15763 15773 15783 15793 15803 15813 15823 15833 15843 15853 15863 15873 15883 15893 15903 15913 15923 15933 15943 15953 15963 15973 15983 15993
Data No.
201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250
Positioning option
16003 16013 16023 16033 16043 16053 16063 16073 16083 16093 16103 16113 16123 16133 16143 16153 16163 16173 16183 16193 16203 16213 16223 16233 16243 16253 16263 16273 16283 16293 16303 16313 16323 16333 16343 16353 16363 16373 16383 16393 16403 16413 16423 16433 16443 16453 16463 16473 16483 16493
Data No.
251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300
Positioning option
16503 16513 16523 16533 16543 16553 16563 16573 16583 16593 16603 16613 16623 16633 16643 16653 16663 16673 16683 16693 16703 16713 16723 16733 16743 16753 16763 16773 16783 16793 16803 16813 16823 16833 16843 16853 16863 16873 16883 16893 16903 16913 16923 16933 16943 16953 16963 16973 16983 16993
Appendix - 38
APPENDICES
MELSEC-Q
(3) For axis 3 (positioning option)
Data No.
301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350
Positioning option
17003 17013 17023 17033 17043 17053 17063 17073 17083 17093 17103 17113 17123 17133 17143 17153 17163 17173 17183 17193 17203 17213 17223 17233 17243 17253 17263 17273 17283 17293 17303 17313 17323 17333 17343 17353 17363 17373 17383 17393 17403 17413 17423 17433 17443 17453 17463 17473 17483 17493
Data No.
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400
Positioning option
17503 17513 17523 17533 17543 17553 17563 17573 17583 17593 17603 17613 17623 17633 17643 17653 17663 17673 17683 17693 17703 17713 17723 17733 17743 17753 17763 17773 17783 17793 17803 17813 17823 17833 17843 17853 17863 17873 17883 17893 17903 17913 17923 17933 17943 17953 17963 17973 17983 17993
Data No.
401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
Positioning option
18003 18013 18023 18033 18043 18053 18063 18073 18083 18093 18103 18113 18123 18133 18143 18153 18163 18173 18183 18193 18203 18213 18223 18233 18243 18253 18263 18273 18283 18293 18303 18313 18323 18333 18343 18353 18363 18373 18383 18393 18403 18413 18423 18433 18443 18453 18463 18473 18483 18493
Data No.
451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500
Positioning option
18503 18513 18523 18533 18543 18553 18563 18573 18583 18593 18603 18613 18623 18633 18643 18653 18663 18673 18683 18693 18703 18713 18723 18733 18743 18753 18763 18773 18783 18793 18803 18813 18823 18833 18843 18853 18863 18873 18883 18893 18903 18913 18923 18933 18943 18953 18963 18973 18983 18993
Data No.
501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550
Positioning option
19003 19013 19023 19033 19043 19053 19063 19073 19083 19093 19103 19113 19123 19133 19143 19153 19163 19173 19183 19193 19203 19213 19223 19233 19243 19253 19263 19273 19283 19293 19303 19313 19323 19333 19343 19353 19363 19373 19383 19393 19403 19413 19423 19433 19443 19453 19463 19473 19483 19493
Data No.
551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600
Positioning option
19503 19513 19523 19533 19543 19553 19563 19573 19583 19593 19603 19613 19623 19633 19643 19653 19663 19673 19683 19693 19703 19713 19723 19733 19743 19753 19763 19773 19783 19793 19803 19813 19823 19833 19843 19853 19863 19873 19883 19893 19903 19913 19923 19933 19943 19953 19963 19973 19983 19993
Appendix - 39
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
1 20000 20001 20002 20004 20005 20006 20007 20008 20009 2 20010 20011 20012 20014 20015 20016 20017 20018 20019 3 20020 20021 20022 20024 20025 20026 20027 20028 20029 4 20030 20031 20032 20034 20035 20036 20037 20038 20039 5 20040 20041 20042 20044 20045 20046 20047 20048 20049
6 20050 20051 20052 20054 20055 20056 20057 20058 20059 7 20060 20061 20062 20064 20065 20066 20067 20068 20069 8 20070 20071 20072 20074 20075 20076 20077 20078 20079 9 20080 20081 20082 20084 20085 20086 20087 20088 20089 10 20090 20091 20092 20094 20095 20096 20097 20098 20099
11 20100 20101 20102 20104 20105 20106 20107 20108 20109 12 20110 20111 20112 20114 20115 20116 20117 20118 20119 13 20120 20121 20122 20124 20125 20126 20127 20128 20129 14 20130 20131 20132 20134 20135 20136 20137 20138 20139 15 20140 20141 20142 20144 20145 20146 20147 20148 20149
16 20150 20151 20152 20154 20155 20156 20157 20158 20159 17 20160 20161 20162 20164 20165 20166 20167 20168 20169 18 20170 20171 20172 20174 20175 20176 20177 20178 20179 19 20180 20181 20182 20184 20185 20186 20187 20188 20189 20 20190 20191 20192 20194 20195 20196 20197 20198 20199
21 20200 20201 20202 20204 20205 20206 20207 20208 20209 22 20210 20211 20212 20214 20215 20216 20217 20218 20219 23 20220 20221 20222 20224 20225 20226 20227 20228 20229 24 20230 20231 20232 20234 20235 20236 20237 20238 20239 25 20240 20241 20242 20244 20245 20246 20247 20248 20249
26 20250 20251 20252 20254 20255 20256 20257 20258 20259 27 20260 20261 20262 20264 20265 20266 20267 20268 20269 28 20270 20271 20272 20274 20275 20276 20277 20278 20279 29 20280 20281 20282 20284 20285 20286 20287 20288 20289 30 20290 20291 20292 20294 20295 20296 20297 20298 20299
31 20300 20301 20302 20304 20305 20306 20307 20308 20309 32 20310 20311 20312 20314 20315 20316 20317 20318 20319 33 20320 20321 20322 20324 20325 20326 20327 20328 20329 34 20330 20331 20332 20334 20335 20336 20337 20338 20339 35 20340 20341 20342 20344 20345 20346 20347 20348 20349
36 20350 20351 20352 20354 20355 20356 20357 20358 20359 37 20360 20361 20362 20364 20365 20366 20367 20368 20369 38 20370 20371 20372 20374 20375 20376 20377 20378 20379 39 20380 20381 20382 20384 20385 20386 20387 20388 20389 40 20390 20391 20392 20394 20395 20396 20397 20398 20399
41 20400 20401 20402 20404 20405 20406 20407 20408 20409 42 20410 20411 20412 20414 20415 20416 20417 20418 20419 43 20420 20421 20422 20424 20425 20426 20427 20428 20429 44 20430 20431 20432 20434 20435 20436 20437 20438 20439 45 20440 20441 20442 20444 20445 20446 20447 20448 20449
46 20450 20451 20452 20454 20455 20456 20457 20458 20459 47 20460 20461 20462 20464 20465 20466 20467 20468 20469 48 20470 20471 20472 20474 20475 20476 20477 20478 20479 49 20480 20481 20482 20484 20485 20486 20487 20488 20489 50 20490 20491 20492 20494 20495 20496 20497 20498 20499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
51 20500 20501 20502 20504 20505 20506 20507 20508 20509 52 20510 20511 20512 20514 20515 20516 20517 20518 20519 53 20520 20521 20522 20524 20525 20526 20527 20528 20529 54 20530 20531 20532 20534 20535 20536 20537 20538 20539 55 20540 20541 20542 20544 20545 20546 20547 20548 20549
56 20550 20551 20552 20554 20555 20556 20557 20558 20559 57 20560 20561 20562 20564 20565 20566 20567 20568 20569 58 20570 20571 20572 20574 20575 20576 20577 20578 20579 59 20580 20581 20582 20584 20585 20586 20587 20588 20589 60 20590 20591 20592 20594 20595 20596 20597 20598 20599
61 20600 20601 20602 20604 20605 20606 20607 20608 20609 62 20610 20611 20612 20614 20615 20616 20617 20618 20619 63 20620 20621 20622 20624 20625 20626 20627 20628 20629 64 20630 20631 20632 20634 20635 20636 20637 20638 20639 65 20640 20641 20642 20644 20645 20646 20647 20648 20649
66 20650 20651 20652 20654 20655 20656 20657 20658 20659 67 20660 20661 20662 20664 20665 20666 20667 20668 20669 68 20670 20671 20672 20674 20675 20676 20677 20678 20679 69 20680 20681 20682 20684 20685 20686 20687 20688 20689 70 20690 20691 20692 20694 20695 20696 20697 20698 20699
71 20700 20701 20702 20704 20705 20706 20707 20708 20709 72 20710 20711 20712 20714 20715 20716 20717 20718 20719 73 20720 20721 20722 20724 20725 20726 20727 20728 20729 74 20730 20731 20732 20734 20735 20736 20737 20738 20739 75 20740 20741 20742 20744 20745 20746 20747 20748 20749
76 20750 20751 20752 20754 20755 20756 20757 20758 20759 77 20760 20761 20762 20764 20765 20766 20767 20768 20769 78 20770 20771 20772 20774 20775 20776 20777 20778 20779 79 20780 20781 20782 20784 20785 20786 20787 20788 20789 80 20790 20791 20792 20794 20795 20796 20797 20798 20799
81 20800 20801 20802 20804 20805 20806 20807 20808 20809 82 20810 20811 20812 20814 20815 20816 20817 20818 20819 83 20820 20821 20822 20824 20825 20826 20827 20828 20829 84 20830 20831 20832 20834 20835 20836 20837 20838 20839 85 20840 20841 20842 20844 20845 20846 20847 20848 20849
86 20850 20851 20852 20854 20855 20856 20857 20858 20859 87 20860 20861 20862 20864 20865 20866 20867 20868 20869 88 20870 20871 20872 20874 20875 20876 20877 20878 20879 89 20880 20881 20882 20884 20885 20886 20887 20888 20889 90 20890 20891 20892 20894 20895 20896 20897 20898 20899
91 20900 20901 20902 20904 20905 20906 20907 20908 20909 92 20910 20911 20912 20914 20915 20916 20917 20918 20919 93 20920 20921 20922 20924 20925 20926 20927 20928 20929 94 20930 20931 20932 20934 20935 20936 20937 20938 20939 95 20940 20941 20942 20944 20945 20946 20947 20948 20949
96 20950 20951 20952 20954 20955 20956 20957 20958 20959 97 20960 20961 20962 20964 20965 20966 20967 20968 20969 98 20970 20971 20972 20974 20975 20976 20977 20978 20979 99 20980 20981 20982 20984 20985 20986 20987 20988 20989 100 20990 20991 20992 20994 20995 20996 20997 20998 20999
Appendix - 40
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
101 21000 21001 21002 21004 21005 21006 21007 21008 21009 102 21010 21011 21012 21014 21015 21016 21017 21018 21019 103 21020 21021 21022 21024 21025 21026 21027 21028 21029 104 21030 21031 21032 21034 21035 21036 21037 21038 21039 105 21040 21041 21042 21044 21045 21046 21047 21048 21049
106 21050 21051 21052 21054 21055 21056 21057 21058 21059 107 21060 21061 21062 21064 21065 21066 21067 21068 21069 108 21070 21071 21072 21074 21075 21076 21077 21078 21079 109 21080 21081 21082 21084 21085 21086 21087 21088 21089 110 21090 21091 21092 21094 21095 21096 21097 21098 21099
111 21100 21101 21102 21104 21105 21106 21107 21108 21109 112 21110 21111 21112 21114 21115 21116 21117 21118 21119 113 21120 21121 21122 21124 21125 21126 21127 21128 21129 114 21130 21131 21132 21134 21135 21136 21137 21138 21139 115 21140 21141 21142 21144 21145 21146 21147 21148 21149
116 21150 21151 21152 21154 21155 21156 21157 21158 21159 117 21160 21161 21162 21164 21165 21166 21167 21168 21169 118 21170 21171 21172 21174 21175 21176 21177 21178 21179 119 21180 21181 21182 21184 21185 21186 21187 21188 21189 120 21190 21191 21192 21194 21195 21196 21197 21198 21199
121 21200 21201 21202 21204 21205 21206 21207 21208 21209 122 21210 21211 21212 21214 21215 21216 21217 21218 21219 123 21220 21221 21222 21224 21225 21226 21227 21228 21229 124 21230 21231 21232 21234 21235 21236 21237 21238 21239 125 21240 21241 21242 21244 21245 21246 21247 21248 21249
126 21250 21251 21252 21254 21255 21256 21257 21258 21259 127 21260 21261 21262 21264 21265 21266 21267 21268 21269 128 21270 21271 21272 21274 21275 21276 21277 21278 21279 129 21280 21281 21282 21284 21285 21286 21287 21288 21289 130 21290 21291 21292 21294 21295 21296 21297 21298 21299
131 21300 21301 21302 21304 21305 21306 21307 21308 21309 132 21310 21311 21312 21314 21315 21316 21317 21318 21319 133 21320 21321 21322 21324 21325 21326 21327 21328 21329 134 21330 21331 21332 21334 21335 21336 21337 21338 21339 135 21340 21341 21342 21344 21345 21346 21347 21348 21349
136 21350 21351 21352 21354 21355 21356 21357 21358 21359 137 21360 21361 21362 21364 21365 21366 21367 21368 21369 138 21370 21371 21372 21374 21375 21376 21377 21378 21379 139 21380 21381 21382 21384 21385 21386 21387 21388 21389 140 21390 21391 21392 21394 21395 21396 21397 21398 21399
141 21400 21401 21402 21404 21405 21406 21407 21408 21409 142 21410 21411 21412 21414 21415 21416 21417 21418 21419 143 21420 21421 21422 21424 21425 21426 21427 21428 21429 144 21430 21431 21432 21434 21435 21436 21437 21438 21439 145 21440 21441 21442 21444 21445 21446 21447 21448 21449
146 21450 21451 21452 21454 21455 21456 21457 21458 21459 147 21460 21461 21462 21464 21465 21466 21467 21468 21469 148 21470 21471 21472 21474 21475 21476 21477 21478 21479 149 21480 21481 21482 21484 21485 21486 21487 21488 21489 150 21490 21491 21492 21494 21495 21496 21497 21498 21499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
151 21500 21501 21502 21504 21505 21506 21507 21508 21509 152 21510 21511 21512 21514 21515 21516 21517 21518 21519 153 21520 21521 21522 21524 21525 21526 21527 21528 21529 154 21530 21531 21532 21534 21535 21536 21537 21538 21539 155 21540 21541 21542 21544 21545 21546 21547 21548 21549
156 21550 21551 21552 21554 21555 21556 21557 21558 21559 157 21560 21561 21562 21564 21565 21566 21567 21568 21569 158 21570 21571 21572 21574 21575 21576 21577 21578 21579 159 21580 21581 21582 21584 21585 21586 21587 21588 21589 160 21590 21591 21592 21594 21595 21596 21597 21598 21599
161 21600 21601 21602 21604 21605 21606 21607 21608 21609 162 21610 21611 21612 21614 21615 21616 21617 21618 21619 163 21620 21621 21622 21624 21625 21626 21627 21628 21629 164 21630 21631 21632 21634 21635 21636 21637 21638 21639 165 21640 21641 21642 21644 21645 21646 21647 21648 21649
166 21650 21651 21652 21654 21655 21656 21657 21658 21659 167 21660 21661 21662 21664 21665 21666 21667 21668 21669 168 21670 21671 21672 21674 21675 21676 21677 21678 21679 169 21680 21681 21682 21684 21685 21686 21687 21688 21689 170 21690 21691 21692 21694 21695 21696 21697 21698 21699
171 21700 21701 21702 21704 21705 21706 21707 21708 21709 172 21710 21711 21712 21714 21715 21716 21717 21718 21719 173 21720 21721 21722 21724 21725 21726 21727 21728 21729 174 21730 21731 21732 21734 21735 21736 21737 21738 21739 175 21740 21741 21742 21744 21745 21746 21747 21748 21749
176 21750 21751 21752 21754 21755 21756 21757 21758 21759 177 21760 21761 21762 21764 21765 21766 21767 21768 21769 178 21770 21771 21772 21774 21775 21776 21777 21778 21779 179 21780 21781 21782 21784 21785 21786 21787 21788 21789 180 21790 21791 21792 21794 21795 21796 21797 21798 21799
181 21800 21801 21802 21804 21805 21806 21807 21808 21809 182 21810 21811 21812 21814 21815 21816 21817 21818 21819 183 21820 21821 21822 21824 21825 21826 21827 21828 21829 184 21830 21831 21832 21834 21835 21836 21837 21838 21839 185 21840 21841 21842 21844 21845 21846 21847 21848 21849
186 21850 21851 21852 21854 21855 21856 21857 21858 21859 187 21860 21861 21862 21864 21865 21866 21867 21868 21869 188 21870 21871 21872 21874 21875 21876 21877 21878 21879 189 21880 21881 21882 21884 21885 21886 21887 21888 21889 190 21890 21891 21892 21894 21895 21896 21897 21898 21899
191 21900 21901 21902 21904 21905 21906 21907 21908 21909 192 21910 21911 21912 21914 21915 21916 21917 21918 21919 193 21920 21921 21922 21924 21925 21926 21927 21928 21929 194 21930 21931 21932 21934 21935 21936 21937 21938 21939 195 21940 21941 21942 21944 21945 21946 21947 21948 21949
196 21950 21951 21952 21954 21955 21956 21957 21958 21959 197 21960 21961 21962 21964 21965 21966 21967 21968 21969 198 21970 21971 21972 21974 21975 21976 21977 21978 21979 199 21980 21981 21982 21984 21985 21986 21987 21988 21989 200 21990 21991 21992 21994 21995 21996 21997 21998 21999
Appendix - 41
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
201 22000 22001 22002 22004 22005 22006 22007 22008 22009 202 22010 22011 22012 22014 22015 22016 22017 22018 22019 203 22020 22021 22022 22024 22025 22026 22027 22028 22029 204 22030 22031 22032 22034 22035 22036 22037 22038 22039 205 22040 22041 22042 22044 22045 22046 22047 22048 22049
206 22050 22051 22052 22054 22055 22056 22057 22058 22059 207 22060 22061 22062 22064 22065 22066 22067 22068 22069 208 22070 22071 22072 22074 22075 22076 22077 22078 22079 209 22080 22081 22082 22084 22085 22086 22087 22088 22089 210 22090 22091 22092 22094 22095 22096 22097 22098 22099
211 22100 22101 22102 22104 22105 22106 22107 22108 22109 212 22110 22111 22112 22114 22115 22116 22117 22118 22119 213 22120 22121 22122 22124 22125 22126 22127 22128 22129 214 22130 22131 22132 22134 22135 22136 22137 22138 22139 215 22140 22141 22142 22144 22145 22146 22147 22148 22149
216 22150 22151 22152 22154 22155 22156 22157 22158 22159 217 22160 22161 22162 22164 22165 22166 22167 22168 22169 218 22170 22171 22172 22174 22175 22176 22177 22178 22179 219 22180 22181 22182 22184 22185 22186 22187 22188 22189 220 22190 22191 22192 22194 22195 22196 22197 22198 22199
221 22200 22201 22202 22204 22205 22206 22207 22208 22209 222 22210 22211 22212 22214 22215 22216 22217 22218 22219 223 22220 22221 22222 22224 22225 22226 22227 22228 22229 224 22230 22231 22232 22234 22235 22236 22237 22238 22239 225 22240 22241 22242 22244 22245 22246 22247 22248 22249
226 22250 22251 22252 22254 22255 22256 22257 22258 22259 227 22260 22261 22262 22264 22265 22266 22267 22268 22269 228 22270 22271 22272 22274 22275 22276 22277 22278 22279 229 22280 22281 22282 22284 22285 22286 22287 22288 22289 230 22290 22291 22292 22294 22295 22296 22297 22298 22299
231 22300 22301 22302 22304 22305 22306 22307 22308 22309 232 22310 22311 22312 22314 22315 22316 22317 22318 22319 233 22320 22321 22322 22324 22325 22326 22327 22328 22329 234 22330 22331 22332 22334 22335 22336 22337 22338 22339 235 22340 22341 22342 22344 22345 22346 22347 22348 22349
236 22350 22351 22352 22354 22355 22356 22357 22358 22359 237 22360 22361 22362 22364 22365 22366 22367 22368 22369 238 22370 22371 22372 22374 22375 22376 22377 22378 22379 239 22380 22381 22382 22384 22385 22386 22387 22388 22389 240 22390 22391 22392 22394 22395 22396 22397 22398 22399
241 22400 22401 22402 22404 22405 22406 22407 22408 22409 242 22410 22411 22412 22414 22415 22416 22417 22418 22419 243 22420 22421 22422 22424 22425 22426 22427 22428 22429 244 22430 22431 22432 22434 22435 22436 22437 22438 22439 245 22440 22441 22442 22444 22445 22446 22447 22448 22449
246 22450 22451 22452 22454 22455 22456 22457 22458 22459 247 22460 22461 22462 22464 22465 22466 22467 22468 22469 248 22470 22471 22472 22474 22475 22476 22477 22478 22479 249 22480 22481 22482 22484 22485 22486 22487 22488 22489 250 22490 22491 22492 22494 22495 22496 22497 22498 22499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
251 22500 22501 22502 22504 22505 22506 22507 22508 22509 252 22510 22511 22512 22514 22515 22516 22517 22518 22519 253 22520 22521 22522 22524 22525 22526 22527 22528 22529 254 22530 22531 22532 22534 22535 22536 22537 22538 22539 255 22540 22541 22542 22544 22545 22546 22547 22548 22549
256 22550 22551 22552 22554 22555 22556 22557 22558 22559 257 22560 22561 22562 22564 22565 22566 22567 22568 22569 258 22570 22571 22572 22574 22575 22576 22577 22578 22579 259 22580 22581 22582 22584 22585 22586 22587 22588 22589 260 22590 22591 22592 22594 22595 22596 22597 22598 22599
261 22600 22601 22602 22604 22605 22606 22607 22608 22609 262 22610 22611 22612 22614 22615 22616 22617 22618 22619 263 22620 22621 22622 22624 22625 22626 22627 22628 22629 264 22630 22631 22632 22634 22635 22636 22637 22638 22639 265 22640 22641 22642 22644 22645 22646 22647 22648 22649
266 22650 22651 22652 22654 22655 22656 22657 22658 22659 267 22660 22661 22662 22664 22665 22666 22667 22668 22669 268 22670 22671 22672 22674 22675 22676 22677 22678 22679 269 22680 22681 22682 22684 22685 22686 22687 22688 22689 270 22690 22691 22692 22694 22695 22696 22697 22698 22699
271 22700 22701 22702 22704 22705 22706 22707 22708 22709 272 22710 22711 22712 22714 22715 22716 22717 22718 22719 273 22720 22721 22722 22724 22725 22726 22727 22728 22729 274 22730 22731 22732 22734 22735 22736 22737 22738 22739 275 22740 22741 22742 22744 22745 22746 22747 22748 22749
276 22750 22751 22752 22754 22755 22756 22757 22758 22759 277 22760 22761 22762 22764 22765 22766 22767 22768 22769 278 22770 22771 22772 22774 22775 22776 22777 22778 22779 279 22780 22781 22782 22784 22785 22786 22787 22788 22789 280 22790 22791 22792 22794 22795 22796 22797 22798 22799
281 22800 22801 22802 22804 22805 22806 22807 22808 22809 282 22810 22811 22812 22814 22815 22816 22817 22818 22819 283 22820 22821 22822 22824 22825 22826 22827 22828 22829 284 22830 22831 22832 22834 22835 22836 22837 22838 22839 285 22840 22841 22842 22844 22845 22846 22847 22848 22849
286 22850 22851 22852 22854 22855 22856 22857 22858 22859 287 22860 22861 22862 22864 22865 22866 22867 22868 22869 288 22870 22871 22872 22874 22875 22876 22877 22878 22879 289 22880 22881 22882 22884 22885 22886 22887 22888 22889 290 22890 22891 22892 22894 22895 22896 22897 22898 22899
291 22900 22901 22902 22904 22905 22906 22907 22908 22909 292 22910 22911 22912 22914 22915 22916 22917 22918 22919 293 22920 22921 22922 22924 22925 22926 22927 22928 22929 294 22930 22931 22932 22934 22935 22936 22937 22938 22939 295 22940 22941 22942 22944 22945 22946 22947 22948 22949
296 22950 22951 22952 22954 22955 22956 22957 22958 22959 297 22960 22961 22962 22964 22965 22966 22967 22968 22969 298 22970 22971 22972 22974 22975 22976 22977 22978 22979 299 22980 22981 22982 22984 22985 22986 22987 22988 22989 300 22990 22991 22992 22994 22995 22996 22997 22998 22999
Appendix - 42
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
301 23000 23001 23002 23004 23005 23006 23007 23008 23009 302 23010 23011 23012 23014 23015 23016 23017 23018 23019 303 23020 23021 23022 23024 23025 23026 23027 23028 23029 304 23030 23031 23032 23034 23035 23036 23037 23038 23039 305 23040 23041 23042 23044 23045 23046 23047 23048 23049
306 23050 23051 23052 23054 23055 23056 23057 23058 23059 307 23060 23061 23062 23064 23065 23066 23067 23068 23069 308 23070 23071 23072 23074 23075 23076 23077 23078 23079 309 23080 23081 23082 23084 23085 23086 23087 23088 23089 310 23090 23091 23092 23094 23095 23096 23097 23098 23099
311 23100 23101 23102 23104 23105 23106 23107 23108 23109 312 23110 23111 23112 23114 23115 23116 23117 23118 23119 313 23120 23121 23122 23124 23125 23126 23127 23128 23129 314 23130 23131 23132 23134 23135 23136 23137 23138 23139 315 23140 23141 23142 23144 23145 23146 23147 23148 23149
316 23150 23151 23152 23154 23155 23156 23157 23158 23159 317 23160 23161 23162 23164 23165 23166 23167 23168 23169 318 23170 23171 23172 23174 23175 23176 23177 23178 23179 319 23180 23181 23182 23184 23185 23186 23187 23188 23189 320 23190 23191 23192 23194 23195 23196 23197 23198 23199
321 23200 23201 23202 23204 23205 23206 23207 23208 23209 322 23210 23211 23212 23214 23215 23216 23217 23218 23219 323 23220 23221 23222 23224 23225 23226 23227 23228 23229 324 23230 23231 23232 23234 23235 23236 23237 23238 23239 325 23240 23241 23242 23244 23245 23246 23247 23248 23249
326 23250 23251 23252 23254 23255 23256 23257 23258 23259 327 23260 23261 23262 23264 23265 23266 23267 23268 23269 328 23270 23271 23272 23274 23275 23276 23277 23278 23279 329 23280 23281 23282 23284 23285 23286 23287 23288 23289 330 23290 23291 23292 23294 23295 23296 23297 23298 23299
331 23300 23301 23302 23304 23305 23306 23307 23308 23309 332 23310 23311 23312 23314 23315 23316 23317 23318 23319 333 23320 23321 23322 23324 23325 23326 23327 23328 23329 334 23330 23331 23332 23334 23335 23336 23337 23338 23339 335 23340 23341 23342 23344 23345 23346 23347 23348 23349
336 23350 23351 23352 23354 23355 23356 23357 23358 23359 337 23360 23361 23362 23364 23365 23366 23367 23368 23369 338 23370 23371 23372 23374 23375 23376 23377 23378 23379 339 23380 23381 23382 23384 23385 23386 23387 23388 23389 340 23390 23391 23392 23394 23395 23396 23397 23398 23399
341 23400 23401 23402 23404 23405 23406 23407 23408 23409 342 23410 23411 23412 23414 23415 23416 23417 23418 23419 343 23420 23421 23422 23424 23425 23426 23427 23428 23429 344 23430 23431 23432 23434 23435 23436 23437 23438 23439 345 23440 23441 23442 23444 23445 23446 23447 23448 23449
346 23450 23451 23452 23454 23455 23456 23457 23458 23459 347 23460 23461 23462 23464 23465 23466 23467 23468 23469 348 23470 23471 23472 23474 23475 23476 23477 23478 23479 349 23480 23481 23482 23484 23485 23486 23487 23488 23489 350 23490 23491 23492 23494 23495 23496 23497 23498 23499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
351 23500 23501 23502 23504 23505 23506 23507 23508 23509 352 23510 23511 23512 23514 23515 23516 23517 23518 23519 353 23520 23521 23522 23524 23525 23526 23527 23528 23529 354 23530 23531 23532 23534 23535 23536 23537 23538 23539 355 23540 23541 23542 23544 23545 23546 23547 23548 23549
356 23550 23551 23552 23554 23555 23556 23557 23558 23559 357 23560 23561 23562 23564 23565 23566 23567 23568 23569 358 23570 23571 23572 23574 23575 23576 23577 23578 23579 359 23580 23581 23582 23584 23585 23586 23587 23588 23589 360 23590 23591 23592 23594 23595 23596 23597 23598 23599
361 23600 23601 23602 23604 23605 23606 23607 23608 23609 362 23610 23611 23612 23614 23615 23616 23617 23618 23619 363 23620 23621 23622 23624 23625 23626 23627 23628 23629 364 23630 23631 23632 23634 23635 23636 23637 23638 23639 365 23640 23641 23642 23644 23645 23646 23647 23648 23649
366 23650 23651 23652 23654 23655 23656 23657 23658 23659 367 23660 23661 23662 23664 23665 23666 23667 23668 23669 368 23670 23671 23672 23674 23675 23676 23677 23678 23679 369 23680 23681 23682 23684 23685 23686 23687 23688 23689 370 23690 23691 23692 23694 23695 23696 23697 23698 23699
371 23700 23701 23702 23704 23705 23706 23707 23708 23709 372 23710 23711 23712 23714 23715 23716 23717 23718 23719 373 23720 23721 23722 23724 23725 23726 23727 23728 23729 374 23730 23731 23732 23734 23735 23736 23737 23738 23739 375 23740 23741 23742 23744 23745 23746 23747 23748 23749
376 23750 23751 23752 23754 23755 23756 23757 23758 23759 377 23760 23761 23762 23764 23765 23766 23767 23768 23769 378 23770 23771 23772 23774 23775 23776 23777 23778 23779 379 23780 23781 23782 23784 23785 23786 23787 23788 23789 380 23790 23791 23792 23794 23795 23796 23797 23798 23799
381 23800 23801 23802 23804 23805 23806 23807 23808 23809 382 23810 23811 23812 23814 23815 23816 23817 23818 23819 383 23820 23821 23822 23824 23825 23826 23827 23828 23829 384 23830 23831 23832 23834 23835 23836 23837 23838 23839 385 23840 23841 23842 23844 23845 23846 23847 23848 23849
386 23850 23851 23852 23854 23855 23856 23857 23858 23859 387 23860 23861 23862 23864 23865 23866 23867 23868 23869 388 23870 23871 23872 23874 23875 23876 23877 23878 23879 389 23880 23881 23882 23884 23885 23886 23887 23888 23889 390 23890 23891 23892 23894 23895 23896 23897 23898 23899
391 23900 23901 23902 23904 23905 23906 23907 23908 23909 392 23910 23911 23912 23914 23915 23916 23917 23918 23919 393 23920 23921 23922 23924 23925 23926 23927 23928 23929 394 23930 23931 23932 23934 23935 23936 23937 23938 23939 395 23940 23941 23942 23944 23945 23946 23947 23948 23949
396 23950 23951 23952 23954 23955 23956 23957 23958 23959 397 23960 23961 23962 23964 23965 23966 23967 23968 23969 398 23970 23971 23972 23974 23975 23976 23977 23978 23979 399 23980 23981 23982 23984 23985 23986 23987 23988 23989 400 23990 23991 23992 23994 23995 23996 23997 23998 23999
Appendix - 43
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
401 24000 24001 24002 24004 24005 24006 24007 24008 24009 402 24010 24011 24012 24014 24015 24016 24017 24018 24019 403 24020 24021 24022 24024 24025 24026 24027 24028 24029 404 24030 24031 24032 24034 24035 24036 24037 24038 24039 405 24040 24041 24042 24044 24045 24046 24047 24048 24049
