Mitsubishi Electric MELSEC-Q QD75M User Manual Download Page 261

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MELSEC-Q

6 PLC PROGRAM USED FOR POSITIONING CONTROL

Device

name

Axis 1 Axis 2 Axis 3 Axis 4

Application

Details when ON

M34

TEACH1 instruction complete device

TEACH1 instruction completed

M35

TEACH1 instruction error complete
device

TEACH1 instruction error completed

M36

PINIT instruction complete device

PINIT instruction completed

M37

PINIT instruction error complete device PINIT instruction error completed

M38

PFWRT instruction complete device

PFWRT instruction completed

M39

PFWRT instruction error complete
device

PFWRT instruction error completed

M40

Override initialization value

M41

Servo parameter read

M42

Unused

—

M50

Parameter setting complete device

Parameter setting completed

M54

ERRD complete device

ERRD completed

Internal relay

M56

—

ERRCLR complete device

ERRCLR completed

(2) Data resisters and timers

Device

name

Axis 1 Axis 2 Axis 3 Axis 4

Application

Details of storage

OPR request flag

(

Md.31

Status: b3)

Speed (low-order 16 bits)

Speed (high-order 16 bits)

(

Cd.25

Position-speed switching

control speed change resister)

Movement amount (low-order 16 bits)

Movement amount (high-order 16 bits)

(

Cd.23

Speed-position switching

control movement amount change
resister)

Inching movement amount

(

Cd.16

Inching movement amount)

JOG operation speed (low-order 16 bits)

JOG operation speed (high-order 16
bits)

(

Cd.17

JOG operation speed)

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

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

(

Cd.20

Manual pulse generator 1

pulse input magnification)

D10

Manual pulse generator operation
enable

(

Cd.21

Manual pulse generator

enable flag)

D11

Speed change value (low-order 16 bits)

D12

Speed change value (high-order 16 bits)

(

Cd.14

New speed value)

D13

Speed change request

(

Cd.15

Speed change request)

Data register

D14

—

Override value

(

Cd.13

Positioning operation speed

override value)

Summary of Contents for MELSEC-Q QD75M

Page 1: ...MELSEC Q QD75M Positioning Module User s Manual Details QD75M1 QD75M2 QD75M4 ...

Page 2: ...se save this manual to make it accessible when required and always forward it to the end user Design Instructions DANGER Provide a safety circuit outside the programmable logic controller so that the entire system will operate safely even when an external power supply error or PLC fault occurs Failure to observe this could lead to accidents for incorrect outputs or malfunctioning 1 Configure an em...

Page 3: ...ghten the module with a screw Tighten the screws within 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 screws or module Completely turn off the externally supplied power used in the system before installing or removing the module Not doing so may damage the product Do not dir...

Page 4: ...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 tha...

Page 5: ... and additions SAFETY INSTRUCTIONS CONTENTS About manuals Section 1 1 1 Section 1 1 4 Section 1 2 3 Section 2 2 Section 2 3 Section 3 2 1 Section 3 2 4 Section 3 4 3 Section 3 5 Section 4 1 2 Section 4 2 1 Section 4 3 1 Section 4 5 1 Section 5 1 1 Section 5 1 5 Section 5 1 8 Section 5 1 9 Section 5 2 3 Section 5 2 4 Section 5 2 5 Section 5 2 6 Section 5 2 7 Section 5 2 9 Section 5 5 Section 5 6 2 ...

Page 6: ...l 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 Overview of positioning control functions 1 8 1 1 5 Outline design of positioning system 1 18 1 1 6 Communicating signals between QD75 and each module 1 19 1 2 Flow of system operation 1 22 1 2 1 Flow of all processes 1 22 1 2 2 Outline of starting 1 24 1 2 3 ...

Page 7: ... 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 9 4 3 1 Precautions for wiring 4 9 4 4 Confirming the installation and wiring 4 14 4 4 1 Items to confirm when installation and wiring are completed 4 14 4 5 Maintenance 4 15 4 5 1 Precautions for maintenance 4 15 4 5 2 Disposal instructions 4 15 5 Data Used for Positioning Control List of buffer memory addresses 5 1 to 5 ...

Page 8: ... 6 1 to 6 72 6 1 Precautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 15 6 3 1 General configuration of program 6 15 6 3 2 Positioning control operation program 6 16 6 4 Positioning program examples 6 20 6 5 Program details 6 53 6 5 1 Initialization program 6 53 6 5 2 Start details setting program 6 54 6 5 3 Start program 6 56 6 5 4 Continuous operation interr...

Page 9: ...rpolation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis linear control 9 27 9 2 3 2 axis linear interpolation control 9 29 9 2 4 3 axis linear interpolation control 9 33 9 2 5 4 axis linear interpolation control 9 39 9 2 6 1 axis fixed feed control 9 44 9 2 7 2 axis fixed feed control interpolation 9 46 9 2 8 3 axis fi...

Page 10: ...sitioning control 10 23 10 6 1 Starting high level positioning control 10 23 10 6 2 Example of a start program for high level positioning control 10 24 11 Manual Control 11 1 to 11 36 11 1 Outline of manual control 11 2 11 1 1 Three manual control methods 11 2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required para...

Page 11: ...tion time change function 12 47 12 5 4 Torque change function 12 51 12 6 Absolute position system 12 54 12 7 Other functions 12 56 12 7 1 Step function 12 56 12 7 2 Skip function 12 61 12 7 3 M code output function 12 64 12 7 4 Teaching function 12 68 12 7 5 Target position change function 12 74 12 7 6 Command in position function 12 78 12 7 7 Acceleration deceleration processing function 12 81 12...

Page 12: ... warning 15 100 15 3 5 MR J2 Jr detection warning 15 102 15 3 6 MR J2M B detection warning 15 104 15 4 LED display functions 15 106 Appendices Appendix 1 to Appendix 76 Appendix 1 Functions Appendix 3 Appendix 1 1 Multiple CPU correspond function Appendix 3 Appendix 1 2 The combination of software package for QD75 and QCPU Appendix 3 Appendix 2 Positioning data No 1 to 600 List of buffer memory ad...

Page 13: ...2 Appendix 6 Positioning control troubleshooting Appendix 57 Appendix 7 List of buffer memory addresses Appendix 63 Appendix 8 External dimension drawing Appendix 75 INDEX Index 1 to Index 10 INDEX Index 1 ...

Page 14: ... 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 Conformation to the EMC Directive The CE logo is printed on the rating plate on the main body of the PLC that conforms to the EMC directive ...

Page 15: ...ive unit Abbreviation for SSCNET compatible servo amplifier drive unit Manual pulse generator Abbreviation for manual pulse generator MR HDP01 prepared by user DOS V personal computer IBM PC AT and compatible DOS V compliant personal computer Personal computer Generic term for DOS V personal computer Workpiece Generic term for moving body such as workpiece and tool and for various control targets ...

Page 16: ...and data transmission process 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 Read Section 2 for details on each control Chapter 1 Product outline 1 1 to 1 28 Chapter 2 System configuration 2 1 to 2 8 Chapter 3 Specifications and Functions 3 1 to 3 22 Chapter 4 Installation...

Page 17: ...MEMO ...

Page 18: ...nd 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 Overview of positioning control functions 1 8 1 1 5 Outline design of positioning system 1 18 1 1 6 Communicating signals between QD75 and each module 1 19 1 2 Flow of system operation ...

Page 19: ...n 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 ...

Page 20: ...is 2 and Axis 4 are started by the No delay in Axis 2 and interpolation operation Axis 4 start 4 SSCNET makes the connection to the servo amplifier possible a The QD75 can be directly connected to the servo amplifier using the MELSERVO Mitsubishi s servo amplifier MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B and SSCNET b Because the SSCNET cable is used to connect the QD75 and the servo amp...

Page 21: ...essages recently output offering more complete error and warning histories Refer to Section 5 6 1 8 Support of intelligent function module dedicated instructions Dedicated instructions such as the positioning start instruction and teaching instruction are provided The use of such dedicated instruction simplifies PLC programs Refer to Chapter 14 9 Setups monitoring and testing through GX Configurat...

Page 22: ...and the positioning pattern is changed Palletizer Servo amplifier PLC MELSEC Q Conveyor Servomotor with brakes Reduction gears Ball screw From QD75 Palletizer QD75 G Conveyor control Unloader control Position detector 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 Compact machining center ...

Page 23: ...r Servomotor Worm gears Index table Digital switch PLC MELSEC Q Servo amplifier QD75 The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder PLC MELSEC Q QD75 Servomotor Servo amplifier 220VAC 60Hz Inverter Grinding stone Workpiece Motor Fix the grinding stone feed the workpiece and grind Operation panel a Total feed amount µm b Finishing feed amount µm c Comp...

Page 24: ...hangeover signal to the QD75 GX Configurator QP QD75 positioning module External signal Manual pulse generator Issues commands by transmitting pulses 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 datas to the servo ...

Page 25: ...e The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000 2000 5000 8000 Positioning when the specified address is 2000 Start point address Positioning when the specified address is 8000 Control using the increment system 1 This performs positioning from the specified increment of travel from the start point address 2 The sign of...

Page 26: ...ing from the specified increment of travel from the start point address 2 The sign of the travel increment determines the direction of travel For positive travel increment Positioning in the positive direction direction of address increase For negative travel increment Positioning in the negative direction direction of address decrease Example The operation when the start point address is 800 for ...

Page 27: ... point End point Reverse direction Forward direction b Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point address Two methods are available absolute system and increment system Also the direction of movement can be selected from clockwise or counterclockwise End point Center point Stop position Reverse di...

Page 28: ...ion timing Travel along axis 2 Reverse direction Stop position Movement direction for a positive movement amount Positioning direction Travel along axis 1 2 axis fixed feed control Forward direction Reverse direction Forward direction Forward direction Reverse direction Movement direction for a negative movement amount 4 Speed control After command is executed control continues with the command sp...

Page 29: ...input of the QD75 speed position switching signal and perform positioning for the specified increment of travel V Speed control Position control Specified travel increment Dwell time t ON ON ON OFF OFF OFF OFF Speed position switching signal external signal BUSY signal Positioning start signal ON Speed position switching enable flag By the PLC program creation ...

Page 30: ...a by the user determines whether to perform positioning operation with one positioning data item or to perform continuous positioning operation with multiple positioning data items 1 Independent positioning control operation pattern 00 positioning complete The operation completed upon completion of positioning for the specified positioning data The positioning completion of this operation pattern ...

Page 31: ...data number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers V Address direction Address direction Dwell time t Positioning complete 00 ON ON ON OFF OFF OFF OFF Positininig start signal Positioning start complete signal BUSY signal Positioning complete signal ON By the PLC program cre...

Page 32: ... continues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed ON ON ON OFF OFF OFF OFF V Address direction Address direction Dwell time t Positininig start signal Positioning start complete signal BUSY signal Positioning complete signal ON By the PLC program creation Positioning continue 11 Posi...

Page 33: ...me start command from the QCPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start information in the buffer memory One block ON ON ON OFF OFF OFF OFF V V Address direction Address direction Dwell time t Positininig start signal Start complete signal BUSY signal Positioning complete...

Page 34: ...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 b S pattern acceleration deceleration processing method This method reduces the load on the motor when starting and stopping This is a method in which acceleration deceleration is carried out gradually based...

Page 35: ... data Positioning control Speed control Current control Inverter Current feedback Speed feedback Position feedback Interface Servo motor M PLG FLS Upper limit signal RLS Lower limit signal CHG External command signal switching signal STOP Stop signal DOG Near point dog signal External output signal Refer to Section 3 3 2 Manual puse generator A phese B phese SSCNET S S C N E T I F Interface S S C ...

Page 36: ...al Operation monitor Parameter write read JOG operation inching operation Test Positioning operation Test Home position return operation Test Peripheral device Peripherral device interface Y9 YB YD YF X14 X15 X16 X17 XC XD XE XF X10 X11 X12 X13 Y4 Y5 Y6 Y7 X4 X5 X6 X7 X8 X9 XA XB Syncronization flag X1 Execution prohibition flag Y14 Y15 Y16 Y17 All axis servo ON signal Y1 Stop signal Reverse run J...

Page 37: ...h PLC CPU for details QD75 Peripheral device The QD75 and peripheral device communicate the following data via the PLC CPU Direction Communication QD75 Peripheral device Peripheral device QD75 Data read write Parameter Positioning data Parameter Positioning data Test operation OPR control start command Positioning control start command JOG Inching operation start command Teaching start command Man...

Page 38: ...for axes 1 and 2 Direction Communication QD75 Manual pulse generator Manual pulse generator QD75 Pulse signal Manual pulse generator A phase Manual pulse generator B phase QD75 External signal The QD75 and external signal communicate the following data via the external device connection connector Direction Communication QD75 External signal External signal QD75 Control signal Upper lower limit sig...

Page 39: ...ing Setting of the Parameters Positioning data Block start data Condition data Servo parameter Creation of PLC program for operation Refer to Note 2 3 4 5 6 7 8 Writing of setting data Writing of program Monitoring with test operation and debugging of setting data Connection confirmation Test operation Monitoring and debugging of operation program 9 10 11 Operation Monitor Actual operation Mainten...

Page 40: ...with GX Configurator QP into the QD75 Chapter 7 GX Configurator QP Operating Manual 6 Using GX Developer write the created PLC program into the PLC CPU When not using GX Configurator QP also write in the PLC 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 devic...

Page 41: ...start Simultaneous start Repeated start Machine OPR control Fast OPR control JOG operation Inching operation Manual pulse generator operation Installation and connection of module Setting of hardware Set the positioning data Set the positioning start No Cd 3 Set the positioning starting point No Set the block start data Input the start signal Method 1 Turn ON the QD75 start signal from the PLC CPU...

Page 42: ...ing main function and the sub functions that need to be set beforehand When set with GX Configurator QP this does not need to be created Write Create PLC program for setting data Create PLC program for executing main function Create PLC program for outputting control signals such as start signal to QD75 Operation PLC program Write PLC CPU Create a PLC program for the sub functions Speed change Cur...

Page 43: ...F Servo alarm Emergency stop to the servo amplifier Each axis No change During error Servo OFF or free run The operation stops with dynamic brake or electromagnetic brake Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change During error Deceleration stop sudden stop Select with Pr 37 Sudden stop group1 sudden stop selection Deceleration stop Error oc...

Page 44: ...ning 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 ...

Page 45: ...is 300 and the axis 2 movement amount is 600 is shown below Start point address Stop position due to stop cause Designated end point position Axis 1 400 200 100 100 300 700 Axis 2 Stop position due to stop cause Stop position after restart Axis 1 500 200 100 100 300 900 Axis 2 Positioning start Operation during positioning start ...

Page 46: ...ing QD75 the configuration devices applicable CPU and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning control system 2 1 General image of system 2 2 2 2 Component list 2 4 2 3 Applicable system 2 6 2 4 How to check the function version and SERIAL No 2 8 ...

Page 47: ... refer to the No in Section 2 2 Component list CPU module 1 Positioning module I O module Extension system RS 232 cable 1 4 USB cable 5 Extension cable Main base unit 2 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 3 For the items with use the software package of 2 or later ...

Page 48: ...system inputs switches SSCNET cable Upper lower stroke limit switch External command signal switching signal Stop signal Near point dog signal Peripheral device Personal computer 6 7 For details refer to GX Configurator QP Operating Manual SW D5C QD75P E 3 2 GX Configurator QP 3 8 9 Cable ...

Page 49: ...al 5 USB cable Prepared by user A USB cable is needed for connecting the CPU module with a personal computer DOS V For details refer to GX Configurator QP Operating Manual 6 Servo amplifier Prepared by user 7 Manual pulse generator Prepared by user Recommended MR HDP01 Mitsubishi Electric 8 SSCNET cable 1 For connecting between the QD75 and the servo amplifier Prepared by user Cables are needed to...

Page 50: ...wire size 0 3 mm 2 when A6CON1and A6CON4 are used AWG 24 to 28 when A6CON2 is used AWG 28 twisted AWG 30 single wire when A6CON3 is used Cable length 05 0 5m 1 64ft 1 1m 3 28ft 5 5m 16 40ft Note The overall extension of the SSCNET cable is up to 30m Specifications of recommended manual pulse generator Item Specification Model name MR HDP01 Pulse resolution 25PLS rev 100 PLS rev after magnification...

Page 51: ...G QJ72LP25GE Max 64 modules MELSECNET H remote I O station 2 1 Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection of the CPU module used 2 Refer to the Q Corresponding MELSECNET H Network System Reference Manual Remote I O Network 2 Usable base unit The QD75 can be installed in any of the I O slots 3 of a base unit When installing the QD75 always consider the power supply c...

Page 52: ...rsion GX Developer GX Configurator QP Single PLC system Version 7 or more Q00J Q00 Q01CPU Multiple PLC system Version 8 or more Single PLC system Version 4 or more Q02 Q02H Q06H Q12H Q25HCPU Multiple PLC system Version 6 or more Version 2 10L or more Single PLC system Q12PH Q25PHCPU Multiple PLC system Version 7 10L or more Version 2 13P or more For use on MELSECNET H remote I O station Version 6 ...

Page 53: ...of SERIAL 027510 SERIAL No The first six digits Function version 2 Method using the software Check the alphabet at the end of Product information displayed on System monitor Module s Detailed Information of GX Developer 1 or on OS information of GX Configurator QP 2 GX Developer display screen GX Configurator QP display screen Function version M M SERIAL No 1 This check can be made using the versi...

Page 54: ...unctions 3 4 3 2 1 QD75 control functions 3 4 3 2 2 QD75 main functions 3 6 3 2 3 QD75 sub functions and common functions 3 8 3 2 4 Combination of QD75 main functions and sub functions 3 12 3 3 Specifications of input output signals with PLC CPU 3 14 3 3 1 List of input output signals with PLC CPU 3 14 3 3 2 Details of input signals QD75 PLC CPU 3 15 3 3 3 Details of output signals PLC CPU QD75 3 ...

Page 55: ...olute system In absolute system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS In incremental system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 PLS In speed position switching control INC mode position speed switching control 0 to 214748364 7 µm 0 to 21474...