406 24050 24051 24052 24054 24055 24056 24057 24058 24059 407 24060 24061 24062 24064 24065 24066 24067 24068 24069 408 24070 24071 24072 24074 24075 24076 24077 24078 24079 409 24080 24081 24082 24084 24085 24086 24087 24088 24089 410 24090 24091 24092 24094 24095 24096 24097 24098 24099
411 24100 24101 24102 24104 24105 24106 24107 24108 24109 412 24110 24111 24112 24114 24115 24116 24117 24118 24119 413 24120 24121 24122 24124 24125 24126 24127 24128 24129 414 24130 24131 24132 24134 24135 24136 24137 24138 24139 415 24140 24141 24142 24144 24145 24146 24147 24148 24149
416 24150 24151 24152 24154 24155 24156 24157 24158 24159 417 24160 24161 24162 24164 24165 24166 24167 24168 24169 418 24170 24171 24172 24174 24175 24176 24177 24178 24179 419 24180 24181 24182 24184 24185 24186 24187 24188 24189 420 24190 24191 24192 24194 24195 24196 24197 24198 24199
421 24200 24201 24202 24204 24205 24206 24207 24208 24209 422 24210 24211 24212 24214 24215 24216 24217 24218 24219 423 24220 24221 24222 24224 24225 24226 24227 24228 24229 424 24230 24231 24232 24234 24235 24236 24237 24238 24239 425 24240 24241 24242 24244 24245 24246 24247 24248 24249
426 24250 24251 24252 24254 24255 24256 24257 24258 24259 427 24260 24261 24262 24264 24265 24266 24267 24268 24269 428 24270 24271 24272 24274 24275 24276 24277 24278 24279 429 24280 24281 24282 24284 24285 24286 24287 24288 24289 430 24290 24291 24292 24294 24295 24296 24297 24298 24299
431 24300 24301 24302 24304 24305 24306 24307 24308 24309 432 24310 24311 24312 24314 24315 24316 24317 24318 24319 433 24320 24321 24322 24324 24325 24326 24327 24328 24329 434 24330 24331 24332 24334 24335 24336 24337 24338 24339 435 24340 24341 24342 24344 24345 24346 24347 24348 24349
436 24350 24351 24352 24354 24355 24356 24357 24358 24359 437 24360 24361 24362 24364 24365 24366 24367 24368 24369 438 24370 24371 24372 24374 24375 24376 24377 24378 24379 439 24380 24381 24382 24384 24385 24386 24387 24388 24389 440 24390 24391 24392 24394 24395 24396 24397 24398 24399
441 24400 24401 24402 24404 24405 24406 24407 24408 24409 442 24410 24411 24412 24414 24415 24416 24417 24418 24419 443 24420 24421 24422 24424 24425 24426 24427 24428 24429 444 24430 24431 24432 24434 24435 24436 24437 24438 24439 445 24440 24441 24442 24444 24445 24446 24447 24448 24449
446 24450 24451 24452 24454 24455 24456 24457 24458 24459 447 24460 24461 24462 24464 24465 24466 24467 24468 24469 448 24470 24471 24472 24474 24475 24476 24477 24478 24479 449 24480 24481 24482 24484 24485 24486 24487 24488 24489 450 24490 24491 24492 24494 24495 24496 24497 24498 24499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
451 24500 24501 24502 24504 24505 24506 24507 24508 24509 452 24510 24511 24512 24514 24515 24516 24517 24518 24519 453 24520 24521 24522 24524 24525 24526 24527 24528 24529 454 24530 24531 24532 24534 24535 24536 24537 24538 24539 455 24540 24541 24542 24544 24545 24546 24547 24548 24549
456 24550 24551 24552 24554 24555 24556 24557 24558 24559 457 24560 24561 24562 24564 24565 24566 24567 24568 24569 458 24570 24571 24572 24574 24575 24576 24577 24578 24579 459 24580 24581 24582 24584 24585 24586 24587 24588 24589 460 24590 24591 24592 24594 24595 24596 24597 24598 24599
461 24600 24601 24602 24604 24605 24606 24607 24608 24609 462 24610 24611 24612 24614 24615 24616 24617 24618 24619 463 24620 24621 24622 24624 24625 24626 24627 24628 24629 464 24630 24631 24632 24634 24635 24636 24637 24638 24639 465 24640 24641 24642 24644 24645 24646 24647 24648 24649
466 24650 24651 24652 24654 24655 24656 24657 24658 24659 467 24660 24661 24662 24664 24665 24666 24667 24668 24669 468 24670 24671 24672 24674 24675 24676 24677 24678 24679 469 24680 24681 24682 24684 24685 24686 24687 24688 24689 470 24690 24691 24692 24694 24695 24696 24697 24698 24699
471 24700 24701 24702 24704 24705 24706 24707 24708 24709 472 24710 24711 24712 24714 24715 24716 24717 24718 24719 473 24720 24721 24722 24724 24725 24726 24727 24728 24729 474 24730 24731 24732 24734 24735 24736 24737 24738 24739 475 24740 24741 24742 24744 24745 24746 24747 24748 24749
476 24750 24751 24752 24754 24755 24756 24757 24758 24759 477 24760 24761 24762 24764 24765 24766 24767 24768 24769 478 24770 24771 24772 24774 24775 24776 24777 24778 24779 479 24780 24781 24782 24784 24785 24786 24787 24788 24789 480 24790 24791 24792 24794 24795 24796 24797 24798 24799
481 24800 24801 24802 24804 24805 24806 24807 24808 24809 482 24810 24811 24812 24814 24815 24816 24817 24818 24819 483 24820 24821 24822 24824 24825 24826 24827 24828 24829 484 24830 24831 24832 24834 24835 24836 24837 24838 24839 485 24840 24841 24842 24844 24845 24846 24847 24848 24849
486 24850 24851 24852 24854 24855 24856 24857 24858 24859 487 24860 24861 24862 24864 24865 24866 24867 24868 24869 488 24870 24871 24872 24874 24875 24876 24877 24878 24879 489 24880 24881 24882 24884 24885 24886 24887 24888 24889 490 24890 24891 24892 24894 24895 24896 24897 24898 24899
491 24900 24901 24902 24904 24905 24906 24907 24908 24909 492 24910 24911 24912 24914 24915 24916 24917 24918 24919 493 24920 24921 24922 24924 24925 24926 24927 24928 24929 494 24930 24931 24932 24934 24935 24936 24937 24938 24939 495 24940 24941 24942 24944 24945 24946 24947 24948 24949
496 24950 24951 24952 24954 24955 24956 24957 24958 24959 497 24960 24961 24962 24964 24965 24966 24967 24968 24969 498 24970 24971 24972 24974 24975 24976 24977 24978 24979 499 24980 24981 24982 24984 24985 24986 24987 24988 24989 500 24990 24991 24992 24994 24995 24996 24997 24998 24999
Appendix - 44
APPENDICES
MELSEC-Q
(4) For axis 4
PosiData tioning M No. identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
501 25000 25001 25002 25004 25005 25006 25007 25008 25009 502 25010 25011 25012 25014 25015 25016 25017 25018 25019 503 25020 25021 25022 25024 25025 25026 25027 25028 25029 504 25030 25031 25032 25034 25035 25036 25037 25038 25039 505 25040 25041 25042 25044 25045 25046 25047 25048 25049
506 25050 25051 25052 25054 25055 25056 25057 25058 25059 507 25060 25061 25062 25064 25065 25066 25067 25068 25069 508 25070 25071 25072 25074 25075 25076 25077 25078 25079 509 25080 25081 25082 25084 25085 25086 25087 25088 25089 510 25090 25091 25092 25094 25095 25096 25097 25098 25099
511 25100 25101 25102 25104 25105 25106 25107 25108 25109 512 25110 25111 25112 25114 25115 25116 25117 25118 25119 513 25120 25121 25122 25124 25125 25126 25127 25128 25129 514 25130 25131 25132 25134 25135 25136 25137 25138 25139 515 25140 25141 25142 25144 25145 25146 25147 25148 25149
516 25150 25151 25152 25154 25155 25156 25157 25158 25159 517 25160 25161 25162 25164 25165 25166 25167 25168 25169 518 25170 25171 25172 25174 25175 25176 25177 25178 25179 519 25180 25181 25182 25184 25185 25186 25187 25188 25189 520 25190 25191 25192 25194 25195 25196 25197 25198 25199
521 25200 25201 25202 25204 25205 25206 25207 25208 25209 522 25210 25211 25212 25214 25215 25216 25217 25218 25219 523 25220 25221 25222 25224 25225 25226 25227 25228 25229 524 25230 25231 25232 25234 25235 25236 25237 25238 25239 525 25240 25241 25242 25244 25245 25246 25247 25248 25249
526 25250 25251 25252 25254 25255 25256 25257 25258 25259 527 25260 25261 25262 25264 25265 25266 25267 25268 25269 528 25270 25271 25272 25274 25275 25276 25277 25278 25279 529 25280 25281 25282 25284 25285 25286 25287 25288 25289 530 25290 25291 25292 25294 25295 25296 25297 25298 25299
531 25300 25301 25302 25304 25305 25306 25307 25308 25309 532 25310 25311 25312 25314 25315 25316 25317 25318 25319 533 25320 25321 25322 25324 25325 25326 25327 25328 25329 534 25330 25331 25332 25334 25335 25336 25337 25338 25339 535 25340 25341 25342 25344 25345 25346 25347 25348 25349
536 25350 25351 25352 25354 25355 25356 25357 25358 25359 537 25360 25361 25362 25364 25365 25366 25367 25368 25369 538 25370 25371 25372 25374 25375 25376 25377 25378 25379 539 25380 25381 25382 25384 25385 25386 25387 25388 25389 540 25390 25391 25392 25394 25395 25396 25397 25398 25399
541 25400 25401 25402 25404 25405 25406 25407 25408 25409 542 25410 25411 25412 25414 25415 25416 25417 25418 25419 543 25420 25421 25422 25424 25425 25426 25427 25428 25429 544 25430 25431 25432 25434 25435 25436 25437 25438 25439 545 25440 25441 25442 25444 25445 25446 25447 25448 25449
546 25450 25451 25452 25454 25455 25456 25457 25458 25459 547 25460 25461 25462 25464 25465 25466 25467 25468 25469 548 25470 25471 25472 25474 25475 25476 25477 25478 25479 549 25480 25481 25482 25484 25485 25486 25487 25488 25489 550 25490 25491 25492 25494 25495 25496 25497 25498 25499
Data No.
Positioning M identi- code
fier
Command Dwell speed time Low- High-
order order
Positioning address
Low- Highorder order
Arc data
Low- Highorder order
551 25500 25501 25502 25504 25505 25506 25507 25508 25509 552 25510 25511 25512 25514 25515 25516 25517 25518 25519 553 25520 25521 25522 25524 25525 25526 25527 25528 25529 554 25530 25531 25532 25534 25535 25536 25537 25538 25539 555 25540 25541 25542 25544 25545 25546 25547 25548 25549
556 25550 25551 25552 25554 25555 25556 25557 25558 25559 557 25560 25561 25562 25564 25565 25566 25567 25568 25569 558 25570 25571 25572 25574 25575 25576 25577 25578 25579 559 25580 25581 25582 25584 25585 25586 25587 25588 25589 560 25590 25591 25592 25594 25595 25596 25597 25598 25599
561 25600 25601 25602 25604 25605 25606 25607 25608 25609 562 25610 25611 25612 25614 25615 25616 25617 25618 25619 563 25620 25621 25622 25624 25625 25626 25627 25628 25629 564 25630 25631 25632 25634 25635 25636 25637 25638 25639 565 25640 25641 25642 25644 25645 25646 25647 25648 25649
566 25650 25651 25652 25654 25655 25656 25657 25658 25659 567 25660 25661 25662 25664 25665 25666 25667 25668 25669 568 25670 25671 25672 25674 25675 25676 25677 25678 25679 569 25680 25681 25682 25684 25685 25686 25687 25688 25689 570 25690 25691 25692 25694 25695 25696 25697 25698 25699
571 25700 25701 25702 25704 25705 25706 25707 25708 25709 572 25710 25711 25712 25714 25715 25716 25717 25718 25719 573 25720 25721 25722 25724 25725 25726 25727 25728 25729 574 25730 25731 25732 25734 25735 25736 25737 25738 25739 575 25740 25741 25742 25744 25745 25746 25747 25748 25749
576 25750 25751 25752 25754 25755 25756 25757 25758 25759 577 25760 25761 25762 25764 25765 25766 25767 25768 25769 578 25770 25771 25772 25774 25775 25776 25777 25778 25779 579 25780 25781 25782 25784 25785 25786 25787 25788 25789 580 25790 25791 25792 25794 25795 25796 25797 25798 25799
581 25800 25801 25802 25804 25805 25806 25807 25808 25809 582 25810 25811 25812 25814 25815 25816 25817 25818 25819 583 25820 25821 25822 25824 25825 25826 25827 25828 25829 584 25830 25831 25832 25834 25835 25836 25837 25838 25839 585 25840 25841 25842 25844 25845 25846 25847 25848 25849
586 25850 25851 25852 25854 25855 25856 25857 25858 25859 587 25860 25861 25862 25864 25865 25866 25867 25868 25869 588 25870 25871 25872 25874 25875 25876 25877 25878 25879 589 25880 25881 25882 25884 25885 25886 25887 25888 25889 590 25890 25891 25892 25894 25895 25896 25897 25898 25899
591 25900 25901 25902 25904 25905 25906 25907 25908 25909 592 25910 25911 25912 25914 25915 25916 25917 25918 25919 593 25920 25921 25922 25924 25925 25926 25927 25928 25929 594 25930 25931 25932 25934 25935 25936 25937 25938 25939 595 25940 25941 25942 25944 25945 25946 25947 25948 25949
596 25950 25951 25952 25954 25955 25956 25957 25958 25959 597 25960 25961 25962 25964 25965 25966 25967 25968 25969 598 25970 25971 25972 25974 25975 25976 25977 25978 25979 599 25980 25981 25982 25984 25985 25986 25987 25988 25989 600 25990 25991 25992 25994 25995 25996 25997 25998 25999
Appendix - 45
APPENDICES
MELSEC-Q
(4) For axis 4 (positioning option)
Data No.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Positioning option
20003 20013 20023 20033 20043 20053 20063 20073 20083 20093 20103 20113 20123 20133 20143 20153 20163 20173 20183 20193 20203 20213 20223 20233 20243 20253 20263 20273 20283 20293 20303 20313 20323 20333 20343 20353 20363 20373 20383 20393 20403 20413 20423 20433 20443 20453 20463 20473 20483 20493
Data No.
51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
Positioning option
20503 20513 20523 20533 20543 20553 20563 20573 20583 20593 20603 20613 20623 20633 20643 20653 20663 20673 20683 20693 20703 20713 20723 20733 20743 20753 20763 20773 20783 20793 20803 20813 20823 20833 20843 20853 20863 20873 20883 20893 20903 20913 20923 20933 20943 20953 20963 20973 20983 20993
Data No.
101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150
Positioning option
21003 21013 21023 21033 21043 21053 21063 21073 21083 21093 21103 21113 21123 21133 21143 21153 21163 21173 21183 21193 21203 21213 21223 21233 21243 21253 21263 21273 21283 21293 21303 21313 21323 21333 21343 21353 21363 21373 21383 21393 21403 21413 21423 21433 21443 21453 21463 21473 21483 21493
Data No.
151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
Positioning option
21503 21513 21523 21533 21543 21553 21563 21573 21583 21593 21603 21613 21623 21633 21643 21653 21663 21673 21683 21693 21703 21713 21723 21733 21743 21753 21763 21773 21783 21793 21803 21813 21823 21833 21843 21853 21863 21873 21883 21893 21903 21913 21923 21933 21943 21953 21963 21973 21983 21993
Data No.
201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250
Positioning option
22003 22013 22023 22033 22043 22053 22063 22073 22083 22093 22103 22113 22123 22133 22143 22153 22163 22173 22183 22193 22203 22213 22223 22233 22243 22253 22263 22273 22283 22293 22303 22313 22323 22333 22343 22353 22363 22373 22383 22393 22403 22413 22423 22433 22443 22453 22463 22473 22483 22493
Data No.
251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300
Positioning option
22503 22513 22523 22533 22543 22553 22563 22573 22583 22593 22603 22613 22623 22633 22643 22653 22663 22673 22683 22693 22703 22713 22723 22733 22743 22753 22763 22773 22783 22793 22803 22813 22823 22833 22843 22853 22863 22873 22883 22893 22903 22913 22923 22933 22943 22953 22963 22973 22983 22993
Appendix - 46
APPENDICES
MELSEC-Q
(4) For axis 4 (positioning option)
Data No.
301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350
Positioning option
23003 23013 23023 23033 23043 23053 23063 23073 23083 23093 23103 23113 23123 23133 23143 23153 23163 23173 23183 23193 23203 23213 23223 23233 23243 23253 23263 23273 23283 23293 23303 23313 23323 23333 23343 23353 23363 23373 23383 23393 23403 23413 23423 23433 23443 23453 23463 23473 23483 23493
Data No.
351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400
Positioning option
23503 23513 23523 23533 23543 23553 23563 23573 23583 23593 23603 23613 23623 23633 23643 23653 23663 23673 23683 23693 23703 23713 23723 23733 23743 23753 23763 23773 23783 23793 23803 23813 23823 23833 23843 23853 23863 23873 23883 23893 23903 23913 23923 23933 23943 23953 23963 23973 23983 23993
Data No.
401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
Positioning option
24003 24013 24023 24033 24043 24053 24063 24073 24083 24093 24103 24113 24123 24133 24143 24153 24163 24173 24183 24193 24203 24213 24223 24233 24243 24253 24263 24273 24283 24293 24303 24313 24323 24333 24343 24353 24363 24373 24383 24393 24403 24413 24423 24433 24443 24453 24463 24473 24483 24493
Data No.
451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500
Positioning option
24503 24513 24523 24533 24543 24553 24563 24573 24583 24593 24603 24613 24623 24633 24643 24653 24663 24673 24683 24693 24703 24713 24723 24733 24743 24753 24763 24773 24783 24793 24803 24813 24823 24833 24843 24853 24863 24873 24883 24893 24903 24913 24923 24933 24943 24953 24963 24973 24983 24993
Data No.
501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550
Positioning option
25003 25013 25023 25033 25043 25053 25063 25073 25083 25093 25103 25113 25123 25133 25143 25153 25163 25173 25183 25193 25203 25213 25223 25233 25243 25253 25263 25273 25283 25293 25303 25313 25323 25333 25343 25353 25363 25373 25383 25393 25403 25413 25423 25433 25443 25453 25463 25473 25483 25493
Data No.
551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600
Positioning option
25503 25513 25523 25533 25543 25553 25563 25573 25583 25593 25603 25613 25623 25633 25643 25653 25663 25673 25683 25693 25703 25713 25723 25733 25743 25753 25763 25773 25783 25793 25803 25813 25823 25833 25843 25853 25863 25873 25883 25893 25903 25913 25923 25933 25943 25953 25963 25973 25983 25993
Appendix - 47
APPENDICES
MELSEC-Q
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
Appendix 4.1 Connection example of QD75D N and MR-J3- A (Differential driver) 5
QD75D N
PULSE F+ PULSE FPULSE R+ PULSE R-
CLEAR CLEAR COM READY RDY COM
PG05 PG0 COM COM COM
DOG FLS RLS STOP CHG PULSER A+ PULSER APULSER B+ PULSER B-
Configure a sequence to turn OFF the MC at alarms and emergency stops.
*1
15 16 17 18
NF Power supply 3-phase 200VAC
Within 10m *4
MC
CN1 PP PG NP NG
MR-J3- A
L1 CNP1 L2 L3 N P1 P2
L11 CNP2 L21 C D P
10 11 35 36
CNP3 U V W
PE PE
Servomotor
U
V W
SM
E
B1
24VDC EMG
B2 Electromagnetic brake
Cutoff when a servo ON signal turns OFF and an alarm signal turns ON.
CN2
Detector
13
CR
41
14
DO COM 46
11
RD
49
12
DI COM 20
OPC
12
9
LZ
8
10
6
24VDC
LZR
9
7
24VDC 0.3A
Near-point dog 3 1 Upper limit *2
24V power +
supply
-
SD
Plate
2 Lower limit *2
External emergency stop EMG
42
4
Stop External command
5 A19
5V
5V
Servo ON
SON
15
Reset
RES
19
Proportional control
PC
17
B19
A
A20
B
B20
0V
*3
Torque limit Forward run stroke end
TL
18
*3
LSP Reverse run stroke end LSN
43 44
5G Manual pulse generator
DO COM 47
MR-HDP01
DI COM 21
Fault
RA1
ALM
48
Zero speed detection
RA2
ZSP
23
During torque limiting
RA3
Positioning complete
RA4
TLC
25
INP
24
Analog torque limit (+10V/max. current)
Within 2m
P15R TLA LG SD
1 27 28 Plate
Personal computer CN5
Monitor output
CN6
3
MO1
1
LG
10k
2
MO2
10k
Within 2m
When connecting an open collector, make connection as shown below.
24VDC
MR-J3 CN1 OPC 12
DI COM 20/21
QD75P N
DO COM 46/47
PULSE F 15 PULSE COM 16 PULSE R 17
PP 10 PG 11 NP 35
PULSE COM 18
NG 36
REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section 3.1 "Performance specifications".)
(2) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(4) 3:These are limit switches for the servo (for stop). (5) 4:This indicates the distance between the QD75D N and servo amplifier. (6) 5:When used, check the logic for the QD75D N and servo amplifier in Section 3.4.1, (2) "Output specifications".
The QD75D N is initially set to negative logic. (7) "FA-CBLQ75M2J3(-P) cable" can be used for connecting the QD75D N and MR-J3- A.
Appendix - 48
APPENDICES
MELSEC-Q
Appendix 4.2 Connection example of QD75D N and MR-H A (Differential driver) 6
Configure a sequence to turn OFF the MC at alarms and emergency stops.
NF
Power supply 3-phase 200VAC
MC R S T
R1 S1
NCP
Regeneration option *4
MR-H A
U
V
W
Servomotor
U
V
SM
W
E
QD75D N
DOG FLS RLS STOP CHG
*1 3
Near-point dog
1 Upper limit
*2
2 Lower limit
*2
4 Stop
5 External command
COM
6
COM
7
CLEAR
13
CLEAR COM 14
PULSE F+ 15
PULSE F- 16
PULSE R+ 17
PULSE R- 18
READY
11
RDY COM 12
24VDC
Within 10m *5
CN1
SG
SG
External emergency stop EMG
Servo ON
SON
Reset
RES
Torque limit
TL
*3 Forward run stroke end LSP
*3 Reverse run stroke end LSN
VIN
VDD
CR
SG
PP
PPR
NP
NPR
RD
*4 16 40 46 12 15 13 38 39 20 22 37 17 10 11 35 36 49
PG05
9
PG0 COM 10
PULSER A+ A19 PULSER A- B19 PULSER B+ A20 PULSER B- B20
Differential driver common terminal
5V
+5V
A
Zero speed
B
detection Fault
0V
5G
Manual pulse generator MR-HDP01
Analog torque limit (+) (+10V/max. current)
Analog torque limit (-) (-10V/max. current)
LZ
8
LZR
9
VDD 21
RA1
ZSP 23
RA2
ALM 48
LG
3
Within 2m
P15R 1
TLAP 27
LG
28
N15R 26
TLAN 29
LG
30
SD
50
CN2
Detector
Within 50m
CN3 Monitor output
4 MO1
10k Zero-center
3 MO2 1 MOG
10k ammeter (max. 1mA)
Within 2m
When connecting an open collector, make connection as shown below.
QD75P N
PULSE F
15
PULSE COM 16
PULSE R
17
PULSE COM 18
CN1
PPO 18
SG
47
NPO 19
REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section 3.1 "Performance specifications".)
(2) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(4) 3:These are limit switches for the servo (for stop). (5) 4:Refer to the specification and handling instruction manual of the servo amplifier MR-H for details on
connection. (6) 5:This indicates the distance between the QD75D N and servo amplifier.
(7) 6:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is initially set to negative logic.
Appendix - 49
APPENDICES
MELSEC-Q
Appendix 4.3 Connection example of QD75D N and MR-J2/J2S- A (Differential driver)
5
Configure a sequence to turn OFF the MC at alarms and emergency stops.
NF
Power supply 3-phase 200VAC
QD75D N
*1
PULSE F+ 15
PULSE F- 16
PULSE R+ 17
PULSE R- 18
CLEAR
13
CLEAR COM 14
READY
11
RDY COM 12
Within 10m *4
MC L1 L2 L3
L11 L21 C TE2 D P
CN1A
OPC 11
PP
3
PG
13
NP
2
NG
12
CR
8
SG
10
RD
19
COM 9
PG05 PG0 COM COM COM
DOG FLS RLS STOP CHG PULSER A+ PULSER APULSER B+ PULSER B-
9
LZ
10
LZR
6
24VDC
Positioning complete
RA4
INP
7
LG
3 Near-point dog
1 Upper limit
*2
2 Lower limit
*2
4 Stop
5 External command
A19
5V
B19
A
A20
B
5V
*3 *3
SD
CN1B
External emergency stop EMG
Servo ON
SON
Reset
RES
Proportional control
PC
Torque limit
TL
Forward run stroke end LSP
Reverse run stroke end LSN
B20
0V
5G
Manual pulse generator
MR-HDP01
SG SG VDD COM
Fault
RA1
ALM
Zero speed detection
RA2
ZSP
During torque limiting
RA3
TLC
5 15 18
1 Plate
15 5 14 8 9 16 17 10 20 3 13 18 19 6
Analog torque limit (+10V/max. current)
Within 2m
P15R TLA LG SD
11 12 1 Plate
MR-J2/MR-J2S- A TE1
U V W
PE PE
HC-MF, HA-FF series motor
U
V
SM
W
E
B1
B2 24VDC EMG Cutoff when a servo ON signal turns OFF and an alarm signal turns ON. CN2
Electromagnetic brake
Detector
CN3 12 TxD 2 RxD 1 LG 11 LG 5 LG 15 LG
4 3 14 13 Plate
MO1 LG MO2 LG SD
Monitor output 10k
RD SD GND GND Personal RS computer CS DR ER
Zero-center ammeter (max. 1mA)
10k
Within 2m
When connecting an open collector, make connection as shown below.
QD75P N
PULSE F
15
PULSE COM 16
PULSE R
17
PULSE COM 18
CN1
PP
3
SG
10
NP
2
REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section 3.1 "Performance specifications".)
(2) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(4) 3:These are limit switches for the servo amplifier (for stop). (5) 4:This indicates the distance between the QD75D N and servo amplifier.
(6) 5:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is initially set to negative logic.
Appendix - 50
APPENDICES
MELSEC-Q
Appendix 4.4 Connection example of QD75D N and MR-C A (Differential driver) 5
Configure a sequence to turn OFF the MC at alarms and emergency stops.
Power supply
NF
Single-phase 200VAC
(A type) or
single-phase 100VAC
(A1 type)
MC L1 L2
QD75D N
Within 10m *4
*1
PULSE F+ 15
PULSE F- 16
PULSE R+ 17
PULSE R- 18
CLEAR
13
CLEAR COM 14
PG024
8
PG0 COM READY DOG FLS RLS STOP CHG
10
11 Servo READY
3 Near-point dog
1 Upper limit
*2
2 Lower limit
*2
4 Stop
5 External command
COM
6
COM
7
RDY COM 12
5V
PULSER A+ A19
PULSER A- B19
A
PULSER B+ A20
B
PULSER B- B20
0V
Servo ON Forward run stroke end *3 Reverse run stroke end *3
Fault RA1
+5V
5G
Manual pulse generator MR-HDP01
24V, 0.2A or higher
24V power +
supply
-
CN1
PP
9
PG
10
NP
7
NG
8
CR
13
SG
12
V+
1
OP
4
SD
11
SON 17
LSP 15
LSN 14
ALM 2
V24 20
Regenerative resistor is an external option.
CP
TE1
U
V
W
MR-C A or
MR-C A1
HC-PQ series motor
U
V
SM
W
E
24VDC EMG
Electromagnetic brake
Cutoff when a servo ON signal turns
OFF and an alarm signal turns ON.
CN2
Detector
When connecting an open collector, make connection as shown below.
QD75P N
PULSE F
15
PULSE COM 16
PULSE R
17
PULSE COM 18
CN1
PP
9
SG
12
NP
7
REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section 3.1 "Performance specifications".)
(2) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(4) 3:These are limit switches for the servo amplifier (for stop). (5) 4:This indicates the distance between the QD75D N and servo amplifier. (6) 5:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is
initially set to negative logic.
Appendix - 51
APPENDICES
MELSEC-Q
Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
Appendix 5.1 Connection example of QD75P N and VEXTA UPD (Open collector) 4
QD75P N *1
PULSE F
15
PULSE COM 16
PULSE R
17
PULSE COM 18
PG024
8
PG0 COM
10
READY
11
RDY COM PULSER A+ PULSER APULSER B+ PULSER BDOG FLS RLS STOP CHG
12 5V
A19 A
B19 B
A20 0V
B20 3 Near-point dog 1 Upper limit Lower limit 2 Stop 4 External command 5
+5V Manual pulse generator MR-HDP01
5G
*2 *2
COM
6
COM
7
Within 2m *5
P5V 5G
24G P24V
VEXTA UPD *3
Connect when required
CWCW+ CCWCCW+ H.OFF+ H.OFFTIMING COM O.H
REMARK
(1) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2:The QD75P N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. (3) 3:Refer to the manual of the stepping motor drive for information on the stepping motor drive side wiring and
various signal wire shields not shown above. (4) 4:Use the same logic (positive logic/negative logic) for the QD75P N and stepping motor. The QD75P N is
initially set to negative logic. (5) 5:This indicates the distance between the QD75P N and VEXTA UPD.
Appendix - 52
APPENDICES
MELSEC-Q
Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation
Appendix 6.1 Connection example of QD75D N and MINAS-A series (Differential driver) 4
QD75D N
*1
PULSE F+ 15
PULSE F-
16
PULSE R+ 17
PULSE R-
18
CLEAR
13
CLEAR COM 14
PG05
9
PG0 COM
10
READY
11
RDY COM 12
PULSER A+ PULSER APULSER B+ PULSER BDOG FLS RLS STOP CHG
5V A19
A
B19
B
A20
B20
0V
3 Near-point dog
1 Upper limit
Lower limit 2
Stop 4
External command 5
+5V Manual pulse generator MR-HDP01 5G
*2 *2
COM
6
COM
7
Within 2m *5
24G P24V
MINAS-A *3
4 PULSE2 3 PULSE1 6 SIGN2 5 SIGN1 30 CL
23 OZ+ 24 OZ35 S-RDY+ 34 S-RDY29 SRV-QN 9 CCWL 8 CWL 7 COM+
REMARK
(1) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(3) 3:Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal wire shields not shown above.
(4) 4:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is initially set to negative logic.
(5) 5:This indicates the distance between the QD75D N and MINAS-A.
Appendix - 53
APPENDICES
MELSEC-Q
Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
Appendix 7.1 Connection example of QD75D N and PYO series (Differential driver) 4
REMARK
(1) 1:The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(3) 3:Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal wire shields not shown above.
(4) 4:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is initially set to negative logic.
(5) 5:This indicates the distance between the QD75D N and PYO.
Appendix - 54
APPENDICES
MELSEC-Q
Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
Appendix 8.1 Connection example of QD75D N and - series (Differential driver) 4
QD75D N
*1
PULSE F+ 15
PULSE F-
16
PULSE R+ 17
PULSE R-
18
CLEAR
13
CLEAR COM 14
PG05
9
PG0 COM
10
READY
11
RDY COM
12
PULSER A+ PULSER APULSER B+ PULSER BDOG FLS RLS STOP CHG
5V
A19
A
B19
B
A20
B20
0V
3 Near-point dog
1 Upper limit
Lower limit 2 4 Stop 5 External command
+5V Manual pulse generator MR-HDP01 5G
*2 *2
COM
6
COM
7
Within 2m *5
24G P24V
- *3
7 PULS 8 /PULS 11 SIGN 12 /SIGN 14 /CLR 1 SG 19 PCO 20 /PCO 29 S-RDY+ 30 S-RDY15 CLR 18 PL3 40 S-ON 42 P-OT 43 N-OT 47 +24VIN
REMARK
(1) 1:The logic of each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2:The QD75D N upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals inside the servo amplifier limit switches.