Page 56: ...CON3 is used Applicable connector for external device A6CON1 A6CON2 A6CON3 A6CON4 sold separately MR HBUS M 3 Connection between MR H BN MR H BN4 and MR H BN MR H BN4 0 5m 1 64ft 1m 3 28ft 5m 16 4ft MR HBCNS connector set sold separately MR J2HBUS M 3 Connection between QD75M and MR J2 B MR J2S B MR J2 Jr MR J2M B Connection between MR J2 B MR J2S B MR J2 Jr MR J2M B and MR J2 B MR J2S B MR J2 Jr ...

Page 57: ...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 s...

Page 58: ...g data Control system 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control 2 axis circular interpolation control 1 axis linear control 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control Current value changing NOP instruction JUMP instruction LOOP to LEND Operation pattern...

Page 59: ...n the positioning data or to the position designated with the movement amount sub point or center point 9 2 10 9 2 11 Speed control Linear control 1 axis linear control 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control Continuously outputs the command corresponding to the command speed set in the positioning data 9 2 12 9 2 13 9 2 14 9 2 15...

Page 60: ...ontrol Starts the operation of multiple axes simultaneously according to the pulse output level Positioning start No 9004 same as the simultaneous start above 10 5 JOG operation Outputs a pulse to servo amplifier while the JOG start signal is ON 11 2 Inching operation Outputs pulses corresponding to minute movement amount by manual operation to servo amplifier Performs fine adjustment with the JOG...

Page 61: ...he 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 12 4 1 Torque limit 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 12 4 2 Software...

Page 62: ...ng distance for the QD75 to reach the positioning stop position When the value is less than the set value the command in position flag is set to 1 When using another auxiliary work before ending the control use this function as a trigger for the sub work 12 7 6 Acceleration deceleration process function This function adjusts the control acceleration deceleration 12 7 7 Continuous operation interru...

Page 63: ...on This functions stores the setting data currently being executed into the flash ROM 1 Method using PLC program 2 Method using GX Configurator QP 13 3 External I O signal logic switching function This function switches I O signal logic according to externally connected devices This function enables the use of the system that does not use b N C contact signals such as Upper lower limit signal by s...

Page 64: ...3 11 MELSEC Q 3 SPECIFICATIONS AND FUNCTIONS MEMO ...

Page 65: ...ositioning control can be set Speed position switching control Continuous path control cannot be set Position speed switching control Only independent positioning control can be set Current value changing Continuous path control cannot be set NOP instruction JUMP instruction Major positioning control Other control LOOP to LEND JOG operation inching operation Manual control Manual pulse generator o...

Page 66: ...ange function Step function Skip function M code output function Teaching function Target position change function Command in position function Acceleration deceleration process function Pre reading start function Deceleration start flag function Stop command processing for deceleration stop function 3 3 4 6 6 7 8 5 2 REMARK The common functions are functions executed as necessary These are not co...

Page 67: ...s 3 Y6 Axis 3 X7 Axis 4 M code ON Y7 Axis 4 Axis stop X8 Axis 1 Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4 Error detection YB Axis 2 Reverse run JOG start XC Axis 1 YC Axis 3 Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4 BUSY YF Axis 4 Reverse run...

Page 68: ... signal Y0 turns OFF the M code ON signal will also turn OFF If operation is started while the M code is ON an error will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection OFF No error ON Error occurrence This signal turns ON when an error listed in Section 15 1 occurs and turns OFF when the error is reset on Cd 5 Axis error rest XC XD XE XF Axis 1 Axis 2 Axis 3 Axis 4 BUSY 1 OFF Not B...

Page 69: ...ovement amount 0 is executed However since the ON time is short the ON status may not to be detected in the PLC 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 ...

Page 70: ...peration inching operation and manual pulse generator operation will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During interpolation control of the positioning operation if the axis stop signal of any axis turns ON all axes in the ...

Page 71: ...or more 7VDC or less 1 0mA or less Approx 6 8kΩ 4ms or less 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 1mA or more 1VDC or less 0 1mA or less Approx 1 2kΩ 1ms or less 1 Pulse width 4ms or more 2ms or more 2ms or more Duty ratio 50 2 Phase difference Manual pulse generator A phase PULSE GENERATOR A Manual pulse generator B phase PULSE GENERATOR B A phase B phase 1ms or more When the A phase leads the B ...

Page 72: ...nnect 1A15 No connect 2B14 No connect 2A14 No connect 1B14 No connect 1A14 No connect 2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect 2B12 No connect 2A12 No connect 1B12 No connect 1A12 No connect 2B11 No connect 2A11 No connect 1B11 No connect 1A11 No connect 2B10 No connect 2A10 No connect 1B10 No connect 1A10 No connect 2B9 No connect 2A9 No connect 1B9 No connect 1A9 No connec...

Page 73: ...alid this will be the upper limit for finding the near point dog signal Lower limit signal 1A2 1B2 2A2 2B2 This signal is input from the limit switch installed at the lower limit position of the stroke Positioning will stop when this signal turns OFF When OPR retry function is valid this will be the lower limit for finding the near point dog signal Near point dog signal 1A3 1B3 2A3 2B3 This signal...

Page 74: ...Stop signal STOP 1A5 External command signal switching signal CHG 1A6 1A7 Common COM 1A19 PULSER A 1B19 Manual pulse generator A phase PULSER A 1A20 PULSER B 1B20 Manual pulse generator B phase PULSER B 1A11 1A12 1A8 1A9 5 V A B O V Manual pulse generator MR HDP01 24 V DC 5 V DC When upper limit switch is not used When lower limit switch is not used 2 1A10 1 The symbols in Need for wiring column i...

Page 75: ...C 24GDC NFB Forced stop Alarm Servo amplifer Forced stop Operation ready Servomotor Alarm Forced stop 1 2 3 1 Configure up the power supply circuit which switch off the electromagnetic contactor MC after detection alarm occurrence on the PLC CPU 2 The dynamic brake is operated and servomotor occurs to the free run when EM1 forced stop of servo amplifier turn OFF At the time the display shows the s...

Page 76: ...tion wiring or maintenance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part 4 3 4 1 3 Handling precautions 4 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 9 4 3 1 Precautions for wiring 4 9 4 4 Confirming the installation and wiring 4 14 4 4 1 It...

Page 77: ...emble the connector Connect the cable to the module QD75 Wire and connect the manufactured cable to QD75 after reading the precautions for wiring Confirming the installation and wiring Servicing the module Confirm the connection Check the connection using GX Configurator QP Operation of the positioning system Carry out maintenance Carry out maintenance as necessary Dispose of the QD75 When the QD7...

Page 78: ...splay LED 3 External device connector AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 Refer to Section 3 4 2 Signal layout for external device connection connector for details 4 SSCNET cable connector No Name Details 1 RUN indicator LED ERR indicator LED 2 Axis display LED AX1 to AX4 Refer to the next page 3 External device connector A connector connected with a drive unit mechanical system input or manual pulse...

Page 79: ...AX3 AX4 RUN illuminates ERR is OFF The module operates normally RUN ERR AX1 AX2 AX3 AX4 ERR flashes AX1 or other axis flashes An error occurs on the corresponding axis RUN ERR AX1 AX2 AX3 AX4 ERR illuminates System error RUN ERR AX1 AX2 AX3 AX4 All LEDs illuminate Hardware failure RUN ERR AX1 AX2 AX3 AX4 AX1 to AX4 are OFF The axes are stopped or on standby The symbols in the Display column indica...

Page 80: ...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 Completely turn off all lines of power supply externally before loading or unloading the module Not doing so could result in electric shock or damage to the product Because the...

Page 81: ...ts 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 co...

Page 82: ...nstalling the QD75 are given below Refer to this section as well as 4 1 3 Handling precautions when carrying out the work 1 Precautions for SSCNET cable wiring If the duct is below the bottom of the module leave sufficient clearance to eliminate effects on the SSCNET cable limit the space height to 70 mm 2 76 inch MIN 70 2 76 Unit mm inch ...

Page 83: ...cation range environment could lead to electric shocks fires malfunctioning product damage or deterioration Don t directly touch the conductive area or electronic components of the module Failure to observe this could lead to trouble or malfunctioning 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 st...

Page 84: ...ating the system be sure to remove the film to provide adequate ventilation Securely connect the connector for the SSCNET cable to the bottom connector on the module When removing the cable or power supply cable from the module do not pull the cable When removing the cable with a connector hold the connector on the side that is connected to the module Pulling the cable that is still connected to t...

Page 85: ...If a duct is being used and cables to connect to QD75 are separated from the power line duct use metal piping Ground the pipes securely after metal piping 4 The cable is to use the twisted pair shielded cable wire size 0 3 mm 2 The shielded must be grounded on the QD75 side Wiring example of shielded cable The following shows a wiring example for noise reduction in the case where the connector A6C...

Page 86: ...s of FG wire and each shielded cable Coat the wire with insulaing tape Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Solder the shield of any one of the shielded cables to the FG wire Assembling of connector A6CON1 Wrap the coated parts with a heat contractile tube ...

Page 87: ...i Electric for grounding connected to the control box and the shielded cable the SSCNET cable QD75 20cm 7 88inch to 30cm 11 82inch Inside control box AD75CK How to ground shielded cable using AD75CK Shielded cable Shield Installation screw to control box M4 screw Ground terminal Ground terminal installation screw M4 8 screw Using the AD75CK you can tie four cables of about 7mm outside diameter tog...

Page 88: ...QD75 and servo amplifier is separately laid from the power line in this example the cable is outside of the duct and is as short as possible Wiring duct Wiring duct POINTS 1 The noise reduction techniques might be decreased the noise by installing ferrite core in the cable connected with QD75 Refer to this manual and the servo amplifier manual for the noise reduction technique related to the conne...

Page 89: ...ddress increment direction in the actual positioning work and whether the QD75 recognizes the external input output signals such as the near point dog signal and stop signal can be checked Refer to GX Configurator QP Operating Manual for details on Connection confirmation Note that GX Developer may also be used to confirm the connection between the QD75 and external device I O signals For details ...

Page 90: ...plied power used in the system before clearing or tightening screws Not doing so may cause 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 Not doing so may cause an operation failure or damage to ...

Page 91: ...4 16 MELSEC Q 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT MEMO ...

Page 92: ...arameters 5 7 5 1 4 Setting items for servo parameters 5 8 5 1 5 Setting items for positioning data 5 10 5 1 6 Setting items for block start data 5 12 5 1 7 Setting items for condition data 5 13 5 1 8 Types and roles of monitor data 5 14 5 1 9 Types and roles of control data 5 18 5 2 List of parameters 5 22 5 2 1 Basic parameters 1 5 22 5 2 2 Basic parameters 2 5 26 5 2 3 Detailed parameters 1 5 2...

Page 93: ...ontrol Condition data Set the condition data for high level positioning control Memo data Set the condition judgment values for the condition data used in high level positioning control to Pr 1 Pr 57 to Pr 1 Pr 42 to OPR parameters to Pr 43 Pr 57 to Da 1 Da 10 to Da 11 Da 19 to Da 15 Da 19 to Da 11 Da 14 Block start data Pr 200 Servo basic parameters Servo adjustment parameters Set the data that i...

Page 94: ...nly valid data assigned to these parameters are the data read at the moment when a positioning or JOG operation is started Once the operation has started any modification to the data is ignored Exceptionally however modifications to the following are valid even when they are made during a positioning operation acceleration time 0 to 3 deceleration time 0 to 3 and external start command Acceleratio...

Page 95: ...ation start flag valid is valid for only the value at the time when the PLC READY signal Y0 turns from OFF to ON Cd 41 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 in...

Page 96: ...rotation AP Unit PLS Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM 12 3 2 Basic parameters 1 Pr 7 Bias speed at start Pr 8 Speed limit value 12 4 1 Pr 9 Acceleration time 0 Basic parameters 2 Pr 10 Deceleration time 0 12 7 7 Pr 11 Back 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...

Page 97: ...ion time 12 7 7 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 Detailed parameters 2 Pr 201 Restart allowable range when servo OFF to ON 5 2 4 Always set Set as required w...

Page 98: ...point dog ON Pr 51 OPR acceleration time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S Pr 54 OPR torque limit value Pr 56 Speed designation during OP shift S S S OPR detailed parameters Pr 57 Dwell time during OPR retry 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 ignor...

Page 99: ...to tuning Servo basic parameters Pr 109 Servo response Pr 112 Load inertia ratio Pr 113 Position loop gain 1 Pr 114 Speed loop gain 1 Pr 115 Position loop gain 2 Pr 116 Speed loop gain 2 Pr 117 Speed integral compensation Pr 118 Machine resonance suppression filter Pr 119 Feed forward gain Pr 120 In position range Pr 121 Electromagnetic brake sequence output Pr 122 Analog monitor output Pr 123 Opt...

Page 100: ...r 144 Slight vibration suppression control selection 2 Pr 145 Induction voltage compensation Pr 149 Gain changing selection Pr 150 Gain changing condition Pr 151 Gain changing time constant Pr 152 Ratio of load inertia moment to servomotor inertia moment 2 Pr 153 Position loop gain 2 changing ratio Pr 154 Speed loop gain 2 changing ratio Pr 155 Speed integral compensation changing ratio Pr 160 Opt...

Page 101: ...ttern Continuous path control Da 2 Control system Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 Forward run speed position Reverse run speed position Forwar...

Page 102: ... Q 5 DATA USED FOR POSITIONING CONTROL Checking the positioning data The items Da 1 to Da 10 are checked at the following timings 1 Startup of a positioning operation 2 Error check performed by GX Configurator QP ...

Page 103: ...ach setting item High level positioning control Block start data Block start Normal start 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 when not set Setting not required This is an irrelevant item so the setting value will be ignored If t...

Page 104: ... control High level positioning control Control Condition data Other than JUMP instruction JUMP instruction Block start Normal start Condition start Wait start Simul taneous start Repeated start FOR loop Repeated start FOR condition Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Set as required when not set Setting limited Setting not required Thi...

Page 105: ...stem operation history Monitoring details Corresponding item Whether the system is in the test mode or not Md 1 In test mode flag Start information Md 3 Start information Start No Md 4 Start No Hour Md 5 Start Hour Start Minute second Md 6 Start Minute second Error upon starting Md 7 Error judgment History of data that started an operation Latest pointer No Md 8 Start history pointer Axis in which...

Page 106: ...toring the speed Monitor details Corresponding item During independent axis control Indicates the speed of each axis When 0 Composite speed is set for Pr 20 Interpolation speed designation method Indicates the composite speed During interpola tion control When 1 Reference axis speed is set for Pr 20 Interpolatio n speed designation method Indicates the reference axis speed Md 22 Feedrate Monitor t...

Page 107: ...s control system Md 42 Control system repetition counter Monitor the block No Md 45 Block No being executed Monitor the current torque limit value Md 35 Torque limit stored value Monitor the instruction code of the special start data when using special start Md 36 Special start data instruction code setting value Monitor the instruction parameter of the special start data when using special start ...

Page 108: ...5 17 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 109: ...tem data or machine operation Controlling the system data Setting and resetting QD75 setting data through the system control data Cd 1 Cd 2 Controlling the operation Setting operation parameters changing speed during operation interrupting or restarting operation through the axis control data Cd 3 to Cd 42 1 Controlling the system data Setting and resetting the setting data Control details Control...

Page 110: ...ng data selection Specify data to be taught Cd 39 Teaching positioning data No Controlling operation per step Control details Corresponding item Stop positioning operation after each operation Cd 35 Step valid flag Set unit to carry out step Cd 34 Step mode Issue instruction to continuous operation or restart from stopped step Cd 36 Step start information Controlling the speed Control details Corr...

Page 111: ... position during positioning Cd 27 Target position change value new address Set new speed when changing target position during positioning Cd 28 Target position change value new speed Set absolute ABS moving direction in degrees Cd 40 ABS direction in degrees Set manual pulse generator operation validity Cd 21 Manual pulse generator enable flag Set scale per pulse of No of input pulses from manual...

Page 112: ...5 21 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 113: ... Pr 4 Unit magnification AM 1000 1000 times 1000 1 1 151 301 451 Pr 7 Bias speed at start Not used 0 6 7 156 157 306 307 456 457 This buffer memory address in QD75M is different from QD75P 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 PLS Different units can be defined for differ...

Page 114: ...tor shaft If you are using the Mitsubishi servo amplifier MR H BN MR J2 B MR J2S B MR J2 03B5 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 Table 1 Pr 1 setting value Value set with peripheral device unit Value set with PLC program unit 1 0 mm 0 1 to 2000000 0 µm 1 to 20000...

Page 115: ...his 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 20000000 0µm 20m adjust with the unit magnification so that the movement amount per rotation AL does not exceed 20000000 0µm 20m 1 Refer to the section 12 3 2 Electric gear function information about...

Page 116: ...5 25 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 117: ...lt value Axis 1 Axis 2 Axis 3 Axis 4 Pr 8 Speed limit value The setting range differs depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 200000 10 11 160 161 310 311 460 461 Pr 9 Acceleration time 0 1 to 8388608 ms 1 to 8388608 ms 1000 12 13 162 163 312 313 462 463 Pr 10 Deceleration time 0 1 to 8388608 ms 1 to 8388608 ms 1000 14 15 164 165 314 ...

Page 118: ...ece movement speed Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Pr 9 Acceleration time 0 specifies the time for the speed to increase from zero to the speed limit value Pr 8 Pr 10 Deceleration time 0 specifies the time for the speed to decrease from the speed limit value Pr 8 to zero Actual acceleration time Actual deceleration time Time Velocity Speed limit value Positioning speed Accelerat...

Page 119: ...it selection 1 Apply software stroke limit on machine feed value 1 0 22 172 322 472 0 Software stroke limit valid during JOG operation inching operation and manual pulse generator operation 0 Pr 15 Software stroke limit valid invalid setting 1 Software stroke limit invalid during JOG operation inching operation and manual pulse generator operation 1 0 23 173 323 473 Pr 11 Backlash compensation amo...