(3) 3:Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal wire shields not shown above.
(4) 4:Use the same logic (positive logic/negative logic) for the QD75D N and servo amplifier. The QD75D N is initially set to negative logic.
(5) 5:This indicates the distance between the QD75D N and - .
Appendix - 55
APPENDICES
MELSEC-Q
Appendix 9 Comparisons with conventional positioning modules Appendix 9.1 Comparisons with A1SD71S2 model
The following shows comparisons with the conventional positioning module A1SD71S2, centered on the QD75 specifications.
Model QD75P1N/QD75P1 QD75P2N/QD75P2 QD75P4N/QD75P4
Item
QD75D1N/QD75D1 QD75D2N/QD75D2 QD75D4N/QD75D4
No. of control axes
1
2
4
No. of positioning data items
600/axis
2-axis linear interpolation
Interpolation 3-axis linear interpolation functions 4-axis linear interpolation
2-axis circular interpolation
Position control
Speed control
Positioning Speed-position switching
systems
control
(INC/ABS mode)
Position-speed switching control
Machine OPR function (OPR method)
(6 types)
JOG operation
Inching operation
Manual pulse generator function
Trapezoidal
Acceleration/ deceleration processing
acceleration/deceleration S-curve acceleration/deceleration
Acceleration/deceleration time
Acceleration time and deceleration time setting possible (4 patterns each)
Compensation
Electronic gears, backlash compensation
Error display
Error LED
History data storage (Start, error, warning)
Provided (3 types, 16 items/axis)
Data storage destination
Flash ROM (battery-less backup)
No. of occupied I/O points
32
No. of module occupied slots
1
AD71TU
Peripheral devices (data
AD75TU
setting, etc.) A6GPP, A6PHP
DOS/V personal computer
A1SD71S2 2
400/axis
(Only INC mode)
(3 types)
Acceleration/deceleration time same
Backlash compensation Error LED None
Buffer memory (battery backup)
48 2
: Possible, : Not possible
Appendix - 56
APPENDICES
MELSEC-Q
Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models
The following shows the comparisons between the QD75 and the conventional positioning modules A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3.
(1) Comparisons of performance specifications
Model
Item
No. of control axes
No. of positioning data items
2-axis linear
interpolation
Position control
3-axis linear interpolation
interpolation 4-axis linear
functions interpolation
2-axis circular
interpolation
Position control
1-axis
QD75P1N/QD75P1 QD75D1N/QD75D1
1
QD75P2N/QD75P2 QD75D2N/QD75D2
2 600/axis
QD75P4N/QD75P4 QD75D4N/QD75D4
4
A1SD75P1 A1SD75P2 A1SD75P3
-S3
-S3
-S3
1
2
3
600/axis 1
Positioning systems
2-axis linear
Speed control
interpolation 3-axis linear interpolation
4-axis linear
interpolation
Speed-position switching control
Position-speed switching control
<Absolute system> -214748364.8 to 214748364.7 ( m)
-21474.83648 to 21474.83647 (inch) 0 to 359.99999 (degree) -2147483648 to 2147483647 (pulse)
<Incremental system > -214748364.8 to 214748364.7 ( m)
-21474.83648 to 21474.83647 (inch) -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (pulse)
Positioning range 2
<Speed-position or position-speed switching controls> 0 to 214748364.7 ( m)
0 to 21474.83647 (inch) 0 to 21474.83647 (degree)/
0 to 359.99999 (degree) 3 0 to 2147483647 (pulse)
<Absolute system > -214748364.8 to 214748364.7 ( m)
/-13421772.8 to 13421772.7 ( m)
-21474.83648 to 21474.83647 (inch) /-1342.17728 to 1342.17727 (inch)
0 to 359.99999 (degree) /0 to 359.99999 (degree)
-2147483648 to 2147483647 (pulse) /-134217728 to 134217727 (pulse)
<Incremental system > -214748364.8 to 214748364.7 ( m)
/-13421772.8 to 13421772.7 ( m)
-21474.83648 to 21474.83647 (inch) /-1342.17728 to 1342.17727 (inch)
-21474.83648 to 21474.83647 (degree)
/-1342.17728 to 1342.17727 (degree) -2147483648 to 2147483647 (pulse)
/-134217728 to 134217727 (pulse)
<Speed-position switching control> 0 to 214748364.7 ( m)
/0 to 13421772.7 ( m)
0 to 21474.83647 (inch) /0 to 1342.17727 (inch)
0 to 21474.83647 (degree) /0 to 1342.17727 (degree)
0 to 2147483647 (pulse) /0 to 134217727 (pulse)
Appendix - 57
APPENDICES
MELSEC-Q
Model QD75P1N/QD75P1 QD75P2N/QD75P2 QD75P4N/QD75P4 A1SD75P1 A1SD75P2 A1SD75P3
Item
QD75D1N/QD75D1 QD75D2N/QD75D2 QD75D4N/QD75D4
-S3
-S3
-S3
QD75P N/QD75D N: 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min)
0.01 to 6000000.00 (mm/min)
/0.01 to 375000.00 (mm/min) 0.001 to 600000.000 (inch/min)
Speed command range 2
1 to 4000000 (pulse/s) QD75P /QD75D : 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)
/0.001 to 37500.000 (inch/min) 0.001 to 600000.000 (degree/min) /0.001 to 37500.000 (degree/min)
1 to 1000000 (pulse/s) /1 to 62500 (pulse/s)
Machine OPR function (OPR method)
(6 types) 4
(6 types)
JOG operation
Inching operation
Manual pulse generator function
1 generator/module 5
1 generator/axis 6
Trapezoidal
Acceleration /deceleration
processing
acceleration /deceleration
S-curve acceleration
/deceleration
Acceleration/ No. of patterns
deceleration
time
Setting range
Acceleration time and deceleration time can be set independently. Acceleration time and deceleration time
(4 patterns each)
can be set independently. (4 patterns each)
1 to 8388608ms
1 to 65535ms/1 to 8388608ms selectable
Compensation
Electronic gears, backlash compensation, near pass 6
Electronic gears, backlash compensation, near pass 6
Error display
Error LED
17-segment LED
History data storage (Start, error, warning)
Provided (3 types, 16 items/axis)
Provided (4 types, 16 items/axis)
Data storage destination
Flash ROM (battery-less backup)
Flash ROM (battery-less backup)
A6CON1 (Soldering type, sold separately)
10136-3000VE (Soldering type, supplied)
Connection connector
A6CON2 (Crimp type, sold separately)
A6CON4 (Soldering type, usable for straight out and diagonal out, sold separately)
10136-6000EL (Crimp type, sold separately)
Applicable wire size
A6CON1, A6CON4: 0.3mm2 (22AWG) A6CON2: 0.088 to 0.24mm2 (28 to 24AWG)
10136-3000VE: Approx. 0.05 to 0.24mm2 (30 to 24AWG)
10136-6000EL: Approx. 0.088mm2 (28AWG)
Command pulse output system
QD75P N/QD75P : Open collector QD75D N/QD75D : Differential driver
Both differential driver and open collector available
Max. output pulse
When connected with open collector: 200kpps When connected with differential driver: 4Mpps (QD75D N),
1Mpps (QD75D )
When connected with open collector: 200kpps
When connected with differential driver: 400kpps
Max. connection distance between servos
When connected with open collector: 2m (6.56ft) When connected with differential driver: 10m (32.79ft)
When connected with open collector: 2m (6.56ft)
When connected with differential driver: 10m (32.79ft)
QD75P1N: 0.29A QD75P2N: 0.30A QD75P4N: 0.36A
Internal current consumption [5VDC]
QD75D1N: 0.43A QD75P1: 0.40A
QD75D2N: 0.45A QD75P2: 0.46A
QD75D4N: 0.66A QD75P4: 0.58A
0.7A or less
QD75D1: 0.52A
QD75D2: 0.56A
QD75D4: 0.82A
Flash ROM write count
Max. 100000 times
Max. 100000 times
No. of occupied I/O points
32
32
No. of module occupied slots
1
1
Outline dimensions
98(3.86)(H)�27.4(1.08)(W)�90(3.55)(D)mm (inch)
130(5.12)(H)�34.5(1.36)(W)�93.6(3.69)(D) mm (inch)
QD75P1N: 0.14kg QD75P2N: 0.14kg QD75P4N: 0.16kg
(0.31lb)
(0.31lb)
(0.35lb)
Weight
QD75D1N: 0.15kg (0.33lb)
QD75P1: 0.15kg (0.33lb)
QD75D2N: 0.15kg (0.33lb)
QD75P2: 0.15kg (0.33lb)
QD75D4N: 0.16kg (0.35lb)
QD75P4: 0.16kg (0.35lb)
0.35kg (0.77lb)
QD75D1:0.15kg (0.33lb)
QD75D2: 0.15kg (0.33lb)
QD75D4:0.16kg (0.35lb)
Appendix - 58
APPENDICES
MELSEC-Q
Model QD75P1N/QD75P1 QD75P2N/QD75P2 QD75P4N/QD75P4 A1SD75P1 A1SD75P2 A1SD75P3
Item
QD75D1N/QD75D1 QD75D2N/QD75D2 QD75D4N/QD75D4
-S3
-S3
-S3
STRT signal
I/O signal for CHG signal external
devices
In-position (INP)
(integrated into "CHG")
External command signal (External start or speed-position switching selectable with parameters)
(External start signal) Speed-position switching signal
(for monitor)
Signal logic switching
Command pulse output signal only
Connection with
peripheral devices
Peripheral devices
AD71TU
(data
AD75TU
setting, etc.) A6GPP, A6PHP
Connection via CPU module, Q Corresponding Serial Communication Module, Q Corresponding MELSEC/H Remote I/O Module
Direct connection
DOS/V personal computer
: Possible, : Not possible 1: Up to 100 data items/axis of positioning data (No. 1 to 100) can be set using the buffer memory. The positioning data in the buffer
memory is not backed up. 2: Indicates the standard mode/stepping motor mode about A1SD75P -S3. 3: Indicates the INC mode/ABS mode in speed-position switching control. 4: The deviation counter clear signal output time can be set with parameters. 5: The movement amount against the number of pulses input from manual pulsar is as follows:
QD75: Movement amount = "Number of pulses" � "Unit setting" � "Manual pulse generator 1 pulse input magnification" (refer to Section 11.4.1.)
A1SD75: Movement amount = "Number of pulses" � "Manual pulse generator 1 pulse input magnification" 6: The near pass function is valid only during the continuous path control. (A1SD75: Selected with parameters, QD75: Standard function)
(2) Function comparisons
Functions added to those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3
Added functions
External I/O signal logic switching function
Inching operation
Target position change function
Multiple axes simultaneous start control
Control systems
3-axis linear interpolation control 4-axis linear interpolation control 3-axis fixed-feed control 4-axis fixed-feed control 2-axis speed control 3-axis speed control 4-axis speed control
Position-speed switching control
NOP instruction LOOP instruction, LEND instruction
Dedicated instructions
Absolute position restoration Positioning start Teaching Flash ROM writing
Parameter initialization
Automatic refresh of intelligent function modules
Output hold/clear parameter setting during CPU module error stop
Flash ROM write limit Speed-position switching control (ABS mode) Pre-reading start function External I/O signal monitor function Multiple PLC compatible function Deceleration start flag function Stop command processing for deceleration stop function
Remarks Refer to Section 13.4. Refer to Section 11.3. Refer to Section 12.5.5. Refer to Section 10.5.
Refer to CHAPTER 9.
Refer to CHAPTER 14.
Refer to GX Configurator-QP Operating Manual. Refer to QCPU User's Manual
(Function Explanation, Program Fundamentals). Refer to Section 13.3. Refer to Section 9.2.19. Refer to Section 12.7.7. Refer to Section 13.5.
Refer to QCPU User's Manual (Multiple CPU System). Refer to Section 12.7.8 Refer to Section 12.7.9
Appendix - 59
APPENDICES
MELSEC-Q
Functions deleted from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3
Deleted functions Stepping motor mode OPR operation error (Error code: 208) Fast machine OPR Special start (stop)
Indirect designation
Block transfer
Positioning data I/F
Start history storage during error
System monitor data (module type, OS information)
Remarks
� � � � In the QD75, the start block area on the buffer memory is expanded to five blocks (0 to 4). Each start block can be directly designated with positioning start No. (7000 to 7004). With the A1SD75, this interface is used to set positioning data Nos. 101 to 600 that do not exist on the buffer memory. Since all positioning data can be set in the buffer memory with the QD75, this function is deleted. The contents are the same as those of the start history. Therefore, the QD75 stores only the start history. These data were deleted because they can be displayed in system monitor "Module's detailed information" of GX Developer. (Refer to GX Developer Operating Manual.)
Functions changed from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3
Changed functions
Software stroke limit function
Current value changing M code function Acceleration/deceleration control
Descriptions
1. The limit check of arc address is carried out only when a sub point is designated. It is not carried out when a center point is designated.
2. The software stroke limit check during speed control is carried out in the following cases: � When the software stroke limit is applied to the current feed value with Pr.14 and the current feed value is updated with Pr.21 . � When the software stroke limit is applied to the machine feed value.
3. If an attempt is made to change the current value but the designated address is out of the software stroke limit range, the attempt is considered as an error and the current value is not changed.
4. The conventional models feature three types of software stroke limit error codes for upper limit and lower limit respectively. With the QD75, errors for the software stroke upper limit are integrated into error code 507, and errors for the lower limit are integrated into error code 508. Error codes 509 to 512 are deleted.
1. An error occurs when the designated new current value is out of the software stroke limit range.
2. The M code setting value is valid during the positioning data current value changing instruction.
1. An error occurs when the command frequency value calculated from the speed limit value is out of the maximum command frequency of the positioning module being used.
2. Only two-word type (1 to 8388608ms) can be used as the setting value for the acceleration/deceleration time. (The switch between 1-word type and 2-word type is eliminated.)
Appendix - 60
APPENDICES
Changed functions
Stop process and restart after stop Positioning operation stop
READY signal (X0) Manual pulse generator operation Axis operation status
Continuous path control
Near pass 2-axis interpolation
� 2-axis linear interpolation � 2-axis fixed-feed � Circular interpolation � 2-axis speed control Step function
Command in-position function Control unit "degree" handling
MELSEC-Q
Descriptions
1. "Peripheral side (emergency) stop" is deleted from the stop
causes of Stop group 2 sudden stop selection. "Test mode fault"
in the stop causes of Stop group 3 sudden stop selection is
changed to be in the stop causes of Stop group 2 sudden stop
selection.
2. "Stop (QD75 peripheral)" is added to the stop causes of Stop
group 3 sudden stop selection.
3. Error code 100 (Peripheral device stop during operation) is
deleted.
4. "CPU module error occurrence" is added to the stop causes of
Stop group 2 sudden stop selection.
A1SD75
QD75
OFF
Normal (READY)
Not READY /WDT error
ON
Not READY /WDT error
Normal (READY)
The No. of connectable manual pulse generator is changed from 1
generator/1 axis to 1 generator/1 module.
"Step stopped" is changed to "Stopped" and "Step error occurring"
is changed to "Error occurring".
"In position control for position-speed switching control", "In speed
control for position-speed switching control", and "In absolute
position restoration" are added.
A1SD75: If the reference axis operates in reverse direction, the
control is internally changed into the continuous
positioning control (restart after deceleration stop).
QD75: Even if the reference axis operates in reverse direction with
interpolation, the control remains as the continuous path
control. (In single-axis operation, the operation is the same
as that of the A1SD75.)
For the continuous path control, only the near pass function is
available.
The interpolation target axis can be randomly set with a positioning identifier.
1. "Step stopped" is changed to "Stopped" and "Step error occurring" is changed to "Error occurring" in the axis operation status parameters.
2. The restart command for step start information (02H) is deleted. 3. The step operation is restarted with the restart command. The command in-position width is expanded. � A1SD75 : 1 to 32767000 � QD75 : 1 to 2147483647 The operating direction can be designated even for the ABS control in the unit of "degree".
Appendix - 61
APPENDICES
MELSEC-Q
Changed functions Positioning start No.
Block start data Special start data "Simultaneous start" List of errors/warnings Start history Synchronization flag (X1)
Basic parameter 1 " Pr.5 Pulse output mode"
Detailed parameters " Pr.15 Software stroke limit valid/invalid setting"
Descriptions
No. 9004 (Multiple axes simultaneous start control) is added. Nos. 7004 to 7010 (block start designation) and 8000 to 8049 (indirect designation) are deleted.
With the QD75, the number of blocks is changed to 5 (7000 to 7004). (With the
A1SD75, this data is called "positioning start information".)
The simultaneous start is possible up to 4 axes.
Refer to the following "Error code comparisons" and "Warning code comparisons".
The configuration of "start information" and "start No." is changed so that the start
No. can be directly checked.
When the CPU module starting method is set to asynchronous, interlock is established with the synchronization flag (X1) signal.
When the programmable controller is turned ON or the CPU module is reset, the
valid value is only the first value after the PLC READY signal (Y0) turns from OFF to ON.
A1SD75
QD75
0 (Factory Software stroke limits invalid for Software stroke limits valid for
setting) manual operation
manual operation
1
Software stroke limits valid for manual operation
Software stroke limits invalid for manual operation
Error code comparisons
Error name
Outside bias speed range Illegal sudden stop deceleration time Stop group 1 sudden stop selection error Stop group 2 sudden stop selection error Stop group 3 sudden stop selection error OPR torque limit value error Setting for the movement amount after near-point dog ON error OPR acceleration time selection error OPR deceleration time selection error
A1SD75 913 962 963 964 965 991
992
993 994
Error code
QD75 906 961 962 963 964 995
991
992 993
Error type
Fatal error Common OPR, Absolute position restoration JOG/Inching operation Manual pulse generator operation Positioning operation I/F Parameter Error whose name is changed: Error code 967 A1SD75: External start selection error QD75: External command function selection error
Added 002 �
213, 214 301 �
523, 535, 545, 546 800 to 806
920, 935, 990, 996
Deleted 51, 52 100, 108
208 � �
509 to 512 �
931, 933, 938, 971, 999
Appendix - 62
APPENDICES
MELSEC-Q
Warning code comparisons
Warning type
Added
Deleted
Fatal warning
�
51, 52
Common
110
101, 105 to 108, 115
OPR, Absolute position restoration JOG operation/Inching operation
�
�
�
�
Manual pulse generator operation
�
402
Positioning operation
516, 517, 518
�
I/F
�
�
Parameter
�
900
Warning whose name is changed: Warning code 512 A1SD75 : Illegal external start function QD75 : Illegal external command function
: Refer to "Section 15.3 List of errors" and "Section 15.4 List of warnings" for details on error codes and warning codes.
(3) Input/output (X/Y) comparisons
Name
(QD75/A1SD75) READY
Axis 1
Axis 2 Axis 3
Start complete
Axis 4
Axis 1
Axis 2 Axis 3
BUSY
Axis 4
Axis 1
Axis 2 Axis 3
Positioning complete
Axis 4
Axis 1
Axis 2 Axis 3
Error detection
Axis 4
Axis 1
Axis 2 Axis 3
M code ON
Axis 4
Input (X) A1SD75
X00*1 X01 X02 X03
� X04*2 X05*2 X06*2
� X07 X08 X09
� X0A X0B X0C
� X0D X0E X0F
�
Synchronization flag
�
Use prohibited
X10 to X1F
QD75 X00*1 X10 X11 X12 X13 X0C X0D X0E X0F X14 X15 X16 X17 X08 X09 X0A X0B X04 X05 X06 X07
X01
X02, X03 X18 to X1F
Output (Y)
Name
A1SD75
Axis 1
Y10
Axis 2 Axis 3
Positioning start
Y11 Y12
Axis 4
�
Axis 1
Y13
Axis 2 Axis 3
Axis stop
Y14 Y1C
Axis 4
�
Axis 1 Forward run JOG start
Y16
Axis 1 Reverse run JOG start
Y17
Axis 2 Forward run JOG start
Y18
Axis 2 Reverse run JOG start
Y19
Axis 3 Forward run JOG start
Y1A
Axis 3 Reverse run JOG start
Y1B
Axis 4 Forward run JOG start
�
Axis 4 Reverse run JOG start
�
PLC READY
Y1D
Axis 1
�
Axis 2 Execution prohibition
�
Axis 3
flag
�
Axis 4
�
Use prohibited
Y00 to Y0F Y1E to Y1F
QD75
Y10 Y11 Y12 Y13 Y04 Y05 Y06 Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F Y00 Y14 Y15 Y16 Y17 Y01 to Y03 Y18 to Y1F
1: The ON/OFF statuses for READY are different between the QD75 and A1SD75.
Not READY/WDT error
READY
QD75
OFF
ON
A1SD75
ON
OFF
2: When using a program example of No.10 Reset program described in Section 6.4 Positioning program examples of the "A1SD75P1S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3 Positioning Module User's Manual" for the QD75, replace "X4 (BUSY signal for Axis 1)" with "DXC (Direct access input of BUSY signal for Axis 1)". Do the same thing for programs for Axis 2 and Axis 3.
Appendix - 63
APPENDICES
MELSEC-Q
(4) Buffer memory address comparisons
The following table shows the buffer memory addresses of the QD75 (Axis 1 to Axis 3) corresponding to the items of the A1SD75. The shaded area shows the differences between the A1SD75 and QD75.
Items of A1SD75
Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) Pr.3 Movement amount per rotation (Al) Pr.4 Unit magnification (Am) Pr.5 Pulse output mode Pr.6 Rotation direction setting Pr.7 Speed limit value
Pr.8 Acceleration time 0
Pr.9 Deceleration time 0
Pr.10 Bias speed at start Pr.11 Stepping motor mode selection amount Pr.12 Backlash compensation amount Pr.13 Software stroke limit upper limit value
Pr.14 Software stroke limit lower limit value Pr.15 Software stroke limit selection Pr.16 Software stroke limit valid/invalid setting Pr.17 Command in-position width Pr.18 Torque limit setting value Pr.19 M code ON signal output timing Pr.20 Speed switching mode Pr.21 Interpolation speed designation method Pr.22 Current feed value during speed control Pr.23 Manual pulse generator selection Pr.24 Logic selection for pulse output to the drive unit Pr.25 Size selection for acceleration/deceleration time Pr.26 Acceleration time 1
Pr.27 Acceleration time 2
Axis 1 0
1
2
3
4
5 6 7 8 9 10 11 12 13 14
15 16 17 18 19 20
21 22 23 24
25
26
27
28
29
30
31 36 37 38 39
A1SD75 Axis 2
150
151
152
153
154
155 156 157 158 159 160 161 162 163 164
165 166 167 168 169 170
171 172 173 174
175
176
177
178
179
180
181 186 187 188 189
Buffer memory address
Axis 3 300
301
302
303
304
305 306 307 308 309 310 311 312 313 314
315 316 317 318 319 320
321 322 323 324
325
326
327
328
329
330
331 336 337 338 339
Axis 1 0
1
2
3
4
5 10 11 12 13 14 15 6 7 �
17 18 19 20 21 22
23 24 25 26
27
28
29
30
�
�
� 36 37 38 39
QD75 Axis 2
150
151
152
153
154
155 160 161 162 163 164 165 156 157
�
167 168 169 170 171 172
173 174 175 176
177
178
179
180
�
�
� 186 187 188 189
Axis 3 300
301
302
303
304
305 310 311 312 313 314 315 306 307
�
317 318 319 320 321 322
323 324 325 326
327
328
329
330
�
�
� 336 337 338 339
Appendix - 64
APPENDICES
MELSEC-Q
Items of A1SD75
Pr.28 Acceleration time 3
Pr.29 Deceleration time 1
Pr.30 Deceleration time 2
Pr.31 Deceleration time 3
Pr.32 JOG speed limit value Pr.33 JOG operation acceleration time selection Pr.34 JOG operation deceleration time selection Pr.35 Acceleration/deceleration process selection Pr.36 S-curve ratio Pr.37 Sudden stop deceleration time Pr.38 Stop group 1 sudden stop selection Pr.39 Stop group 2 sudden stop selection Pr.40 Stop group 3 sudden stop selection Pr.41 Positioning complete signal output time Pr.42 Allowable circular interpolation error width Pr.43 External start function selection (QD75: Pr.42 External command function selection) Pr.44 Near pass mode selection for path control Pr.45 OPR method Pr.46 OPR direction Pr.47 OP address
Pr.48 OPR speed
Pr.49 Creep speed Pr.50 OPR retry Pr.51 OPR dwell time Pr.52 Setting for the movement amount after near-
point dog ON Pr.53 OPR acceleration time selection Pr.54 OPR deceleration time selection Pr.55 OP shift amount Pr.56 OPR torque limit value Pr.57 Speed designation during OP shift Pr.58 Dwell time during OPR retry
Axis 1 40 41 42 43 44 45 46 47 48 49 50
51
52
53 54 55 56
57
58
59 60 61
62
A1SD75 Axis 2
190 191 192 193 194 195 196 197 198 199 200
201
202
203 204 205 206
207
208
209 210 211
Buffer memory address
Axis 3 340 341 342 343 344 345 346 347 348 349 350
351
352
353 354 355 356
357
358
359 360 361
Axis 1 40 41 42 43 44 45 46 47 48 49 50
51
52
53 54 55 56
57
58
59 60 61
212
362
62
66
216
366
�
70
220
370
70
71
221
371
71
72
222
372
72
73
223
373
73
74
224
374
74
75
225
375
75
76
226
376
76
77
227
377
77
78
228
378
78
79
229
379
79
80
230
380
80
81
231
381
81
82
232
382
82
83
233
383
83
84
234
384
84
85
235
385
85
86
236
386
86
88
238
388
88
89
239
389
89
Appendix - 65
QD75 Axis 2
190 191 192 193 194 195 196 197 198 199 200
201
202
203 204 205 206
207
208
209 210 211
212
�
220
221 222 223 224 225 226 227 228
229 230 231 232
233 234 235 236
238
239
Axis 3 340 341 342 343 344 345 346 347 348 349 350
351
352
353 354 355 356
357
358
359 360 361
362
�
370
371 372 373 374 375 376 377 378
379 380 381 382
383 384 385 386
388
389
APPENDICES
MELSEC-Q
Items of A1SD75
Md.1 In test mode flag Md.2 Module name Md.3 OS type
Md.4 OS version
Md.5 Clock data (hour: minute)
Md.6 Clock data (second: 100ms)
(Pointer number) Md.7 Start axis (QD75: Md.3 Start information)
Md.8 Operation type (QD75: Md.4 Start No.)
Md.9 Start Hour: minute (QD75: Md.5 Start Day: Hour)
Start history
Md.10 Start Second: 100ms (QD75: Md.3 Start Minute: second)
Md.11 Error judgment
Md.12 Start history pointer
(Pointer number) Md.13 Start axis
Md.14 Operation type Md.15 Start Hour: minute Md.16 Start Second: 100ms Md.17 Error judgment
Start history during errors
Md.18 Start history storage during error
(Pointer number) Md.19 Axis in which the error occurred
Md.20 Axis error No.
Md.21 Axis error occurrence Hour: minute (QD75: Md.11 Axis error occurrence (Day: Hour))
Md.22 Axis error occurrence Second: 100ms
(QD75: Md.12 Axis error occurrence (Minute: second)) Md.23 Error history pointer
Error history
Buffer memory address
A1SD75
QD75
Common for axis 1, 2, 3
Common for axis 1, 2, 3, 4
450
1200
451
�
452 453 454 455
�
456 457
�
460
�
461
�
(0) to (15)
462 to 537
1212 to 1287
463 to 538
1213 to 1288
464 to 539
1214 to 1289
465 to 540
466 to 541 542
(0) to (15) 543 to 618 544 to 619 545 to 620 546 to 621 547 to 622
623
624 to 684 625 to 685
(0) to (15)
1215 to 1290
1216 to 1291 1292 � � � � � � �
1293 to 1353 1294 to 1354
626 to 686
1295 to 1355
627 to 687 688
1296 to 1356 1357
Appendix - 66
APPENDICES
MELSEC-Q
Items of A1SD75
(Pointer number) Md.24 Axis in which the warning occurred
Md.25 Axis warning No.
Md.26 Axis warning occurrence Hour: minute
(QD75: Md.16 Axis warning occurrence (Day: Hour))
Warning history
Md.27 Axis warning occurrence Second: 100ms
(QD75: Md.17 Axis warning occurrence (Minute: second))
Md.28 Warning history pointer
Buffer memory address
A1SD75
QD75
Common for axis 1, 2, 3
Common for axis 1, 2, 3, 4
(0) to (15)
689 to 749
1358 to 1418
690 to 750
1359 to 1419
691 to 751
1360 to 1420
692 to 752 753
1361 to 1421 1422
Appendix - 67
APPENDICES
MELSEC-Q
Items of A1SD75
Md.29 Current feed value
Md.30 Machine feed value
Md.31 Feedrate Md.32 Valid M code Md.33 Axis error No. Md.34 Axis warning No. Md.35 Axis operation status Md.36 Current speed
Md.37 Axis feedrate Md.38 Speed-position switching control positioning
amount Md.39 External input/output signal Md.40 Status Md.41 Target value
Md.42 Target speed
Md.43 OP absolute position
Md.44 Movement amount after near-point dog ON Md.45 Torque limit stored value Md.46 Special start data instruction code setting value Md.47 Special start data instruction parameter setting
value Md.48 Start positioning data No. setting value Md.49 In speed limit flag Md.50 In speed change processing flag Md.51 Start data pointer being executed Md.52 Last executed positioning data No. Md.53 Repetition counter (QD75: Md.41 Special start repetition counter) Md.54 Positioning data No. being executed Md.55 Block No. being executed
Axis 1 800 801 802 803 804 805 806
807
808
809 810 811 812 813 814 815 816
817 818 819 820 821 822 823 824 825 826
827
828
829
830
831
832
833
834
835
836
Md.56 Positioning data being executed
838 to 847
A1SD75 Axis 2
900 901 902 903 904 905 906
907
908 909 910 911 912 913 914 915 916
917 918 919 920 921 922 923 924 925 926
927
928
929
930
931 932
933
934
935 936
938 to 947
Buffer memory address
Axis 3 1000 1001 1002 1003 1004 1005 1006
1007
1008
1009 1010 1011 1012 1013 1014 1015
1016
1017 1018 1019 1020 1021 1022 1023 1024 1025 1026
1027
Axis 1 800 801 802 803 804 805 808
806
807
809 810 811 812 813 814 815
816
817 818 819 820 821
�
824 825 826
827
1028
828
1029
829
1030
830
1031
831
1032
834
1033
837
1034
832
1035
1036 1038 to
1047
835 836 838 to 847
QD75 Axis 2
900 901 902 903 904 905 908 906 907 909 910 911 912 913 914 915 916 917 918 919 920 921
�
924 925 926 927
928
929 930 931 934 937
932
935 936
938 to 947
Axis 3 1000 1001 1002 1003 1004 1005 1008 1006 1007 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021
�
1024 1025 1026 1027
1028
1029 1030 1031 1034 1037
1032
1035 1036 1038 to 1047
Appendix - 68
APPENDICES
MELSEC-Q
Items of A1SD75
Cd.1 Clock data setting (hour) Cd.2 Clock data setting (minute, second) Cd.3 Clock data writing Cd.4 Target axis Cd.5 Positioning data No. Cd.6 Write pattern Cd.7 Read/write request Cd.8 Read/write positioning data I/F Cd.9 Flash ROM write request Cd.10 Parameter initialization request Cd.11 Positioning start No. Cd.12 Axis error reset Cd.13 Restart command Cd.14 M code OFF request
Cd.15 New current value
Cd.16 New speed value
Cd.17 Speed change request Cd.18 Positioning operation speed override
Cd.19 JOG speed
Cd.20 Speed-position switching enable flag Cd.21 Speed-position switching control movement
amount change register Cd.22 Manual pulse generator enable flag Cd.23 Manual pulse generator 1 pulse input
magnification Cd.24 OPR return request flag OFF request Cd.25 External start valid (QD75: Cd.8 External command valid) Cd.26 Step valid flag Cd.27 Step mode Cd.28 Step start information Cd.29 Skip command Cd.30 New torque value Cd.31 Positioning starting point No. Cd.32 Interrupt request during continuous operation
Cd.33 New acceleration time value
Axis 1
1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1163 1164 1165 1167 1168 1169 1170
A1SD75 Axis 2
Buffer memory address
Axis 3
Axis 1
1100
1101
1102
1103
1104
1105
1106
1108 to 1137
1138
1139
1200
1250
1500
1201
1251
1502
1202
1252
1503
1203
1204 1205 1206 1207
1208
1253
1254 1255 1256 1257
1258
1504
1506 1507 1514 1515
1516
1209 1210 1211 1213
1259 1260 1261 1263
1513 1518 1519 1528
1214 1215
1264 1265
1526 1527
1217
1267
1524
1218 1219
1268 1269
1522 1523
1220
1270
1521
1171
1221
1271
1505
1172 1173 1174 1175 1176 1178 1181 1184 1185
1222 1223 1224 1225 1226 1228 1231 1234 1235
1272 1273 1274 1275 1276 1278 1281 1284 1285
1545 1544 1546 1547 1525 1501 1520 1508 1509
QD75 Axis 2
� � � � � � � � � 1901 1600 1602 1603 1604 1606 1607 1614 1615 1616 1613 1618 1619 1628 1626 1627 1624 1622 1623 1621
1605
1645 1644 1646 1647 1625 1601 1620 1608 1609
Axis 3
1700 1702 1703 1704 1706 1707 1714 1715 1716 1713 1718 1719 1728 1726 1727 1724 1722 1723 1721 1705 1745 1744 1746 1747 1725 1701 1720 1708 1709
Appendix - 69
APPENDICES
MELSEC-Q
Items of A1SD75
Cd.34 New deceleration time value
Cd.35 Acceleration/deceleration time change during speed change, enable/disable selection Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No.
Axis 1 1186 1187
1188
A1SD75 Axis 2 1236 1237
1238
Buffer memory address
Axis 3 1286 1287
1288
Axis 1 1510 1511
1512
1300
2300
3300
2000
Da.9 M code/condition data
1301
2301
3301
2001
Positioning data 1
Da.8 Dwell time/JUMP destination positioning data No.
Da.7 Command speed
No.1
Da.5 Positioning address/movement amount
Da.6 Arc address
No.2
No.3 to
No.100
1302
1304 1305 1306 1307 1308 1309 1310 to 1319 1320 to 1329
to 2290 to
2299
2302
2304 2305 2306 2307 2308 2309 2310 to 2319 2320 to 2329
to 3290 to
3299
3302
3304 3305 3306 3307 3308 3309 3310 to 3319 3320 to 3329
to 4290 to
4299
2002
2004 2005 2006 2007 2008 2009 2010 to 2019 2020 to 2029
to 2990 to
2999
1: With the QD75, the positioning data buffer memory addresses are Nos. 1 to 600.
Refer to Appendix 13 "List of buffer memory addresses" for details.
QD75 Axis 2 1610 1611
1612
8000
8001
8002
8004 8005 8006 8007 8008 8009 8010 to 8019 8020 to 8029
to 8990 to
8999
Axis 3 1710 1711
1712
14000
14001
14002
14004 14005 14006 14007 14008 14009 14010 to 14019 14020 to 14029
to 14990 to
14999
Appendix - 70
APPENDICES
MELSEC-Q
Start block data 2
Items of A1SD75
Da.10 Shape Da.11 Start data No. Da.12 Special start
instruction Da.13 Parameter
2nd point 3rd point
to 50th point Da.14 Condition target
Da.15 Condition operator
Axis 1
A1SD75 Axis 2
Buffer memory address
Axis 3
Axis 1
QD75 Axis 2
Axis 3
1st point
4300 4350 4550 4600 4800 4850 26000 26050 27000 27050 28000 28050
4301 4351 4302 4352
to 4349 4399
4551 4601 4552 4602
to 4599 4649
4801 4851 4802 4852
to 4849 4899
26001 26051 26002 26052
to
26049 26099
27001 27051 27002 27052
to
27049 27099
28001 28051 28002 28052
to
28049 28099
4400
4650
4900
26100
27100
28100
Positioning start information 2
Da.16 Address Da.17 Parameter 1
No. 1
Condition data
Da.18 Parameter 2
No. 2
No. 3
to
No. 10
Indirect specification
Start No. 8001 Start No. 8002
to Start No. 8050
PLC CPU memo area
Condition judgment target data of the condition data
Target axis Head positioning block No. No. of read/write data items Read/write request Read/write block
4402 4403 4404 4405 4406 4407 4410 to 4419 4420 to 4429
to 4490 to
4499
4500 4501
to 4549
4652 4653 4654 4655 4656 4657 4660 to 4669 4670 to 4679
to 4740 to
4749
4750 4751
to 4799 5050
to 5099 5100 5101 5102 5103 5110 to 6109
4902 4903 4904 4905 4906 4907 4910 to 4919 4920 to 4929
to 4990 to
4999
5000 5001
to 5049
26102 26103 26104 26105 26106 26107 26110 to 26119 26120 to 26129
to 26190 to
26199
� � to �
27102 27103 27104 27105 27106 27107 27110 to 27119 27120 to 27129
to 27190 to
27199
� � to � 30000 to 30099 � � � � �
28102 28103 28104 28105 28106 28107 28110 to 28119 28120 to 28129
to 28190 to
28199
� � to �
2: With the QD75, it is called "block start data". 3: With the QD75, the "block start data" and "condition data" in the shaded area are called "start block 0". There are five start blocks: 0 to
4.
Positioning start
information
Refer to Appendix 13 "List of buffer memory addresses" for details.
Appendix - 71
APPENDICES
MELSEC-Q
(5) Data indication No. comparisons
The following table shows the comparisons of numbers for each symbols (Pr., Md., Cd., and Da.) indicating parameters or positioning data items. The shaded sections indicate the added or changed items with the QD75.
Parameters
Item Unit setting
A1SD75
QD75
Pr.1
No. of pulses per rotation (Ap)
Pr.2
Movement amount per rotation (Al)
Pr.3
Unit magnification (Am)
Pr.4
Pulse output mode Rotation direction setting Speed limit value
Pr.5
Pr.6
Pr.7
Pr.8
Acceleration time 0 Deceleration time 0 Bias speed at start
Pr.8 Pr.9 Pr.10
Pr.9 Pr.10 Pr.7
Stepping motor mode selection Backlash compensation amount Software stroke limit upper limit value
Pr.11 Pr.12 Pr.13
� Pr.11 Pr.12
Software stroke limit lower limit value Software stroke limit selection Software stroke limit valid/invalid setting
Pr.14 Pr.15 Pr.16
Pr.13 Pr.14 Pr.15
Command in-position width Torque limit setting value M code ON signal output timing
Pr.17 Pr.18 Pr.19
Pr.16 Pr.17 Pr.18
Speed switching mode Interpolation speed designation method Current feed value during speed control
Pr.20 Pr.21 Pr.22
Pr.19 Pr.20 Pr.21
Manual pulse generator selection Logic selection for pulse output to the drive unit Input signal logic selection
Pr.23 Pr.24
�
� � Pr.22
Output signal logic selection Manual pulse generator input selection Size selection for acceleration/deceleration time
� � Pr.25
Pr.23 Pr.24
�
Acceleration time 1 Acceleration time 2
Pr.26 Pr.27
Pr.25 Pr.26
Appendix - 72
APPENDICES
Item Acceleration time 3 Deceleration time 1 Deceleration time 2 Deceleration time 3 JOG speed limit value JOG operation acceleration time selection JOG operation deceleration time selection Acceleration/deceleration process selection S-curve ratio Sudden stop deceleration time Stop group 1 sudden stop selection Stop group 2 sudden stop selection Stop group 3 sudden stop selection Positioning complete signal output time Allowable circular interpolation error width External start function selection (QD75: Pr.42 External command function selection) Near pass mode selection for path control OPR method OPR direction OP address OPR speed Creep speed OPR retry OPR dwell time Setting for the movement amount after near-point dog ON OPR acceleration time selection OPR deceleration time selection OP shift amount OPR torque limit value Deviation counter clear signal output time Speed designation during OP shift Dwell time during OPR retry Speed-position function selection
MELSEC-Q
A1SD75 Pr.28 Pr.29 Pr.30 Pr.31 Pr.32 Pr.33 Pr.34 Pr.35 Pr.36 Pr.37 Pr.38 Pr.39 Pr.40 Pr.41 Pr.42
Pr.43
Pr.44 Pr.45 Pr.46 Pr.47 Pr.48 Pr.49 Pr.50 Pr.51 Pr.52 Pr.53 Pr.54 Pr.55 Pr.56
� Pr.57 Pr.58
�
QD75 Pr.27 Pr.28 Pr.29 Pr.30 Pr.31 Pr.32 Pr.33 Pr.34 Pr.35 Pr.36 Pr.37 Pr.38 Pr.39 Pr.40 Pr.41
Pr.42
� Pr.43 Pr.44 Pr.45 Pr.46 Pr.47 Pr.48 Pr.49 Pr.50 Pr.51 Pr.52 Pr.53 Pr.54 Pr.55 Pr.56 Pr.57 Pr.150
Appendix - 73
APPENDICES
Monitor data
Item In test mode flag Module name OS type OS version Clock data (hour: minute) Clock data (second: 100ms) Start axis (QD75: Md.3 Start information) Operation type (QD75: Md.4 Start No.) Start Hour: minute (QD75: Md.5 Start Hour) Start Second: 100ms (QD75: Md.6 Start Minute: second) Error judgment Start history pointer Start axis Operation type Start Hour: minute Start Second: 100ms Error judgment Start history storage during error Axis in which the error occurred Axis error No. Axis error occurrence Hour: minute (QD75: Md.11 Axis error occurrence (Hour)) Axis error occurrence Second: 100ms (QD75: Md.12 Axis error occurrence (Minute: second)) Pointer Axis in which the warning occurred Axis warning No. Axis warning occurrence Hour: minute (QD75: Md.16 Axis warning occurrence (Hour)) Axis warning occurrence Second: 100ms (QD75: Md.17 Axis warning occurrence (Minute: second)) Pointer
MELSEC-Q
Start history Start history during errors
Error history
Warning history
A1SD75
QD75
Md.1
Md.2
�
Md.3
�
Md.4
�
Md.5
�
Md.6
�
Md.7
Md.3
Md.8
Md.4
Md.9
Md.5
Md.10
Md.6
Md.11
Md.7
Md.12
Md.8
Md.13
�
Md.14
�
Md.15
�
Md.16
�
Md.17
�
Md.18
�
Md.19
Md.9
Md.20
Md.10
Md.21
Md.11
Md.22
Md.23 Md.24 Md.25
Md.26
Md.12
Md.13 Md.14 Md.15
Md.16
Md.27 Md.28
Md.17 Md.18
Appendix - 74
APPENDICES
Item No. of write accesses to flash ROM Current feed value Machine feed value Feedrate Valid M code Axis error No. Axis warning No. Axis operation status Current speed Axis feedrate Speed-position switching control positioning amount External input/output signal Status Target value Target speed OP absolute position Movement amount after near-point dog ON Torque limit stored value Special start data instruction code setting value Special start data instruction parameter setting value Start positioning data No. setting value In speed control flag In speed change processing flag Start data pointer being executed Last executed positioning data No. Repetition counter (QD75: Md.41 Special start repetition counter) Control system repetition counter Positioning data No. being executed Block No. being executed Positioning data being executed Deceleration start flag
MELSEC-Q
A1SD75 �
Md.29 Md.30 Md.31 Md.32 Md.33 Md.34 Md.35 Md.36 Md.37 Md.38 Md.39 Md.40 Md.41 Md.42 Md.43 Md.44 Md.45 Md.46 Md.47 Md.48 Md.49 Md.50 Md.51 Md.52 Md.53
� Md.54 Md.55 Md.56
�
QD75 Md.19 Md.20 Md.21 Md.22 Md.25 Md.23 Md.24 Md.26 Md.27 Md.28 Md.29 Md.30 Md.31 Md.32 Md.33
� Md.34 Md.35 Md.36 Md.37 Md.38 Md.39 Md.40 Md.43 Md.46 Md.41 Md.42 Md.44 Md.45 Md.47 Md.48
Appendix - 75
APPENDICES
Control data
Item Clock data setting (hour) Clock data setting (minute, second) Clock data writing Target axis Positioning data No. Write pattern Read/write request Read/write positioning data I/F Flash ROM write request Parameter initialization request Positioning start No. Axis error reset Restart command M code OFF request New current value New speed value Speed change request Positioning operation speed override JOG speed Inching movement amount Speed-position switching enable flag Speed-position switching control movement amount change register Position-speed switching enable flag Position-speed switching control speed change register Target position change request flag Target position change value (new address) Target position change value (new speed) ABS direction in degrees Manual pulse generator enable flag Manual pulse generator 1 pulse input magnification OPR request flag OFF request External start valid (QD75: Cd.8 External command valid)
MELSEC-Q
A1SD75 Cd.1 Cd.2 Cd.3 Cd.4 Cd.5 Cd.6 Cd.7 Cd.8 Cd.9 Cd.10 Cd.11 Cd.12 Cd.13 Cd.14 Cd.15 Cd.16 Cd.17 Cd.18 Cd.19 � Cd.20 Cd.21 � � � � � � Cd.22 Cd.23 Cd.24 Cd.25
QD75 � � � � � � � �
Cd.1 Cd.2 Cd.3 Cd.5 Cd.6 Cd.7 Cd.9 Cd.14 Cd.15 Cd.13 Cd.17 Cd.16 Cd.24 Cd.23 Cd.26 Cd.25 Cd.29 Cd.27 Cd.28 Cd.40 Cd.21 Cd.20 Cd.19 Cd.8
Appendix - 76
APPENDICES
Item Step valid flag Step mode Step start information Skip command New torque value Positioning starting point No. Interrupt request during continuous operation Simultaneous starting axis start data No. (Axis 1 start data No.) Simultaneous starting axis start data No. (Axis 2 start data No.) Simultaneous starting axis start data No. (Axis 3 start data No.) Simultaneous starting axis start data No. (Axis 4 start data No.) Teaching data selection Teaching positioning data No. New acceleration time value New deceleration time value Acceleration/deceleration time change during speed change, enable/disable selection Stop command processing for deceleration stop selection Deceleration start flag valid
MELSEC-Q
A1SD75 Cd.26 Cd.27 Cd.28 Cd.29 Cd.30 Cd.31 Cd.32 � � � � � � Cd.33 Cd.34 Cd.35 �
�
QD75 Cd.35 Cd.34 Cd.36 Cd.37 Cd.22 Cd.4 Cd.18 Cd.30 Cd.31 Cd.32 Cd.33 Cd.38 Cd.39 Cd.10 Cd.11 Cd.12 Cd.42
Cd.41
Appendix - 77
APPENDICES
Positioning data, block start data, condition data
Item
Operation pattern Control system Acceleration time No.
Positioning data
Deceleration time No. Axis to be interpolated Positioning address/movement amount
Arc address Command speed Dwell time/JUMP destination positioning data No.
Positioning start information
M code/condition data
Shape
Start block data
Start data No. Special start instruction
Parameter
Condition target
Condition operator
Condition data
Address
Parameter 1
Parameter 2
: Called "block start data" with the QD75.
MELSEC-Q
A1SD75
QD75
Da.1
Da.2
Da.3
Da.4
�
Da.5
Da.5
Da.6
Da.6
Da.7
Da.7
Da.8
Da.8
Da.9
Da.9
Da.10
Da.10
Da.11
Da.11
Da.12
Da.12
Da.13
Da.13
Da.14
Da.14
Da.15
Da.15
Da.16
Da.16
Da.17
Da.17
Da.18
Da.18
Da.19
Appendix - 78
APPENDICES
MELSEC-Q
(6) Input/output signal comparisons
Input signal comparisons
Name
Drive unit READY In-position signal Zero signal Manual pulse generator A phase Manual pulse generator B phase 1 Near-point dog signal Stop signal Upper limit Lower limit External start 2 Speed-position switching signal 2
A1SD75
Logic (initial status)
Logic switch with parameters
Negative logic
Not possible
Negative logic
Not possible
Negative logic
Not possible
Negative logic (multiple of 4)
Not possible
Negative logic
Not possible
Negative logic
Not possible
Negative logic
Not possible
Negative logic
Not possible
Negative logic
Not possible
Negative logic
Not possible
QD75
Logic (initial status)
Logic switch with parameters
Negative logic
Possible
�
�
Negative logic
Possible
Negative logic (multiple of 4)
Possible
Negative logic
Possible
Negative logic
Possible
Negative logic
Possible
Negative logic
Possible
Negative logic
Possible
Negative logic
Possible
Name
Command pulse 3 Deviation counter clear
Output signal comparisons
A1SD75
Logic (initial status)
Logic switch with parameters
Positive logic CW/CCW mode
Possible
Negative logic
Not possible
QD75
Logic (initial status)
Logic switch with parameters
Negative logic CW/CCW mode
Possible
Negative logic
Possible
1: Comparisons about manual pulse generator A phase/B phase
No. of connectable manual pulse generators
A1SD75 1 generator/1 axis
Mode selection (with parameter)
Not possible
QD75
1 generator/1 module
Possible Multiple of 1 mode, multiple of 4 mode,
PULSE/SIGN mode
2: With the QD75, the "external start signal" and "speed-position switching signal" are combined into the "external command signal".
3: Comparisons about command pulse Mode selection (with parameter) Max. command frequency
A1SD75
QD75
Possible PULSE/SIGN mode, A phase/B phase (multiple of 4) mode,
A phase/B phase (multiple of 1) mode, CW/CCW mode
Open collector: 200kpps Differential driver: 400kpps
Open collector: 200kpps Differential driver: 4Mpps(QD75D N) 1Mpps (QD75D )
Appendix - 79
APPENDICES
MELSEC-Q
Appendix 10 When using GX Works2
The following shows the procedure for positioning operation when GX Works2 is used.
Start
Starting GX Works2 Start GX Works2.
Creating a new project Create a new project.
Adding a module Add a module for the project.
(
GX Works2 Version1 Operating Manual (Common))
(
GX Works2 Version1 Operating Manual (Common))
(
Appendix 10.1 Adding a module)
Configure parameters
NO
and positioning data with
GX Works2?
YES
Setting parameters and auto refresh
(
Configure each setting with GX Works2.
Appendix 10.2 Setting parameters, Creating programs for parameters and data ( Appendix 10.3 Setting auto refresh) Create programs to set parameters and data.
CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL)
Programming and debugging Create and debug a program.
(
CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL)
Writing data to flash ROM Write data to the flash ROM.
Testing and tracing Test operation and trace waveform and location of positioning.
Starting operation
(
Appendix 10.9 Execution data backup function)
(
Appendix 10.5 Positioning test,
Appendix 10.6 Wave trace,
Appendix 10.7 Location trace)
Monitoring
Monitor the operating status of the QD75.
(
Appendix 10.4 Positioning monitor)
End
For details on the operation method of GX Works2, refer to the following. GX Works2 Version 1 Operating Manual (Common) For details on operation in GX Works2 for the QD75, refer to the following. GX Works2 Version 1 Operating Manual (Intelligent Function Module)
Appendix - 80
APPENDICES
MELSEC-Q
Appendix 10.1 Adding a module
Add the model name of the positioning module to be used in the project.
(1) Operating procedure
1. Open the "New Module..." dialog box. Project window Right-click [Intelligent Function Module] Module..."
"New
2. Configure settings Set the following items.
Item
Module Selection
Module Type Module Name
Mount Position Title Setting
Mounted Slot No.
Specify start X/Y address Title
Contents
Select "QD75 Type Positioning Module".
Select the model name of the module to be connected.
Select the number of the slot where the module is mounted.
The start I/O number (hexadecimal) of the module to be mounted on the slot set in "Mounted Slot No." is displayed. The value can be changed.
Enter a title.
Appendix - 81
APPENDICES
MELSEC-Q
Appendix 10.2 Setting parameters
Set parameters for the positioning module. By setting parameters, the parameter setting by sequence program is not needed.
Parameter setting
(1) Operating procedure
1. Open the "Parameter" window. Project window [Intelligent Function Module] "Parameter"
Module name
2. Configure settings Double-click the setting-target item and select or enter a value. Items with a pull-down list Double-click the item and select an item in the displayed pull-down list. Items without a pull-down list Double-click the item and enter a value.
For details on the setting items, refer to the following.
Parameter Basic parameters 1 Basic parameters 2 Detailed parameters 1 Detailed parameters 2 OPR basic parameters OPR detailed parameters
Reference Section 5.2.1 Section 5.2.2 Section 5.2.3 Section 5.2.4 Section 5.2.5 Section 5.2.6
Appendix - 82
APPENDICES
MELSEC-Q
Setting positioning data
(1) Operating procedure
1. Open the "Parameter" window. Project window [Intelligent Function Module] "Positioning_Axis_# _Data"
Module name
2. Configure settings. Double-click the setting-target item and select or enter a value. Items with a pull-down list Double-click the item and select an item in the displayed pull-down list. Items without a pull-down list Double-click the item and enter a value.
POINT
In the default status, the data displayed on "Positioning_Axis_# _Data" are only No. 1 to No. 100 of positioning data. To display the data No. 101 and later, change the display range under "Display Specification of Positioning data".
[Tool] [Options...] Positioning"
[Intelligent Function Module]
"QD75/LD75 Type
(Example) To display No.1 to No. 120 of positioning data
Appendix - 83
APPENDICES
MELSEC-Q
(2) Sub-function
Offline Simulation The locus and waveform of configured positioning data can be checked.
Automatic Command Speed Calculation Constant speed is automatically calculated by setting the time for positioning from the starting position to the target position.
Appendix - 84
APPENDICES
MELSEC-Q
Automatic Sub Arc Calculation The circular interpolation control data for two positioning data interpolation is automatically created, by selecting two positioning data and setting the radius.
M Code Comment Edit Set and display M code comments of the positioning module.
For details on each function, refer to the GX Works2 Version1 Operating Manual (Intelligent Function Module).
Appendix - 85
APPENDICES
MELSEC-Q
Setting block start data
(1) Operating procedure
1. Open the "Parameter" window. Project window [Intelligent Function Module] "Starting_Axis_# _Block_Data"
Module name
2. Configure settings. Double-click the setting-target item and select or enter a value. Items with a pull-down list Double-click the item and select an item in the displayed pull-down list. Items without a pull-down list Double-click the item and enter a value.
For details on the setting items, refer to Section 5.4 "List of block start data".
Appendix - 86
APPENDICES
MELSEC-Q
Appendix 10.3 Setting auto refresh
Transfer data in the buffer memory of the positioning module to specified devices in the CPU module. By setting auto refresh, reading by sequence program is not needed.
(1) Operating procedure
1. Open the "Auto_Refresh" window. Project window [Intelligent Function Module] "Auto_Refresh"
Module name
2. Enter devices. Click the text box of the item to be set, and enter the auto refresh target device.
POINT
To validate the auto refresh data after writing them into the CPU module, power off and then on or reset the CPU module.
Appendix - 87
APPENDICES
MELSEC-Q
Appendix 10.4 Positioning monitor
With the positioning monitor function, the QD75 operating status can be confirmed, and debugging can be performed.
The following five types of monitors are available in this function:
Axis Monitor
: The actual status of each axis can be monitored.
Starting History
: 16 starting history logs of operations such as positioning
operation, JOG operation, and manual pulse generator
operation can be monitored.
Error History
: 16 error history logs can be monitored.
Warning History
: 16 warning history logs can be monitored.
Module Information List : Signals and flag ON/OFF status of each axis can be
Axis Monitor
monitored.
(1) Operating procedure
1. Starting the "Positioning Monitor" window
Display the "Positioning Monitor" window.
[Tool] [Intelligent Function Module Tool] [QD75/LD75 Positioning
Module] [Positioning Monitor...]
By default, the "Axis Monitor" window is displayed. When displaying the "Axis Monitor" window from the status which another window is selected, proceed according to the 2. below.
Appendix - 88
APPENDICES
2. Switching to the "Axis Monitor" window Click the "Axis Monitor" button ( ) on the toolbar. The display switches to the "Axis Monitor" window.
MELSEC-Q
3. Selecting the monitor type Select the monitor type from the pull-down menu of "Monitor type".
"Operation monitor" "Operation monitor (Axis control)" "Operation monitor (Speed-position switching control)" "Operation monitor (Position-speed switching control)" "Operation monitor (OPR monitor)" "Operation monitor (JOG/manual pulse)"
Appendix - 89
APPENDICES
4. Selecting the monitor axis and monitor item 1) Click the Monitor Item Selection button. The "Monitor Item Selection" window is displayed.
MELSEC-Q
2) Select the of the axes and items to be monitored. The following shows the selectable monitor items for each monitor type.
� For "Operation monitor":
Monitor item
Current feed value
Axis feed speed
Axis operation status
Positioning data No. being executed
Positioning data being executed running pattern
Positioning data being executed control method
Positioning data being executed axis to be interpolated
Positioning data being executed acceleration time No.
Positioning data being executed deceleration time No.
Axis error No. ...
Axis warning No. ...
Valid M code
Symbol of reference buffer memory Md.20 Md.28 Md.26 Md.44
Reference
Md.47
Section 5.6.2
Md.23 Md.24 Md.25
Appendix - 90
APPENDICES
MELSEC-Q
� For "Operation monitor (Axis control)":
Monitor item Current feed value Axis feed speed Axis operation status Target value Machine feed value New current value New speed value Positioning operation speed override Step mode Step valid flag Speed change being processed flag Status speed change 0 flag External command valid Skip command
Symbol of reference buffer memory Md.20 Md.28 Md.26 Md.32 Md.21 Cd.9 Cd.14 Cd.13 Cd.34 Cd.35 Md.40 Md.31 Cd.8 Cd.37
Reference Section 5.6.2
Section 5.7.2 Section 5.6.2 Section 5.7.2
� For "Operation monitor (Speed-position switching control)":
Monitor item
Current feed value Axis feed speed Axis operation status Target speed Feedrate Current speed Positioning amount of speed and position switch control Speed-position switching control movement amount change register Status speed and position change latch flag Speed-position switching enable flag Status speed controlling flag
Symbol of reference buffer memory Md.20 Md.28 Md.26 Md.33 Md.22 Md.27
Reference Section 5.6.2
Md.29
Cd.23
Md.31 Cd.24 Md.31
Section 5.7.2
Section 5.6.2 Section 5.7.2 Section 5.6.2
� For "Operation monitor (Position-speed switching control)":
Monitor item
Current feed value Axis feed speed Axis operation status Target speed Feedrate Current speed Position-speed switching control speed change register Status position and speed change latch flag Position-speed switching enable flag Status speed controlling flag
Symbol of reference buffer memory Md.20 Md.28 Md.26 Md.33 Md.22 Md.27
Cd.25
Md.31 Cd.26 Md.31
Reference
Section 5.6.2
Section 5.7.2 Section 5.6.2 Section 5.7.2 Section 5.6.2
Appendix - 91
APPENDICES
MELSEC-Q
� For "Operation monitor (OPR monitor)":
Monitor item Current feed value Axis feed speed Axis operation status Movement amount after near-point dog ON Torque limitation stored value Status command in-position flag Status OPR request flag Status OPR complete flag External I/O signal lower limit External I/O signal upper limit External I/O signal zero signal External I/O signal near-point dog signal External I/O signal deviation counter clear
Symbol of reference buffer memory Md.20 Md.28 Md.26 Md.34 Md.35
Md.31
Md.30
Reference Section 5.6.2
� For "Operation monitor (JOG/manual pulse)":
Monitor item
Current feed value Axis feed speed Axis operation status Forward JOG start Reverse JOG start JOG speed JOG speed limit value JOG acceleration time JOG deceleration time Manual pulse generator enable flag Manual pulse generator input selection Manual pulse generator 1 pulse input magnification
Symbol of reference buffer memory or device No. of the output signal
Axis 1 Axis 2 Axis 3 Axis 4
Md.20
Md.28
Md.26
Y8
YA
YC
YE
Y9
YB
YD
YF
Cd.17
Pr.31
Pr.32
Pr.33
Cd.21
Pr.24
Cd.20
Reference
Section 5.6.2
Section 3.3.3 Section 5.7.2 Section 5.2.4 Section 5.7.2 Section 5.2.3 Section 5.7.2
3) Click the OK button to close the "Monitor Item Selection" window. The selected items are reflected to the "Axis Monitor" window.
Appendix - 92
APPENDICES
MELSEC-Q
Starting History (1) Operating procedure
1. Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool] [Intelligent Function Module Tool] Module] [Positioning Monitor...]
[QD75/LD75 Positioning
2. Switching to the "Starting History" window Click the "Starting History" button ( ) on the toolbar. The display switches to the "Starting History" window.
When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 starting histories can be monitored all the time. Also, the error details can be confirmed by clicking the error number. For details on the starting history, refer to Section 5.6.1.
Appendix - 93
APPENDICES
MELSEC-Q
Error History (1) Operating procedure
1. Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool] [Intelligent Function Module Tool] Module] [Positioning Monitor...]
[QD75/LD75 Positioning
2. Switching to the "Error History" window Click the "Error History" button ( ) on the toolbar.
The display switches to the "Error History" window.
When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 error histories can be monitored all the time. Also, the error details can be confirmed by clicking the axis error No.
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Warning History (1) Operating procedure
1. Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool] [Intelligent Function Module Tool] Module] [Positioning Monitor...]
[QD75/LD75 Positioning
2. Switching to the "Warning History" window Click the "Warning History" button ( ) on the toolbar. The display switches to the "Warning History" window.
When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 warning histories can be monitored all the time. Also, the warning details can be confirmed by clicking the axis warning No.
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Module Information List (1) Operating procedure
1. Starting the "Positioning Monitor" window Display the "Positioning Monitor" window. [Tool] [Intelligent Function Module Tool] Module] [Positioning Monitor...]
[QD75/LD75 Positioning
"Module Information List" window
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The status by each axis of the following items is displayed in the "Module Information List" window.
Monitor item
QD75 READY (X0) Synchronization flag (X1) M code ON Error detection BUSY Start complete Positioning complete PLC READY (Y0) Axis stop Forward JOG start Reverse JOG start Positioning start Execution prohibition flag External I/O signal lower limit External I/O signal upper limit External I/O signal drive unit ready External I/O signal stop signal External I/O signal external command External I/O signal zero signal External I/O signal near-point dog signal External I/O signal deviation counter clear External command valid Status speed controlling flag Status speed and position change latch flag Status command in-position flag Status OPR request flag Status OPR complete flag Status position and speed change latch flag Status axis warning detection Status speed change 0 flag
Device No. of the I/O signal device or symbol of the buffer memory to
be referred
Axis 1 Axis 2 Axis 3 Axis 4
X0
X1
X4
X5
X6
X7
X8
X9
XA
XB
XC
XD
XE
XF
X10 X11 X12 X13
X14 X15 X16 X17
Y0
Y4
Y5
Y6
Y7
Y8
YA
YC
YE
Y9
YB
YD
YF
Y10 Y11 Y12 Y13
Y14 Y15 Y16 Y17
Reference Section 3.3.2 Section 3.3.3
Md.30
Section 5.6.2
Cd.8
Section 5.7.2
Md.31
Section 5.6.2
Statuses turned ON are displayed in green by each axis.
Turns green when the signal is turned ON.
Also, at error occurrence, the axis in which the error occurred ("Error detection") is displayed in red. At occurrence of warning, the axis in which the warning occurred ("Status axis warning detection") is displayed in orange.
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Appendix 10.5 Positioning test
This function allows users to perform the following tests while monitoring the current status of the QD75. Positioning start test JOG/manual pulse generator/OPR test Speed change test Current value change test
Positioning start test
Test operation is performed by specifying the positioning data No. or point No. of the block start data.