Page 120: ...eripheral device unit Value set with PLC program unit 0 mm 0 to 6553 5 µm 0 to 65535 10 1µm 1 inch 0 to 0 65535 inch 0 to 65535 10 5 inch 2 degree 0 to 0 65535 degree 0 to 65535 10 5 degree 3 PLS 0 to 65535 PLS 0 to 65535 PLS 1 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set Table 2 Pr 1 setting value Value set with peripheral device unit Value set with PLC program unit 0...

Page 121: ...oke limit valid invalid setting Set whether to validate the software stroke limit during JOG Inching operation and manual pulse generator operation Setting value setting range Setting value buffer memory address Item Value set with peripheral device Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 Pr 16 Command in position width The setting value range differs depending on the ...

Page 122: ... ON signal is turned ON when a positioning operation starts m1 m2 01 continuous 00 end Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning M code ON signal X4 X5 X6 X7 M code OFF request 1504 1604 1704 1804 Cd 7 Operation pattern Da 1 Valid M code Md 25 m1 and m2 indicate set M codes AFTER mode An M code is output and the M code ON signal is turned ON when a positioning op...

Page 123: ... speed control 2 Clear current feed value to zero 2 0 30 180 330 480 b0 Lower limit b1 Upper limit b2 Not used b3 Stop signal b4 External command switching signal b5 Not used b6 Near point dog signal b7 Not used b8 Manual pulse generator input Pr 22 Input signal logic selection b9 to b15 Not used 0 Negative logic 1 Positive logic b0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Always 0 is set to the part n...

Page 124: ...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 Y axis Designate composite speed Calculated by QD75 When composite speed is designated Designa...

Page 125: ... 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 Set the input signal logic that matches the signaling specification of the connected external device N...

Page 126: ... 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 PLS SIGN Pr 200 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 ...

Page 127: ...rs depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 20000 48 49 198 199 348 349 498 499 0 Pr 9 Acceleration time 0 0 1 Pr 25 Acceleration time 1 1 2 Pr 26 Acceleration time 2 2 Pr 32 JOG operation acceleration time selection 3 Pr 27 Acceleration time 3 3 0 50 200 350 500 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration time 1 1 2 Pr 29 Decel...

Page 128: ...ess than Pr 8 Speed limit value If the speed limit value is exceeded the JOG speed limit value error error code 956 will occur Pr 32 JOG operation acceleration time selection Set which of acceleration time 0 to 3 to use for the acceleration time during JOG operation 0 Use value set in Pr 9 Acceleration time 0 1 Use value set in Pr 25 Acceleration time 1 2 Use value set in Pr 26 Acceleration time 2...

Page 129: ... 55 204 205 354 355 504 505 Pr 37 Stop group 1 sudden stop selection 56 206 356 506 0 Normal deceleration stop 0 Pr 38 Stop group 2 sudden stop selection 57 207 357 507 Pr 39 Stop group 3 sudden stop selection 1 Sudden stop 1 0 58 208 358 508 Pr 34 Acceleration deceleration process selection Set whether to use automatic trapezoid acceleration deceleration or S pattern acceleration deceleration for...

Page 130: ...e S pattern acceleration deceleration process The S pattern ratio indicates where to draw the acceleration deceleration curve using the Sin curve as shown below A B B 2 B 2 V t V t b a 0 7 b a sin curve S pattern ratio B A 100 Example Positioning speed Positioning speed When S pattern ratio is 100 When S pattern ratio is 70 ...

Page 131: ...eleration starts following the sudden stop deceleration time 3 Positioning stop When a sudden stop cause does not occur the decelera tion starts toward the stop position following the decel eration time Actual accel eration time Actual sudden stop deceleration time Acceleration time Actual decel eration time Deceleration time Speed limit value Pr 8 Command speed Da 8 Pr 36 Sudden stop deceleration...

Page 132: ... External stop signal Stop signal from PLC CPU Stop signal from peripheral device Error occurrence excludes errors in stop groups 1 and 2 includes only the software stroke limit errors during JOG operation speed control speed position switching control and position speed switching control Stop made when the near point dog signal turns from OFF to ON in counter method machine OPR The methods of sto...

Page 133: ...est 1 2 Speed position position speed switching request 2 Pr 42 External command function selection 3 Skip request 3 0 62 212 362 512 Pr 201 Restart allowable range when servo OFF to ON 0 1 to 163840 PLS 0 restart not allowed 0 64 65 214 215 364 365 514 515 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 po...

Page 134: ...arried 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 ax...

Page 135: ...ip 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 Pr 201 Restart allowable range when servo OFF to ON 1 What is the restart function when servo OFF to ON The QD75 restart function when servo OFF changes to ON performs continuous positioning operation positioning start res...

Page 136: ... of the QD75 at the time the servo ON signal when from ON to OFF and the present value at the time the servo ON signal went from OFF to ON is greater than the value set in the buffer memory for the restart allowable range setting the positioning operation is judged as on standby and cannot be restarted Axis status Servo emergency stop signal Stopping Positioning Servo OFF Stopping Waiting Stop com...

Page 137: ...tart cannot be executed when the operation status of the axis is other than stop e Do not restart while a stop command is ON If restart is executed while stopped an error error code 106 Started during stop command ON is generated and the operating status of the axis becomes ERR Therefore restart cannot be performed even if the error is reset f Restart can also be executed while the positioning sta...

Page 138: ...5 47 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 139: ...d 2 After decelerating at the near point dog ON move the designated distance and complete the machine OPR 6 Data set method The position where the machine OPR has been made will be the OP 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 n...

Page 140: ...nal after moving the movement amount after near point dog ON Movement amount after near point dog ON Md 34 The near point dog must turn OFF at a sufficient distance away from the OP position 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 c...

Page 141: ...ange is set Table 2 on right page 1 74 75 224 225 374 375 524 525 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 lowe...

Page 142: ...001 to 2000000 000 inch min 1 to 2000000000 10 3 inch min 2 degree 0 001 to 2000000 000 degree min 1 to 2000000000 10 3 degree min 3 PLS 1 to 10000000 PLS s 1 to 10000000 PLS s 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 ...

Page 143: ...the value within the Table 1 range is set Table 1 on right page 1 76 77 226 227 376 377 526 527 0 Do not retry OPR with limit switch 0 Pr 48 OPR retry 1 Retry OPR with limit switch 1 0 78 228 378 528 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...

Page 144: ...N is detected 2 the axis will decelerate to a stop and then will move in the direction opposite the OPR direction 3 If the following edge of the near point dog signal is detected during movement in the opposite direction the axis will decelerate to a stop 4 and then will carry out machine OPR again 5 6 ON Start position Near point dog signal Limit switch OFF state Zero signal 5 4 6 1 2 3 Operation...

Page 145: ...1 Pr 25 Acceleration time 1 1 2 Pr 26 Acceleration time 2 2 Pr 51 OPR acceleration time selection 3 Pr 27 Acceleration time 3 3 0 82 232 382 532 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 Pr 52 OPR deceleration time selection 3 Pr 30 Deceleration time 3 3 0 83 233 383 533 Pr 50 Setting for the movement amount after near point dog ON When using the cou...

Page 146: ...ue of Pr 50 Setting for the Movement amount after near point dog ON is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Movement amount for 10ms at OPR speed Tb Vz Vp 0 01 Vz Vz 2000 300 10 10 200 10 10 10 2000 3 3 3 0 01 10 10 3 75 100 175 Setting for the movement amount after nearpoint dog ON Pr 50 should be equal to or larger than 175 Pr 51 OPR acceleration time selection Set w...

Page 147: ...OP shift 1 Creep speed 1 0 88 238 388 538 Pr 57 Dwell time during OPR retry 0 to 65535 ms 0 to 65535 ms 0 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set 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 phys...

Page 148: ...or 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 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 ...

Page 149: ...remental 0 invalid When used to the absolute position detection system 1 valid POINT When absolute position detection selection invalid is selected with incremental encoder a parameter error occurs Absolute position detection selection 0 Invalid 1 Valid 00 Not used 01 FR RC FR BU 02 MR RB013 03 MR RB033 05 MR RB32 06 MR RB34 07 MR RB54 08 MR RB30 09 MR RB50 0B MR RB31 0C MR RB51 0E Standard fan 10...

Page 150: ...e Axis 1 Axis 2 Axis 3 Axis 4 0 to 4 3 30100 30200 30300 30400 0 to 1 0 30101 30201 30301 30401 3 3 3 3 3 3 3 3 Regenerative selection brake option 0 H Select the external dynamic brake 1 is used to set up the setting value Hexadecimal 0000H 30102 30202 30302 30402 2 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75 then switch it on again ...

Page 151: ...W 100 5 Set up 5H Example 2 For used motor capacity is 22kW 22 kW 100 2200 Set up 2200H POINT Be sure to set up motor capacity Communication with servo amplifier isn t started by the initial value 0 in default value The LED indication of servo amplifier indicates Ab 0000 to FFFF Pr 105 Servo motor speed Used to select the rated speed r min of the servomotor Refer to the instruction manual of servo...

Page 152: ...Axis 3 Axis 4 Motor type selection 0 0 H 1 is used to set up the setting value Hexadecimal 80H 30103 30203 30303 30403 0000 to FFFF 0000H 30104 30204 30304 30404 1 to 3 1 30105 30205 30305 30405 0 Feedback pulse number 1 is used to set up the setting value Hexadecimal 0255 30106 30206 30306 30406 0 to 1 0 30107 30207 30307 30407 2 Set the parameter value and switch power off once The parameter is ...

Page 153: ...on mode B Large friction mode C Large friction mode 1 Low response 15Hz 2 Low response 20Hz 3 Low response 25Hz 4 Low response 30Hz 5 Low response 35Hz 6 Low response 45Hz 7 Low response 55Hz 8 Middle response 70Hz 9 High response 85Hz A High response 105Hz B High response 130Hz C High response 160Hz D High response 200Hz E High response 240Hz Servo basic parameters Pr 109 Servo response Used to s...

Page 154: ...ral device Setting value buffer memory address Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 2 0 to 4 1 30108 30208 30308 30408 1 to 5 8 to C 1 to F 5H 30109 30209 30309 30409 ...

Page 155: ...the flash ROM 0 to 300 0 times 4 to 1000 rad s Pr 113 Position loop gain 1 Used to set the gain of position loop 1 Increase the gain to improve trackability performance in response to the position command 4 to 2000 rad s 20 to 5000 rad s Pr 114 Speed loop gain 1 Normally this parameter setting need not be changed Higher setting increases the response level but is liable to generate vibration and o...

Page 156: ... H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 1000 0 to 3000 70 30112 30212 30312 30412 4 to 1000 4 to 2000 35 30113 30213 30313 30413 20 to 5000 20 to 8000 177 30114 30214 30314 30414 1 to 500 1 to 1000 35 30115 30215 30315 30415 20 to 8000 20 to 20000 817 30116 30216 30316 30416 1 to 1000 20 30117 30217 30317 30417 ...

Page 157: ...Hz 19 180 Hz 0A 450 Hz 1A 173 1 Hz 0B 409 1 Hz 1B 166 7 Hz 0C 375 Hz 1C 160 1 Hz 0D 346 2 Hz 1D 155 2 Hz 0E 321 4 Hz 1E 150 Hz Notch filter selection 0F 300 Hz 1F 145 2 Hz Pr 118 Machine resonance suppression filter Notch depth selection Used to set the notch frequency to match the response frequency of the mechanical system 0 Deep 40db 1 14db 2 8db 3 Shallow 4db Servo adjustment parameters Pr 119...

Page 158: ... address Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 Notch filter selection 0 Notch depth selection 1 is used to set up the setting value Hexadecimal H 0000H 30118 30218 30318 30418 0 to 100 0 30119 30219 30319 30419 ...

Page 159: ... off 0 to 1000 ms 0 Speed output 1 Torque output 2 Speed output 3 Torque output 4 Current command output 5 Command speed output 6 Droop pulses 1 1 output 7 Droop pulses 1 4 output 8 Droop pulses 1 16 output 9 Droop pulses 1 32 output A Droop pulses 1 64 output 0 Speed output 1 Torque output 2 Speed output 3 Torque output 4 Current command output 5 Command speed output 6 Droop pulses 1 1 output 7 D...

Page 160: ...r setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 50000 100 30120 30220 30320 30420 0 to 1000 0 30121 30221 30321 30421 Monitor 2 output setting 0 0 Monitor 1 output setting 1 is used to set up the setting value Hexadecimal H 0001H 30122 30222 30322 30422 ...

Page 161: ...tput signal from analog monitor ch1 and ch2 of the servo amplifier B Bus voltage servo amplifier of 100V 200V 8V 400V servo amplifier of 400V 8V 800V Servo forced stop selection 0 Valid Use the forced stop signal 1 Invalid Do not use the forced stop signal 0 2 25 KHz 2 6 375 KHz Low acoustic noise mode selection Used to set the optional function 1 Carrier frequency Low acoustic noise mode selectio...

Page 162: ...r 2 output setting 0 0 Monitor 1 output setting 1 is used to set up the setting value Hexadecimal H 0001H 30122 30222 30322 30422 Servo forced stop selection 0 Serial encoder cable setting Low acoustic noise mode selection 1 is used to set up the setting value Hexadecimal H 0000H 30123 30223 30323 30423 2 Set the parameter value and switch power off once The parameter is transferred to servo ampli...

Page 163: ... occurs 3 Emergency stop input turn off Valid 1 Output is executed when status of 1 to 3 and rotation speed of the servomotor are less than Pr 130 Low pass filter selection 0 Valid Automatic adjustment 1 Invalid But the selection of manual low pass filter frequency is effective Adaptive vibration suppression control selection 0 Invalid 1 Valid Machine resonance frequency is always detected and the...

Page 164: ... Electromagnetic brake interlock output timing setting 0 Motor less operation selection 1 is used to set up the setting value Hexadecimal H 0000H 30124 30224 30224 30424 Low pass filter selection 0 Adaptive vibration suppression control selection Adaptive vibration suppression control sensitivity selection 1 is used to set up the setting value Hexadecimal H 0000H 30125 30225 30325 30425 2 Set the ...

Page 165: ...7 ms 1 3 55 ms 2 7 11 ms 3 14 22 ms Pr 129 Pre alarm data selection Pre alarm data sampling time selection Used to set the pre alarm data selection 4 28 44 ms Pr 130 Zero speed Used to set the output range of the Zero speed signal ZSP 0 to 10000 r min 0 to 1000 PLS Pr 131 Error excessive alarm level Used to set the output range of the error excessive alarm 0 1 to 100 0 0 25rev 6 PI PID control swi...

Page 166: ...0329 30429 0 to 10000 50 30130 30230 30330 30430 1 to 1000 80 30131 30231 30331 30431 PI PID control switch over selection H 0 0 Servo reading character selection 1 is used to set up the setting value Hexadecimal 0000H 30132 30232 30332 30432 2 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75 then switch it on again to make that parameter ...

Page 167: ...power on Pr 134 PI PID control switch over position droop Used to select the position droop value Number of pulse which PI control is switched over to PID control Pr 132 becomes effective when a parameter is made 0001H 0 to 50000 PLS Pr 136 Speed differential compensation Used to select the differential compensation value Setting speed integral compensation value to 1000 in PI proportionally integ...

Page 168: ...ponse delay time selection Encoder output pulse setting selection OPR set condition selection 1 is used to set up the setting value Hexadecimal H 0000H 30133 30233 30333 30433 0 to 50000 0 30134 30234 30334 30434 0 to 1000 980 30136 30236 30336 30436 0 to 65535 4000 30138 30238 30338 30438 2 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75...

Page 169: ...e in more than Command frequency KPPS 3 Effective in more than Droop pulse PLS 4 Effective in more than Model speed r min Pr 150 Gain changing condition Used to set the ratio of changing Pr 152 to Pr 155 when gain changing is valid Used to set Pr 149 when command frequency droop pulse or model speed is selection 0 to 9999 Pr 151 Gain changing time constant Used to set the time constant at which th...

Page 170: ... integral compensation shift value H 0111H 30143 30243 30343 30443 0 to 1000 20 30144 30244 30344 30444 0 to 100 50 30145 30245 30345 30445 0 2 to 4H 0000H 30149 30249 30349 30449 0 to 9999 10 30150 30250 30350 30450 0 to 100 1 30151 30251 30351 30451 0 to 3000 70 30152 30252 30352 30452 10 to 200 100 30153 30253 30353 30453 10 to 200 100 30154 30254 30354 30454 2 Set the parameter value and switc...

Page 171: ...Hz 01 4500 Hz 11 264 7 Hz 02 2250 Hz 12 250 Hz 03 1500 Hz 13 236 8 Hz 04 1125 Hz 14 225 Hz 05 900 Hz 15 214 3 Hz 06 750 Hz 16 204 5 Hz 07 642 9 Hz 17 195 7 Hz 08 562 5 Hz 18 187 5 Hz 09 500 Hz 19 180 Hz 0A 450 Hz 1A 173 1 Hz 0B 409 1 Hz 1B 166 7 Hz 0C 375 Hz 1C 160 1 Hz 0D 346 2 Hz 1D 155 2 Hz 0E 321 4 Hz 1E 150 Hz Notch filter frequency selection 0F 300 Hz 1F 145 2 Hz Servo expansion parameters 2...

Page 172: ...is 2 Axis 3 Axis 4 50 to 1000 100 30155 30255 30355 30455 0 Encoder output pulse direction selection H 0 0 1 is used to set up the setting value Hexadecimal 0000H 30160 30260 30360 30460 Notch filter frequency 0 Notch depth selection selection 1 is used to set up the setting value Hexadecimal H 0000H 30161 30261 30361 30461 2 Set the parameter value and switch power off once The parameter is trans...

Page 173: ...96 7997 7998 7999 Ê u Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X Da 5 Œ Ê ƒ A ƒ h ƒ Œ ƒ X Da 6 Ž w ß x Da 7 ƒ h ƒ E ƒ F ƒ ƒ ƒ C ƒ Da 8 Mƒ R ƒ h Da 9 Ê u Œ ˆ ß ƒ f ƒ 600 Ê u Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X Da 5 Œ Ê ƒ A ƒ h ƒ Œ ƒ X Da 6 Ž w ß x Da 7 ƒ h ƒ E ƒ F ƒ ƒ ƒ C ƒ Da 8 Mƒ R ƒ h Da 9 Ê u Œ ˆ ß ƒ f ƒ 599 Ê u Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X ...