(1) Operating procedure
1. Open the "Positioning Test" dialog box. [Tool] [Intelligent Function Module Tool] Module] [Positioning Test...]
[QD75/LD75 Positioning
Monitor current values such as the current feed value and feedrate.
Test each function while checking current values with the monitor.
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2. Select the test target axis. Select the test target axis from the pull-down menu of "Target Axis".
3. Select the function. Select "Positioning start signal" from the pull-down menu of "Select Function".
4. Perform positioning start test. 1) Select "Positioning Start Signal", "Block Start", or "Multiple Axes Simultaneous Start" for "Start Type". 2) Set positioning start data according to the setting for "Start Type". Positioning Start Signal: Set the positioning data No. Block Start: Set the block No. and point No. Multiple Axes Simultaneous Start: Set the multiple axes simultaneous start data No. Set "Step" and "External Command" as needed. Step To perform test operation by step start, check the "Start step" checkbox, select a step mode from the pull-down list, and click the Continue button. External Command To enable external commands or control switch, select the corresponding item and click the Set button. 3) Click the Starting button to perform test operation.
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JOG/manual pulse generator/OPR test
The following test can be performed when positioning control is debugged by the JOG operation test or manual pulse operation test. Direction check (forward run or reverse run) On/off status check of external input signals, such as upper/lower limit switches, zero
signal, or near-point dog signal Operation test of speed and acceleration/deceleration Measurement of backlash compensation amount for forward/reverse rotation Accurate address check and movement amount measurement In addition, the OP is established and the OPR basic and detailed parameters are corrected by the OPR test.
(1) Operating procedure
1. Open the "Positioning Test" dialog box. [Tool] [Intelligent Function Module Tool] Module] [Positioning Test]
[QD75/LD75 Positioning
Monitor current values such as the current feed value and feedrate.
Test each function while checking current values with the monitor.
2. Select the test target axis. Select the test target axis from the pull-down menu of "Target Axis".
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3. Select the function. Select "JOG/Manual Pulse Generator/OPR" from the pull-down menu of "Select Function".
1) Perform each operation. JOG operation Set "JOG speed" to "1" or more, "Inching Movement Amount" to "0" and click the Forward RUN or Reverse RUN button. Manual Pulse Generator operation Set "Manual pulse generator 1 pulse input magnification", select "Manual pulse generator enable flag" and use the manual pulse generator. OPR operation Select the OPR method from "Machine OPR" and "Fast OPR", and click the OPR button.
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Speed change test
The appropriate speed and acceleration/deceleration time can be checked by changing speed or acceleration/deceleration time or by performing override to the axis where the positioning start test, OPR test, or JOG operation test is performed.
(1) Operating procedure
1. Open the "Positioning Test" dialog box. Display the "Positioning Test" window. [Tool] [Intelligent Function Module Tool] Module] [Positioning Test]
[QD75/LD75 Positioning
Monitor current values such as the current feed value and feedrate.
Test each function while checking current values with the monitor.
2. Select the test target axis. Select the test target axis from the pull-down menu of "Target Axis".
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3. Select the function. Select "New Speed" from the pull-down menu of "Select Function ".
4. Execute the speed change test. 1) Execute the speed change function. New Speed Enter the new speed value during the startup of positioning start test or OPR test, and click the New Speed button. Override Enter the speed override value and click the Speed Override Change button. Acceleration/Deceleration Time Change Check the "Acceleration/deceleration time change enable" checkbox, set the acceleration time and deceleration time values, and click the New Speed button.
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Current value change test
The current feed value of the QD75 can be changed to the specified address.
(1) Operating procedure
1. Open the "Positioning Test" dialog box. [Tool] [Intelligent Function Module Tool] Module] [Positioning Test]
[QD75/LD75 Positioning
Monitor current values such as the current feed value and feedrate.
Test each function while checking current values with the monitor.
2. Select the test target axis. Select the test target axis from the pull-down menu of "Target Axis".
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3. Select the function. Select "Current Value Changing" from the pull-down menu of "Select Function".
1) Enter the new current value and click the Current Value Changing button.
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Appendix 10.6 Wave trace
This function displays the speed command (axis speed) in positioning operation in waveform data.
(1) Operating procedure
1. Open the "Wave Trace" dialog box. [Tool] [Intelligent Function Module Tool] Module] [Wave Trace]
[QD75/LD75 Positioning
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2. Select the module.
Click the Module Selection button. Select the positioning module to trace waves and click the OK button.
3. Set conditions.
Click the Condition Setting button. Read the displayed description, set each condition, and click the OK button.
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4. Start trace and display trace results. Click the Start Trace button to start trace. The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace, even if the trace completion conditions are not met. When the completion conditions are met and the trace is completed, the trace result is displayed.
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Appendix 10.7 Location trace
This function displays 2-axis interpolation control and simultaneous start (2-axes) in locus data.
(1) Operating procedure
1. Open the "Location Trace" dialog box. [Tool] [Intelligent Function Module Tool] Module] [Location Trace]
[QD75/LD75 Positioning
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2. Select the module.
Click the Module Selection button. Select the positioning module to trace locations and click the OK button.
3. Set conditions.
Click the Condition Setting button. Read the displayed description, set each condition, and click the OK button.
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4. Start trace and display trace results. Click the Start Trace button to start trace. The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace, even if the trace completion conditions are not met. When the completion conditions are met and the trace is completed, the trace result is displayed.
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Appendix 10.8 Parameter initialization function
The "parameter initialization function" is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set initial values.
The details shown below explain about the "parameter initialization function". [1] Parameter initialization means [2] Control details [3] Control Precautions [4] Parameter initialization method
[1] Parameter initialization means
Initialization is executed with a program. Initialization is executed by GX Works2.
Refer to GX Works2 Version1 Operating Manual (Intelligent Function Module) for the execution method by GX Works2.
[2] Control details
The following table shows the setting data initialized by the "parameter initialization function". (The data initialized are "buffer memory" and " flash ROM " setting data.)
Setting data Basic parameters ( Pr.1 to Pr.10 ) Detailed parameters ( Pr.11 to Pr.42 , Pr.70 , Pr.150 ) OPR basic parameters ( Pr.43 to Pr.48 ) OPR detailed parameters ( Pr.49 to Pr.57 ) Positioning data (No.1 to No.600)
Block start data (No.7000 to No.7004)
[3] Control Precautions
(1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal (Y0) is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY [Y0] is ON.
(2) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible, and an error "Flash ROM write error" (error code: 801) will occur.
(3) A "CPU module reset" or "CPU module power restart" must be carried out after the parameters are initialized.
(4) If an error occurs on the parameter set in the QD75 when the PLC READY signal [Y0] is turned ON, the QD75 READY signal [X0] will not be turned ON and the control cannot be carried out.
Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes required.) Do not turn the power ON/OFF; reset the CPU module, etc., during parameter initialization. If the power is turned OFF or the CPU module is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
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[4] Parameter initialization method
(1) Parameter initialization is carried out using the dedicated instruction "ZP.PINIT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.)
(2) Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO instruction /intelligent function device. The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory.
Setting item
Setting value
Setting details
Cd.2
Parameter initialization request
1
Set "1" (parameter initialization request).
Buffer memory address Axis Axis Axis Axis
1 2 3 4
1901
Refer to Section 5.7 "List of control data" for details on the setting details.
When the initialization is complete, "0" will be set in " Cd.2 Parameter initialization request" by the QD75 automatically.
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Appendix 10.9 Execution data backup function
When the QD75 buffer memory data is rewritten from the CPU module, "the data backed up in the QD75 flash ROM" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the programmable controller power is turned OFF. (Refer to CHAPTER 7.) In cases like these, the "execution data backup function" backs up the data being executed by writing it to the flash ROM. The data that was backed up is then written to the buffer memory when the power is turned ON next.
The details shown below explain about the "execution data backup function". [1] Execution data backup means [2] Control details [3] Control Precautions [4] Execution data backup method
[1] Execution data backup (written to flash ROM) means
The backup is executed with a program. The backup is executed by GX Works2.
Refer to GX Works2 Version1 Operating Manual (Common) for execution data backup method by GX Works2.
[2] Control details
The following shows the data that can be written to the flash ROM using the "execution data backup function".
Buffer memory
Flash ROM
Parameters ( Pr.1 to Pr.57 ,
Parameters ( Pr.1 to Pr.57 ,
Pr.70 , Pr.150 )
Pr.70 , Pr.150 )
Positioning data (No. 1 to No. 600)
Positioning data (No. 1 to No. 600)
Block start data (No. 7000 to 7004)
Block start data (No. 7000 to 7004)
[3] Control Precautions
(1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal (Y0) is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY [Y0] is ON.
(2) Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible, and an error "Flash ROM write error" (error code: 801) will occur.
(3) After one power ON/CPU module reset operation, writing to the flash ROM using a program is limited to up to 25 times. If the 26th writing is executed, an error "Flash ROM write number error" (error code: 801) will occur. If this error occurs, carry out the power OFF ON/CPU module reset operation again. Refer to Md.19 of Section 5.1.7 "Types and roles of monitor data" for details.
Important
Do not turn the power ON/OFF, reset the CPU module, during writing to the flash ROM. If the power is turned OFF or the CPU module is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
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[4] Execution data backup method
(1) Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "ZP.PFWRT". (Refer to CHAPTER 14 "DEDICATED INSTRUCTIONS" for details.)
(2) Refer to Section 7.2 "Data transmission process" for the data transmission processing at the backup of the execution data.
(3) Execution data backup can also be carried out by the writing of the data shown in the table below to the QD75 buffer memory using the TO instruction /intelligent function device.
The writing to the flash ROM is executed at the time point the data is written to the QD75 buffer memory.
Setting item
Setting value
Setting details
Buffer memory address
Axis Axis Axis Axis 1 2 3 4
Cd.1
Flash ROM write request
1 Set "1" (flash ROM write request).
1900
Refer to Section 5.7 "List of control data" for details on the setting details.
When the writing to the flash ROM is complete, "0" will be set in " Cd.1 Flash ROM write request" by the QD75 automatically.
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Appendix 10.10 External I/O signal logic switching function
This function switches the signal logic according to the external equipment connected to the QD75. For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic". When the drive unit READY, upper limit switch, and lower limit switch are used, ensure to use them with b-contact.
The details shown below explain about the "external I/O signal logic switching function".
[1] Parameter setting details [2] Precautions on parameter setting
[1] Parameter setting details
To use the "external I/O signal logic switching function", set the parameters shown in the following table.
Setting item
Setting details
Factory-set Buffer memory address initial value Axis 1 Axis 2 Axis 3 Axis 4
� Selection of logic of signals input from external source to QD75
b0
Lower limit
b1
Upper limit
b2
b3
Pr.22 Input signal logic selection
b4
b5
Drive unit
READY
Stop signal
0: Negative logic,
External
1: Positive logic
command signal
0
Zero signal
31 181 331 481
b6 b7 b8 b9 to b15
Near-point dog signal Unused Manual pulse generator input Unused
Set "0". 0: Negative logic, 1: Positive logic Set "0".
� Selection of logic of signals output from QD75 to external
source
Pr.23 Output signal logic selection
b0 b1 to b3
Command pulse 0: Negative logic,
signal Unused
1: Positive logic
Set "0".
0
b4
Deviation counter 0: Negative logic,
clear signal
1: Positive logic
b5 to b15
Unused
Set "0".
32 182 332 482
Refer to Section 5.2 "List of parameters" for the information on detail settings.
[2] Precautions on parameter setting
(1) The external I/O signal logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.)
(2) If each signal logic is set erroneously, the operation may not be carried out correctly. Before setting, check the specifications of the equipment to be used.
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Appendix 10.11 External I/O signal monitor function
The "external I/O signal monitor function" monitors the module's information and external I/O signal statuses in the module's detailed information which can be displayed on the system monitor of GX Works2.
The information that can be monitored are the module's information (same as the QD75 front "RUN", "ERR" LED indicators) and the following external I/O signals. Set the logic of the external I/O signals in " Pr.22 Input signal logic selection" and " Pr.23 Output signal logic selection".
0: OFF, 1: ON Axis-by-axis external I/O signals and module RUN, ERR. LEDs
indicates that drive unit ready of axis 1 is ON.
Refer to the following manual for the system monitor of GX Works2. GX Works2 Version1 Operating Manual (Common)
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Appendix 10.12 History monitor function
This function monitors starting history, error history, and warning history stored in the buffer memory of the QD75 during operation.
[1] Starting history
Sixteen starting history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored. When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time. This function allows users to check the operation sequence (whether the operations have been started in a predetermined sequence) at system start-up.
To monitor the starting history, register the QD75 to the "Intelligent Function Module Monitor Window". For details on the registration method and monitoring method, refer to the following. GX Works2 Version1 Operating Manual (Intelligent Function Module)
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[2] Error history, warning history
Sixteen error history logs and sixteen warning history logs can be monitored. When the number of logs exceeds 16, the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time.
To monitor the error history and warning history, register the QD75 to the "Intelligent Function Module Monitor Window". For details on the registration method and monitoring method, refer to the following. GX Works2 Version1 Operating Manual (Intelligent Function Module)
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Appendix 10.13 Checking errors
Error codes corresponding to the errors occurred in the QD75 can be checked on the following screen of GX Works2. Select the screen according to the purpose and usage. � "Module's Detailed Information" screen � "Error History" screen (for the QD75P N/QD75D N only)
(1) Checking errors on the "Module's Detailed Information" screen Select [Diagnostics] [System Monitor...] on GX Works2. Select QD75 for "Main Base" and click the Detailed Information button. The "Module's Detailed Information" screen for the QD75 appears and the error code, error details, and corrective actions can be checked.
Displays the latest error code. Displays error history.
Displays description of the error code that is currently selected under Error history and corrective action for the error.
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(2) Checking errors on the "Error History" screen. (for the QD75P N/QD75D N only) On the "Error History" screen, the error logs of the QD75 are displayed in a list together with the error logs of other modules. The logs can be output to a CSV format file. The error codes and the time of error occurrence can be checked even after the CPU module is powered off and then on or reset.
Select [Diagnostics] on GX Works2.
[System Monitor...]
System Error History button
(a) (b)
(c)
(a) Error History List Module error logs are displayed in a list.
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(b) Error and Solution, Intelligent Module Information
� Error and Solution Details of the selected in the "Error History List" and its corrective action are displayed.
� Intelligent Module Information The QD75P N/QD75D N status when the error selected in the "Error History List" occurred is displayed.
For the QD75P N/QD75D N, the following contents are displayed.
Item
Description
Start axis
The axis No. requested to start is stored.
Positioning start No.
The positioning start No. is stored.
Axis in which the error occurred The axis No. in which the error occurred is stored.
Axis error occurrence (Data No.) The data No. in which the error occurred is stored.
Current feed value
The current feed value (at the time of error) of the error axis is stored.
Input signals with PLC CPU(X0 -XF)
The status of input signals (X0 to XF) (at the time of error) is stored (in hexadecimal).
Input signals with PLC CPU(X10 -- The status of input signals (X10 to X1F) (at the time of error) is stored (in
X1F)
hexadecimal).
Output signals with PLC CPU(Y0 -- The status of output signals (Y0 to YF) (at the time of error) is stored (in
YF)
hexadecimal).
Output signals with PLC CPU(Y10 -- Y1F)
� Axis 1 drive unit READY signal � Axis 1 upper limit signal � Axis 1 lower limit signal � Axis 1 stop signal � Axis 1 external command signal � Axis 1 near-point dog signal � Axis 1 zero signal
� Axis 2 drive unit READY signal � Axis 2 upper limit signal � Axis 2 lower limit signal � Axis 2 stop signal � Axis 2 external command signal � Axis 2 near-point dog signal � Axis 2 zero signal
� Axis 3 drive unit READY signal � Axis 3 upper limit signal � Axis 3 lower limit signal � Axis 3 stop signal � Axis 3 external command signal � Axis 3 near-point dog signal � Axis 3 zero signal
� Axis 4 drive unit READY signal � Axis 4 upper limit signal � Axis 4 lower limit signal � Axis 4 stop signal � Axis 4 external command signal � Axis 4 near-point dog signal � Axis 4 zero signal
The status of output signals (Y10 to Y1F) (at the time of error) is stored (in hexadecimal). The status of axis 1 external input signals (at the time of error) is stored.
The status of axis 2 external input signals (at the time of error) is stored.
The status of axis 3 external input signals (at the time of error) is stored.
The status of axis 4 external input signals (at the time of error) is stored.
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(c) Create CSV File button The module error logs are output to a CSV format file.
POINT
(1) If errors frequently occur in the QD75P N/QD75D N, "*HST.LOSS*" (instead of an actual error code) may be displayed in the Error Code column.
(Display example)
If "*HST.LOSS*" is frequently displayed, set a larger value for the number of errors collected per scan in the PLC RAS tab of the PLC Parameter dialog box. For the setting, refer to the QnUCPU User's Manual (Function Explanation, Program Fundamentals).
(2) If the error occurred at the simultaneous start, the axis No. in which the error is detected is stored in the "Starting axis" in Error History.
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Appendix 11 MELSEC Explanation of positioning terms
1-2 PHASE EXCITATION SYSTEM
This is one system for exciting each stepping motor coil in a determined order. In this system, one phase and two phases are alternately excited.
Pulse input A phase
B phase
A phase
B phase
2-PHASE EXCITATION SYSTEM
This is one system for exciting each stepping motor coil in a determined order. In this system, a current constantly flows to 2 phases to carry out step feed.
Pulse input
A phase 90�
B phase
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Forward run
Reverse run
Pulse count
(addition)
(subtraction)
2-SPEED TRAPEZOIDAL CONTROL
In this positioning control method, the positioning pattern, positioning addresses (P1, P2), and positioning speeds (V1, V2) are set in the sequence program. Positioning is carried out to positioning address P1 by issuing the 1st positioning start command. When P1 is reached, the positioning then automatically changes to positioning at the V2 speed.
Speed
Positioning speed V1 Positioning speed V2 Positioning address P2
A phase B phase A phase B phase
Time
Positioning address P1
2-PHASE PULSE
An A phase and B phase double pulse. There is a phase difference between the two phases, so that difference can be automatically added and subtracted in the pulse count. The standard phase difference is a 90� electrical angle. If the B phase were to lag behind the A phase in a forward run (B phase turns ON after the A phase), the A phase would lag behind the B phase in a reverse run (A phase turns ON after the B phase). In this way the forward and reverse run (addition and subtraction) can be automatically carried out.
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ABSOLUTE ENCODER
This is a detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360� in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power failure occurs. However, with absolute encoders, the axis position is not lost even when a power failure occurs. Various codes such as a binary code and BCD code can be output. Absolute encoders are more expensive, more accurate, and larger than incremental encoders. Refer to "ENCODER".
Slit disk Phototransistor
Fixed slit 2201 Light-emitting diode
2234
24
23
22
Rotating 2 1
axis
20
Binary code
ABSOLUTE POSITION DETECTION SYSTEM
In the absolute position detection system, once an OPR is carried out at the system startup, the system stores the machine position in the memory and retains the current position even when the power is turned OFF. Mechanical deviation will be compensated, so that the OPR is not required after the power is turned ON next time. Configuring this system requires a motor with an absolute position detector and a servo amplifier and positioning module compatible with an absolute position detection system.
ABSOLUTE SYSTEM
This is one system for expressing a positioning address. Absolute address system. This system uses 0 as a reference, and expresses the address as the distance from 0. The direction is automatically determined, even when it is not designated. The other address system is the increment system.
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0
No.1
No.2
No.3
ACCELERATION TIME
The parameter acceleration time refers to the time from a stopped state to the time the speed limit value is reached, so it becomes proportionally shorter as the setting speed decreases. The acceleration time is determined by factors such as machine inertia, motor torque, and load resistance torque.
Speed limit value
Setting speed
Speed 0 Acceleration time
Time
ADDRESS
1) This is a numerical value to express the positioning position, designated in mm, inch, angle, or No. of pulse units.
2) The memory address. Many addresses are stored in the memory. An address is read or written after it is designated.
AFTER mode
This is the mode that outputs the M code after positioning is complete (after stopping). Clamping can be commanded, drilling dimensions can be selected, etc., with this mode.
No.10
Positioning
No.11 M code (8)
ON
OFF
Clamp command
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AUTO TUNING (Automatic Tuning)
Properties such as responsiveness and stability of machines driven with a servomotor are affected by changes in the inertia moment and rigidity due to changes in the machine load, etc. This function automatically adjusts the speed loop gain and position loop gain to match the machine state, so the machine's performance can be maintained at its optimum state. A real time automatic tuning function should be used for machines having large load fluctuations.
BACKLASH COMPENSATION
When a forward run operation changes to a reverse run operation, there is sometimes play (backlash) in the mesh of the toothed gears. This also occurs when using a worm gear. Because of this backlash, a left feed of 1m carried out after a right feed of 1m will not be sufficient to return the machine to its original position. The machine cannot be positioned to its original position without an extra feed equivalent to the backlash amount. This function compensates for that backlash amount.
Forward run
MELSEC-Q
BACKUP FUNCTION
Backup functions consist of the following. 1) Functions for storing the sequence program
and device statuses stored in the RAM memory of the CPU module, so that they are not lost during power failures, etc. 2) Functions for storing the current value in absolute position compatible systems so that it is not lost during power failures, etc. 3) Functions for reading the CPU module data (programmable controller programs, parameters, positioning data, etc.) by a peripheral device when the old CPU module is replaced, and then write it to the new CPU module after the replacement is completed.
BALL SCREW
This is a type of screw, with balls lined up in the threads like ball bearings. This reduces backlash, and enables rotation with little force.
Female thread
Male thread
Backlash
BIAS SPEED AT START
A large amount of torque is required when the machine starts moving, but the torque may be unstable at speed 0 with stepping motors. Therefore, movement can be smoothly carried out by starting the movement at a given speed from the beginning. The bias speed at start is the speed set at that start.
Full speed
Speed 0
Bias speed
Appendix - 126
APPENDICES
MELSEC-Q
BIPOLAR DRIVE CONSTANT-CURRENT SYSTEM
This is one system for driving a stepping motor. In this method, the orientation of the excitation current flowing to the stator coil is reversed, and the excitation current direction is in both the positive and negative direction. This enables the motor coil to be used effectively, and a large output torque can be obtained at low speeds.
A phase
CHANGE signal
The CHANGE signal is an external signal used to switch the speed-position control from the speed control being executed to position control.
CIRCULAR INTERPOLATION
Automatic operation in which the machine path makes a circle when positioning is carried out by simultaneously operating both the longitudinal feed and latitudinal feed motors. The normal unit is 90�. Round shapes can be created with this type of interpolation, and obstacles in the machine path can also be avoided. Refer to the terms "INTERPOLATION OPERATION" and "LINEAR INTERPOLATION"
Bipolar drive basic circuit (bridge method)
BUFFER MEMORY
Memory used to temporarily store data. Before writing external data to the CPU module data memory, it is first temporarily stored in the buffer memory to be used for operation by the program. The buffer memory is used by the positioning module because the latest data can be read and written.
CPU module
Positioning module
Bus
Data
Data is written/read
memory using the following
instructions:
Write : TO Read : FROM
Buffer memory
External data
BUSY
The device is doing some other work. It is in a positioning operation or in dwell time.
CCW (Counterclockwise)
Rotation in the counterclockwise direction. In the motor, this is determined looking from the shaft end side. Also refer to "CW".
Obstacle
A
B
C
D
Collision
COMMAND PULSE
Refer to term "FEEDBACK PULSE".
COMPOSITE SPEED
The movement speed for the target control during interpolation operations.
Y axis speed
Composite speed X axis speed
CONTROL UNIT
This is one type of positioning reference data. The unit to be used is designated as mm, inch, degree, or pulse.
CP CONTROL (Continuous Path Control)
Continuous path is a control method in which a path is followed without interrupting such as in uniform speed control.
Appendix - 127
APPENDICES
CREEP SPEED
A speed at which the machine moves very slowly. It is difficult for the machine to stop accurately when running at high speed, so the movement must first be changed to the creep speed before stopping. Refer to the term "NEAR-POINT DOG".
CURRENT FEED VALUE
The OP address at the completion of the machine OPR is stored. The position currently being executed is stored. This value changes when the current value is changed.
CURRENT LOOP MODE
One of the servo control modes in positioning. Mode which uses current for torque control. Also called the torque loop mode. Refer to the section of "position loop mode".
CURRENT VALUE
This is the current address (position) when stopped or during positioning.
CW (Clockwise)
Rotation in the clockwise direction. Rotation in the clockwise direction looking from the motor shaft end side.
D/A CONVERTER (Digital-to-Analog converter)
A device having a function to convert the digital value expressing the No. of pulses to an analog value expressing the voltage (or current).
MELSEC-Q
DATA NO.
To carry out positioning to 2 or more addresses, each position is assigned a sequence No. such as No. 1, No. 2, No. 3, etc. The positioning is then carried out following this sequence. The QD75 is capable of positioning up to No. 600.
No.2
No.4
No.6
No.1
No.5
No.3
DECELERATION RATIO
A ratio used when the machine is decelerated using a toothed gear. This ratio is a numeral larger than 1.
Deceleration ratio
=
Input gear speed Output gear speed
DECELERATION TIME
The parameter deceleration time is the same value as the acceleration time. Deceleration time refers to the time from the speed limit value to a stopped state, so it becomes proportionally shorter as the setting speed decreases.
Speed limit value
Setting speed
Speed 0
Time Deceleration time
No. of pulses
D/A
0 to 80,000
pulses/second
Voltage 0 to �10V.
Appendix - 128
APPENDICES
MELSEC-Q
DEVIATION COUNTER
Deviation counters have the following two functions. 1) To count the command pulses issued from
the QD75, and transmit the count value to the D/A converter. 2) To subtract the feedback pulses from the command pulses, and run the motor by the deviation value (droop pulse) of the command pulses and feedback pulses until the command pulses reaches 0.
Command
pulses
Deviation
counter
D/A convertor
Motor
DOG SIGNAL
The near-point dog of the OPR.
DRIVE UNIT
The commands (such as pulses) output from the positioning module are low-voltage, lowcurrent commands with insufficient energy to run the motor. The drive unit increases the width of these commands so the motor can be run. It is an accessory on servomotors and stepping motors. Also called a servo amplifier.
Feedback pulses
PLG Encoder
Positioning module
Drive unit
Motor
DIFFERENTIAL OUTPUT TYPE
This is one type of encoder feedback pulse output. When one signal is output with this method, a companion signal having the reverse polarity is simultaneously output. This method enables high-frequency transfer, and is resistant to noise, etc., so it is also used in high-speed signal transfer such as inputting and outputting of pulse trains. In general, the transmission side is called the driver, the reception side is called the receiver, and a dedicated IC is used.
Command device
Servo amplifier
Driver
Receiver
Power supply
DRIVE UNIT READY
This signal is output when the drive unit for the motor is in a READY state. This signal remains OFF when the drive unit power is OFF, or during faults, etc.
DROOP PULSE
Because of inertia (GD2) in the machine, it will lag behind and not be able to track if the positioning module speed commands are issued in their normal state. Thus, for a servomotor, a method is used in which the speed command pulses are delayed by accumulation in a deviation counter. These accumulated pulses are called the droop pulse. The deviation counter emits all pulses and returns to 0 when the machine stops.
DIGITAL BUS CONNECTION
Commands are generally output from the positioning module to the servo amplifier as a pulse train. Recently, however, devices are being digitalized. Accompanying that, a connection method has appeared in which the bus lines of both the positioning module and the servo amplifier CPUs are connected. This has enabled the construction of higheraccuracy, higher-speed systems. The MELSEC A70D, AD774M, A171SCPU, A273UCPU etc., models employ this digital bus connection.
1,000 200 pulses
800
pulses accumulate in the
pulses
D/A
counter
Voltage
DWELL TIME
This is the time taken immediately after the positioning is completed to adjust for the droop pulses in the deviation counter. The positioning will not be accurate if this time is too short.
Appendix - 129
APPENDICES
DYNAMIC BRAKE
When protection circuits operate due to power failures, emergency stops (EMG signal) etc., this function is used to short-circuit between servomotor terminals via a resistor, thermally consume the rotation energy, and cause a sudden stop without allowing coasting of the motor. Braking power is generated by electromagnetic brakes only when running motors with which a large brake torque can be obtained. Because electromagnetic brakes have no holding power, they are used in combination with mechanical brakes to prevent dropping of the vertical axis.
ELECTROMAGNETIC BRAKE
This function is supplied on motors with electromagnetic brakes. Electromagnetic brakes are used to prevent slipping during power failures and faults when driving a vertical axis, or as a protective function when the machine is stopped. These brakes are activated when not excited.
ELECTRONIC GEAR
This function electrically increases/decreases the command pulses from the pulse command module by 1/50 to 50-fold. Thus, the positioning speed and movement amount can be controlled by the electronic gear ratio magnification.
EMERGENCY STOP
Emergency stops cannot be carried out by the QD75, so a method of shutting OFF the servo side power supply from outside the programmable controller, etc., must be considered.
MELSEC-Q
ENCODER
This device turns the input data into a binary code of 1 (ON) and 0 (OFF). A type of pulse generator.
For the main For the zero
signal
point signal
Ball bearing
Code disk
Z
Input axis
A
B
Photoreceptor (phototransistor)
Index scale
Light source (light-emitting diode)
Rotary encoder
Light source
(LED)
Collimator lens
Main scale
a
Reference zero point Index
b
z
scale
b
Photoreceptor (photodiode)
a
Linear encoder
ERROR CORRECTION
If a dimension error occurs in the machine, and that error is actually smaller or larger than 1m in spite of a 1m command being issued from the QD75, that error amount will be compensated. For example, when the error is actually smaller than 1m, the remaining distance to 1m is fed, and the correct 1m of positioning is carried out.
ERROR RESET
This resets error of axis. Note that if the cause of the error is not eliminated at that time, the error will occur again.
Appendix - 130
APPENDICES
EXTERNAL REGENERATIVE BRAKE RESISTOR
This is also called the regenerative brake. When a machine is moved with a motor, power is normally supplied to the motor from an amplifier. However, the rotation energy in the motor and machine counterflows (regenerates) to the amplifier when the motor is decelerating or when driving a descending load. The external regenerative resistor consumes this regeneration energy with resistance, obtains the regenerative brake torque, and enables the full capacity of the regeneration system during stopping. It is used when carrying out highly repetitive acceleration/deceleration.
F
In the QD75, F is a status where the module itself has a fault. [HOLD]
FAST OPR
The axis returns to the machine OP at the OPR speed without detecting the near-point dog. (This is not validated unless a machine OPR has been carried out first.)
OPR speed
OP
Dog switch
FEED PULSE
This is a pulse issued from the positioning module to a servomotor or stepping motor. Also called a command pulse.
MELSEC-Q
FEED SCREW
This is the basic screw in mechanisms that position using screw rotation. Ball screws are often used to reduce backlash and dimension error.
1 rotation by the motor
Positioning
feed screw
Lead (feedrate per screw rotation)
FEEDBACK PULSE
This is a method of using a returning pulse train to confirm whether the machine faithfully operated according to the commands issued in automatic control. If the machine did not faithfully operate according to the commands, a correction command is issued. For example, if a command is issued for 10,000 pulses, and a feedback pulse of 10,000 pulses is returned, then the balance becomes 0 and it can be judged that the command was faithfully followed. Refer to the term "DEVIATION COUNTER".
FIXED-FEED
This is the feeding of a set dimension for cutting sheet and bar workpieces into the designated dimensions. Incremental system positioning is often used. The current value is not incremented, even when the feed operation is repeated.
FLASH MEMORY
This battery-less memory can be used to store parameters and positioning data for backup. Because it is battery-less, battery maintenance is not required
FLAT TYPE MOTOR (PANCAKE MOTOR)
About 100mm shorter in axial dimension than the standard motor. Used when the servomotor is installed in a small space.
Appendix - 131
APPENDICES
MELSEC-Q
FLS SIGNAL (forward limit signal)
This is the input signal that notifies the user that the limit switch (b contact configuration, normally ON) installed at the upper limit of the positioning control enabled range has been activated. The positioning operation stops when the FLS signal turns OFF (non-continuity).
G CODE
These are standardized (coded) 2-digit numerical values (00 to 99) designating various control functions of the NC module. Also called G functions. Example :
G01 Linear interpolation G02 Circular interpolation CW (clockwise) G04 Dwell G28 OPR G50 Max. spindle speed setting
GAIN
The changing of the ratio between two values having a proportional relation. Seen on a graph, the changing of the incline of the characteristics.
Raising
13
the gain
10
Output
2
Input
10
Lowering the gain
For example, when 10 is output for an input of 10, the output can be changed to 12, 5, etc., by changing the gain.
GD2
The inertia moment. The sum total of the mass (dm) of each small area configuring an object multiplied by the square of the distance (r) of each of those areas from a given straight line. The relation with I = r2dmGD2 is given by 4gI,
with "g" being gravitational acceleration.
INCREMENTAL ENCODER
A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types output only A pulses, and do not indicate the axis rotation direction. 2-phase types output both A and B pulse trains, and can judge the rotation direction. The direction is judged to be forward if the B pulse train turns ON when A is ON, and judged to be reverse if A turns ON when B is ON. There is also another type of incremental encoder with a zero signal. The most commonly used incremental encoders output between 100 and 10,000 pulses per axis rotation. Refer to "ENCODER".
A signal slit Slit disk
Phototransistor
Rotating axis
B signal slit
Light-emitting diode A
B
Z
Zero signal slit
1 pitch
1 4
A pitch
B
Zero signal
1 pulse per axis rotation
Output waveform 2-phase + OP output
INCREMENTAL SYSTEM
The current value is 0 in this system. Positions are expressed by the designated direction and distance of travel. Also called the relative address system. This system is used in fixedfeed, etc. Compare ABSOLUTE SYSTEM.
Stop
No.1
No.2
No.3
0
0
Right
0
Left
Right No. 2 is several millimeters to the right of No. 1.
INERTIA
The property of an object, when not being affected by external forces, where it tries to maintain its current condition. The inertia moment.
Appendix - 132
APPENDICES
MELSEC-Q
INPUT TERMINAL
This is a pin connector wired by the user for inputting data to the QD75 from an external source. It is connected to the motor drive unit or machine side. This terminal is used to output the following.
DRIVE UNIT READY signal START signal STOP signal , etc. The input No. Xn is not directly related to the program, so it is not used.
INTERLOCK
In this condition, the machine is blocked from moving to the next operation until the operation in progress is complete. This function is used to prevent damage to devices and malfunctioning.
Y1
Y0
Forward run
Y0
Y1
Reverse run
kPPS
This is the abbreviation for "kilopulses per second". 80kPPS equals 80,000 pulses per second.
LIMIT SWITCH
This is a switch set to stop a moving object at both ends, etc., of a movement device for safety reasons. A circuit is created in which the moving body itself presses against the switch to activate the contact and forcibly shut the power OFF. For example, pressing on the actuator in the drawing below activates the internal microswitch. There are various other types.
Push plunger
Rubber cap Lead
Actuator Case
NC NO COM
Microswitch
INTERPOLATION OPERATION
The simultaneous operation of multiple motors to carry out a composite operation. Each motor can be freely set with the positioning distance, acceleration/deceleration time, speed, and other factors, which are combined to move a target in a straight line, circle, etc. Linear interpolation and circular interpolation are available. (The circular interpolation uses two motors.)
INVERTER
This refers to a device to change a direct current (DC) to an alternating current (AC). The device actually changes the motor speed by changing 50Hz or 60Hz of commercial frequency to direct current once, then changing it again to a 5 to 120Hz alternating current and controlling the motor speed.
JOG
Jog. This refers to moving the tool little by little. Inching. Parameter setting is required to carry out JOG operation.
LINEAR INTERPOLATION
This automatic operation simultaneously operates two motors for the latitudinal (X) feed and longitudinal (Y) feed to move a target in a diagonal line for positioning. Three or four motors can also be operated simultaneously. The QD75 combines the operation of axis 1 through 4 for the linear interpolation. The same positioning data No. must be used for the setting. Refer to the term "INTERPOLATION OPERATION".
No.9
Longitudinal feed
3 2
No.8 Latitudinal feed
No.1
4
5
6
7
LOAD INERTIA RATIO
GDL2/GDM2 Refer to "GD2".
Appendix - 133
APPENDICES
LOW-INERTIA MOTOR
This is a motor used when frequent acceleration/deceleration is repeated. Lowinertia motors are longitudinally longer, to decrease the rotor diameter and cover the torque. This enables their inertia moment to be reduced up to 1/3 that of standard motors. The ideal load inertia ratio is 1 or less.
M CODE (Machine Code)
These are sub functions that interlock with the positioning operation to replace drills, tighten and loosen clamps, raise and lower welding electrodes, display various data, etc. Either of two modes can be entered when the machine code turns ON: AFTER or WITH. The machine does not move to the next positioning when the machine code is ON. M codes are turned OFF by the programmable controller program. Code Nos. from 1 to 65535 assigned by the user and used (1: Clamp, 2: Loosen, etc.). Comments can be written after 50 of the M codes, and they can be monitored using a peripheral device or displayed on an external display. Refer to "AFTER MODE" and "WITH MODE".
MACHINE FEED VALUE
The OP address at the completion of the machine OPR is stored. The current position of the machine coordinates determined by a machine having the OP address as a reference. Even if the current value is changed, this value will not change.
MANUAL PULSE GENERATOR
The handle of this device is manually rotated to generate pulses. This device is used when manually carrying out accurate positioning.
MELSEC-Q
MASTER AXIS
When carrying out interpolation operations, this is the side on which the positioning data is executed in priority. For example, when positioning with the X axis and Y axis, the side with the largest movement distance will become the master axis, and the speed will follow that axis. The slave axis speed will be ignored.
MOVEMENT AMOUNT PER PULSE
When using mm, inch, or degree units, the movement amount is calculated and output from the machine side showing how much the motor shaft moves per pulse. Positioning accuracy in smaller units is not possible. On the motor side, the movement amount per axis rotation is normally designed as a reference, so it is calculated as follows. Movement amount per pulse =
P rate Movement amount
No. of pulses per per rotation encoder rotation
Amount the motor moves (travel) per pulse.
MULTI-PHASE PULSE
A combination of pulses in which 2 or more phases differ. 2-phase pulses, etc.
A phase
B phase
Z phase (ZERO signal)
Phase difference
MULTIPLYING RATE SETTING
The P rate. Refer to the term "P RATE".
Made by Mitsubishi Electric Corp. (model: MR-HDP01)
Appendix - 134
APPENDICES
NC LANGUAGE (Numerical Control Language)
This is the language punched into the paper tape that instructs the machining to the NC module. The NC language consists of EIA codes (EIA language), ISO codes (ISO standards), and JIS codes (JIS standards).
NEAR-POINT DOG
This is a switch placed before the OP. When this switch turns ON, the feedrate is changed to the creep speed. Because of that, the time that this switch is ON must be long enough to allow for the time required for deceleration from the feedrate to the creep speed.
Feedrate
Time
Creep speed
ON
OFF
Near-point dog
NEW CURRENT VALUE (CURRENT VALUE CHANGING)
The QD75 has no way of knowing the current value when the machine is assembled and the positioning module is connected, so this function is used to teach it a temporary approximate value as the current value. This function can also be used to write a temporary current value when the current value has been lost due to accidents, etc. If an OPR is carried out after that, the positioning module will recognize the zero point. To prevent the accumulated value from exceeding the stroke limit in fixed-feed, etc., rewrite the current value to 0 after the fixedfeed. The current value can be changed during a positioning stop.
MELSEC-Q
OP
This is the reference position for positioning. Positioning cannot start without a reference point. The OP is normally set to the upper or lower stroke limit.
This point is the reference.
OP
OP SHIFT FUNCTION
The OP position can be shifted in the positive or negative direction by executing a machine OPR and determining the shift amount from the machine OPR complete position. An OP can be set at a position besides the OP position, or outside the dog switch.
OPERATION PATTERN
The kind of operation to be carried out after executing the positioning data is determined. 1) If "POSITIONING COMPLETE" is selected,
the operation will stop after the positioning is complete. 2) If "CONTINUOUS POSITIONING CONTROL" is selected, the next data No. will be automatically executed after the positioning is complete. 3) If "CONTINUOUS PATH CONTROL" is selected, the positioning will not be completed. Only the speed will be automatically changed, and the next data No. will be executed.
OPR METHOD
The OPR methods are shown below. The method used depends on the machine structure, stopping accuracy, etc. OPR can be carried out when the OPR parameters are written. 1) Near-point dog method 2) Stopper method 3) Count method
Appendix - 135
APPENDICES
MELSEC-Q
OPR PARAMETER
This parameter is required when returning to the OP. It is determined by the machine side design, so subsequent changes of this parameter must be accompanied by changes in the machine design. The OP is the reference for positioning operations, so if the OP is lost due to a power failure during positioning, or because the power is turned OFF and the machine is moved manually, etc., it can be restored by carrying out an OPR. When a machine OPR command is issued, the machine will move in search of the near-point dog regardless of the current value, and will stop at the OP. At this time, the current value will be rewritten to the OP address. Data cannot be written during positioning. With the QD75, data is always written for all axes (from 1 to 4 axes). Refer to the term "NEAR-POINT DOG".
OPR REQUEST
This signal turns ON when there is an error with the QD75. It will turn ON in the following situations. 1) When the power is turned ON. 2) When the PLC READY signal turns from
OFF to ON. 3) When the machine OPR starts. 4) When the drive unit READY signal turns
from ON to OFF. The user judges whether to carry out a machine OPR in the above situations.
OVERRIDE FUNCTION
With this function, the speed during positioning operations (current speed) can be varied between 1 and 300%. The speed can also be changed by the same variable rate for continuous positioning with differing designated speeds.
P RATE (Pulse Rate)
A coefficient that magnifies the feedback pulses per motor shaft rotation by 2-fold, 3fold, 1/2 or 1/3. It is the ratio of the feed pulses and feedback pulses. For example, when the No. of pulses per motor shaft rotation is set to 2400 pulses, and the P rate is set to 2, the result will be equivalent to 1200 pulses. The rotation per pulse is 0.15� when 2400 pulses per rotation are set, but this becomes 0.3� when 1200 pulses. The positioning accuracy drops as the P rate is increased.
PARAMETER
This is the basic data used in positioning. Parameters are determined by the machine side design, so subsequent changes of parameters must be accompanied by changes in the machine design. Data cannot be written during positioning. The initial parameter values are written by the maker.
OUTPUT TERMINAL
This is a pin connector for outputting data from the QD75 to an external source. It is connected to the motor drive unit. This terminal is used to output the following.
Feedback pulses for both forward run and
reverse run Start Deviation counter clear The terminal Nos. are determined for each axis. The output No. Yn is not directly related to the program, so it is not used.
PG0 (Pulse Generator Zero)
Pronounced "pee-jee-zero". Refer to the term "ZERO SIGNAL".
Feedback pulses
1 axis rotation
PG0
POSITION CONTROL
This is mainly the control of position and dimension, such as in fixed-feed, positioning, numerical control, etc. This is always controlled with feed pulses. There is also speed control. Drive units may differ, even when the same motor is used.
Appendix - 136
APPENDICES
POSITION DETECTION MODULE
This is an abridged version of positioning. There are two types on MELSEC, the A1S62LS. This module has positioning and limit switch functions, and can use a total of 16 channels. The following drawing shows an example for 5 channels. A resolver is used in the positioning detection.
0
Positioning High speed Positioning Low speed Limit switch LS1 Limit switch LS2 Limit switch LS3
ON ON
4095
ON ON
ON ON
POSITION LOOP GAIN
This is the ratio of the deviation counter droop
pulses to the command pulse frequency.
Position loop gain
=
Command pulse frequency Droop pulses
(1/s)
The position loop gain can be set with the
drive unit. Raise the gain to improve the
stopping accuracy. However, overshooting will
occur if the position loop gain is raised too far,
and the operation will become unstable.
If the position loop gain is lowered too far, the
machine will stop more smoothly but the
stopping error will increase.
POSITION LOOP MODE
This is one servo control mode used in positioning. It is a mode for carrying out position control. The other servo control modes are the speed loop mode for carrying out speed control, and the torque loop mode for carrying out torque control (current control).
Servo amplifier
Servomotor
Droop pulses
Pulse train
Posi-
tion control
Speed control
Current control
Inverter
M
Current feedback
Speed feedback
Position feedback
Interface
PLG
MELSEC-Q
POSITIONING
Accurately moving the machine from a point to a determined point. The distance, direction, speed, etc., for that movement are designated by the user. Positioning is used in operations such as cutting sheets, drilling holes in plates, mounting parts on a PCB, and welding. Positioning is also used with robots.
POSITIONING COMPLETE
Refer to the term "OPERATION PATTERN".
POSITIONING COMPLETE SIGNAL
This is a signal that occurs when the positioning is complete. A timer set beforehand starts when this signal is output, and the machine movement stops for that time. When this signal turns ON, the positioning start signal turns OFF.
Dwell time Positioning complete signal
Positioning
Different type of work Time
POSITIONING CONTINUED
Refer to the section of term "operation pattern".
POSITIONING DATA
This is data for the user to carry out positioning. The No. of points to which positioning is carried out (the No. of addresses) is designated by the user. In the QD75, these are 600 points. As a principle, positioning is executed in the order of the data Nos.
Appendix - 137
APPENDICES
POSITIONING PARAMETER
This is basic data for carrying out positioning control. Types of data include control unit, movement amount per pulse, speed limit value, upper and lower stroke limit values, acceleration/deceleration time, positioning system, etc. Parameters have an initial value, so that value is changed to match the control conditions.
POSITIONING START
This refers the act of designating a target data No. and starting the positioning. The operation after the positioning is complete for that data No. is determined by the data No.'s positioning pattern.
PTP Control (Point To Point Control)
This is a type of positioning control. With this control method, the points to be passed are designated at random locations on the path. Movement only to a given target positioning is requested. Path control is not required during movement from a given point to the next value.
PULSE
The turning ON and OFF of the current (voltage) for short periods. A pulse train is a series of pulses. The QD75 is the module that generates the pulses.
MELSEC-Q
PULSE OUTPUT MODE
There are two methods used to issue forward run and reverse run commands to the servomotor. The type used differs according to the machine maker. In type A, the forward run pulses and reverse run pulses are output from separate terminals. In type B, the forward run pulses and reverse run pulses are output from the same terminal, and a forward/reverse run identification signal is output from another terminal.
Forward
Terminal
Reverse A type
Forward Reverse B type
READY
This means that preparation is complete.
REAL-TIME AUTO TUNING (Real-time Automatic Tuning)
Refer to "AUTO TUNING".
REFERENCE AXIS SPEED
This is the speed of the reference axis during interpolation operations.
PULSE GENERATOR
This is a device that generates pulses. Examples include devices installed on the motor shaft that create pulses when the shaft rotates, and digital devices. 1-phase types output one pulse train. 2-phase types output two pulse trains with a phase difference. From 600 to 1,000,000 pulses can be output per shaft rotation. Generators with a ZERO signal function to output 1 or 2 pulses per shaft rotation. Abbreviated as PLG. Refer to the term "ENCODER".
Y axis speed (interpolation axis)
X axis speed (reference axis)
Reference axis speed
REGENERATIVE BRAKE OPTION
This function is an option. It is used when carrying out highly repetitive acceleration/deceleration. Refer to "EXTERNAL REGENERATIVE RESISTOR".
Appendix - 138
APPENDICES
RESOLVER
This device detects the angle by resolving the two voltages of the analog input. Also called a 2-phase synchro. For a 1-phase voltage input, the axis rotation angle is converted into a perpendicular 2-phase voltage (analog voltage) and output.
Movement distance for one resolver rotation
Toothed gear
Motor
Position detection value
Resolver (addresses 0 to 4095, converted to digital)
RLS SIGNAL (reverse limit signal)
This is the input signal that notifies the user that the limit switch (b contact configuration, normally ON) installed at the lower limit of the positioning control enabled range is activated. The positioning operation stops when the RLS signal turns OFF (non-continuity).
ROTARY TABLE
A round table on which the workpiece is placed. Positioning control is carried out while rotating the workpiece in a 360� range.
S-CURVE ACCELERATION/DECELERATION
In this pattern, the acceleration and deceleration follow a sine curve, and the movement is smooth. The S-curve ratio can be set from 1 to 100%.
Acceleration
Deceleration
SERVO AMPLIFIER
Refer to the term "DRIVE UNIT".
MELSEC-Q
SERVO LOCK
In positioning using a servomotor, stepping motor, etc., working power is required to hold the machine at the stop position. (The position will be lost if the machine is moved by external power.) This kind of state is called servo lock or servo lock torque.
Table
M
Motor holds the position at the stop position.
SERVO ON
The servo amplifier will not operate if the servo amplifier is in a normal state and this servo ON signal is OFF.
QD75
READY Servo amplifier
Servo ON
Motor PLG Encoder
SERVOMOTOR
A motor that rotates true to the command. Servomotors are highly responsive, and can carry out frequent high-speed and highaccuracy starts and stops. DC and AC types are available, as well as large-capacity motors. A pulse generator accessory for speed detection is common, and feedback control is often carried out.
SETTING UNIT
This is one setting item of the positioning reference parameters. The unit to be used is designated as mm, inch, degree, or pulse.
Appendix - 139
APPENDICES
SFC (Sequential Function Chart)
A sequential function chart is a programming method optimally structured for running a machine's automatic control in sequence with the programmable controller.
Start preparations OK Positioning complete Positioning complete Positioning complete
Start preparation
Execution of advance operation servo program
Execution of extrusion operation servo program
Execution of retract operation servo program
SKIP FUNCTION
When a SKIP signal is input, the positioning being executed is interrupted, the motor is deceleration stopped, and the next positioning is automatically carried out.
SLAVE AXIS
During interpolation operation, the positioning data is partially ignored on this side. This axis is moved by the master axis data.
SPEED CONTROL
Speed control is mainly carried out with the servomotor. It is an application for grindstone rotation, welding speed, feedrate, etc. Speed control differs from position control in that the current position (address) is not controlled. Drive units may differ, even when the same motor is used.
SPEED INTEGRAL COMPENSATION
This is one item in the parameters of the servo amplifier, and is used to raise the frequency response during speed control to improve transient characteristics. When adjusting the speed loop gain, raising this value is effective if the overshooting during acceleration/deceleration remains large. This compensation is set in ms units.
MELSEC-Q
SPEED LIMIT VALUE
This is the max. speed for positioning. Even if other data is mistakenly set to a higher speed than this, the positioning will be carried out at this speed limit value when it is set in the parameters. The acceleration time becomes the time to accelerate from a stopped state to the speed limit value, and the deceleration time becomes the time to decelerate from the speed limit value to a stopped state.
SPEED LOOP GAIN
This is one item in the parameters of the servo amplifier, and expresses the speed of the control response during speed control. When the load inertia moment ratio increases, the control system speed response decreases and the operation may become unstable. If this happens, the operation can be improved by raising this setting value. The overshoot will become larger if the speed loop gain is raised too far, and motor vibration noise will occur during operation and when stopped.
SPEED LOOP MODE
This is one servo control mode used in positioning. It is a mode for carrying out speed control. Refer to "POSITION LOOP MODE".
SPEED-POSITION SWITCHING CONTROL
With this control, positioning is carried out to the end point of the movement amount while changing the speed at the speed switching point during positioning control.
SPEED-POSITION SWITCHING CONTROL MODE
This is one method used for positioning. It is an application for operations such as highspeed movement to a point unrelated to positioning, then set dimension movement from the switching signal activation point.
Start
Switching signal
High speed
Incremental positioning
Appendix - 140
APPENDICES
START COMPLETE
This signal gives an immediate response notifying the user that the QD75 that was started is now in a normal state and can start positioning.
STARTING AXIS
One of the QD75 axis system axes (axis 1, axis 2, axis 3, or axis 4) or the reference axis for the interpolation operation is designated as the starting axis.
STATUS
Data showing the state of the machine. Collectively refers to signals that turn ON when the battery voltage drops, during OPR requests, during dwell time, etc.
STEP FUNCTION
When the operation is designed so that several positioning data Nos. are consecutively run, this function can be used to carry out a test operation for 1 data item at a time.
STEP OUT
Stepping motors rotate in proportion to the No. of pulses (frequency), but the motor's rotation will deviate if the load is too large for the motor. This is called step out. If step out occurs, the motor must be replaced by one with a larger torque. Step out causes the positioning error to increase.
Motor
Motor torque
Load
MELSEC-Q
STEPPING MOTOR
A motor that rotates a given angle (example: 0.15�) when 1 pulse is generated. For that reason, a rotation proportional to the No. of pulses can be obtained. 2-phase to 5phase stepping motors are available. In the 3phase type, the rotor rotates in order from A to C when a voltage is applied. Often found in compact motors, stepping motors rotate accurately without feedback. Be careful of step out when overloaded.
N N
C
B
C
NA
AS
A
A
B
C
1) First, the A phase is excited by a pulse.
C S
2) When the B phase is then excited, the force works in the direction shown by the arrows.
C
B
C
B
A B
A C
A B
A C
3) The nearest tooth to the B phase is attracted, and the rotation stops.
4) As the excitation phase is continuously changed, the rotor rotates in a clockwise direction.
STOP SETTLING TIME
Refer to the term "DWELL TIME".
STOP SIGNAL
In positioning control, this is the input signal that directly stops the operation from an external source. The operation stops when the external stop signal (a-contact) turns ON (continuity).
Appendix - 141
APPENDICES
STOP WITH STOPPER
This is one machine OPR method. With this method, a stopper is established at the OP, and the operation is stopped when the machine presses against it. Motor burning would occur or the stopper would be damaged if the machine were left in that state. There are two methods to prevent this; a timer can be used to shut OFF the motor after a fixed time, or the motor can be stopped by limiting sudden increase in the motor torque when the machine presses against the stopper.
Machine OPR
OP Stopper
STROKE
The stroke is the variation in the operation by the distance from a stopped state to the next stopped state after a movement.
STROKE LIMIT
This is the range in which a positioning operation is possible, or the range in which the machine can be moved without damage occurring. (Movement outside this range is possible in the manual operation.) For operations using a worm gear, the stroke limit is determined by the length of the screw. For operations using a fixed-feed, it is determined by the max. dimension to be cut. The upper and lower limits are set in the parameters, but a separate limit switch should be established and an emergency stop circuit outside the programmable controller should be created. Refer to the term "LIMIT SWITCH".
MELSEC-Q
SUDDEN STOP
A stop carried out in a shorter time than the deceleration time designated in the parameters.
Full speed
Sudden stop
Time
Deceleration time
TEACHING
When the positioning address is uncertain, or gauging is required, this function is used by the user to search for and teach the position to the machine. For example, complex addresses such as drawings can be taught by tracing a model, and the positioning operation can be reproduced.
TORQUE CONTROL
In this function, a limit is established for the resistance torque applied to the motor used for positioning. The power is turned OFF if torque exceeding that value is applied to the motor. When excessive torque is applied to a motor, it causes the current to suddenly increase. Motor burning and other stress on the motor occurs, and the life of the motor is shortened. This function utilizes the sudden increase in the torque when the machine OPR to issue a command to stop the motor.
TORQUE LOOP MODE
Also called the current loop mode. Refer to "POSITIONING LOOP MODE".
TORQUE RIPPLE
Torque width variations, deviations in the torque.
Appendix - 142
APPENDICES
MELSEC-Q
TRACKING FUNCTION
In this function, positioning is carried out at a speed relative to a moving target object by inputting the movement amount from an external encoder and adding it to the servo command value.
WARNING
A warning is output as a warning code in when an abnormality is detected that is not serious enough to require cancellation or stoppage of the positioning operation. Warnings are handled differently than errors.
TRAPEZOIDAL ACCELERATION/DECELERATION
An operation in which a graph of the time and speed takes a trapezoidal shape.
Acceleration
Deceleration
Speed
Time
TURNTABLE
A rotating table, which is turned using power. The table is used divided from one 360� rotation into the required locations for work. The positioning control unit is "degree".
30�
Rotated by the motor
UNIT SETTING
This is the setting of the unit for the actual address to which positioning is required, or for the movement amount. The following units can be set: mm, inch, degree and pulse. The initial value in the parameters is a pulse unit.
WINDOW
These are the selection menus that appear on the screen when the QD75 is started.
Menu selection window Mode function selection window Sub-function selection window Execution/setting selection window
WITH MODE
This is the mode that outputs the M code before the start of the positioning. This mode turns ON at the positioning start, enabling voltage to be applied to the welding electrodes, display of positioning speeds, etc. Refer to the term "AFTER MODE".
XY TABLE
This is a device that moves a table in the X (latitudinal) and Y (longitudinal) directions so that positioning can be carried out easily. There are also commercially available products.
X table
Y table Ball screw X table
Base table
Y axis
X axis
Z PHASE
Also called "PG zero". Refer to "ZERO SIGNAL".
ZERO SIGNAL
This refers to PG0 of the pulse generator (encoder) (one detection per shaft rotation). It also called "Z phase". Refer to the term "PULSE GENERATOR".
Appendix - 143
APPENDICES
MELSEC-Q
Appendix 12 Positioning control troubleshooting
Trouble type
Questions/Trouble
Remedy
No.
Parameter
The CPU module power was turned OFF or the CPU
module was reset, etc., during flash ROM writing, which
Display reads "FFFFH" when a deleted the data in the flash ROM.
parameter is read with GX
Initialize the parameters, and reset the required
1
Configurator-QP.
parameters.
(Refer to Section 13.2 "Parameter initialization function"
for details.)
How can the parameters be returned to their initial values (default values)?
Set the " Cd.2 Parameter initialization request" to "1". (Refer to Section 13.2 "Parameter initialization function" 2 for details.)
A parameter error occurred
The parameter may have been overwritten in the
although the parameter was set sequence program.
3
correctly by GX Configurator-QP. Review the sequence program.
In the QD75, deceleration stops are executed after the
The machine overruns if operating at high speeds when the hardware stroke limit range is exceeded.
machine exceeds hardware stroke limit range. Because of
this, more time is required for the deceleration stop as the speed increases, and the overrun becomes larger. (The deceleration time becomes shorter at lower speeds,
4
so the overrun becomes smaller.)
Hardware stroke limit
Use a "JOG operation", " Inching operation" or "Manual pulse generator operation" to return the machine to inside
When the machine exceeded the the hardware stroke limit range.
hardware stroke limit range,
(When the hardware stroke limit range is exceeded,
positioning toward inside the range positioning will not start toward inside the range even
5
was started, but the machine did when so commanded. Once the range is exceeded, a
not start.
return to inside the range can only be executed using a
"JOG operation", "Inching operation" or "Manual pulse
generator operation".)
Exactly one rotation is required,
Degree
but the setting range for a "degree" unit setting is "0 to 359.999...". Won't the rotation deviate by
Designate The motor
"360.000" in the INC control. will make exactly one rotation.
6
"0.00...1"?
Movement amount per pulse
If the "movement amount per pulse" is calculated as written in the manual, settings smaller than the basic parameter setting range cannot be carried out.
Set "movement amount per pulse" in the QD75 using the
three parameter values of Pr.2 to Pr.4 .
Try setting the values following the explanations for each parameter.
7
Will an override setting value written before starting be valid?
It will be valid.
8
During path control, will the
Override
override still be valid after the point It will still be valid.
9
is passed?
How can the override be canceled?
Set the " Cd.13 Positioning operation speed override" to "100".
10
Appendix - 144
APPENDICES
MELSEC-Q
Trouble type
Acceleration/ deceleration time
Simplified absolute position detection system Positional deviation
Electronic gear
Questions/Trouble
Remedy
No.
How can the deceleration stop Set "1: Sudden stop" in the " Pr.37 Stop group 1 time during stopping be shortened sudden stop selection", and reduce the setting value of 11
using the hardware stroke limit? " Pr.36 Sudden stop deceleration time".
The value set for the acceleration/deceleration time is the
time required for the machine to accelerate from speed
The motor does not operate at
"0" to the value set in " Pr.8 Speed limit value".
"60000ms" although the
Because of that, the acceleration/deceleration time will
acceleration/deceleration time is also be shorter than "60000ms" if the command speed
12
set to "60000ms".
value is smaller than the " Pr.8 Speed limit value".
(Refer to the explanation for Pr.9 and Pr.10 for
details.)
Can each acceleration/
deceleration time be individually set to trapezoidal or S-curve acceleration/deceleration?
The trapezoidal and S-curve acceleration/deceleration
processing is a common setting for all
acceleration/deceleration times, so individual setting is not possible.
13
(Refer to Section 12.7.6 "Acceleration/deceleration
process function".)
The machine starts and stops
suddenly when carrying out JOG
operations and positioning operations. (Using an MR-J2S servo
Review the parameter settings for acceleration/ deceleration time, speed limit value, JOG speed limit value, JOG acceleration/deceleration time, etc.
14
amplifier.)
Are simplified absolute position detection system possible in the QD75 Positional deviation models?
They are possible if the models are used in combination with a Mitsubishi "AC Servo". (Refer to "AC servo User's Manual" for details.)
15
The physical position position
detection system from the
commanded position, although the positioning is complete (and the monitored current position is
If the deviation counter value is not "0", the servo side is still moving. Increase the torque.
16
correct).
A setting of "1m 1pulse" is required in the following system.
Ball screw pitch 10mm No. of feedback pulses
8192pulse
In this case, the following values will result.
No. of pulses per rotation 8192
Movement amount per rotation 10000 Unit magnification 10 Therefore, the "Movement amount per pulse" will become 17
"1.2207m". This value is fixed by the machine system, so it cannot be changed.
Thus, the setting "1m 1pulse" cannot be achieved.
Appendix - 145
APPENDICES
MELSEC-Q
Trouble type Error compensation
OPR
Questions/Trouble
Remedy
No.
The machine only moves to
"10081230", although positioning with a command value of "10081234" carried out.
Reset Pr.3 and Pr.2 in the following order.
How can the error be
1) Calculate "8192/8000 10081230/10081234".
compensated?
The following values are currently 2) Obtain the reduced value.
18
set.
3) Set the numerator in " Pr.3 Movement amount per
Pr.2 No. of pulses per rotation 8192
rotation", and the denominator in " Pr.2 No. of pulses per rotation".
Pr.3 Movement amount per rotation 8000
The near-point dog must be set to turn OFF at a position
after the OP is passed.
When carrying out a count method machine OPR, the message "Leave Sufficient Distance From The OP Position To The NearPoint Dog OFF." appears. Is there a problem
if the distance is short?
(When the machine OPR is started on the near-point dog on in a count-method machine OPR, the machine enters
a normal machine OPR operation after returning to the near-point dog OFF region.) (If the near-point dog is turned OFF before the OP, and the machine OPR is started between the near-point dog
OFF position and the OP, the machine will mistakenly interpret that its current position is before the near-point
19
dog ON position, and it will pass over the OP and
continue moving.)
Carry out the following measures.
1) Separate the near-point dog signal and zero signal
detection positions.
In the near-point dog method
2) Lower the values in " Pr.46 OPR speed" and
machine OPR, the stop positions
" Pr.47 Creep speed".
20
are not uniform.
3) Confirm whether the zero signal and near-point dog
signal turn ON normally.
4) Check that there is no play (backlash) in the machine
system.
Can the machine OPR be carried A "Hardware stroke limit error" will occur and the
out with the OPR retry function operation will not be carried out.
when it is started with the near- (The machine will interpret any position where the near- 21
point dog ON and the upper/lower point dog is ON as being within the working range, and
limit OFF?
that the upper/lower limit is ON.)
Are ABS and INC positioning possible without carrying out an OPR?
They are possible. In this case, the position where the power is turned ON is 22 handled as the current feed value "0".
After an OPR, the OPR request flag sometimes turns ON for no apparent reason.
The OPR request flag turns ON in the following cases.
1) When the power is turned ON.
2) When the PLC READY signal [YO] turns from OFF to
ON.
3) When an OPR is carried out.
23
4) When the servo amplifier power is turned OFF.
If no problem is found when the above are checked, then
it is possible that the communication is being interrupted
by "a fault in the bus cable", "noise influence", etc.