Page 174: ... Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X Da 5 Œ Ê ƒ A ƒ h ƒ Œ ƒ X Da 6 Ž w ß x Da 7 ƒ h ƒ E ƒ F ƒ ƒ ƒ C ƒ Da 8 Mƒ R ƒ h Da 9 Ê u Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X Da 5 Œ Ê ƒ A ƒ h ƒ Œ ƒ X Da 6 Ž w ß x Da 7 ƒ h ƒ E ƒ F ƒ ƒ ƒ C ƒ Da 8 Mƒ R ƒ h Da 9 Ê u Œ ˆ ß Ž Ê Ž q Da 1 Da 4 Ž P Ê u Œ ˆ ß ƒ A ƒ h ƒ Œ ƒ X Da 5 Œ Ê ƒ A ƒ h ƒ Œ ƒ X Da 6 Ž w ß x Da 7 ƒ h ƒ E ƒ F ƒ ƒ ƒ ...

Page 175: ...r 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 ABS3 3 axis linear interpolation control ABS 15H 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 ABS4 4...

Page 176: ...s 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...

Page 177: ... error will occur during the program execution error code 521 This item does not need to be set in case 3 or 4 axis interpolation is selected Setting value setting range Setting value buffer memory address Item Value set with peripheral device Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 Da 6 Positioning address movement amount The setting value range differs according to t...

Page 178: ...device µm Value set with PLC program 1 10 1µm ABS Linear 1 01H ABS Linear 2 0AH ABS Linear 3 15H ABS Linear 4 1AH Current value changing 81H Set the address 214748364 8 to 214748364 7 Set the address 2147483648 to 2147483647 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 214748364 8 to ...

Page 179: ...r the movement amount needs to be set Da 2 setting value Value set with peripheral device degree Value set with PLC program 1 10 5 degree ABS Linear 1 01H ABS Linear 2 0AH ABS Linear 3 15H ABS Linear 4 1AH Current value changing 81H Set the address 0 to 359 99999 Set the address 0 to 35999999 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixe...

Page 180: ...ear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 2147483648 to 2147483647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 2147483647 Set the movement amount 0 ...

Page 181: ...near 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 21474 83647 Set the movement amoun...

Page 182: ...5 91 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 183: ...n 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 Sub point Address set with Da 7 Start point address Address before starting positioning Start point addr...

Page 184: ...arc address does not need to be set Da 2 setting value Value set with peripheral device PLS Value set with PLC program 1 PLS ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 2147483648 to 2147483647 Set the address 2147483648 to 2147483647 INC circular sub 0EH INC circular right 11H INC circular left 12H Set the movement amount 2147483648 to 2147483647 Set the move...

Page 185: ... data No Da 10 M code No of LOOP to LEND repetitions The setting value range differs according to the Da 2 Control system Here the value within the Table 3 range is set Table 3 on right page 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...

Page 186: ... you specify 0 error code 545 The condition data specifies the condition for the JUMP instruction to be executed A JUMP will take place when the condition is satisfied Table 1 Pr 1 setting value Value set with peripheral device unit Value set with PLC program unit 0 mm 0 01 to 20000000 00 mm min 1 to 2000000000 10 2 mm min 1 inch 0 001 to 2000000 000 inch min 1 to 2000000000 10 3 inch min 2 degree...

Page 187: ...tion pattern ON V t V t V t 1 When Da 1 Operation pattern in 00 Positioning complete Set the time from when the positioning ends to when the positioning complete signal turns ON as the dwell time Positioning control Positioning complete signal OFF 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 ...

Page 188: ...5 97 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 189: ... point 50th point Axis 1 Start block 0 27049 27099 27001 27051 œ Ê u Œ ˆ ß Ž n ƒ f ƒ b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 27000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 27050 Setting item Buffer memory address Buffer memory address Buffer memory address Setting item Setting item 1st point 2nd point 50th point Axis 2 Start block 0 Up to 50 block start data points can be ...

Page 190: ...th point Axis 3 Start block 0 29049 29099 29001 29051 œ Ê u Œ ˆ ß Ž n ƒ f ƒ b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 29000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 29050 Setting item Buffer memory address Buffer memory address Buffer memory address Setting item Setting item 1st point 2nd point 50th point Axis 4 Start block 0 The pages that follow explain the block start dat...

Page 191: ...tart block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7002 Axis 4 Start block 2 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to...

Page 192: ...ata No 1 to 600 01H to 258H 01H to 258H b15 b0 b3 b7 b11 0 0 0 Start data No Shape 0000H 26000 27000 28000 29000 0 Block start normal start 00H 1 Condition start 01H 2 Wait start 02H 3 Simultaneous start 03H 4 FOR loop 04H 5 FOR condition 05H Da 13 Special start instruction 6 NEXT start 06H Da 14 Parameter Condition data No 1 to 10 01H to 0AH No of repetitions 0 to 255 00H to FFH 00H to FFH b15 b1...

Page 193: ...n the conditions are established execute the block start data If not established stop the control wait until the conditions are established 03H Simultaneous start Simultaneous execute output pulses at same timing the positioning data with the No designated for the axis designated in the condition data Up to four axes can start simultaneously 04H Repeated start FOR loop Repeat the program from the ...

Page 194: ...5 103 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 195: ...start block 0 Open Up to 10 block start data points can be set stored for each axis in the buffer memory addresses shown on the left Items in a single unit of condition data are shown included in a bold frame Each axis has five start blocks block Nos 0 to 4 For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 7 List of buffer memo...

Page 196: ...ory address Open Condition data No No 10 Setting item No 2 29190 29191 29192 29193 29194 29195 29196 29197 29198 29199 29110 29111 29112 29113 29114 29115 29116 29117 29118 29119 Setting item No 1 Setting item 29100 Da 17 Address Open Da 18 Parameter 1 Da 19 Parameter 2 b15 b0 b7 b8 b11 b12 Da 16 Condition operator Da 15 Conditiion target 29101 29102 29103 29104 29105 29106 29107 29108 29109 Buffe...

Page 197: ...tart block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7002 Axis 4 Start block 2 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to...

Page 198: ...xes 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 Condition identifier Da 16 Condition operator E0 Axes 2 3 and 4 selected E0H b15 b0 b7 b8 Condition operator Condition target 0000H 26100 27100 28100 29100 Da 17 Address Buffer memory address b0 b15 b1...

Page 199: ... 05H P1 P2 03H Buffer memory 1 word 04H Buffer memory 2 word 06H P1 P2 Select how to use the value in the buffer memory as a part of the condition 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 an...

Page 200: ... 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 04H P1 Not used No need to be set 05H P1 P2 06H P1 P2 Value The value of P2 should be equal to or greater than the value of P1 P1 P2 If P1 is greater than P2 P1 P2 the condition data error error code 533 will occur 07H DEV ON 08H DEV OFF 10H Axis 1 selected...

Page 201: ...NING CONTROL 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 ...

Page 202: ...monitor value Default value Storage buffer memory address common for axis 1 to axis 4 Monitoring is carried out with a decimal Storage value 0 Not in test mode 1 In test mode Monitor value 0 1200 Unless noted in particular the monitor value is saved as binary data ...

Page 203: ...ation 2 3 3 2 9010 Machine OPR 2 3 3 3 9011 Manual pulse generator 2 3 2 9 9001 Fast OPR 2 3 2 A 9002 Current value changing 2 3 2 B 9003 b15 b12 b8 b4 b0 A B C D B A C D Buffer memory Monitor value D C B A Positioning operation Stored contents Storage value Reference Decimal Start No A 0 0 0 to B C D 1 001 1 B 5 8 0 2 5 8 7000 1 B 5 9 7001 1 B 5 A 7002 1 B 5 B 7003 1 B 5 C 7004 600 Md 5 Start Hou...

Page 204: ...Starting history Md 3 Start information Md 4 Start No 1292 Md 8 Start history pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing starting history records Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No Example Pointer No 0 Buffer memory...

Page 205: ... Monitor value D C B A Error flag OFF Stored contents Storage value 0 1 Error flag ON Error flag Error No Convert the hexadecimal value a B C D into a decimal value and match it with 15 2 List of errors BUSY start warning OFF Stored contents Storage value 0 1 BUSY start warning ON BUSY start warning flag Starting history Up to 16 records can be stored Md 8 Start history pointer Indicates a pointer...

Page 206: ...troy Md 3 Start information Md 4 Start No 1292 Md 8 Start history pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing starting history records Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 1...

Page 207: ...tected Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0 0 1 5 0 Buffer memory stored with BCD code 0 to 2 0 to 3 00 to 23 hour Monitor value 0 0 1 5 Not used Md 12 Axis error occurrence Minute second Stores the time at which an axis error was detected Monitoring is carried out with a hexadecimal display 0 b15 b12 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 b8...

Page 208: ...s error No 1357 Md 13 Error history pointer Md 11 Axis error occurrence hour Md 12 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing error history records Each group of buffer memory addresses storing a complete error history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 1293 to 1296 Pointer No 1 Buffer memory addresses 1297...

Page 209: ... 2 0 to 3 00 to 23 hour Monitor value 0 0 1 5 Not used Md 17 Axis warning occurrence Minute second Stores the time at which an axis warning was detected Monitoring is carried out with a hexadecimal display 0 b15 b12 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 b8 b4 b0 9 0 7 4 Buffer memory stored with BCD code 0 to 5 0 to 9 00 to 59 minute 00 to 59 second 0 to 9 Monitor value 9 4 0 7 0 to 5 Warning history Up t...

Page 210: ...No 1422 Md 18 Warning history pointer Md 16 Axis warning occurrence hour Md 17 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing warning history records Each group of buffer memory addresses storing a complete warning history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 1358 to 1361 Pointer No 1 Buffer memory addresses 1362...

Page 211: ...e will not be cleared to 0 at the beginning of fixed feed control Even if degree is selected as the unit the addresses will not have a ring structure for values between 0 and 359 99999 degrees Machine coordinates Characteristic coordinates determined with machine Update timing 56 8ms Md 22 Feedrate The speed of the operating workpiece is stored May be different from the actual motor speed during o...

Page 212: ...le 800 High order buffer memory Example 801 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Md 20 Md 21 Unit conversion table Md 22 Current feed value Md 20 Machine feed value Md 21 Feedrate Md...

Page 213: ...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 The Da 8 Command speed used by the positioning data currently being executed is stored Stores 0 under the speed control If Da 8 Command speed is set to 1 this area stores the com...

Page 214: ...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 20 Servo amplifer ...

Page 215: ...s POINT Refer to Md 22 Feedrate Md 29 Speed position switching control positioning amount The value set as the movement amount for the position control to end after changing to position control with the speed position switching control INC mode is stored Md 30 External input signal The ON OFF state of the external input output signal is stored The following items are stored Upper limit signal Lowe...

Page 216: ...it n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Unit conversion table Md 29 Axis feedrate Md 28 Md 28 Speed position switching control positioning amount Md 29 0000H 814 815 914 915 1014 1015 1114 1115 Monitoring is carried out with a hexadecimal 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b15 b0 b4 b8...

Page 217: ...ttern The state of this signal is monitored every 3 5 ms except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed position or position speed switching control While operations are performed with interpolation this signal comes ON only in respect of the starting axis This signal goes OFF in respect of all axes upon starting OPR request ...

Page 218: ...r memory Not used Default value Stored items Meaning Not used In speed control flag Speed position switching latch flag Command in position flag OPR request flag OPR complete flag Axis warning detection Speed change 0 flag Position speed switching latch flag 0 0000H 817 917 1017 1117 Monitoring is carried out with a decimal display R Monitor value Decimal integer value Unit conversion table Actual...

Page 219: ...eleration state inside each piece of data changes with the speed change because the target speed changes 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 near point dog ON as 0 0 is always st...

Page 220: ...r memory Example 820 High order buffer memory Example 821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Unit conversion table Target speed Md 33 Md 33 Md 34 Movement amount after near point d...

Page 221: ...rt 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 limi...

Page 222: ...ith a decimal display Storage value Monitor value setting value Md 36 00 06 01 02 03 05 04 1 to 10 0 to 255 Stored contents Storage value None None Condition data No No of repetitions 0 828 928 1028 1128 Monitoring is carried out with a decimal display Storage value 1 to 600 Monitor value 0 829 929 1029 1129 Monitoring is carried out with a decimal display Storage value Monitor value 0 Not in spee...

Page 223: ...eing executed 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 Md 45 Block No being executed When the operation is controlled by block start data this area stor...

Page 224: ... Storage value 1 to 600 0 835 935 1035 1135 Monitoring is carried out with a decimal display Monitor value Storage value 1 to 50 0 836 936 1036 1136 Monitoring is carried out with a decimal display Monitor value Storage value 1 to 600 0 837 937 1037 1137 Information is stored in the following addresses Stored item Positioning identifier M code Dwell time Open Command speed Arc address Da 1 to Da 5...

Page 225: ... current value This area stores the present value feed present value deviation counter droop pulses Update timing 3 5ms Example mm Buffer memory 0 1 µm Md 102 Deviation counter value This area stores the difference between the feed present and the actual present value Buffer memory details PLS Update timing 3 5ms Md 103 Motor rotation speed This area stores the present rotation speed of the servom...

Page 226: ...al integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Md 100 Md 101 Unit conversion table Md 102 Md 100 OPR re travel value Md 101 Real current value Md 102 Divation counter value Md 103 Motor rotation speed Unit conversion table Md 103 n Unit n Unit 0000H 854...

Page 227: ...n position Zero speed Turns ON when the motor speed is lower than the servo parameter zero speed Torque limit Turns ON when the servo amplifier is having the torque restricted Servo alarm Turn ON during the servo alarm Servo warning Turn ON during the servo warning Md 109 Regenerative load ratio The rate of regenerative power to the allowable regenerative power is indicated as a percentage When th...

Page 228: ...out with a decimal display 876 976 1076 1176 Monitoring is carried out with a decimal display b15 b12 b8 b4 b0 b0 b1 b4 b5 b6 b7 b13 b14 0 OFF 1 ON READY ON Servo ON Zero point pass In position Zero speed Torque limit Servo alarm Servo warning Stored items Meaning POINT When the servo forced stop occurs the b13 servo alarm and the b14 servo warning is turned ON When the servo forced stop is reset ...

Page 229: ...ror code 805 Refer to Section 15 2 List of errors for details 4 Monitoring is the number of writes to the flash ROM by the Md 19 No of write accesses to flash ROM Requests initialization of setting data Initialization Resetting of setting data to default values Note After completing the initialization of setting data reset the PLC CPU or reboot the PLC power Initialized setting data Parameters Pr ...

Page 230: ...Parameter initialization request 1 Requests parameter initialization The QD75 resets the value to 0 automatically when the initialization completes This indicates the completion of parameter initialization 1 0 1901 Set with a decimal Setting value K Deceleration start flag valid 0 Deceleration start flag invalid 1 Deceleration start flag valid 0 1905 Set with a decimal Setting value K Stop command...

Page 231: ...ning 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 in error occurrence the error is cleared and the QD75 is returned to the waiting state Cd 6 Restart command When positioning is stopped for any reason when axis operation state is stopped set...

Page 232: ...eration is interrupted 1 to 50 0 1501 1601 1701 1801 Set with a decimal K 1 Error reset request Setting value After the axis error reset is completed 0 is stored by the QD75 automatically Indicates that the axis error reset is completed 1 Axis error is reset 0 1502 1602 1702 1802 Set with a decimal K 1 Restart command Setting value After restart acceptance is completed 0 is stored by the QD75 auto...

Page 233: ...ommand signals When changing the current feed value using the start No 9003 use this data item to specify a new feed value Set a value within the following range Pr 1 mm 10 1 µm inch 10 5 inch degree 10 5 degree PLS PLS Setting range 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 Cd 9 New current value ...

Page 234: ...ecimal Setting value External command valid 0 Invalidates an external command 1 Validates an external command K 0 1505 1605 1705 1805 Set with a decimal Actual value Conversion into an integer value Cd 9 New current value 10n Unit conversion table Cd 9 n 1 m 5 inch 5 degree 0 PLS Unit R Setting value Decimal 0 1506 1507 1606 1607 1706 1707 1806 1807 ...

Page 235: ...0 to 8388608 ms Cd 10 New acceleration time value When changing the deceleration time during a speed change use this data item to specify a new deceleration time Cd 11 setting range unit 0 to 8388608 ms Cd 11 New deceleration time value Cd 12 Acceleration deceleration time change during speed change enable disable selection Enables or disables modifications to the acceleration deceleration time du...

Page 236: ...celeration time value Setting value Example When the Cd 10 New acceleration time value is set as 60000 ms the buffer memory stores 60000 0 1510 1511 1610 1611 1710 1711 1810 1811 Set with a decimal Setting value K Acceleration deceleration time change during speed change enable disable selection 1 Enables modifications to acceleration deceleration time Other than 1 Disables modifications to accele...

Page 237: ...actions below the minimum unit the speed is raised to make a complete unit and the warning No 110 is output When changing the speed use this data item to specify a new speed The operation halts if you specify 0 Set a value within the following range Pr 1 mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 10000000 Cd...

Page 238: ... value 10n Unit conversion table Cd 14 n 2 mm min 3 inch min 3 degree min 0 PLS s Unit R Setting value Decimal Example When the Cd 14 New speed value is set as 20000 00mm min the buffer memory stores 2000000 0 1514 1515 1614 1615 1714 1715 1814 1815 Set with a decimal Setting value Speed change request 1 Executes speed change K The QD75 resets the value to 0 automatically when the speed change req...

Page 239: ...5 0 to 65535 0 to 65535 0 to 65535 Cd 16 Inching movement amount Use this data item to set the JOG speed Set a value within the following range Pr 1 mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 10000000 Cd 17 JOG speed Cd 18 Interruption request during continuous operation To interrupt a continuous operation s...