The OPR complete flag ( Md.31 Status: b4) sometimes turns ON when it shouldn't be ON.
Check whether the drive unit READY signal is weak or the power supply is unstable.
24
Appendix - 146
APPENDICES
MELSEC-Q
Trouble type Start
Questions/Trouble
Remedy
No.
The positioning start signal [Y10] is kept ON until the BUSY signal is OFF, but is there any problem with turning it OFF before the BUSY signal turns OFF?
After the BUSY signal turns ON, there is no problem with
turning [Y10] OFF before the BUSY signal turns OFF. (The QD75 detects the rising edge (OFF ON) of the positioning start signal [Y10].)
25
The operation will not start even Check the " Md.26 Axis operation status" and when the start signal is turned ON. " Md.23 Axis error No.".
26
How many milliseconds should the axis stop signal [Y4] be turned ON for?
The signal should be turned ON at 4ms or more.
(If possible, set the signal so it does not turn ON only momentarily, but instead stays ON until the BUSY signal turns OFF. This will keep the stop signal from skipping.)
27
Stop
Circular interpolation Speed-position switching control
JOG operation
How can a sudden stop be selected?
Set "1: Sudden stop" in the parameter from Pr.37 to Pr.39 corresponding to the stop group, and reduce the 28 setting value of " Pr.36 Sudden stop deceleration time".
"Normal deceleration stop" was
selected in " Pr.39 Stop group 3
sudden stop", and Y stop was
turned ON. If the Pr.39 setting is
changed to "sudden stop" during a deceleration stop, and the Y stop signal turns from OFF to ON, will the operation change to a sudden
The operation will not change. Even if the same stop factor is input again during the deceleration stop, it will be ignored. The same deceleration stop process used when the stop signal was first input will be continued.
(This also applies for Pr.37 and Pr.38 .)
29
stop from that point?
ABS system circular interpolation operates normally, but a vertically oblong circle results when INC system circular interpolation is carried out.
The address designation may be incorrect. When carrying
out INC system circular interpolation, designate the relative addresses from the starting point of both the center point and end point.
30
Can the speed be changed during
speed control and position control No. The speed for the speed control and position control
by speed-position switching
cannot be set differently.
31
control?
Either of the following is possible.
Even if the JOG start signal is turned ON, the response until it turns ON is sometimes slow.
1) The sequence program may be incorrect. Check by creating a test program in which the JOG start signal is turned ON only.
2) If the machine is hitting something when the torque
setting is low, it may be trying to move by JOG
32
operation in the opposite direction. In this case, the
machine will start moving only after the internal droop
pulses have been reached 0 in the counter, even if the
JOG start signal has been turned ON. This makes it
seem that the response is slow.
Either of the following is possible.
1) The JOG start signal may be chattering. Monitor the
The operation is not carried out at the set JOG speed, although the speed limit value has not been
JOG start signal to confirm whether it is chattering.
(When using the "BUSY signal" in the JOG operation start circuit, check the position of the BUSY signal.)
33
reached.
2) The " Pr.31 JOG speed limit value" may not be
appropriate. Review the setting value and carry out the JOG operation again.
Appendix - 147
APPENDICES
MELSEC-Q
Trouble type
Questions/Trouble
Remedy
No.
JOG operation
Manual pulse generator operation
The " Pr.31 JOG speed limit value" may be larger than
When a JOG operation is attempted, an error results and the machine does not move.
the " Pr.8 Speed limit value". Review the parameters and carry out the JOG operation
34
again.
If a value other than "0" is set for " Cd.16 Inching
Why does the positioning complete movement amount", the inching operation is carried out
signal turns ON during the JOG and the positioning complete signal turns ON.
35
operation?
Confirm that the " Cd.16 Inching movement amount" is
set to "0".
Is it possible to count the pulses when the B phase is set to "1", and only A phase pulses are input?
Not possible. (The QD75 counts
1,
0,
1,
0.)
36
Can a manual pulse generator Other manual pulse generators can be used if they
other than the Mitsubishi Electric conform to Section 3.4 "Specifications for input/output
37
MR-HDP01 be used?
interfaces with external devices."
Can one manual pulse generator be operated connected to several QD75 modules?
This is possible if the system conforms to the electrical specifications.
38
Current value changing
The BUSY signal is not canceled The BUSY signal may remain if the scan time is long.
by the current value changing. Use a complete signal to check whether the current value 39
How can it be canceled?
changing has been executed.
The QD75 READY signal does not "A parameter error" has occurred.
QD75 READY signal turn ON even when the PLC
Confirm the error No. in the error history, and correct the 40
READY signal [Y0] is turned ON. parameter.
M code ON signal
The QD75 checks the M code ON signal OFF request
Is there any problem with setting an M code ON signal OFF request in the next scan after the M code ON signal ON?
every "0.9ms" (QD75P N/QD75D N) or "1.8ms" (QD75P /QD75D ), so there is a possibility that the M code ON signal OFF may be delayed by a maximum of
"0.9ms" (QD75P N/QD75D N) or "1.8ms" (QD75P /QD75D ) after the M code ON signal ON,
41
even if an M code ON signal OFF request is set.
How long is the output time for the The time set in " Pr.55 Deviation counter clear signal deviation counter clear signal? output time". (Initial value: 11ms)
42
Deviation counter clear
Is a deviation counter clear signal A signal is not output.
output when the positioning is
The only time the QD75 outputs a deviation counter clear 43
complete?
signal is for a machine OPR.
How can a deviation counter clear The QD75 does not output a deviation counter clear
signal be output?
signal except for machine OPR.
44
Module
The internal parameters of the QD75 may be different.
An error "PLC READY OFF start" (error code: 537) occurs after the QD75 is replaced. (The sequence program is the same.)
Check if the QD75 READY signal [X0] turns ON when the PLC READY signal [Y0] turns ON. When the PLC READY signal is ON but the QD75 READY signal is OFF, the parameter error has occurred.
Check the error code and modify the parameter with the
45
error.
Motor
The motor only rotates in one direction.
Can the current motor speed be monitored?
The parameter settings on the QD75 side may not match
those on the servo side.
46
Check the parameter settings.
The speed shown on the QD75 monitor is calculated from
the number of pulses output from the module. Thus, the
actual motor speed cannot be monitored.
47
(" Md.22 Feedrate" monitors the commanded speed. It
does not show the actual motor speed.)
Appendix - 148
APPENDICES
MELSEC-Q
Trouble type
Questions/Trouble
Remedy
No.
An error "Backlash compensation
amount error" (error code: 920) occurs even when the backlash compensation value is set to "1".
Backlash compensation value 0 Movement amount per pulse 255
Setting is not possible if the above equation is not
satisfied.
48
Adjust by setting " Pr.4 Unit magnification" to 10-fold (or
100-fold, or 1000-fold), and setting " Pr.2 Movement
amount per rotation" to 1/10 (or 1/100, or 1/1000).
When a JOG operation is attempted, errors such as "Hardware stroke limit (+)" or "Hardware stroke limit (�)" (error code: 104 or 105) occur and the machine does not move.
The hardware stroke limit wiring has probably not been
carried out. Refer to Section 12.4.4 "Hardware stroke limit function" for
49
details, and wire accordingly.
Error/warning
An error "Speed designation during OP shift error" (error code: 997) appears when the PLC READY signal [Y0] turns from OFF to ON.
A value besides "0" or "1" may be set in
" Pr.56 Speed designation during OP
Review the set sequence program, and parameters.
the shift". reset the
correct
50
When the start signal was turned The QD75 starts the deceleration stop process when the
ON immediately after the stop
stop signal ON is detected. Thus, the machine interprets
signal ON, a warning "Start during operation" (warning code: 100)
that "positioning is still being executed" immediately after the stop signal ON. Even if the start signal is turned ON at
51
was detected, and the start was that time, the start request will be ignored and a warning
ignored.
"Start during operation" (warning code: 100) will occur.
Does a warning "Deceleration/stop
speed change" (warning code: The warning occurs only at those times mentioned at the
500) occur only during "stop
left. Because this is a warning, there is no problem if the
deceleration" and "automatically deceleration"?
operation can be continued without resetting the error. (When the speed is changed using the override, the new
52
Is there any problem if the
value will not be reflected on the data being executed, but
operation is continued in that state will be reflected from the next start.)
without resetting the error?
Depending on the stop occurrence factor, positioning may have not been completed normally.
Check the axis monitor " Md.26 Axis operation status"
after the BUSY signal has turned OFF.
Stop : The stop signal has turned ON during positioning. Check the condition under which the stop signal (Y
53
Positioning complete signal
Position control was executed but the positioning complete signal does not turn ON.
stop, external stop) turns ON.
Error : An error has occurred during positioning. Check the error occurrence factor from
" Md.23 Axis error No.".
The setting value of the detailed parameter 2 "Positioning
complete signal output time" is 0 or shorter than the scan
time.
54
Using the sequence program, set the time when the signal
can be detected securely.
Appendix - 149
APPENDICES
MELSEC-Q
Appendix 13 List of buffer memory addresses
The following shows the relation between the buffer memory addresses and the various items. (Do not use any address other than listed below. If used, the system may not operate correctly.)
Buffer memory address
Item
Axis 1
Axis 2
Axis 3
Axis 4
0
150
300
450
Pr.1 Unit setting
Memory area
Basic parameters 1
1
151
301
451 Pr.2 No. of pulses per rotation (Ap)
2
152
302
452 Pr.3 Movement amount per rotation (Al)
3
153
303
453
Pr.4 Unit magnification (Am)
4
154
304
454
Pr.5 Pulse output mode
Basic parameters 2
5
155
305
455
Pr.6 Rotation direction setting
6 7
156 157
306 307
456 457
Pr.7 Bias speed at start
8 9
158 159
308 309
458 459
Not used
10 11
160 161
310 311
460 461
Pr.8 Speed limit value
12 13
162 163
312 313
462 463
Pr.9 Acceleration time 0
14 15
164 165
314 315
464 465
Pr.10 Deceleration time 0
17
167
317
467
Pr.11 Backlash compensation amount
18 19
168 169
318 319
468 469
Pr.12 Software stroke limit upper limit value
20 21
170 171
320 321
470 471
Pr.13 Software stroke limit lower limit value
22
172
322
472
Pr.14 Software stroke limit selection
Positioning parameters
Detailed parameters 1
23
173
323
473
Pr.15 Software stroke limit valid/invalid setting
24 25
174 175
324 325
474 475
Pr.16 Command in-position width
26
176
326
476
Pr.17 Torque limit setting value
27
177
327
477
Pr.18 M code ON signal output timing
28
178
328
478
Pr.19 Speed switching mode
29
179
329
479
Pr.20 Interpolation speed designation method
30
180
330
480
Pr.21 Current feed value during speed control
31
181
331
481
Pr.22 Input signal logic selection
32
182
332
482
Pr.23 Output signal logic selection
33
Pr.24 Manual pulse generator input selection
Detailed parameters
2
34
184
334
484
Pr.150 Speed-position function selection
35
185
335
485 Not used
36 37
186 187
336 337
486 487
Pr.25 Acceleration time 1
38 39
188 189
338 339
488 489
Pr.26 Acceleration time 2
Appendix - 150
APPENDICES
MELSEC-Q
Axis 1 40 41 42 43 44 45 46 47 48 49 50
51
52
53 54 55 56
57
58
59 60 61 62
70
71 72 73 74 75 76 77 78
79
80 81
82
83 84 85 86
87
88
89
Buffer memory address
Axis 2
190 191
192 193
194 195 196 197 198 199
Axis 3
340 341
342 343
344 345 346 347 348 349
200
350
201
351
202
352
203
353
204
354
205
355
206
356
207
357
208
358
209
359
210
360
211
361
212
362
220
370
221
371
222
372
223
373
224
374
225
375
226
376
227
377
228
378
229
379
230
380
231
381
232
382
233
383
234
384
235
385
236
386
237
387
238
388
239
389
Axis 4 490 491 492 493 494 495 496 497 498 499 500
501
502
503 504 505 506
507
508
509 510 511 512
520
521 522 523 524 525 526 527 528
529
530 531
532
533 534 535 536
537
538
539
Item
Pr.27 Acceleration time 3
Pr.28 Deceleration time 1
Pr.29 Deceleration time 2
Pr.30 Deceleration time 3
Pr.31 JOG speed limit value Pr.32 JOG operation acceleration time selection Pr.33 JOG operation deceleration time selection Pr.34 Acceleration/deceleration process selection Pr.35 S-curve ratio Pr.36 Sudden stop deceleration time Pr.37 Stop group 1 sudden stop selection Pr.38 Stop group 2 sudden stop selection Pr.39 Stop group 3 sudden stop selection Pr.40 Positioning complete signal output time Pr.41 Allowable circular interpolation error width Pr.42 External command function selection Pr.43 OPR method 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
near-point 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
OPR detailed parameters
OPR basic parameters
Detailed parameters 2 Positioning parameters
Memory area
OPR parameters
140
Pr.70 Positioning option valid/invalid setting
Detailed parameters
1 Positioning parameters
Appendix - 151
APPENDICES
MELSEC-Q
Buffer memory address Item
Common to axes 1, 2, 3, and 4
1200
Md.1 In test mode flag
1201
1202
1203
1204
1205
1206
Not used
1207
1208
1209
1210
1211
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)
(Pointer No.)
1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.3 Start information
1213 1218 1223 1228 1233 1238 1243 1248 1253 1258 1263 1268 1273 1278 1283 1288 Md.4 Start No.
1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 Md.50 Start (Year:month) (QD75P N/QD75D N)
1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289 Md.5 Start (Day:hour)
1215 1220 1225 1230 1235 1240 1245 1250 1255 1260 1265 1270 1275 1280 1285 1290 Md.6 Start (Minute: second)
1216 1221 1226 1231 1236 1241 1246 1251 1256 1261 1266 1271 1276 1281 1286 1291 Md.7 Error judgment
1292
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)
1293 1297 1301 1305 1309 1313 1317 1321 1325 1329 1333 1337 1341 1345 1349 1353
1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354
Md.8 Start history pointer (Pointer No.)
Md.9 Axis in which the error occurred
Md.10 Axis error No.
Md.51 Axis error occurrence
1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471
(Year:month)
(QD75P N/QD75D N)
1295 1299 1303 1307 1311 1315 1319 1323 1327 1331 1335 1339 1343 1347 1351 1355 Md.11 Axis error occurrence (Day:hour)
1296 1300 1304 1308 1312 1316 1320 1324 1328 1332 1336 1340 1344 1348 1352 1356 Md.12 Axis error occurrence (Minute: second)
1357
Md.13 Error history pointer
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)
(Pointer No.)
1358 1362 1366 1370 1374 1378 1382 1386 1390 1394 1398 1402 1406 1410 1414 1418 Md.14 Axis in which the warning occurred
1359 1363 1367 1371 1375 1379 1383 1387 1391 1395 1399 1403 1407 1411 1415 1419 Md.15 Axis warning No.
Md.52 Axis warning
1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487
occurrence (Year:month)
(QD75P N/QD75D N)
1360 1364 1368 1372 1376 1380 1384 1388 1392 1396 1400 1404 1408 1412 1416 1420 Md.16 Axis warning occurrence (Day:hour)
1361 1365 1369 1373 1377 1381 1385 1389 1393 1397 1401 1405 1409 1413 1417 1421
Md.17 Axis warning
occurrence (Minute: second)
1422
Md.18 Warning history pointer
1424 1425
Md.19 No. of write accesses to flash ROM
Warning history
Error History System monitor data Monitor data
Start History
Memory area
Appendix - 152
APPENDICES
MELSEC-Q
Axis 1 800 801 802 803 804 805
806
807
808
809
810 811 812 813
814 815
816
817
818 819 820 821 824 825
826
Buffer memory address
Axis 2
900 901 902 903 904 905
Axis 3
1000 1001 1002 1003 1004 1005
906
1006
907
1007
908
1008
909
1009
910
1010
911
1011
912
1012
913
1013
914
1014
915
1015
916
1016
917
1017
918
1018
919
1019
920
1020
921
1021
924
1024
925
1025
926
1026
Axis 4 1100 1101 1102 1103 1104 1105
1106
1107
1108
1109
1110 1111 1112 1113
1114 1115
1116
1117
1118 1119 1120 1121 1124 1125
1126
827
927
1027
1127
828
928
1028
829
929
830
930
831
931
832
932
833
933
834
934
835
935
836
936
837
937
838 to 847 938 to 947
899
999
1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 to 1047 1099
1128
1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 to 1147 1199
Item
Md.20 Current feed value
Md.21 Machine feed value
Md.22 Feedrate Md.23 Axis error No. Md.24 Axis warning No. Md.25 Valid M code Md.26 Axis operation status Md.27 Current speed
Md.28 Axis feedrate Md.29 Speed-position switching control
positioning amount Md.30 External input/output signal Md.31 Status Md.32 Target value
Md.33 Target speed
Md.34 Movement amount after near-point dog ON Md.35 Torque limit stored value Md.36 Special start data instruction parameter
setting value Md.37 Special start data instruction parameter
setting value Md.38 Start positioning data No. setting value. Md.39 In speed control flag Md.40 In speed change processing flag Md.41 Special start repetition counter Md.42 Control system repetition counter Md.43 Start data pointer being executed Md.44 Positioning data No. being executed Md.45 Block No. being executed Md.46 Last executed positioning data No. Md.47 Positioning data being executed
Md.48 Deceleration start flag
Axis monitor data Monitor data
Memory area
Appendix - 153
APPENDICES
MELSEC-Q
Axis 1
1500
1501
1502
1503
1504
1505 1506 1507 1508 1509 1510 1511
1512
1513 1514 1515 1516
1517 1518 1519 1520
1521
1522 1523
1524
1525
1526 1527
1528 1529 1530 1531
1532 1533 1534 1535 1536 1537 1538 1539
1540
Buffer memory address
Axis 2
Axis 3
1600
1700
1601
1701
1602
1702
1603
1703
1604
1704
1605
1606 1607 1608 1609 1610 1611
1705
1706 1707 1708 1709 1710 1711
1612
1712
1613 1614 1615 1616
1617 1618 1619 1620
1621
1622 1623
1624
1625
1626 1627
1628 1629 1630 1631
1632 1633 1634 1635 1636 1637 1638 1639
1640
1713 1714 1715 1716
1717 1718 1719 1720
1721
1722 1723
1724
1725
1726 1727
1728 1729 1730 1731
1732 1733 1734 1735 1736 1737 1738 1739
1740
Axis 4
1800
1801
1802
1803
1804
1805 1806 1807 1808 1809 1810 1811
1812
1813 1814 1815 1816
1817 1818 1819 1820
1821
1822 1823
1824
1825
1826 1827
1828 1829 1830 1831
1832 1833 1834 1835 1836 1837 1838 1839
1840
Item
Memory area
Cd.3 Positioning start No. Cd.4 Positioning starting point No. Cd.5 Axis error reset Cd.6 Restart command Cd.7 M code OFF request Cd.8 External command valid
Cd.9 New current value
Cd.10 New acceleration time value
Axis control data Control data
Cd.11 New deceleration time value
Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
Cd.13 Positioning operation speed override
Cd.14 New speed value
Cd.15 Speed change request
Cd.16 Inching movement amount
Cd.17 JOG speed
Cd.18 Continuous operation interrupt request
Cd.19 OPR request flag OFF request
Cd.20 Manual pulse generator 1 pulse input magnification
Cd.21 Manual pulse generator enable flag
Cd.22 New torque value
Cd.23 Speed-position switching control movement amount change register
Cd.24 Speed-position switching enable flag Not used Cd.25 Position-speed switching control speed
change register Cd.26 Position-speed switching enable flag Not used Cd.27 Target position change value (new
address)
Cd.28 Target position change value (new speed)
Cd.29 Target position change request flag Not used Cd.30 Simultaneous starting axis start data No.
(axis 1 start data No.)
Appendix - 154
APPENDICES
MELSEC-Q
Buffer memory address
Axis 1
Axis 2
Axis 3
Axis 4
1541
1641
1741
1841
1542
1642
1742
1842
1543
1544 1545 1546 1547 1548 1549 1550
1643
1644 1645 1646 1647 1648 1649 1650
1743
1744 1745 1746 1747 1748 1749 1750
1843
1844 1845 1846 1847 1848 1849 1850
Item
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.)
Cd.34 Step mode Cd.35 Step valid flag Cd.36 Step start information Cd.37 Skip command Cd.38 Teaching data selection Cd.39 Teaching positioning data No. Cd.40 ABS direction in degrees
1900
Cd.1 Flash ROM write request
Axis control data
Memory area
System Control data Control data
1901
Cd.2 Parameter initialization request
1905 1907 1934
Cd.41 Deceleration start flag valid
Cd.42 Stop command processing for deceleration stop selection
Cd.43 Output timing selection of near pass control
Appendix - 155
APPENDICES
MELSEC-Q
Positioning data
Axis 1
2000
2001
2002
2003
2004 2005 2006 2007 2008 2009 2010
to 2019 2020
to 2029
to 7990
to 7999
Buffer memory address
Axis 2
Axis 3
8000
14000
8001 8002
14001 14002
8003
8004 8005 8006 8007 8008 8009 8010
to 8019 8020
to 8029
to 13990
to 13999
14003
14004 14005 14006 14007 14008 14009 14010
to 14019 14020
to 14029
to 19990
to 19999
Axis 4
20000
20001
20002
20003
20004 20005 20006 20007 20008 20009 20010
to 20019 20020
to 20029
to 25990
to 25999
Item
Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated Da.10 M code/condition data No.
/No. of LOOP to LEND repetitions Da.9 Dwell time (JUMP destination
positioning data No.) Da.27 M code ON signal output timing Da.28 ABS direction in degrees Da.29 Interpolation speed designation
method Da.8 Command speed Da.6 Positioning address/movement
amount Da.7 Arc address
No.2
No.3
to
No.600
No.1
Positioning data
Memory area
Appendix - 156
APPENDICES
Buffer memory address
Item
Axis 1
Axis 2
Axis 3
Axis 4
26000 26050 27000 27050 28000 28050 29000 29050
Da.11 Shape Da.12 Start data No. Da.13 Special start instruction Da.14 Parameter
26001 26051 27001 27051 28001 28051 29001 29051
2nd point
26002 26052 27002 27052 28002 28052 29002 29052
3rd point
to
to
to
to
to
26049 26099 27049 27099 28049 28099 29049 29099
50th point
26100
27100
28100
29100
Da.15 Condition target Da.16 Condition operator
26102 26103
27102 27103
28102 28103
29102 29103
Da.17 Address
26104 26105
27104 27105
28104 28105
29104 29105
Da.18 Parameter 1
26106 26107
27106 27107
28106 28107
29106 29107
26110 to 26119 27110 to 27119 28110 to 28119 29110 to 29119
26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129
to
to
to
to
26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199
Da.19 Parameter 2
No. 2 No. 3
to No. 10
26200 to 26299 27200 to 27299 28200 to 28299 29200 to 29299
Block start data
26300 to 26399 27300 to 27399 28300 to 28399 29300 to 29399
Condition data
26400 to 26499 27400 to 27499 28400 to 28499 29400 to 29499
Block start data
26500 to 26599 27500 to 27599 28500 to 28599 29500 to 29599
Condition data
26600 to 26699 27600 to 27699 28600 to 28699 29600 to 29699
Block start data
26700 to 26799 27700 to 27799 28700 to 28799 29700 to 29799
Condition data
26800 to 26899 27800 to 27899 28800 to 28899 29800 to 29899
Block start data
26900 to 26999 27900 to 27999 28900 to 28999 29900 to 29999
Condition data
No. 1
1st point
Condition data
Block start data
MELSEC-Q
Memory area
Starting block 3
Starting block 2 Starting block 1
Starting block 0
Positioning data (Starting block data)
Starting block 4
Appendix - 157
APPENDICES
MELSEC-Q
Axis 1
Buffer memory address
Axis 2
Axis 3
30000
to
30099
Axis 4
Item
Condition judgement target data of the condition data
Memory area
PLC CPU memory area Positioning data
Appendix - 158
APPENDICES
Appendix 14 External dimension drawing [1] QD75P1N
MELSEC-Q
98
4
23
90
46
27.4
(Unit: mm)
Appendix - 159
APPENDICES [2] QD75P2N
MELSEC-Q
98
4
90
46
[3] QD75P4N
23 27.4
(Unit: mm)
98
4
90
46
Appendix - 160
23 27.4
(Unit: mm)
APPENDICES [4] QD75D1N
MELSEC-Q
98
4
12
90
46
[5] QD75D2N
23 27.4
(Unit: mm)
98
4
12
90
46
Appendix - 161
23 27.4
(Unit: mm)
APPENDICES [6] QD75D4N
MELSEC-Q
98
4
12
23
90
46
27.4
(Unit: mm)
Appendix - 162
APPENDICES [7] QD75P1/QD75P2/QD75P4
MELSEC-Q
23 27. 4
98
4
90
46
Appendix - 163
(unit:mm)
APPENDICES [8] QD75D1/QD75D2/QD75D4
MELSEC-Q
23 27. 4
98
4
12
90
46
Appendix - 164
(unit:mm)
INDEX
[Number]
1-2 phase excitation system (Explanation of positioning terms) ...........................Appendix-124 1-axis fixed-feed control ................................ 9-47 1-axis linear control (ABS linear 1) ............... 9-31 1-axis linear control (INC linear 1) ................ 9-32 1-axis speed control ...................................... 9-91 2-axis circular interpolation control with center point designation (ABS circular right/ABS circular left) ................................................................. 9-68 2-axis circular interpolation control with center point designation (INC circular right/INC circular left) ................................................................. 9-71 2-axis circular interpolation control with sub point designation (ABS circular sub) ..................... 9-60 2-axis circular interpolation control with sub point designation (INC circular sub) ...................... 9-63 2-axis fixed-feed control (interpolation) ........ 9-49 2-axis linear interpolation control (ABS linear 2) ....................................................................... 9-33 2-axis linear interpolation control (INC linear 2) ....................................................................... 9-35 2-axis speed control ...................................... 9-94 2-phase excitation system (Explanation of positioning terms) ...........................Appendix-124 2-phase pulse (Explanation of positioning terms) ........................................................ Appendix-124 2-speed trapezoidal control (Explanation of positioning terms) ...........................Appendix-124 3-axis fixed-feed control (interpolation) ........ 9-52 3-axis linear interpolation control (ABS linear 3) ....................................................................... 9-37 3-axis linear interpolation control (INC linear 3) ....................................................................... 9-40 3-axis speed control ...................................... 9-97 4-axis fixed-feed control (interpolation) ........ 9-57 4-axis linear interpolation control (ABS linear 4) ....................................................................... 9-43 4-axis linear interpolation control (INC linear 4) ....................................................................... 9-45 4-axis speed control .................................... 9-101
I
[A]
A phase/B phase mode .................................5-22 ABS direction in degrees ( Cd.40 ) .............5-132 Absolute encoder (Explanation of positioning terms) ............................................. Appendix-125 Absolute position detection system (Explanation of positioning terms)........................... Appendix-125 Absolute position restoration function .........12-62 Absolute system.............................................9-16 Absolute system (Explanation of positioning terms) ........................................................ Appendix-125 Acceleration time (Explanation of positioning terms) ............................................. Appendix-125 Acceleration time 0 ( Pr.9 ) ...........................5-25 Acceleration time 1 ( Pr.25 ) .........................5-36 Acceleration time 2 ( Pr.26 ) .........................5-36 Acceleration time 3 ( Pr.27 ) .........................5-36 Acceleration time No. ( Da.3 ).......................5-60 Acceleration/deceleration process selection ( Pr.34 ) ..........................................................5-38 Acceleration/deceleration processing function ...................................................................... 12-96 Acceleration/deceleration time change during speed change, enable/disable selection ( Cd.12 ) ...................................................................... 5-118 Acceleration/deceleration time change function ...................................................................... 12-51 Actual acceleration/deceleration time ...........5-25 Adding a module .............................. Appendix-81 Address ( Da.17 ) ..........................................5-80 Address (Explanation of positioning terms) ........................................................ Appendix-125 AFTER mode ...............................................12-82 AFTER mode (Explanation of positioning terms) ........................................................ Appendix-125 Allowable circular interpolation error width ( Pr.41 ) ..........................................................5-43 Applicable wire size .........................................3-3 Arc address ( Da.7 ) ......................................5-67 Auto tuning (Explanation of positioning terms) ........................................................ Appendix-126
Index - 1
Automatic command speed calculation .......................................................... Appendix-84 Automatic sub arc calculation .......... Appendix-85 Axis error No. ( Md.10 , Md.23 ) ........... 5-92, 96 Axis error occurrence (Day: hour) ( Md.11 ) ....................................................................... 5-92 Axis error occurrence (Minute: second) ( Md.12 ) ....................................................................... 5-92 Axis error reset ( Cd.5 ) .............................. 5-114 Axis feedrate ( Md.28 ) ............................... 5-100 Axis in which the error occurred ( Md.9 ) ..... 5-92 Axis in which the warning occurred ( Md.14 ) ....................................................................... 5-94 Axis monitor......................................Appendix-88 Axis monitor data........................................... 5-96 Axis operation status ( Md.26 )..................... 5-98 Axis stop signal ............................................. 3-18 Axis to be interpolated ( Da.5 )..................... 5-61 Axis warning detection ................................ 5-103 Axis warning No. ( Md.15 , Md.24 )...... 5-94, 98 Axis warning occurrence (Day: hour) ( Md.16 ) ....................................................................... 5-94 Axis warning occurrence (Minute: second) ( Md.17 ) ........................................................ 5-94
[B]
Backlash compensation (Explanation of positioning terms) ...........................Appendix-126 Backlash compensation amount ( Pr.11 ).... 5-26 Backlash compensation function ................ 12-12 Backup function (Explanation of positioning terms) ........................................................ Appendix-126 Ball screw (Explanation of positioning terms) ........................................................ Appendix-126 Basic parameters 1 ....................................... 5-18 Basic parameters 2 ....................................... 5-24 Bias speed at start ( Pr.7 )............................ 5-24 Bias speed at start (Explanation of positioning terms).............................................. Appendix-126 Bipolar drive constant-current system (Explanation of positioning terms).......................Appendix-127 Block No. being executed ( Md.45 ) ........... 5-108 Block start (normal start) ............................... 10-8 Block start data area (No. 7000 to 7004) ....... 7-3 Buffer memory................................................. 7-2 Buffer memory (Explanation of positioning terms) ........................................................ Appendix-127 Buffer memory area configuration .................. 7-5
BUSY (Explanation of positioning terms) ........................................................ Appendix-127 BUSY signal ...................................................3-18
[C]
CCW (Explanation of positioning terms) ........................................................ Appendix-127 CHANGE signal (Explanation of positioning terms) ........................................................ Appendix-127 Circular interpolation (Explanation of positioning terms) ............................................. Appendix-127 Combination of functions ...............................3-14 Combination of main functions and sub functions ........................................................................ 3-14 Command in-position flag............................5-102 Command in-position function.....................12-93 Command in-position width ( Pr.16 ) ............5-28 Command pulse (Explanation of positioning terms) ........................................................ Appendix-127 Command pulse frequency ...........................1-11 Command speed ( Da.8 )..............................5-70 Common functions............................... 3-13, 13-6 Communicating signals between QD75 and each module ............................................................ 1-12 Composite speed...........................................5-32 Composite speed (Explanation of positioning terms) ............................................. Appendix-127 Condition operator ( Da.16 ) .........................5-84 Condition target ( Da.15 )..............................5-84 Conditional JUMP ........................................9-136 Configuration and roles of QD75 memory ......7-2 Confirming the current value .........................9-17 Continuous operation interrupt program .......6-38 Continuous operation interrupt request ( Cd.18 ).......................................................5-122 Continuous path control...................................9-8 Continuous positioning control ........................9-7 Control data area .............................................7-3 Control functions ..............................................3-6 Control system ( Da.2 ) .................................5-60 Control system repetition counter ( Md.42 ) ...................................................................... 5-108 Control unit (Explanation of positioning terms) ........................................................ Appendix-127 CP control (Explanation of positioning terms) ........................................................ Appendix-127 Creep speed ( Pr.47 )....................................5-50 Creep speed (Explanation of positioning terms) ........................................................ Appendix-128
Index - 2
Current feed value......................................... 9-17 Current feed value ( Md.20 ) ........................ 5-96 Current feed value (Explanation of positioning terms).............................................. Appendix-128 Current feed value during speed control ( Pr.21 ) ....................................................................... 5-33 Current loop mode (Explanation of positioning terms).............................................. Appendix-128 Current speed ( Md.27 ) ............................... 5-98 Current value (Explanation of positioning terms) ........................................................ Appendix-128 Current value change test .............. Appendix-104 CW (Explanation of positioning terms) ........................................................ Appendix-128 CW/CCW mode............................................. 5-21
[D]
D/A converter (Explanation of positioning terms) ........................................................ Appendix-128 Data No. (Explanation of positioning terms) ........................................................ Appendix-128 Data transmission process.............................. 7-6 Deceleration curve .................................... 12-108 Deceleration curve continuation ............... 12-108 Deceleration curve re-processing ............. 12-108 Deceleration ratio (Explanation of positioning terms).............................................. Appendix-128 Deceleration start flag ( Md.48 ) ................. 5-108 Deceleration start flag valid ( Cd.41 )......... 5-110 Deceleration stop .......................................... 6-45 Deceleration time (Explanation of positioning terms).............................................. Appendix-128 Deceleration time 0 ( Pr.10 ) ........................ 5-25 Deceleration time 1 ( Pr.28 ) ........................ 5-36 Deceleration time 2 ( Pr.29 ) ........................ 5-36 Deceleration time 3 ( Pr.30 ) ........................ 5-36 Deceleration time No. ( Da.4 )...................... 5-60 Detailed parameters 1................................... 5-26 Detailed parameters 2................................... 5-36 Details of input signals (QD75 CPU module) ....................................................................... 3-17 Details of output signals (CPU module QD75) ....................................................................... 3-18 Deviation counter (Explanation of positioning terms).............................................. Appendix-129 Deviation counter clear ................................. 3-27
Deviation counter clear signal output time ( Pr.55 ) ........................................................................ 5-55 Deviation counter droop pulse amount .........1-11 Differential output type (Explanation of positioning terms) ............................................. Appendix-129 Digital bus connection (Explanation of positioning terms) ............................................. Appendix-129 DOG signal (Explanation of positioning terms) ........................................................ Appendix-129 DOS/V personal computer ........................... A-18 Drive unit (Explanation of positioning terms) ........................................................ Appendix-129 Drive unit (Servo amplifier) ........................... A-18 Drive unit READY ..........................................3-28 Drive unit READY (Explanation of positioning terms) ............................................. Appendix-129 Droop pulse (Explanation of positioning terms) ........................................................ Appendix-129 Dwell time (Explanation of positioning terms) ........................................................ Appendix-129 Dwell time (JUMP destination positioning data No.) ( Da.9 ) ...................................................5-72 Dwell time during OPR retry ( Pr.57 ) ...........5-55 Dynamic brake (Explanation of positioning terms) ........................................................ Appendix-130
[E]
Electrical specifications..................................3-19 Electromagnetic brake (Explanation of positioning terms) ............................................. Appendix-130 Electronic gear (Explanation of positioning terms) ........................................................ Appendix-130 Electronic gear function ...............................12-14 Emergency stop .............................................6-44 Emergency stop (Explanation of positioning terms) ........................................................ Appendix-130 Encoder (Explanation of positioning terms) ........................................................ Appendix-130 Error and warning details...............................15-6 Error compensation method ........................12-17 Error correction (Explanation of positioning terms) ........................................................ Appendix-130 Error history....................................................5-92 Error history pointer ( Md.13 ) .......................5-92 Error judgement ( Md.7 ) ...............................5-90 Error reset (Explanation of positioning terms) ........................................................ Appendix-130
Index - 3
Execution data backup function.................... 13-5 Execution prohibition flag .............................. 3-18 External command signal.............................. 3-27 External command function selection ( Pr.42 ) ....................................................................... 5-44 External command function valid setting program ....................................................................... 6-25 External command valid ( Cd.8 )................ 5-116 External dimension drawing...........Appendix-159 External input/output signal ( Md.30 ) ........ 5-100 External I/O signal logic switching function .. 13-7 External I/O signal monitor function.............. 13-8 External regenerative brake resistor (Explanation of positioning terms).......................Appendix-131
[F]