Page 240: ...l Actual value Conversion into an integer value Cd 17 JOG speed 10n Unit conversion table Cd 17 n 2 mm min 3 inch min 3 degree min 0 PLS s Unit R Setting value Decimal Example When the Cd 17 JOG speed is set as 20000 00mm min the buffer memory stores 2000000 0 1518 1519 1618 1619 1718 1719 1818 1819 Set with a decimal Setting value Interruption request continuous operation 1 Interrupts continuous ...

Page 241: ...m determines the factor by which the number of pulses from the manual pulse generator is magnified Value 0 read as 1 Value 101 or less read as 100 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 ...

Page 242: ...rned OFF This indicates the completion of OPR request flag OFF request 1 0 1521 1621 1721 1821 Set with a decimal Setting value K Manul pulse generator 1 pulse input magnification 1 to 100 1 1522 1523 1622 1623 1722 1723 1822 1823 Set with a decimal Setting value Manual pulse generator enable flag 0 Disable manual pulse generator operation 1 Enable manual pulse generator operation K 0 1524 1624 17...

Page 243: ...23 Speed position switching control movement amount change register Cd 24 Speed position switching enable flag Set whether the external control signal external command signal CHG speed position position speed switching request is selected is enabled or not During the position control stage of the position speed switching control it is possible to change the specification of the speed during the sp...

Page 244: ... 1726 1727 1826 1827 Set with a decimal Setting value K Speed position switching enable flag 0 Speed control will not be taken over by position control even when the external command signal comes ON 1 Speed control will be taken over by position control when the external command signal comes ON 0 1528 1628 1728 1828 Set with a decimal 10n Actual value n 2 mm min 3 inch min 3 degree min 0 PLS s Uni...

Page 245: ...147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Cd 27 Target position change value New address 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 followi...

Page 246: ...tting value Decimal 10n n 1 m 5 inch 5 degree 0 PLS Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 Target position change value address Cd 28 Target position change value speed Example If Cd 28 Target position change value speed is set as 10000 00 mm min the buffer memory stores 1000000 0 1536 1537...

Page 247: ...rt data No axis 3 start data No Cd 33 Simultaneous starting axis start data No axis 4 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 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 Th...

Page 248: ...2 1742 1842 Set with a decimal Setting value K Cd 30 to Cd 33 1 to 600 Simultaneous starting axis start data No 0 1543 1643 1743 1843 Set with a decimal Setting value Step mode 0 Stepping by deceleration units 1 Stepping by data No units K 0 1544 1644 1744 1844 Set with a decimal Setting value Step valid flag 0 Invalidates step operations 1 Validates step operations K 0 1545 1645 1745 1845 ...

Page 249: ...ction This data item specifies the teaching result write destination Cd 39 Teaching positioning data No This data item specifies data to be produced by teaching If a value between 1 and 600 is set a teaching operation is done The value is cleared to 0 when the QD75 is initialized when a teaching operation completes and when a illegal value 601 or higher is entered Cd 40 ABS direction in degrees Th...

Page 250: ...o 0 automatically when processing of the skip request completes 1 Issues a skip request to have the machine decelerate stop and then start the next positioning operation 0 1547 1647 1747 1847 Set with a decimal Setting value Teaching data selection K 0 Takes the current feed value as a positioning address 1 Takes the current feed value as an arc data 0 1548 1648 1748 1848 Set with a decimal Settin...

Page 251: ...eside 0 is set in the Cd 101 Torque output setting value the torque generated by the servomotor will be limited by that value The Pr 17 Torque limit setting value of the servo adjustment parameter torque output setting value becomes effective at the PLC ready signal rising edge The Cd 101 Torque output setting value refer to the start axis control data can be changed at all times Therefore in the ...

Page 252: ...imal Setting value Servo OFF command 0 Servo ON 1 Servo OFF K When all axis servo ON is valid 0 1551 1651 1751 1851 Set with a decimal Setting value K Torque output setting 0 to 500 0 1552 1652 1752 1852 Set with a decimal Setting value Servo amplifier read request 0 Servo amplifier read complete 1 Servo amplifier read request K 0 1553 1653 1753 1853 ...

Page 253: ...5 162 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 254: ...ted The first half of this chapter explains the program configuration of general control and the latter half explains the program details Create the required program while referring to the various control details explained in Section 2 and to Chapter 5 Data used for positioning control 6 1 Precautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 15 6 3 1 General c...

Page 255: ...ease 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 i...

Page 256: ...re two methods for communication with QD75 using the PLC program a method using an intelligent function device and a method using a FROM TO command In the PLC program in this chapter and subsequent the program example using the intelligent function device is shown without using an FROM TO command for communication with QD75 When using the FROM TO command for communication with QD75 change the circ...

Page 257: ... change the command to a FROM command and a COMPARISON command RST M0 M0 FROMP D102 M0 K1521 H0 K1 RST M0 G1521 K0 D102 K0 0 0 Data read out U0 d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND command H8 D0 M2 FROMP D101 M2 K817 H0 K1 0 0 G817 WANDP U0 H8 D0 D101 WANDP Data read out REMARK Refer to QCPU User s Manual Functio...

Page 258: ...n completed Y1 All axis servo ON signal All axis servo ON signal Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG Y10 Y11 Y12 Y13 Positioning start signal Requesting start Inputs outputs of QD75 Out put Y14 Y15 Y16 Y17 Execution prohibition request Execution prohibition X...

Page 259: ...ng X3A Continuous operation interrupt command 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 Position s...

Page 260: ...14 Acceleration deceleration time change command Requesting acceleration deceleration time change M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation commanded M17 Skip command pulse Skip commanded M18 Skip command storage Skip command held M19 Teaching command pulse Teaching commanded M20 Teaching command storage Teaching command held M21 Continuous ...

Page 261: ...ters and timers Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage D0 OPR request flag Md 31 Status b3 D1 Speed low order 16 bits D2 Speed high order 16 bits Cd 25 Position speed switching control speed change resister D3 Movement amount low order 16 bits D4 Movement amount high order 16 bits Cd 23 Speed position switching control movement amount change resister D5 Inchi...

Page 262: ...ag D21 Step mode Cd 34 Step mode D22 Step start information D23 Target position low order 16 bits D24 Target position high order 16 bits Cd 27 New target position value address D25 Target speed low order 16 bits D26 Target speed high order 16 bits Cd 28 New target position value speed D27 Target position change request Cd 29 New target position change value flag D28 Unused D29 Unused D30 PSTRT1 in...

Page 263: ...D74 Point 2 special start instruction D75 Point 3 special start instruction D76 Point 4 special start instruction D77 Block start data Block 0 Point 5 special start instruction Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter D78 Torque change value D79 Error code Md 23 Axis error No D80 Servo series Pr 100 Servo series D81 Absolute position system valid invalid Pr 1...

Page 264: ...rder 16 bits D125 Command speed high order 16 bits D126 Positioning address low order 16 bits D127 Positioning address high order 16 bits D128 Circular interpolation address low order 16 bits D129 Circular interpolation address high order 16 bits Data No 3 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 6 Positioning ad...

Page 265: ...rpolation address Da 8 Command speed Da 9 Dwell time Da 10 M code D190 Positioning identifier D191 M code D192 Dwell time D193 Unused D194 Command speed low order 16 bits D195 Command speed high order 16 bits D196 Positioning address low order 16 bits D197 Positioning address high order 16 bits D198 Circular interpolation address low order 16 bits D199 Circular interpolation address high order 16 ...

Page 266: ...igh order 16 bits D248 Circular interpolation address low order 16 bits D249 Circular interpolation address high order 16 bits Data No 15 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 6 Positioning address movement amount Da 7 Circular interpolation address Da 8 Command speed Da 9 Dwell time Da 10 M code SD1026 Day ho...

Page 267: ...20 Interruption request during continuous operation Cd 18 Interruption request during continuous operation U0 G1521 OPR request flag OFF request Cd 19 OPR request flag OFF request U0 G1524 Manual pulse generator enable flag Cd 21 Manual pulse generator enable flag U0 G1526 Speed position switching control movement amount change register Cd 23 Speed position switching control movement amount change...

Page 268: ...ration of the positioning control operation program is shown below Parameter and data are Set using GX Configurator QP Set using the PLC program Initialization program Parameter and data setting program Start details setting program Start program JOG operation program Manual pulse generator operation program Sub program Stop program Completion of program creation Start of program creation Inching ...

Page 269: ... program that matches the positioning system Numbers are assigned to the following programs Configuring the program in the order of these numbers is recommended No 1 No 2 No 3 Start of program creation Servo parameter No 4 Set using GX Configurator QP Set using PLC program TO command Parameter and data are Positioning data setting program Block start data setting program Parameter and data setting...

Page 270: ... Error reset program Yes Absolute system No Continued on next page Carried out OPR request OFF program External command function valid setting program PLC READY signal Y0 ON program Refer to Section 6 5 1 Refer to Section 6 5 1 Not carried out OPR is Initialization program Required Required No Yes Continued from previous page ...

Page 271: ...ction 6 5 3 Refer to Section 11 2 4 Refer to Section 11 4 4 Program to reset the start signal and turn the M code ON signal OFF Start details setting program Start program JOG operation program Manual pulse generator operation program Continued on next page No 14 No 13 Inching operation program Refer to Section 11 3 4 Inching operation program No 14 Program required to carry out OPR control Major ...

Page 272: ...efer to Section 12 5 1 Refer to Section 12 5 3 Refer to Section 12 5 4 Refer to Section 12 7 1 Refer to Section12 7 2 Refer to Section 12 7 4 Refer to Section 6 5 4 Refer to Section 6 5 5 Refer to Section 13 2 Refer to Section 13 3 Refer to Section 12 5 2 Refer to Section 6 5 6 Program required to reset errors Sub program Continued from previous page Stop program End of program creation No 24 Targ...

Page 273: ...n in this section No 1 to No 3 parameter and data setting program When setting the parameters or data with the PLC program set them in the QD75 using the TO command from the PLC CPU 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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Page 306: ...s on the setting details Time chart for OPR OFF request OFF ON OFF 0 1 0 ON OFF 0 PLC READY signal Y0 QD75 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request Fig 6 1 Time chart for OPR OFF request 2 External command function valid setting program This program is used to validate the external command signal beforehand when using the external command functions ex...

Page 307: ... details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning start point No Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 4 Positioning start point No 1 to 50 Point No of block start data 1501 1601 1701 1801 Refer to Section 5 7 List of control data for detail...

Page 308: ... item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 25 Position speed switching control speed change resister Used to set a new value when speed is changed during positioning control 1530 1531 1630 1631 1730 1731 1830 1831 Cd 26 Position speed switching enable flag 1 To validate position speed switching signal this is set to 1 1532 1632 1732 1832 Refer to Section 5 7 List of control...

Page 309: ...al 1 1 ON 2 Y10 Servo amplifier Control with positioning data No 1 3 When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is started after Y10 is turned OFF and X10 is turned OFF 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 Inp...

Page 310: ...ervo is ON Y1 Synchronization flag ON QD75 buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal OFF No error is present X8 X9 XA XB BUSY signal OFF BUSY signal is OFF XC XD XE XF Interface signal Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 Stop signal OFF Stop ...

Page 311: ...elow 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 positi...

Page 312: ... ON signal X4 X5 X6 X7 can be detected in the PLC program Starting time chart The time chart for starting each control is shown below 1 Time chart for starting machine OPR QD75 READY signal Start complete signal BUSY signal Error detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON ON OFF OFF Near point dog V t OPR request flag Md 31 Status b3 Cd 3 Positioning start No Positioning start signal...

Page 313: ...No Y10 Y0 X0 X10 XC X8 OFF ON All axis servo ON Y1 Fig 6 5 Time chart for starting fast OPR 3 Time chart for starting major positioning control 1 V t Positioning data No Dwell time 2 00 Operation pattern 1 11 Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Positioning complete signal Y10 Y0 X0 X10 XC X14...

Page 314: ...g Y10 Y0 X0 X10 XC X14 X8 external All axis servo ON Y1 Fig 6 7 Time chart for starting speed position switching control 5 Time chart for starting position speed switching control Positioning start signal Sequencer READY signal QD75 READY complete signal Start complete signal BUSY signal Positioning complete signal V t Error detection signal Operation pattern 00 Positioning data No 1 Position cont...

Page 315: ...on status OPR request flag Md 31 Status b3 Positioning start signal Y10 Y11 Y12 Y13 XC XD XE XF Start complete signal X10 X11 X12 X13 OPR complete flag Md 31 Status b4 Fig 6 9 Machine OPR operation timing and process time Normal timing time Unit ms t1 t2 t3 t4 1 0 to 1 4 5 5 to 7 9 0 to 3 5 0 to 3 5 The t1 timing time could be delayed depending on the operating conditions of the other axis ...

Page 316: ... signal X10 X11 X12 X13 M code ON signal AFTER mode X4 X5 X6 X7 X14 X15 X16 X17 Positioning complete signal OPR complete flag Md 31 Status b4 Fig 6 10 Position control operation timing and process time When the positioning start signal turns ON if all signals marked with an asterisk are already ON the signals marked with an asterisk will turn OFF when the positioning start signal turns ON Normal t...

Page 317: ... start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the external command signal validity setting program program No 5 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 0 Set to 0 External positioning start 62 212 362 512 Cd 8 External command valid 1...

Page 318: ...n stop command turns ON Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process at continuous operation interrupt request Cd 18 is set 1 ON Stop command ON For Stop comand ON For Cd 18 is set 1 Fig 6 12 Operation during continuous operation interruption 2 Restrictions 1 When the continuous operation interrupt request is executed the positioning will end Thus aft...

Page 319: ... 10 Positioning data No 11 Positioning data No 12 Continuous operation interrupt request Even when the continuous operation interrupt is requested the remaining distance is insufficient and thus the operation cannot stop at the positioning No being executed 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 clear...

Page 320: ...uted while stopped an error Stop signal ON at start error code 106 will occur and the Md 26 Axis operation status will change to error occurring Thus even if the error is reset the operation cannot be restarted 3 Restarting can be executed even while the positioning start signal is ON However make sure that the positioning start signal does not change from OFF to ON while stopped If the positionin...

Page 321: ...Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD75 buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal ...

Page 322: ...8 1 8 0 0 0 Positioning start signal Axis stop signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd 6 Restart command Positioning complete signal PLC READY signal Md 26 Axis operation status Y10 Y4 Y0 X0 X10 XC X14 X8 All axis servo ON Y1 Fig 6 14 Time chart for restarting ...

Page 323: ...ol Major positioning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop Servo READY OFF Servo amplifier power supply OFF Servo alarm Emergency stop of PLC CPU Each axis No change During error Servo OFF or free run Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change During error Deceleration stop...

Page 324: ... with dynamic brake or electromagnetic brake The operation does not decelerate The QD75 immediately stops the command but the operation will coast for the droop pulses accumulated in the servo amplifier deviation counter Actual deceleration time Set deceleration time Positioning speed Actual sudden stop deceleration time Pr 36 Sudden stop deceleration time Coast for the droop pulses accumulated in...

Page 325: ...or a stop cause occurs during deceleration the sudden stop process will start from 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 Positioning speed Deceleration stop process Stop Sudden stop cause Sudden stop deceleration process Dece...

Page 326: ...es 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 ...

Page 327: ...Control data area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Servo parameter area Backup Buffer memory Area that can be directly accessed with PLC program from PLC CPU Not pos sible Flash ROM Area for backing up data required for positioning Pos sible Setting and storage area provided Not possible Data is lost when power is turned OFF Setting and stor...

Page 328: ...et the items indicated with Cd 1 to Cd 42 Cd 100 to Cd 102 Positioning data area No 1 to 600 Area where positioning data No 1 to 600 is set and stored Set the items indicated with Da 1 to Da 10 for each positioning data Block start data area No 7000 to 7004 Area where information required only when carrying out block No 7000 to 7004 high level positioning is set and stored Set the items indicated ...

Page 329: ...rt data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Flash ROM Buffer memory Parameter area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Copy Data is backed up here User accesses here Servo parameter area No 30100 to 30499 Servo parameter area No 30100 to 30499 ...

Page 330: ...9 27050 to 27099 28050 to 28099 29050 to 29099 Block start data area No 7000 Condition data area 26100 to 26199 27100 to 27199 28100 to 28199 29100 to 29199 26200 to 26249 27200 to 27249 28200 to 28249 29200 to 29249 Block start data area 26250 to 26299 27250 to 27299 28250 to 28299 29250 to 29299 Block start data area No 7001 Condition data area 26300 to 26399 27300 to 27399 28300 to 28399 29300 ...

Page 331: ...to 30311 30400 to 30411 Servo adjustment parameter area 30112 to 30126 30212 to 30226 30312 to 30326 30412 to 30426 Servo expansion parameter area 30127 to 30149 30227 to 30249 30327 to 30349 30427 to 30449 Servo parameter area Servo expansion parameter area 2 30150 to 30199 30250 to 30299 30350 to 30399 30450 to 30499 Possible Use of address Nos skipped above is prohibited If used the system may ...

Page 332: ...7 7 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO ...

Page 333: ...1 Pr 24 Pr 43 Pr 57 Pr 200 Pr 201 2 Valid upon execution of the TO instruction For PLC READY signal ON Valid Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory 1 Power supply ON PLC CPU reset 2 TO command 4 FROM command QD75 PLC CPU Parameter area a Parameter area b Positionin...

Page 334: ...ommand it is simultaneously valid 1 Parameter area b Parameters validated simultaneously with the writing to the buffer memory with the TO command Pr 8 to Pr 10 Pr 25 to Pr 42 Pr 201 POINT When a value other than 0 has been set to the motor capacity of servo parameter Pr 104 inside the flash ROM the power is turned ON or PLC CPU is reset to transmit the servo parameter inside the flash ROM to the ...

Page 335: ...er than 0 is set to Pr 104 in the above step 2 the servo parameter data is transmitted to the servo amplifier POINT The setting values of the parameters that correspond to parameter area b are valid when written into the buffer memory with the TO command However the setting values of the parameters that correspond to parameter area a are not validated until the PLC READY signal Y0 changes from OFF...

Page 336: ...7 11 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO ...

Page 337: ...g data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory 7 Flash ROM request Write QD75 PLC CPU Servo parameter area No 30100 to 30499 7 Flash ROM request Write 6 Flash ROM write 7 Flash ROM request Write Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Servo parameter ...

Page 338: ...e peripheral device 1 The parameters positioning data No 1 to 600 block start data No 7000 to 7004 and servo parameter in the buffer memory area are transmitted to the flash ROM Note This transmission process is the same as 7 above IMPORTANT 1 Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM If the power is turned OFF or the PLC CPU is reset to forcibly end the process...

Page 339: ...ter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory QD75 PLC CPU Servo parameter area No 30100 to 30499 Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Servo parameter area No 30100 to 30499 Parameter area a Parameter area b Flash ROM 9 Data w...

Page 340: ... with the monitor from the peripheral device 2 The monitor data in the buffer memory area is transmitted to the peripheral device via the PLC CPU 9 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 peri...

Page 341: ... 7004 PLC CPU memo area Monitor data area Control data area Buffer memory Servo parameter area No 30100 to 30499 Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Servo parameter area No 30100 to 30499 Flash ROM QD75 Servo amplifier Servo parameter area 1 to 1 Exclude For MR J2S B Pr 100 Pr 144 Servo parameter area 1 to Other than MR J2S B Pr...

Page 342: ... parameter About the communication start with servo amplifier Communication with servo amplifier is valid when following condition is realized together 1 The power of QD75 and servo amplifier is turned ON 2 When the motor capacity of servo parameter Pr 104 inside the buffer memory area is set to the value other than 0 in QD75 When the power is turned ON or the PLC CPU is reset the data stored in t...

Page 343: ...C CPU RUN PLC READY signal Y0 OFF ON B Value of flash ROM Write value by PLC program Communication start valid t Communication start invalid Servo parameter setting from PLC program C 1 2 2 3 1 The servo parameter that it is stored into the flash ROM is transfered to the buffer memory by the QD75 initialization of the data when the power is turned ON 2 Communication with servo amplifer is carried ...

Page 344: ...al Y0 ON Fig 7 1 B Transfer the servo parameter The data written from PLC program before the PLC READY signal Y0 ON Fig 7 1 C 2 Servo parameter transfers when servo amplifier had started after the PLC READY signal Y0 is turned OFF to ON Fig 7 1 B Communication start timing to the servo amplifier when servo amplifier had started Transfer the servo parameter The data written from PLC program before ...

Page 345: ...s is shown below Ex Setting the positioning data The following methods can be used to set the positioning data From peripheral device Using sequense program Set the data according to the peripheral device menu Write the data set with the peripheral device into the buffer memory Completion Write positioning data into buffer memory using TO command User work QD75 state ...

Page 346: ...while referring to Chapter 5 Data used for positioning Also refer to Chapter 6 PLC programs used in positioning control when creating the PLC programs required in each control and consider the entire control program configuration when creating each program Chapter 8 OPR Control 8 1 to 8 14 Chapter 9 Major Positioning Control 9 1 to 9 116 Chapter 10 High Level Positioning Control 10 1 to 10 26 Chap...

Page 347: ...MEMO ...

Page 348: ...ms from the PLC CPU are explained in this chapter Refer to GX Configurator QP Operating Manual for details on OPR using the peripheral device 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR control 8 2 8 2 Machine OPR 8 4 8 2 1 Outline of the machine OPR operation 8 4 8 2 2 Machine OPR method 8 5 8 2 3 OPR method 1 Near point dog method 8 6 8 2 4 OPR method 2 Count method 1 8 8 8 2 5 OPR met...

Page 349: ...trol 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 CAUTION In the case of the absolute position system use the PLC program to check the OPR request before...

Page 350: ... retry function Section 12 2 1 OP shift function Section 12 2 2 Combination possible Restricted Combination not possible When an OPR is not required Control can be carried out ignoring the OPR request flag Md 31 Status b3 in systems that do not require an OPR In this case the OPR parameters Pr 43 to Pr 57 must all be set to their initial values or a value at which an error does not occur OPR from ...

Page 351: ...o 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 OP...

Page 352: ...ar point dog and the machine moves at the Pr 47 Creep speed The machine stops once after moving the distance set in the Pr 50 Setting for the movement amount after near point dog ON from the OFF ON position Later the operation restarts and then stops at the first zero signal to complete the machine OPR Count method 2 The deceleration starts by the OFF ON of the near point dog and the machine moves...

Page 353: ...lag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 status b3 turns from ON to OFF t Machine OPR start Positioning start signal ON OFF OPR speed Deceleration at the near point dog ON Creep speed ON OFF OFF ON Standing by In OPR Standing by Axis operation status Inconsistent 0 Movement amount after near point dog ON Value of the machine moved is stored OP address Current feed va...

Page 354: ...09 will occur 5 After the servo amplifier turned on the zero point of the encoder must be passed at least once before point A is reached 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 t V ON OFF ON OFF OFF 0 ON Near point dog OFF In error Pr 46 OPR spe...

Page 355: ...OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF ON 1 OFF 0 OFF 0 ON 1 0 V ON Pr 47 Creep speed Pr 46 OPR speed Pr 50 Setting for the movement amount after near point dog ON Md 34 Movement amount after near point dog ON Zero signal Near point dog OFF Leave sufficient distance from the zero point position to the near point dog OFF OPR start Standing by In OPR Md 26 Axis operation stat...

Page 356: ... servo amplifier turned on the zero point of the encoder must be passed at least once before point A is reached ON 1 5 4 3 2 Zero signal Near point dog OFF Pr 50 Setting for the movement amount after near point dog ON Operation when a machine OPR is started at the near point dog ON position 1 A machine OPR is started 2 The machine moves at the OPR speed in the opposite direction of an OPR 3 Decele...

Page 357: ...eed and subsequently moves at that speed 4 The command from the QD75 will stop and the machine OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the movement amount after near point dog ON from the near point dog ON position Md 21 Machine feed value t V ON OFF ON 1 OFF 0 ON 1 ON OFF 0 OFF 0 Pr 46 OPR speed Pr 47 Creep speed Pr 50 Setting for the movement amo...

Page 358: ...r point dog is ON 3 When the stop signal stops the machine OPR carry out the machine OPR again When restart command is turned ON after the stop signal stops the OPR the error OPR restart impossible error code 209 will occur Pr 50 Setting for the movement amount after near point dog ON ON 1 5 4 3 2 Near point dog OFF Operation when an OPR is started at the near point dog ON position 1 A machine OPR...

Page 359: ...ro point even once the OPR restart zero point not passed error will occur When the Home positioning return OPR restart zero point not passed error occurs perform the JOG or similar operation so that the servomotor makes more than one revolution after an error reset before carrying out the machine OPR again 2 When it is not the case of the absolute position system starting the data set method OPR w...

Page 360: ...following shows the operation during a basic fast OPR start 1 The fast OPR is started 2 Positioning control begins to the Md 21 Machine feed value begins at speed set in the OPR parameters Pr 43 to Pr 57 3 The fast OPR is completed Machine OP OP position Pr 46 OPR speed Fast OPR start Positioning start signal Md 26 Axis operation status In OPR Standing by Standing by OP Positioning to the OP M Fig...

Page 361: ...ositioning operation Md 26 Axis operation status Y10 Y11 Y12 Y13 X10 X11 X12 X13 XC XD XE XF Fig 8 18 Operation timing and processing time of fast OPR Normal timing time Unit ms t1 t2 t3 1 0 to 1 3 2 7 to 4 4 0 to 3 5 The t1 timing time could be delayed by the operation state of other axes Operating restrictions When the OPR complete flag Md 31 Status b3 is ON executing a fast OPR start will resul...

Page 362: ... value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis linear control 9 27 9 2 3 2 axis linear interpolation control 9 29 9 2 4 3 axis linear interpolation control 9 33 9 2 5 4 axis linear interpolation control 9 39 9 2 6 1 axis fixed feed control 9 44 9 2 ...

Page 363: ... axis is carried out from the start address current stop position The Md 20 Current feed value is set to 0 at the start 2 axis fixed feed control Fixed feed 2 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 3 axis fixed feed control Fixed feed 3 Using a designated 3 axes linear ...

Page 364: ...is 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 JUMP instruction JUMP instruction An unconditional or conditional JUMP is carried out to a designated positioning data No LOOP LOOP A repeat control is carried out by repeat LOOP ...

Page 365: ... address Set the sub point or center point address during circular interpolation control Da 8 Command speed Set the speed during the control execution Da 9 Dwell time Set the time the machine waits from the completion of the executed positioning control and the stopping of the workpiece until the judgment of the QD75 positioning completion Positioning data No 1 Da 10 M code Set this item when carr...

Page 366: ...n which axis 1 addresses increase 1 axis linear control One motor is driven and positioning is carried out to an addresses designated in one direction V Positioning data No 1 0 Operation pattern 11 Continuous path control Positioning to address A at command speed a No 2 No 3 No 4 No 5 Address a b NO 1 No 2 No 3 No 4 No 5 Speed is changed without stopping The machine stops and then continues the ne...

Page 367: ... 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 t Start complete signal OFF ON Dwell time X10 X11 X12 X13 OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Positioni...

Page 368: ...e 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 t OFF ...

Page 369: ...l the positioning data No 600 If the operation pattern of the positioning data No 600 is not complete 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 o...

Page 370: ...ion when the positioning data No is switched Refer to Section 12 3 3 Near pass function 2 Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control but the machine will carry out a deceleration stop to speed 0 in the following cases a to d a When the operation pattern of the positioning data currently being executed is continuous ...

Page 371: ...ng control 01 instead of setting it to continuous path control 11 Positioning by interpolation Reference axis operation Interpolation axis operation Interpola tion axis Positioning data No 1 Reference axis Positioning data No 2 Positioning data No 1 Continuous path control V Positioning data No 1 t Positioning data No 2 V Positioning data No 1 t Positioning data No 2 2 When a 0 is set in the Da 6 ...

Page 372: ...ing cannot be started if 1 is set in the command speed of the first positioning data at start Relation between the command speed and current speed The current speed is changed even if the new speed is not reached in P2 2000 1000 3000 3000 1000 1000 1 3000 1 3000 1 3000 P1 P2 P3 P4 P5 V 3000 Da 8 Command speed Md 27 Current speed t POINTS 1 In the continuous path control a speed variation will not ...

Page 373: ... switching will not be carried out if the command speeds are the same OFF ON OFF ON OFF ON OFF ON 11 11 11 01 00 V Dwell time t Speed switching Da 1 Operation pattern Positioning Start complete signal BUSY signal Positioning complete signal Positioning start signal XC XD XE XF X10 X11 X12 X13 Y10 Y11 Y12 Y13 Dwell time X14 X15 X16 X17 Fig 9 4 Operation for the standard speed switching mode 3 Speed...

Page 374: ...on 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 carr...

Page 375: ...en automatic deceleration is required Ex Operation patterns 00 01 etc the machine will immediately stop at the designated positioning address and a insufficient movement distance warning 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...

Page 376: ...int 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 OP Reference point Start point End 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 100 Movement...

Page 377: ...alue to a new value This value is updated every 3 5ms Machine feed value 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 56 8ms The current feed value and machine feed value are used in monitoring the curre...

Page 378: ...sitioning address movement amount of the positioning data if the movement amount per pulse is not set to 1 Monitoring the current value The current feed value and machine feed value are stored in the following buffer memory addresses and can be read using a DFRO P command from the PLC CPU Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4 Md 20 Current feed value 800 801 900 901 1000 1001 1100 11...

Page 379: ...alidate 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 Section A Section B 315 00000 90 00000 Clockwise direction 0 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 ...

Page 380: ...on can perform only when the software stroke limit is invalid When the software stroke limit is valid an error ABS direction in degrees illegal error code 546 occurs and positioning is not started To designate the movement direction in the ABS control a 1 or 2 is written to the Cd 40 ABS direction setting in the unit of degree of the buffer memory initial value 0 The value written to the Cd 40 ABS...

Page 381: ...e upper limit value is 345 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 amoun...

Page 382: ...s the reference axis following the positioning data set in the reference axis and controls the interpolation axis corresponding to the reference axis control so that a linear or arc path is drawn The following table shows the reference axis and interpolation axis combinations Axis definition Axis set to interpolation control in Da 2 Control method Reference axis Interpolation axis 2 axis linear in...

Page 383: ...d 4 Reverse run speed 2 3 and 4 not required Forward run speed 2 3 and 4 Reverse run speed 2 3 and 4 not required Da 7 Arc address Only during circular sub circular right and circular left Only during circular sub circular right and circular left Da 8 Command speed Only during forward run speed 2 3 4 and reverse run speed 2 3 4 Da 9 Dwell time Same positioning data Nos Da 10 M code Setting always ...

Page 384: ...olation control is set Speed during interpolation control Either the composite speed or reference axis speed can be designated as the speed during interpolation control Pr 20 Interpolation speed designation method Only the Reference axis speed can be designated in the following interpolation control When a composite speed is set and positioning is started the Interpolation mode error error code 52...

Page 385: ...ffer 3 Composite speed Linear 2 ABS INC Fixed feed 2 Reference axis speed Composite speed 2 Circular sub ABS INC Circular right ABS INC Circular left ABS INC Reference axis speed Composite speed Linear 3 ABS INC Fixed feed 3 Reference axis speed Composite speed Linear 4 ABS INC Fixed feed 4 Reference axis speed Setting possible Setting not possible 1 mm and inch unit mix possible 2 degree setting ...

Page 386: ...xis Speed control Speed position switching control Position speed switching control Independent positioning control Positioning complete Continuous positioning control Da 1 Operation pattern Continuous path control Da 2 Control system Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run spe...

Page 387: ...ning control Da 1 Operation pattern Continuous path control Da 2 Control system NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Change destination address Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning ...

Page 388: ... 1 Setting item Setting example Setting details Da 1 Operation pattern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control system 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...

Page 389: ...near 1 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 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 ti...

Page 390: ... 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 X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolation of the X axis and Y axis Start point address X1 Y1 current stop position Y axis movement X axis movement amount amount En...

Page 391: ... ABS linear 2 Set absolute system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis ...

Page 392: ...ent direction is determined by the sign of the movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolation positioning of the X axis and Y axis Start point address X1 Y1 current stop position Y axis movement X axis movement amount amount Example 5000 10000 Axis 2 movement amount 3000 4000 1000 Axis 2 Axis 1 0 cu...

Page 393: ...ontrol system INC linear 2 Set incremental system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis I...

Page 394: ...address to the address end point address set in the Da 6 Positioning address movement amount End point address X2 Y2 Z2 Positioning address Movement by linear interpolation of the X axis Y axis and Z axis Y axis movement amount Start point address X1 Y1 Z1 Current stop position Forward direction X axis Forward direction Z axis Reverse direction Forward direction Y axis X axis movement amount Z axi...

Page 395: ...lete 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 Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at d...

Page 396: ...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 ...

Page 397: ... movement amount Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop position Forward direction Forward direction Forward direction Movement by linear interpolation positioning of the X axis Y axis and Z axis Z2 Y2 X2 Reverse direction Reverse direction Reverse direction When the axis 1 movement amount is 10000 the axis 2 movement amount i...

Page 398: ...itioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control system INC linear 3 Set incremental system 3 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the decele...

Page 399: ...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 ...

Page 400: ...address established by a machine OPR in the 4 axis coordinate space a linear interpolation positioning is carried out from the current stop position start point address to the address end point address set in the Da 6 Positioning address movement amount Restrictions An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detec...

Page 401: ...eleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 µm 8000 0 µm 4000...

Page 402: ...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 ...

Page 403: ...ovement amount set in the Da 6 Positioning address movement amount The movement direction depends on the sign or of the movement amount 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 When the movement amount for each axis exceeds 1073741824 2 30 An outside linear mo...

Page 404: ...eration 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 0 µm 8000 0 µm 4000 0 µm 3000 0 µm 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 spee...

Page 405: ...ed by the movement amount sign 0 0 0 0 0 Md 20 Current feed value is set to 0 at the positioning start Designated movement Positioning start amount Reverse direction Forward direction Stop position Movement direction for a negative movement amount Movement direction for a positive movement amount Restrictions 1 An axis error Continuous path control invalid error code 516 will occur and the operati...

Page 406: ... 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 8000 0µm 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 ...

Page 407: ...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 Md 20 Current feed value of each axis is set to 0 at the positioning start 0 0 0 0 0 0 X axis Y axis Designated movement amount Designated movement amount Restrictions 1 An axis error Continuous p...

Page 408: ... Da 5 Axis to be interpolated 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 8000 0 µm 6000 0 µm 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 comp...

Page 409: ...erpolation for the axis directions set in each axis In fixed feed control any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses The remainder of the movement amount with an accuracy below the control accuracy does not affect the regular controls Refer to Section 9 1 6 Interpolation...

Page 410: ...nterpolation 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 Designated movement amount Designated movement amount Md 20 Designated movement amount Current feed value of each axis is set to 0 at the positioning start 0 0 0 0 0 0 ...

Page 411: ...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...

Page 412: ...sitioning address movement amount 10000 0 µm 5000 0 µm 6000 0 µm 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 com...

Page 413: ...tart 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 s...

Page 414: ... 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 0 µm 8000 0 µm 4000 0 µm 3000 0 µm 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 ...

Page 415: ...es established by a machine OPR on a 2 axis coordinate plane are used Positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount in an arc path that passes through the sub point address set in Da 7 Arc address The resulting control path is an arc having as its center the intersection point of perpen...

Page 416: ...um radius for which circular interpolation control is possible is 536870912 2 29 An error Outside radius range error code 544 will occur at positioning start When the center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 A Sub point setting error error code 525 will occur at positioning start When the start point address is the same as the end point address An End point...

Page 417: ...0 as the deceleration time at deceleration Da 5 Axis to be interpolated 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 8000 0 µm 6000 0 µm Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 4000 0 µm 3000 0 µm Set the sub point address Assuming that the Pr 1 Unit setting is set to...