F (Explanation of positioning terms) ........................................................ Appendix-131 Fast OPR (Explanation of positioning terms) ........................................................ Appendix-131 Fatal stop ....................................................... 6-44 Features of QD75............................................ 1-2 Feed pulse (Explanation of positioning terms) ........................................................ Appendix-131 Feed screw (Explanation of positioning terms) ........................................................ Appendix-131 Feedback pulse (Explanation of positioning terms) ........................................................ Appendix-131 Feedrate ( Md.22 ) ........................................ 5-96 Fixed-feed (Explanation of positioning terms) ........................................................ Appendix-131 Flash memory (Explanation of positioning terms) ........................................................ Appendix-131 Flash ROM ...................................................... 7-2 Flash ROM write program............................. 6-24 Flash ROM write request ( Cd.1 ) .............. 5-110 Flat type motor (Pancake motor) (Explanation of positioning terms) ...........................Appendix-131 Flow of all processes..................................... 1-15 Flow of system operation .............................. 1-15 FLS signal (Explanation of positioning terms) ........................................................ Appendix-132 Forced stop.................................................... 6-44 Front-loading speed switching mode............ 9-14 Function version ........................1-23, Appendix-2 Functions for compensating the control ..... 12-12 Functions to change the control details ...... 12-41 Functions to limit the control ....................... 12-27
[G]
G code (Explanation of positioning terms) ........................................................ Appendix-132 Gain (Explanation of positioning terms) ........................................................ Appendix-132 GD2 (Explanation of positioning terms) ........................................................ Appendix-132 General configuration of program .................6-11 GX Configurator-QP .............................. A-18, 2-4 GX Developer ............................................... A-18 GX Works2 .................................................. A-18
[H]
Hardware stroke limit function .....................12-39 History monitor function ................. Appendix-118
[I]
Immediate stop ..............................................6-45 In speed change processing flag ( Md.40 ) ...................................................................... 5-106 In speed control flag ....................................5-102 In speed limit flag ( Md.39 ).........................5-106 In test mode flag ( Md.1 ) ..............................5-86 Inching movement amount ( Cd.16 ) ..........5-122 Inching operation setting program.................6-20 Incremental encoder (Explanation of positioning terms) ............................................. Appendix-132 Incremental system........................................9-16 Incremental system (Explanation of positioning terms) ............................................. Appendix-132 Independent positioning control ......................9-6 Inertia (Explanation of positioning terms) ........................................................ Appendix-132 Initialization program......................................6-25 Input signal logic selection ( Pr.22 )..............5-33 Input terminal (Explanation of positioning terms) ........................................................ Appendix-133 Input/output interface internal circuit .............3-28 Intentional stop...............................................6-44 Interlock (Explanation of positioning terms) ........................................................ Appendix-133 Internal circuit.................................................3-28 Internal current consumption...........................3-3 Interpolation axis............................................9-23 Interpolation control .......................................9-23 Interpolation operation (Explanation of positioning terms) ............................................. Appendix-133
Index - 4
Interpolation speed designation method ( Pr.20 ) ....................................................................... 5-32 Inverter (Explanation of positioning terms) ........................................................ Appendix-133
[J]
JOG (Explanation of positioning terms) ........................................................ Appendix-133 JOG operation acceleration time selection ( Pr.32 ) ......................................................... 5-37 JOG operation deceleration time selection ( Pr.33 ) ......................................................... 5-37 JOG speed ( Cd.17 ) .................................. 5-122 JOG speed limit value ( Pr.31 ) .................... 5-37 JOG start signal............................................. 3-18 JUMP instruction ......................................... 9-136
[K]
kPPS (Explanation of positioning terms) ........................................................ Appendix-133
[L]
Last executed positioning data No. ( Md.46 ) ..................................................................... 5-108 LEND ........................................................... 9-139 Limit switch (Explanation of positioning terms) ........................................................ Appendix-133 Linear interpolation (Explanation of positioning terms).............................................. Appendix-133 List of block start data ................................... 5-74 List of condition data ..................................... 5-80 List of control data ....................................... 5-110 List of devices used......................................... 6-5 List of errors................................................. 15-10 List of functions................................................ 3-6 List of input/output signal details................... 3-26 List of input/output signals ............................ 3-16 List of monitor data........................................ 5-86 List of parameters.......................................... 5-18 List of positioning data .................................. 5-56 List of warnings ........................................... 15-42 Load inertia ratio (Explanation of positioning terms).............................................. Appendix-133 Location trace .................................Appendix-109 LOOP ........................................................... 9-138 Lower limit signal........................................... 3-26 Low-inertia motor (Explanation of positioning terms).............................................. Appendix-134
[M]
M code (Condition data No., No. of LOOP to LEND repetitions) ( Da.10 )...........................5-71 M code (Explanation of positioning terms) ........................................................ Appendix-134 M code comment edit ...................... Appendix-85 M code OFF request....................................12-82 M code OFF request ( Cd.7 )......................5-114
M code ON signal ..........................................3-17 M code ON signal output timing ..................12-81 M code ON signal output timing ( Pr.18 ) .....5-30
M code output function ................................12-81 Machine feed value........................................9-17 Machine feed value ( Md.21 ) .......................5-96 Machine feed value (Explanation of positioning terms) ............................................. Appendix-134 Main functions ..................................................3-8 Major positioning controls................................9-2 Manual pulse generator ......................... A-18, 2-4 Manual pulse generator (Explanation of positioning terms)........................... Appendix-134 Manual pulse generator 1 pulse input magnification ( Cd.20 ) ................................5-124 Manual pulse generator enable flag ( Cd.21 ) ...................................................................... 5-124 Manual pulse generator input selection ( Pr.24 )
........................................................................ 5-33 Master axis (Explanation of positioning terms) ........................................................ Appendix-134 Max. connection distance ................................3-3 Max. output pulse.............................................3-3 Mechanism of positioning control....................1-7 Module's detailed information........ Appendix-117 Monitor data area.............................................7-3 Movement amount after near-point dog ON ( Md.34 ).......................................................5-104 Movement amount per pulse ( Pr.2 to Pr.4 )
........................................................................ 5-19 Movement amount per pulse (Explanation of positioning terms)........................... Appendix-134 Movement amount per rotation ( Pr.3 ) ........5-19 Multi-phase pulse (Explanation of positioning terms) ............................................. Appendix-134 Multiplying rate setting (Explanation of positioning terms) ............................................. Appendix-134
Index - 5
[N]
NC language (Explanation of positioning terms) ........................................................ Appendix-135 Near pass function ...................................... 12-21 Near-point dog (Explanation of positioning terms) ........................................................ Appendix-135 Near-point dog signal .................................... 3-27 New acceleration time value ( Cd.10 ) ....... 5-118 New current value ....................................... 9-130 New current value ( Cd.9 ) ......................... 5-116 New current value (Explanation of positioning terms).............................................. Appendix-135 New deceleration time value ( Cd.11 )....... 5-118 New speed value ( Cd.14 )......................... 5-120 New torque value ( Cd.22 ) ........................ 5-124 No. of control axes .......................................... 3-2 No. of occupied I/O points............................... 3-3 No. of pulses per rotation ( Pr.2 ) ................. 5-19 No. of write accesses to flash ROM ( Md.19 ) ....................................................................... 5-94 NOP instruction ........................................... 9-135 Normal start ................................................... 10-8
[O]
Offline simulation .............................. Appendix-84 OP (Explanation of positioning terms) ........................................................ Appendix-135 OP address ( Pr.45 )..................................... 5-49 OP shift amount ( Pr.53 ).............................. 5-54 OP shift function ............................................ 12-8 OP shift function (Explanation of positioning terms) ........................................................ Appendix-135 Operation pattern ( Da.1 ) ............................ 5-58 Operation pattern (Explanation of positioning terms).............................................. Appendix-135 Operation patterns........................................... 9-5 Operation timing and processing time during position-speed switching control................. 9-110 Operation timing and processing time during speed-position switching control (ABS mode) ..................................................................... 9-119 Operation timing and processing time during speed-position switching control (INC mode) ..................................................................... 9-110 Operation timing and processing time of fast OPR ....................................................................... 8-24 OPR acceleration time selection ( Pr.51 ).... 5-52
OPR basic parameters ..................................5-45 OPR complete flag.......................................5-102 OPR deceleration time selection ( Pr.52 ) ....5-52 OPR detailed parameters ..............................5-52 OPR direction ( Pr.44 )..................................5-46 OPR dwell time ( Pr.49 ) ...............................5-52 OPR method ....................................................8-5 OPR method ( Pr.43 ) ...................................5-45
OPR method (1): Near-point dog method.......8-7 OPR method (2): Stopper method 1) ..............8-9 OPR method (3): Stopper method 2) ............8-12 OPR method (4): Stopper method 3) ............8-15 OPR method (5): Count method 1) ...............8-17 OPR method (6): Count method 2) ...............8-20 OPR method (Explanation of positioning terms) ........................................................ Appendix-135 OPR parameter (Explanation of positioning terms) ........................................................ Appendix-136 OPR request ....................................................8-2 OPR request (Explanation of positioning terms) ........................................................ Appendix-136 OPR request flag .........................................5-102 OPR request flag OFF request ( Cd.19 )
...................................................................... 5-124 OPR request OFF program ...........................6-25 OPR retry ( Pr.48 ) ........................................5-49
OPR retry function .........................................12-4 OPR speed ( Pr.46 )......................................5-49 OPR torque limit value ( Pr.54 )....................5-55 Order of priority for stop process...................6-46 Outline design of positioning system...............1-9 Outline of installation, wiring and maintenance .......................................................................... 4-2 Outline of OPR control.....................................8-2 Outline of restarting........................................1-22 Outline of starting...........................................1-18 Outline of stopping .........................................1-20 Output signal logic selection ( Pr.23 )...........5-33
Output terminal (Explanation of positioning terms) ........................................................ Appendix-136 Output timing selection of near pass control ...................................................................... 12-23 Override function..........................................12-48 Override function (Explanation of positioning terms) ............................................. Appendix-136 Override program...........................................6-14
Index - 6
[P]
P rate (Explanation of positioning terms) ........................................................ Appendix-136 Parameter ( Da.14 ) ...................................... 5-73 Parameter (Explanation of positioning terms) ........................................................ Appendix-136 Parameter 1 ( Da.18 ) ................................... 5-80 Parameter 2 ( Da.19 ) ................................... 5-80 Parameter area ............................................... 7-3 Parameter initialization program ................... 6-23 Parameter initialization request ( Cd.2 )..... 5-110 Parameter setting ............................. Appendix-82 Performance specifications............................. 3-2 Peripheral device...........................................A-18 Personal computer ........................................ A-18 PG0 (Explanation of positioning terms) ........................................................ Appendix-136 PLC CPU memo area ..................................... 7-3 PLC READY signal ....................................... 3-17 PLC READY signal [Y0] ON program .......... 6-12 Position control (Explanation of positioning terms) ........................................................ Appendix-136 Position detection module (Explanation of positioning terms) ...........................Appendix-137 Position loop gain (Explanation of positioning terms)............................................ Appendix-137
Position loop mode (Explanation of positioning terms).............................................. Appendix-137 Position-speed switching control ................ 9-123 Position-speed switching control enable flag ( Cd.26 ) ...................................................... 5-128 Position-speed switching control speed change register ( Cd.25 ) ......................................... 5-126 Position-speed switching latch flag............. 5-102 Position-speed switching signal...................... 3-8 Positioning (Explanation of positioning terms) ........................................................ Appendix-137 Positioning address/movement amount ( Da.6 ) ....................................................................... 5-62 Positioning complete ....................................... 9-6 Positioning complete (Explanation of positioning terms).............................................. Appendix-137 Positioning complete signal .......................... 3-17 Positioning complete signal (Explanation of positioning terms) ...........................Appendix-137
Positioning complete signal output time ( Pr.40 )
........................................................................ 5-42 Positioning continued..................... Appendix-137 Positioning control operation program ..........6-12 Positioning data (Explanation of positioning terms) ........................................................ Appendix-137 Positioning data area (No. 1 to 600) ...............7-3 Positioning data being executed ( Md.47 )
...................................................................... 5-108 Positioning data No. being executed ( Md.44 )
...................................................................... 5-108 Positioning monitor .......................... Appendix-88 Positioning operation speed override ( Cd.13 )
...................................................................... 5-120 Positioning parameter (Explanation of positioning terms) ............................................. Appendix-138 Positioning program examples ......................6-15 Positioning start (Explanation of positioning terms) ........................................................ Appendix-138 Positioning start No. ( Cd.3 ).......................5-114
Positioning start No. setting program ............6-13 Positioning start program...............................6-19 Positioning start signal...................................3-18 Positioning start test......................... Appendix-98 Positioning starting point No. ( Cd.4 ).........5-114 Positioning test................................. Appendix-98 Pre-reading start function ............................12-99 Precautions
� Disposal precautions ...............................4-16 � Handling precautions .................................4-5 � Precautions for creating program..............6-2 � Precautions for installation ........................4-7 � Precautions for maintenance...................4-16 � Precautions for using stepping motor .....1-23 � Precautions for wiring ................................4-8 Process time � Inching operation timing and processing time
............................................................... 11-18 � JOG operation timing and processing time
................................................................. 11-6 � Machine OPR operation timing and process
time .......................................................... 6-35 � Manual pulse generator operation timing and
processing times ...................................11-28 � Operation timing and processing time during
position-speed switching control ..........9-125
Index - 7
� Operation timing and processing time during speed-position switching control (ABS mode) .............................................................. 9-119
� Operation timing and processing time during speed-position switching control (INC mode) .............................................................. 9-110
� Operation timing and processing time of fast OPR ........................................................ 8-24
� Position control operation timing and process time ......................................................... 6-36
Program details ............................................. 6-25 Program examples
� Absolute position restoration program.... 6-23 � Acceleration/deceleration time change
program .................................................. 6-14 � Block start data setting program ............. 6-16 � Continuous operation interrupt program 6-38 � Error reset program ................................. 6-24 � External command function valid setting
program .................................................. 6-25 � Flash ROM write program....................... 6-24 � Inching operation setting program .......... 6-20 � JOG operation setting program .............. 6-20 � JOG operation/inching operation execution
program .................................................. 6-20 � M code OFF program.............................. 6-20 � Manual pulse generator operation program
................................................................ 6-11 � OPR request OFF program .................... 6-12 � Override program .................................... 6-14 � Parameter initialization program ............. 6-14 � Parameter setting program ..................... 6-12 � PLC READY signal [Y0] ON program .... 6-12 � Positioning start No. setting program ..... 6-13 � Positioning start program ........................ 6-13 � Restart program ...................................... 6-14 � Skip program ........................................... 6-14 � Speed change program .......................... 6-14 � Step operation program .......................... 6-14 � Stop program........................................... 6-14 � Target position change program............. 6-14 � Teaching program ................................... 6-14 PTP control (Explanation of positioning terms) ........................................................ Appendix-138 Pulse (Explanation of positioning terms) ........................................................ Appendix-138
Pulse generator (Explanation of positioning terms) ........................................................ Appendix-138 Pulse output mode ( Pr.5 ) ............................5-21 Pulse output mode (Explanation of positioning terms) ............................................. Appendix-138 PULSE/SIGN mode .......................................5-21 Purpose and applications of positioning control .......................................................................... 1-5
[Q]
QD75 ............................................................. A-18 QD75 READY signal .....................................3-18
[R]
READY (Explanation of positioning terms) ........................................................ Appendix-138 Real-time AUTO tuning (Explanation of positioning terms) ............................................. Appendix-138 Reference axis ...............................................9-23 Reference axis speed ....................................5-31 Reference axis speed (Explanation of positioning terms) ............................................. Appendix-138 Regeneration brake option (Explanation of positioning terms)........................... Appendix-138 Relatively safe stop........................................6-44 Repeated start (FOR condition) ..................10-15 Repeated start (FOR loop) ..........................10-14 Resolver (Explanation of positioning terms) ........................................................ Appendix-139 Restart command ( Cd.6 )...........................5-114 Restart operation ...........................................6-40 Restart program .............................................6-40 RLS signal (Explanation of positioning terms) ........................................................ Appendix-139 Rotary table .................................... Appendix-139 Rotation direction setting ( Pr.6 ) ..................5-23
[S]
S-curve acceleration/deceleration ........................................................ Appendix-139 S-curve acceleration/deceleration processing method .........................................................12-97 S-curve ratio ( Pr.35 ) ....................................5-39 SERIAL No. ............................. 1-23, Appendix-2 Servo amplifier (Explanation of positioning terms) ........................................................ Appendix-139
Index - 8
Servo lock (Explanation of positioning terms) ........................................................ Appendix-139 Servo ON (Explanation of positioning terms) ........................................................ Appendix-139 Servomotor (Explanation of positioning terms) ........................................................ Appendix-139 Setting auto refresh .......................... Appendix-87 Setting block starting data................Appendix-86 Setting data ..................................................... 5-2 Setting for the movement amount after near-point dog ON ( Pr.50 ) ........................................... 5-52
Setting items for block start data .................. 5-10 Setting items for condition data .................... 5-11 Setting items for OPR parameters.................. 5-7 Setting items for positioning data.................... 5-8 Setting items for positioning parameters ........ 5-5 Setting the positioning data........................... 9-29 Setting unit (Explanation of positioning terms) ........................................................ Appendix-139 SFC (Explanation of positioning terms) ........................................................ Appendix-140 Shape ( Da.11 ) ............................................ 5-74
Signal layout of connector............................. 3-25 Signal name................................................... 3-16 Signals
� Axis stop signal ....................................... 3-18 � BUSY signal ............................................ 3-18 � Error detection signal .............................. 3-17 � Execution prohibition flag signal ............. 3-18 � JOG start signal....................................... 3-18 � M code ON signal.................................... 3-17 � PLC READY signal ................................ 3-18 � Positioning complete signal .................... 3-17 � Positioning start signal ............................ 3-17 � QD75 READY signal ............................... 3-17 � Start complete signal............................... 3-17 � Synchronization flag signal ..................... 3-17 Simultaneous start....................................... 10-12 Simultaneous starting axis start data No. (Axis 1 start data No.)( Cd.30 ) ............................... 5-130
Simultaneous starting axis start data No. (Axis 2 start data No.)( Cd.31 ) ............................... 5-130 Simultaneous starting axis start data No. (Axis 3 start data No.)( Cd.32 ) ............................... 5-130
Simultaneous starting axis start data No. (Axis 4 start data No.)( Cd.33 ) ............................... 5-130 Skip command ( Cd.37 )............................. 5-132
Skip function.................................................12-78 Skip function (Explanation of positioning terms) ........................................................ Appendix-140 Slave axis (Explanation of positioning terms) ........................................................ Appendix-140 Slot ...................................................................2-6 Software stroke limit lower limit value ( Pr.13 ) ........................................................................ 5-27 Software stroke limit selection ( Pr.14 ) ........5-28 Software stroke limit upper limit value ( Pr.12 ) ........................................................................ 5-27 Software stroke limit valid/invalid setting ( Pr.15 ) ........................................................................ 5-28 Special start data instruction code setting value ( Md.36 ).......................................................5-106 Special start data instruction parameter setting value ( Md.37 ).............................................5-106 Special start instruction ( Da.13 )..................5-78 Special start repetition counter ( Md.41 )....5-108
Specifications of input/output interfaces .......3-19 Specifications of input/output signals ............3-16 Speed change 0 flag....................................5-102 Speed change function................................12-41 Speed change request ( Cd.15 ) ................5-120 Speed change test ......................... Appendix-102 Speed control (Explanation of positioning terms) ........................................................ Appendix-140 Speed designation during OP shift ( Pr.56 )
........................................................................ 5-55 Speed integral compensation (Explanation of positioning terms)........................... Appendix-140 Speed limit function .....................................12-27 Speed limit value ( Pr.8 )...............................5-25 Speed limit value (Explanation of positioning terms) ............................................. Appendix-140 Speed loop gain (Explanation of positioning terms) ........................................................ Appendix-140 Speed loop mode (Explanation of positioning terms) ............................................. Appendix-140 Speed switching mode ( Pr.19 )....................5-32 Speed-position function selection ( Pr.150 )
........................................................................ 5-33 Speed-position switching control (ABS mode) ...................................................................... 9-115 Speed-position switching control (INC mode) ...................................................................... 9-106 Speed�position switching control (Explanation of positioning terms)........................... Appendix-140
Index - 9
Speed-position switching control mode (Explanation of positioning terms) ........................................................ Appendix-140 Speed-position switching control movement amount change register ( Cd.23 ) .............. 5-126
Speed-position switching control positioning amount ( Md.29 )......................................... 5-100 Speed-position switching enable flag ( Cd.24 )
..................................................................... 5-126 Speed-position switching latch flag ............ 5-102 Speed-position switching signal...................... 3-8 Spiral interpolation......................................... 9-67 Standard speed switching mode .................. 9-13 Start (Day: hour) ( Md.5 ).............................. 5-88 Start (Minute: second) ( Md.6 )..................... 5-88 Start complete (Explanation of positioning terms) ........................................................ Appendix-141 Start complete signal..................................... 3-17 Start data No. ( Da.12 ) ................................ 5-77 Start data pointer being executed ( Md.43 )
..................................................................... 5-112 Start details setting program ......................... 6-26 Start history pointer ( Md.8 ) ......................... 5-90 Start information ( Md.3 ) .............................. 5-88 Start No. ( Md.4 ) .......................................... 5-88 Start positioning data No. setting value ( Md.38 )
..................................................................... 5-106 Start program................................................. 6-28 Start program for high-level positioning control ..................................................................... 10-24 Starting axis (Explanation of positioning terms) ........................................................ Appendix-141 Status ( Md.31 ) .......................................... 5-102 Status (Explanation of positioning terms) ........................................................ Appendix-141 Step function................................................ 12-73 Step function (Explanation of positioning terms) ........................................................ Appendix-141 Step mode ................................................... 12-74 Step mode ( Cd.34 ) ................................... 5-130
Step out (Explanation of positioning terms) ........................................................ Appendix-141 Step start information .................................. 12-74 Step start information ( Cd.36 ) .................. 5-132 Step valid flag ( Cd.35 ) .............................. 5-130 Stepping motor (Explanation of positioning terms) ........................................................ Appendix-141
Stop cause .....................................................6-44 Stop command processing for deceleration stop function .......................................................12-108 Stop command processing for deceleration stop
selection ( Cd.42 ) .......................................5-110
Stop group 1 sudden stop selection ( Pr.37 ) ........................................................................ 5-38 Stop group 2 sudden stop selection ( Pr.38 ) ........................................................................ 5-38 Stop group 3 sudden stop selection ( Pr.39 ) ........................................................................ 5-38 Stop process ..................................................6-44 Stop program .................................................6-44 Stop settling time (Explanation of positioning terms) ............................................. Appendix-141 Stop signal .....................................................3-27 STOP signal (Explanation of positioning terms) ........................................................ Appendix-141 Stop with stopper (Explanation of positioning terms) ............................................. Appendix-142 Stopper method 1) machine OPR...................8-9 Stopper method 2) machine OPR.................8-12 Stopper method 3) machine OPR.................8-15 Stroke (Explanation of positioning terms) ........................................................ Appendix-142 Stroke limit (Explanation of positioning terms) ........................................................ Appendix-142 Sub functions .................................................12-2 Sub functions specifically for machine OPR ........................................................................ 12-4 Sudden stop ...................................................6-45 Sudden stop (Explanation of positioning terms) ........................................................ Appendix-142 Sudden stop deceleration time ( Pr.36 ).......5-38 Synchronization flag (X1) ..............................3-17 System control data .....................................5-110 System monitor data......................................5-86
[T]
Tact time.......................................................12-99 Target position change function ..................12-58 Target position change request flag ( Cd.29 ) ...................................................................... 5-128 Target position change value (new address) ( Cd.27 ).......................................................5-128 Target position change value (new speed) ( Cd.28 ).......................................................5-128
Index - 10
Target speed ( Md.33 ) ............................... 5-104 Target value ( Md.32 ) ................................ 5-102 Teaching (Explanation of positioning terms) ........................................................ Appendix-142 Teaching data selection ( Cd.38 ) .............. 5-132 Teaching function ........................................ 12-86 Teaching positioning data No. ( Cd.39 ) .... 5-132 Teaching program ......................................... 6-14 Time chart
� Inching operation start time chart ......... 11-22 � JOG operation start time chart.............. 11-11 � Time chart for changing the speed from the
CPU module ......................................... 12-44 � Time chart for changing the speed using an
external command signal ..................... 12-46 � Time chart for changing the speed using the
override function ................................... 12-50 � Time chart for restarting .......................... 6-43 � Time chart for starting "fast OPR" .......... 6-32 � Time chart for starting "machine OPR" .. 6-31 � Time chart for starting "major positioning
control".................................................... 6-33 � Time chart for starting "position-speed
switching control".................................... 6-34 � Time chart for starting "speed-position
switching control".................................... 6-33 � Time chart for starting with external command
signal....................................................... 6-37 Torque change function .............................. 12-56 Torque control (Explanation of positioning terms) ........................................................ Appendix-142 Torque limit function .................................... 12-29 Torque limit setting value ( Pr.17 ) ............... 5-28 Torque limit stored value ( Md.35 ) ............ 5-104
Torque loop mode (Explanation of positioning terms).............................................. Appendix-142 Torque ripple (Explanation of positioning terms) ........................................................ Appendix-142 Tracking function (Explanation of positioning terms).............................................. Appendix-143 Trapezoidal acceleration/deceleration (Explanation of positioning terms).......................Appendix-143 Trapezoidal acceleration/deceleration processing method......................................................... 12-97 Troubleshooting............................................. 15-2 Turntable (Explanation of positioning terms) ........................................................ Appendix-143
Types and roles of control data .....................5-15 Types and roles of monitor data....................5-12 Types of data ...................................................5-2 Types of errors ...............................................15-6 Types of stop processes................................6-45 Types of warnings..........................................15-7
[U]
Unconditional JUMP ....................................9-136 Unit magnification ( Pr.4 )..............................5-18 Unit setting ( Pr.1 ) ........................................5-18 Unit setting (Explanation of positioning terms) ........................................................ Appendix-143 Upper limit signal ...........................................3-26
[V]
Valid M code ( Md.25 ) ..................................5-98
[W]
Wait start ......................................................10-11 Warning (Explanation of positioning terms) ........................................................ Appendix-143 Warning history ..............................................5-94 Warning history pointer ( Md.18 ) .................5-94 Wave trace ..................................... Appendix-106 Window (Explanation of positioning terms) ........................................................ Appendix-143 WITH mode..................................................12-81 WITH mode (Explanation of positioning terms) ........................................................ Appendix-143 Workpiece ..................................................... A-18 Writing to the Flash ROM ..............................13-5
[X]
X0 (QD75 READY) ........................................3-17 X1 (Synchronization flag) ..............................3-17 XY table (Explanation of positioning terms) ........................................................ Appendix-143
[Z]
Z phase (Explanation of positioning terms) ........................................................ Appendix-143 Z.ABRST1 ......................................................14-3 Z.ABRST2 ......................................................14-3 Z.ABRST3 ......................................................14-3 Z.ABRST4 ......................................................14-3 Zero signal (Explanation of positioning terms) ........................................................ Appendix-143
Index - 11
ZP.PFWRT .................................................. 14-16 ZP.PINIT ...................................................... 14-20 ZP.PSTRT1 ................................................... 14-8 ZP.PSTRT2 ................................................... 14-8 ZP.PSTRT3 ................................................... 14-8 ZP.PSTRT4 ................................................... 14-8 ZP.TEACH1................................................. 14-12 ZP.TEACH2................................................. 14-12 ZP.TEACH3................................................. 14-12 ZP.TEACH4................................................. 14-12
Index - 12
WARRANTY
Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as 'TM' or '�' are not specified in this manual.
SH(NA)-080058-U
SH(NA)-080058-U(1912)MEE
MODEL:
QD75-U-S-E
MODEL CODE: 13JR09
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.