Page 418: ...e 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 calculat...

Page 419: ...um radius for which circular interpolation control is possible is 536870912 2 29 An error Outside radius range error code 544 will occur at positioning start When the center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 A Sub point setting error error code 525 will occur at positioning start When the start point address is the same as the end point address An End point...

Page 420: ...tion time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 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 8000 0 µm 6000 0 µm Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address 4000 0 µm 3000 0 µm Set the sub point address Assuming that the Pr 1 Unit se...

Page 421: ...efer to Section 9 1 6 Interpolation control for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for the different control systems Control system Rotation direction Arc center angle that can be controlled Positioning path ABS circular right INC circular right Clockwise Positioning path 0 360 Center poi...

Page 422: ...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 ...

Page 423: ...c path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start point address current stop position Arc address Forward direction Reverse direction positioning address Positioning of a complete round with a radius from the start point address to the arc center point...

Page 424: ...xis 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 ...

Page 425: ...0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 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 8000 0 µm 6000 0 µm Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 4000 0 µm 3000 0 µm Set the arc addres...

Page 426: ...itioning 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 Radius Movement by circular interpolation Forward direction Reverse direction Forward direction Movement amount to the end point Start point address Current stop position Arc center point Arc address Movement amount to the end point Reverse direction Positioning ...

Page 427: ...er 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 ...

Page 428: ... Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 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 8000 0 µm 6000 0 µm Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address 4000 0 µm 3000 0 µm Set the center...

Page 429: ...ward 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 t V BUSY signal OFF ON Positioning start signal OFF ON Po...

Page 430: ... Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V 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 patt...

Page 431: ...ime 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 comm...

Page 432: ...ion 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 t V BUSY signal XC XD OFF ON Positioni...

Page 433: ...ontrol 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...

Page 434: ...ed 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 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Position...

Page 435: ... 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 t V BUSY signal XC XD XE OFF ON Positioning start signal Y10 OFF ON...

Page 436: ...t is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V 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 con...

Page 437: ...m min Da 8 Command speed 8000 00mm min 6000 00mm min 4000 00mm min With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Axis 3 2000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds 5 An error No command speed error code 50...

Page 438: ...ation 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 ...

Page 439: ... 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 ...

Page 440: ...l XC XD XE XF OFF ON Positioning start signal Y10 OFF ON Positioning complete signal X14 X15 X16 X17 OFF Axis stop signal stop command Either Y4 Y5 Y6 or Y7 OFF ON Does not turn ON even when control is stopped by stop command Status b0 OFF ON Md 31 In speed control flag Referense axis axis 1 t V Interpolation axis axis 3 t V Command speed Da 8 Interpolation axis axis 4 t V Interpolation axis axis ...

Page 441: ...t is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V 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 con...

Page 442: ...in 6000 00mm min 4000 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...

Page 443: ... 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 3 and 4 Da 6 Positioning address movement amount Setting not required setting value will be ignored Da 7 Arc address Settin...

Page 444: ...Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 200 Speed position 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 Sections 5 2 List of parameters Switching over from speed control to ...

Page 445: ...l INC mode t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Cd 24 Speed position switching enable flag Da 8 Command speed Movement amount set in Da 6 Positioning address movement amount OFF OFF OFF ON ON Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 ...

Page 446: ...0 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 Speed position switching signal ON 90 00000 270 00000 360 00000 Stop at 0 00000 degree 0 00000 90 00000 0 00000 90 00000 ...

Page 447: ... out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed position switching control movement amount change register OPR complete flag Md 31 Status b4 Cd 7 M code OFF request Cd 7 M code OFF request Standing by XC XD XE XF X10 X11 X12 X13 X14 X15 X16 X17 X4 ...

Page 448: ...e 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 t 0 Updated from 0 t V t Position control Maintained Updated Speed control Position control Speed control Position control Speed control Updated a Current feed value not updated b...

Page 449: ...be ignored unless issued during the speed control section of the speed position switching control INC mode 2 The new movement amount is stored in Cd 23 Speed position switching control movement amount change register by the PLC 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 cont...

Page 450: ... the following a and b are satisfied a Pr 21 Current feed value during speed control is 1 Update current feed value If the movement amount exceeds the software stroke limit range during speed control in case of the setting of other than 1 Update current feed value an error error code 507 or 508 will occur as soon as speed control is changed to position control and the axis will decelerate to a sto...

Page 451: ...esignate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0µm INC mode Pr 200 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 valu...

Page 452: ...Y signal Y0 turns ON Use the detailed parameter 1 Pr 200 Speed position function selection to choose speed position switching control ABS mode Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 200 Speed position function selection 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 o...

Page 453: ...ntrol ABS mode t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Cd 24 Speed position switching enable flag Da 8 Command speed OFF OFF OFF ON ON Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Address set in Da 6 Positioning address movement amount ...

Page 454: ... 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 Stop at 270 00000 degree Speed position switching signal ON 0 00000 90 00000 0 00000 90 00000 270 00000 ...

Page 455: ...ntrol Position control External speed position switching command t6 Speed control carried out until speed position switching signal turns ON Md 26 Axis operation status OPR complete flag Md 31 Status b4 Cd 7 M code OFF request Cd 7 M code OFF request Standing by XC XD XE XF X10 X11 X12 X13 X14 X15 X16 X17 X4 X5 X6 X7 Fig 9 17 Operation timing and processing time during speed position switching con...

Page 456: ...rol 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 An error error code 935 will occur if the Pr 21 Current feed value during speed control setting is other than 1 t Speed Position control Speed control Updated Current feed value updated Switching time from speed control to posit...

Page 457: ...Buffer memory address Setting item Setting value Setting details 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 Sections 5 2 List of parameters and Section 5 7 List of control data for information on the se...

Page 458: ... b The software stroke limit function is invalid upper limit value lower limit value c Pr 21 Current feed value during speed control is 1 Update current feed value d The Da 6 Positioning address movement amount setting range is 0 to 359 99999 degree If the value is outside of the range 0 to 359 99999 degree an error error code 530 will occur at a start e The Pr 200 Speed position function selectio...

Page 459: ... acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 270 00000 degree ABS mode Pr 200 2 Set the address after the switching to position control Assuming that the Pr 1 Unit setting is set ...

Page 460: ...e Forward run position speed in which the control starts in the forward run direction and Reverse run position speed in which control starts in the reverse run direction Switching over from position control to speed control 1 The control is switched over from position control to speed control by the external signal position speed switching signal 2 Besides setting the positioning data the Cd 26 Po...

Page 461: ... Position speed switching enable flag Cd 26 t V Positioning start signal Y10 Y11 Y12 Y13 OFF ON Command speed BUSY signal XC XD XE XF OFF ON Positioning complete signal X14 X15 X16 X17 OFF Position speed switching signal OFF ON Position control Speed control OFF ON OFF ON In speed control flag Status b0 Md 31 Da 8 OFF ON Stop command Does not turn ON even when control is stopped by stop command Fi...

Page 462: ...l X14 X15 X16 X17 In speed control Position control Speed control External position speed switching command t6 Speed control command speed is from the input position of the external position speed switching signal Md 26 Position speed switching control speed change register Cd 25 Cd 7 Cd 7 Status b4 OPR complete flag Md 31 Stop signal STOP t4 Position control carried out until position speed switc...

Page 463: ...current feed value is updated during position control and speed control 2 Zero clear current feed value The current feed value is updated from 0 at a control start and the current feed value is cleared to 0 as soon as position control is switched to speed control a Current feed value not updated b Current feed value updated t Speed control Updated from 0 c Current feed value zero cleared 0 Positio...

Page 464: ...he 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 PLC program during position contr...

Page 465: ...will carry out a deceleration stop if this type of setting is carried out 3 The software stroke limit range is only checked during speed control if the 1 Update current feed value is set in Pr 21 Current feed value during speed control The software stroke limit range is not checked when the control unit is set to degree 4 An error error code 507 or 508 will occur and the operation cannot start if ...

Page 466: ...value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0µm 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...

Page 467: ... 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 Current feed value 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 c...

Page 468: ...ed Continuous path control cannot be set by current value change Da 2 Control system Current value changing Set the current value changing 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 1...

Page 469: ...ws an example when the positioning address is 0 Y10 Y11 Y12 Y13 Restrictions 1 An axis error Outside new current value range error code 514 will occur if the designated value is outside the setting range when degree is set in Unit setting 2 An error Software stroke limit error code 507 or 508 will occur if the designated value is outside the software stroke limit range 3 The current value cannot b...

Page 470: ...the start No 9003 for the new current value 1500 1600 1700 1800 Cd 9 Current value changing 50000 Set the new Md 20 Current feed value 1506 1507 1606 1607 1706 1707 1806 1807 Refer to Section 5 7 List of control data for details on the setting details 2 The following shows a start time chart Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Positioning c...

Page 471: ...ogram and write it to the PLC CPU 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 Example ...

Page 472: ... 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 Axis 1 positioning data No 1 Da 10 M code Setting not requir...

Page 473: ...ion 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 Whe...

Page 474: ...etting value is ignored Da 2 Control system JUMP instruction Set the JUMP instruction Da 3 Acceleration time No Setting not required Setting value is ignored Da 4 Deceleration time No Setting not required Setting value is ignored Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount Setting not required Setting value is ignored Da 7 Arc...

Page 475: ...OP 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...

Page 476: ...The operation patterns of the positioning data Nos 2 and 5 are ignored Positioning data setting examples The following table shows the setting examples when LEND is set in positioning data No 8 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Setting not required Setting value is ignored Da 2 Control system LEND Set the LEND Da 3 Acceleration time No Setting not requir...

Page 477: ...9 116 MELSEC Q 9 MAJOR POSITIONING CONTROL MEMO ...

Page 478: ...1 2 Block start data and condition data configuration 10 4 10 2 High level positioning control execution procedure 10 6 10 3 Setting the block start data 10 7 10 3 1 Relation between various controls and block start data 10 7 10 3 2 Block start normal start 10 8 10 3 3 Condition start 10 10 10 3 4 Wait start 10 11 10 3 5 Simultaneous start 10 12 10 3 6 Repeated start FOR loop 10 13 10 3 7 Repeated...

Page 479: ...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 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 position...

Page 480: ... data stored in the QD75 Setting item Setting details Da 11 Shape Set whether to end the control after executing only the block start data of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by which the positioning data set in Da 12 will be started Block s...

Page 481: ...6119 Low order buffer memory High order buffer memory Condition identifier No 1 26100 b15 b0 b7 b8 b11 b12 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Da 15 Condition target Same for axis 2 axis 3 and axis 4 Setting item Setting item 26049 26099 œˆÊ uŒˆ ßŽn ƒf ƒ Setting item Buffer memory address 26001 26051 1st p...

Page 482: ...05 26306 26307 26308 26309 Da16 Da17 Da18 Da19 Da15 Buffer memory address Buffer memory address Buffer memory address Axis 1 block start data Buffer memory address Buffer memory address Buffer memory address Axis 1 condition data 50th point Setting item 26849 26899 œˆÊ uŒˆ ßŽn ƒf ƒ 2nd point Setting item 26801 26851 Setting item 26990 26991 26992 26993 26994 26995 26996 26997 26998 26999 Condition...

Page 483: ...000 is set in the Cd 3 Positioning start No Control data setting STEP 5 Refer to Chapter 6 Write the PLC program created in STEP 4 to the PLC CPU using GX Developer Same procedure as for the major positioning control start STEP 6 Use one of the following two methods Method 1 Monitor using GX Configurator QP Method 2 Monitor using GX Developer Same procedure as for the major positioning control sto...

Page 484: ...evel positioning control Block start data setting items Block start Normal start Condition start Wait start Simulta neous start Repeated start FOR loop Repeated start FOR condition NEXT start 0 End Da 11 Shap e 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 repetitions Condition data No One of the two setting items must...

Page 485: ...ck start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th point 1 Continue 10 0 Block start 5th point 0 End 15 0 Block start 2 Positioning data setting example Axis 1 position ing 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 Positioni...

Page 486: ...a Positioning start signal 1 00 Start complete signal BUSY signal X14 X15 X16 X17 t 2 11 3 01 4 00 5 11 6 00 15 00 Positioning according to the 1st point settings Address 10 00 OFF OFF ON ON ON Operation pattern Positioning data No Positioning according to the 5th point settings Positioning according to the 4th point settings Positioning according to the 3rd point settings Positioning according to...

Page 487: ...d 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 position ing 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 foll...

Page 488: ...ntinue 10 0 Block start 3rd point 0 End 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 position ing 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 Positionin...

Page 489: ...oning 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 Simultaneously start the axis 1 positioning data No 1 and axis 2 positioning data set in c...

Page 490: ...Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 4 FOR loop 2 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control ...

Page 491: ...cial start instruction Da 14 Parameter 1st point 1 Continue 1 5 FOR condition 5 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 10 11 Cont...

Page 492: ...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 Block start data Da 13 Special start instruction 1st poin...

Page 493: ...ollowing 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 High level positioning control Major positioning control Control type Da 15 Setting item Block start Wait start Simultaneous start Repeated start For condition JUMP instruction 01 Device X 02 Devi...

Page 494: ...esignation 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 ...

Page 495: ... POSITIONING CONTROL REMARK The PLC CPU memo 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 Address 30000 30001 30099 QD75 buffer memory ...

Page 496: ...r 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 Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 04H Buffer memory 2 words 04H P1 800 1000 3 Designating the axis and positioning data No to be simultaneously started in simultaneous start Condition Simultaneously starting...

Page 497: ...ictions 1 An error will occur and all simultaneously started axes will not start error code 501 if the simultaneously started axis start data No is not set to the axis control data on the start axis or set outside the setting range 2 An error will occur and all simultaneously started axes will not start error code 501 if either of the simultaneously started axes is BUSY 3 An error will occur and a...

Page 498: ...data No Set a 0 for the axis other than the simultaneously started axes 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 add...

Page 499: ...k 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 ...

Page 500: ...gnal Servo amplifier Buffer memory Control by designated positioning data 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 3 2 4 1 Set 7000 in Cd 3 Positioning start No This establishes that the control as high level pos...

Page 501: ...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 PLC program and configured so the control does not start unless the conditions are fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 ...

Page 502: ...ion 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 Y10 PLC READY signal QD75 READY signal X10 XC Positioning complete signal V t Error detection signal Positioning data No Dwell time 12 00 Operation pattern 1 11 1st point buffer memory address 26000 2nd point buffer memory addr...

Page 503: ...he positioning start signal Y10 SET K1 K1 K1501 H0 TO Write the positioning start point No K1 K7000 K1500 H0 TO Write the positioning data No 7000 for block positioning X10 Set the block start data beforehand Y10 Positioning start signal X10 Start complete signal M104 Positioning start command pulse Example Positioning start command ...

Page 504: ... 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start programs for JOG operation 11 10 11 2 5 JOG operation example 11 13 11 3 Inching operation 11 17 11 3 1 Outline of inching operation 11 17 11 3 2 Inching operation execution procedure 11 20 11 3 3 Setting the required parameters for...

Page 505: ...ation 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 M Movement continues while the JOG START signal is ON JOG START signal ON OFF Fig 11 1 JOG operation 2 Inching operation Inching operation is a control method in which a minute movement amount of pulses is output manually in...

Page 506: ...o 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 Configura...

Page 507: ... time designated in Pr 32 JOG operation acceleration time selection At this time the BUSY signal changes from OFF to ON 2 When the workpiece being accelerated reaches the speed set in Cd 17 JOG speed the movement continues at this speed The constant speed movement takes place at 2 and 3 3 When the START signal is turned OFF deceleration begins from the speed set in Cd 17 JOG speed and continues fo...

Page 508: ...31 JOG speed limit value and an Axis warning will occur in the QD75 warning code 301 5 The JOG operation can be continued even if an Axis warning has occurred 6 A JOG start signal OFF ON immediately after the stop signal ON OFF within 100ms will be ignored The operation will not start 7 Set a 0 in Cd 16 inching movement amount If a value other than 0 is set the operation will become an inching ope...

Page 509: ... Forward run JOG start signal Y8 YA YC YE t2 Standing by In JOG operation t1 t3 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 Axis operation status ON ON OFF OFF OFF OFF Standing by Fig 11 5 JOG operation timing and processing times Normal timing times Unit ms t1 t2 t3 t4 1 0 to 4 0 0 to 3 5 5 5 to 7 9 0 to 3 5 Delays may occur in the t1 timing time due to the operatio...

Page 510: ...ate a PLC program in which the JOG start signal is turned ON by a JOG operation start command Using GX Developer set the control data and create a PLC program for executing the JOG operation Set the control data in the QD75 buffer memory using the TO command Write the PLC program to the PLC CPU Turn ON the JOG start signal of the axis to be started Monitoring of the JOG operation Stop the JOG oper...

Page 511: ...r 8 Speed limit value Unit PLS s 200000 Pr 9 Acceleration time 0 Unit PLS s 1000 Pr 10 Deceleration time 0 Unit PLS s 1000 Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invali...

Page 512: ...cceleration time selection 0 acceleration time 0 Pr 33 JOG operation deceleration time selection 0 deceleration time 0 Pr 34 Acceleration deceleration process selection 0 trapezoidal acceleration deceleration processing Pr 35 S pattern proportion Unit 100 Pr 36 Sudden stop deceleration time Unit ms 1000 Pr 37 Stop group 1 sudden stop selection 0 deceleration stop Pr 38 Stop group 2 sudden stop sel...

Page 513: ...ired conditions must also be assembled in the PLC program and the PLC program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD75 ...

Page 514: ... start signal Forward JOG run BUSY signal Error detection signal OFF OFF OFF OFF OFF ON ON ON ON X8 XC PLC READY signal QD75 READY signal Reverse run JOG start signal Reverse JOG run Y8 Y9 X0 Y0 OFF ON OFF All axis servo ON Y1 ON Fig 11 6 JOG operation start time chart ...

Page 515: ...program Set JOG operation speed 100 00mm min Set a 0 for inching movement amount No 12 JOG operation inching operation execution program Write JOG operation speed JOG inching operation flag ON JOG inching operation termination Execute forward JOG inching operation Execute reverse JOG operation ...

Page 516: ...e started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be ignored Axis stop signal Y4 Y5 Y6 Y7 OFF ON OFF ON Forward run JOG start signal Y8 YA YC YE QD75 READY signal X0 PLC READY signal Y0 OFF ON OFF ON All axis servo ON Y1 Fig 11 7 Operation when the stop sign...

Page 517: ...d 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 OFF ON OFF ON BUSY signal XC XD XE XF OFF ON Forward run JOG operation t The reverse run JOG start signal is ignored Reverse run JOG operation Forward run JOG start signa...

Page 518: ... YC YE 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 In test mode ON t Forward run JOG start signal Y8 YA YC YE OFF ON OFF Forward run JOG operation ex...

Page 519: ... the stop signal OFF within 100ms it will be ignored and the JOG operation will not be carried out ON Axis stop signal Y4 Y5 Y6 Y7 OFF ON OFF 100ms A JOG start signal OFF ON while the stop signal is ON will be ignored Forward run JOG operation Forward run JOG start signal Y8 YA YC YE Fig 11 11 Operation when the JOG start signal is turned ON immediately after the stop signal OFF ...

Page 520: ...n 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 Cd 16 Inching movement amount 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...

Page 521: ...red even if it is set An error will occur in the following cases error code 301 Cd 16 Inching movement amount x A Pr 31 JOG speed limit value Where A is as follows When the unit is PLS 281 25 When the unit is other than PLS 168 75 2 JOG start signal OFF ON immediately after stop signal ON OFF within 100 ms is ignored Operation will not start 3 Set a value other than a 0 in Cd 16 Inching movement a...

Page 522: ...un JOG start signal Y8 YA YC YE ON Standing by Inching operation Axis operation status t1 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 ON ON OFF OFF OFF OFF t3 Standing by t2 Fig 11 13 Inching operation timing and processing times Normal timing times Unit ms t1 t2 t3 t4 1 0 to 4 0 5 5 to 7 9 0 to 3 5 Depending on parameters Depending on the operating statuses of the o...

Page 523: ...JOG start signal is turned ON by an inching operation start command Using GX Developer set the control data and create a PLC program for executing the inching operation Set the control data in the QD75 buffer memory using the TO command Write the PLC program to the PLC CPU Turn ON the JOG start signal of the axis to be started Monitoring of the inching operation STEP 6 Turn OFF the JOG operation s...

Page 524: ...nit magnification AM 1 1 times Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 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 300 Positioning parameters Pr 31 JOG...

Page 525: ...ns must also be assembled in the PLC program and the PLC program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON Accessible to QD75...

Page 526: ...QD75 READY signal X0 t Reverse run JOG start signal Y9 Reverse run inching operation Forward run inching operation BUSY signal XC Error detection signal X8 OFF OFF OFF OFF OFF ON ON ON ON ON OFF OFF ON Positioning complete signal X14 All axis servo ON Y1 OFF Fig 11 14 Inching operation start time chart ...

Page 527: ...ing operation setting program Set inching movement amount JOG inching operation flag ON JOG inching operation termination Execute forward JOG inching operation Execute reverse JOG operation Write inching movement amount No 12 JOG operation inching operation execution program ...

Page 528: ...on can be re started when the stop signal is turned OFF and then re turned ON PLC READY signal Y0 OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be ignored Axis stop signal Y4 Y5 Y6 Y7 OFF ON QD75 READY signal X0 ON OFF Forward run JOG start signal Y8 YA YC YE OFF ON All axis servo ON Y1 ON OFF Fig 11 15 Operation when stop signal is turned ON duri...

Page 529: ... Inching operation not possible because JOG start signal does not rise Fig 11 16 Operation when JOG start signal is turned ON in test mode When JOG start signal is turned ON immediately after stop signal OFF within 100 ms If JOG start signal is turned ON immediately after the stop signal is turned OFF within 100 ms the JOG start signal will be ignored and inching operation will not be carried out ...

Page 530: ...rator 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 i...

Page 531: ...calculated value is input into the positioning module using the manual pulse generator the servo error 2035 data error detection of the alarm 35 command frequency error at the servo amplifier may occur The following calculation formula is used to judge whether or not an error will occur Output pulse of manual pulse generator Magnification Electronic gear number of pulses per revolution movement am...

Page 532: ...ator operation possible Manual pulse generator operation not possible V Manual pulse generator operation 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 Manual pulse generator input pulses t1 t3 t4 BUSY signal XC XD XE XF Standing by Positioning start complete signal X10 X11 X1...

Page 533: ...t amount Pr 1 Unit setting mm inch degree PLS Manual pulse generator 1 pulse movement amount 0 1µm 0 00001inch 0 00001degree 1PLS For example when Pr 1 Unit setting is mm and Cd 20 Manual pulse generator 1 pulse input magnification is 2 and 100 pulses are input from the manual pulse generator the current feed value is as follows 100 2 0 1 20 µm Speed control by manual pulse generation operation Th...

Page 534: ...put from the manual pulse generator and issue a command to disable the manual pulse Manual pulse generator operation stop STEP 6 Monitor the manual pulse generator operation Preparation Refer to Chapter 5 and Section 11 4 3 Refer to Section 11 4 4 Set the positioning parameters Write the PLC program to the PLC CPU One of the following two methods can be used Method 1 Monitor using GX Configurator ...

Page 535: ... Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 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 300 Pr 22 Input signal logic selection 0 Manual pulse generator input is negative logic Positioning parameters P...

Page 536: ...ils on the setting details Start conditions The following conditions must be fulfilled when starting The required conditions must also be assembled in the PLC program and the PLC program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY si...

Page 537: ... ON Pulse input B phase BUSY signal QD75 READY signal PLC READY signal Start complete signal Error detection signal Y0 X0 X10 XC X8 Cd 21 Manual pulse generator enable flag Cd 20 Manual pulse generator 1 pulse input magnification OFF ON All axis servo ON Y1 OFF ON Fig 11 20 Manual pulse generator operation start time chart ...

Page 538: ...peration command Set manual pulse generator input scale per pulse Write manual pulse generator operation enable Write data for manual pulse generator Turn ON manual pulse generator operating flag Pulsate manual pulse generator operation disble command Write manual pulse generator operation disble Turn OFF manual pulse generator operating flag ...

Page 539: ...11 36 MELSEC Q 11 MANUAL CONTROL MEMO ...

Page 540: ...lectronic gear function 12 13 12 3 3 Near pass function 12 20 12 4 Functions to limit the control 12 23 12 4 1 Speed limit function 12 23 12 4 2 Torque limit function 12 25 12 4 3 Software stroke limit function 12 29 12 4 4 Hardware stroke limit function 12 35 12 5 Functions to change the control details 12 37 12 5 1 Speed change function 12 37 12 5 2 Override function 12 44 12 5 3 Acceleration de...

Page 541: ...tinuous path control in the interpolation control Speed limit 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 Torque limit function If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control this function limits the generated torque to withi...

Page 542: ...t amount having the designated positioning data No Target position change function This function changes the target position during the execution of positioning At the same time this also can change the speed Command in position function At each automatic deceleration this function calculates the remaining distance for the QD75 to reach the positioning stop position and when the value is less than...

Page 543: ...low explain about the OPR retry function 1 Control details 2 Precautions during control 3 Setting the OPR retry function 1 Control details The following drawing shows the operation of the OPR retry function 1 OPR retry point return retry operation when the workpiece is within the range between the upper and lower limits 1 The movement starts in the Pr 44 OPR direction by a machine OPR start 2 The ...

Page 544: ...tion set in Pr 44 OPR direction Pr 44 OPR direction Near point dog Hardware upper limit switch Hardware lower limit switch Movement range Machine OPR start OP Zero signal In the above example 1 and 2 0 Positive direction is set in Pr 44 OPR direction REMARK When the 0 Positive direction is selected in Pr 44 OPR direction the upper limit switch is set to the limit switch in the OPR direction When t...

Page 545: ... 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 Stop by near point dog OFF Stop by limit signal detection Reverse run operation after limit signal detection B OP Pr 44 OPR direction Ma...

Page 546: ... cannot be carried out 5 The operation decelerates upon detection of the hardware limit signal and the movement starts in the opposite direction In this case however an error 104 105 is not produced 3 Setting the OPR retry function To use the OPR retry function set the required details in the parameters shown in the following table and write them to the QD75 When the parameters are set the OPR ret...

Page 547: ...d OP can then be interpreted at that point The details shown below explain about the OP shift function 1 Control details 2 Setting range for the OP shift amount 3 Movement speed during OP shift 4 Precautions during control 5 Setting the OP shift function 1 Control details The following drawing shows the operation of the OP shift function Machine OPR start Pr 53 OP shift amount Speed selected by th...

Page 548: ...ing 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 ...

Page 549: ...of the OP shift 5 Setting the OP shift function To use the OP shift function set the required details in the parameters shown in the following table and write them to the QD75 When the parameters are set the OP shift function will be added to the machine OPR control The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Setting item Setting value Setting details Factory...

Page 550: ...on compensates the backlash amount in the mechanical system When the backlash compensation amount is set an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes The details shown below explain about the backlash compensation function 1 Control details 2 Precautions during control 3 Setting the backlash compensation function 1 Control det...

Page 551: ...oment at the moving direction changes 3 Setting the backlash compensation function To use the backlash compensation function set the backlash compensation amount in the parameter shown in the following table and write it to the QD75 The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Setting item Setting value Setting details Factory set initial value Pr 11 Backlash ...

Page 552: ...arted the function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in the feed machine value Control can be constantly carried out at the same machine movement amount even when the fixed feed control is continued C The function compensates the mechanical system error of the command movemen...

Page 553: ...ontrol unit QD75 Machine Reduction retio The basic concept of the electronic gear is represented by the following expression Pr 2 No of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM Movement amount per pulse S AP AP Electronic gear S AL AM 1 Set values for AP AL and AM so that this related equation is established However because values to be set for AP AL a...

Page 554: ...ne travel value per motor revolution Ball screw pitch Reduction ratio 10 mm 9 44 10000 0 µm 9 44 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 9 44 remaining as a fraction AP 8192 S 10000 0 µm 9 44 8192 44 10000 0 9 360448 90000 0 45056 45056 AP 11250 0 11250 0 AL 1 AM 45056 AP 1125 0 AL 10 AM Thus AP AL and AM to be set are as follows AP 45056 P...

Page 555: ...ry axis When the rotary axis is used the motor is HC SF 16384PLS rev and the reduction ratio of the reduction gear is 3 11 Reduction ratio 3 11 M First find how many degrees the load machine will travel S when the motor turns one revolution AP AP No of pulses per rotation 16384 S Machine travel value per motor revolution 360 00000 degree Reduction ratio 360 00000 3 11 Substitute this for the above...

Page 556: ... reduction gear is 7 53 Reduction ratio 7 53 M Belt conver Pulley ratio 1 3 135mm As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millimeters the load machine will travel S when the motor turns one revolution AP AP No of pulses per rotation 16384 S Machine travel value per motor revolution 135000 0 µm Reduction ratio 135000 0 µm 7 53 1...

Page 557: ...P AP 2605056 2605056 AP S AL AM 2968805 0 2968805 0 AL 1 AM Thus AP AL and AM to be set are as follows AP 2605056 Pr 2 AL 2968805 0 Pr 3 AM 1 Pr 4 This setting will produce an error for the true machine value but it cannot be helped This error is as follows 29688050 2605056 9450000 2605056 1 100 1 94 10 6 It is equivalent to an about 19 4 µm error in continuous 1km feed ...

Page 558: ... AL AM L L PLS Servo amplifier QD75 AP AL AM QD75 Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration Calculation example Conditions Movement amount per pulse 131072 PLS No of pulses per rotation 5000 0 µm Unit magnification 1 Positioning results Command movement amount L Actual movement amount L 100 mm 101 mm Com...

Page 559: ...ta 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 Prec...

Page 560: ...e positioning data No currently being executed to the next positioning data No If the sudden output reversal affects the mechanical system carry out control with continuous positioning control Path during continuous path control Axis 2 Axis 1 reference axis Positioning data No 2 Positioning data No 1 Axis 1 output speed V t Output suddenly reverses Positioning data No 1 Positioning data No 2 Axis ...

Page 561: ...ioning address pass Positioning data No 2 Positioning data No 1 Positioning data No 2 starting point address during the near pass Path of near pass Fig 12 11 Arc error during the near pass 4 When a circle center is designated to continuously designate the circular interpolation control by a continuous path designation in the near pass and the positioning address and starting point address of that ...

Page 562: ...it 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 Machine OPR control OPR control Fast OPR control 1 axis linear control 2 to 4 axes linear interpolation control 1 axis fixed feed control 2 to 4 axes fixed feed control interpolation Position control 2 axis circular interpolati...

Page 563: ...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...

Page 564: ...t value Machine OPR control Pr 17 Torque limit setting value or Cd 101 Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 OPR torque limit value OPR control Fast OPR control 1 axis linear control 2 to 4 axes linear interpolation control 1 axis fixed feed control 2 to 4 axes fixed feed control interpolation Position control 2 axis circular interpolation ...

Page 565: ... 0 at the start signal Y10 rising edge Each operations PLC READY signal Y0 All axis servo ON Y1 Start signal Y10 Torque limit setting value 26 Torque output setting value 1552 New toruque value 1525 Torque limit stored value 826 Pr 17 Cd 101 Cd 22 Md 35 1 1 2 2 2 3 3 3 Fig 12 12 Torque limit function operation 3 Precautions during control 1 When limiting the torque at the Pr 17 Torque limit settin...

Page 566: ... to Section 5 2 List of parameters for setting details Torque limit value Will be an upper limit value of the torque change value Even if a larger value has been mistakenly input for the torque change value it is restricted within the torque limit setting values to prevent an erroneous entry Even if a value larger than the torque limit setting value has been input to the torque change value the to...

Page 567: ...stored value The torque limit value valid at that time is stored Pr 17 Pr 54 Cd 22 or Cd 101 826 926 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 PLC program uses many PLC programs and devices The execution becomes...

Page 568: ... 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...

Page 569: ...n the machine feed value is set at the limit The machine feed value of 5000 current feed value 4000 becomes the upper stroke limit 4000 5000 5000 6000 Upper stroke limit 1000 2000 Moveable range Md 20 Current feed value Md 21 Machine feed value 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 4000 5000 5000 6000...

Page 570: ...tching control 3 4 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 Current value changing The current value will not be changed if the new current value is outside the software stroke limit...

Page 571: ... Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Starting address 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 Axis ...

Page 572: ...0 Valid Set whether the software stroke limit is validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to Section 5 2 List of parameters for setting details 6 Invalidating the software stroke limit To invalidate the software stroke limit set the following parameters as shown and write them to the QD75 Pr 12 Software stroke lim...

Page 573: ...ng 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 Section A 315 Set in a clockwise direction Upper limit Lower limit 90 Section B a Set the movement range of section A as follows Software stroke limit lower limit value 315 00000 Software stroke limit upper limit value ...

Page 574: ...pper lower limit of the physical moveable range is reached The details shown below explain about the hardware stroke limit function 1 Control details 2 Wiring the hardware stroke limit 3 Precautions during control 4 When the hardware stroke limit is not used 1 Control details The following drawing shows the operation of the hardware stroke limit function Mechanical stopper Servo amplifier QD75 Mov...

Page 575: ...r 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 can...

Page 576: ... 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 POINT The override function is available even during JOG operation 12 5 1 Speed change function The speed control function is used to change the speed during control to a newly designated speed at any time The new speed is dir...

Page 577: ...e 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 Designated speed in P2 Cd 14 New speed value Next control P2 Speed change command Designated speed in P1 a When no speed designation current speed is ...

Page 578: ... 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...

Page 579: ...rrectly 9 When a speed change is requested simultaneously for multiple axes change the speed in the ascending axis number order 10 Speed change cannot be carried out during the machine OPR A request for speed change is ignored 11 When deceleration is started by the speed change function the deceleration start flag does not turn ON 3 Setting the speed change function from the PLC CPU The following ...

Page 580: ...ime PLC READY signal Positioning start signal Positioning complete signal Y10 Y0 X0 X10 XC X14 X8 Md 40 All axis servo ON Y1 Fig 12 25 Time chart for changing the speed from the PLC CPU 3 Add the following PLC program to the control program and write it to the PLC CPU á Example No 14 Speed change program Pulsate speed change command Hold speed change command Set speed change value 20 00mm min Set ...

Page 581: ...4 Pr 42 External command function selection 1 Set 1 External speed change request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate the external command 1505 1605 1705 1805 Cd 14 New speed value 1000000 Set the new speed 1514 1515 1614 1615 1714 1715 1814 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 Pr...

Page 582: ...id signal QD75 starts speed change processing Speed change processing Write the new speed K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP Set the external command signal input to valid K1 K1 K62 H0 TOP Input the external command signal Set the external command function selection to external speed change request Write 1000000 to D108 and D109 Example ...

Page 583: ...ntrol will be carried out at speed unit 1 at the time Md 22 Feedrate becomes a value of 1 or less When Md 22 becomes 0 the warning Less than minimum speed warning code 110 is generated and the axis is controlled in the then speed unit of 1 4 If there is not enough remaining distance to change the speed when the speed is changed during the position control of speed position switching control or pos...

Page 584: ...by the override function the deceleration start flag does not turn ON 5 When carrying out continuously override be sure there is an interval between the override execution of 100ms or more If the interval between override is short the QD75 will not be able to track and it may become impossible to carry out commands correctly 3 Setting the override function The following shows the data settings and...

Page 585: ...signal All axis servo ON Positioning start signal Positioning complete signal QD75 READY signal Start complete signal Y10 Y1 X0 X10 XC X14 X8 PLC READY signal Y0 Fig 12 28 Time chart for changing the speed using the override function 3 Add the following PLC program to the control program and write it to the PLC CPU á Example No 15 Override program Pulsate override command Set override value 200 Wr...

Page 586: ...n to change the speed when the acceleration deceleration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 10 Cd 11 The details shown below explain about the acceleration deceleration time change function 1 Control details 2 Precautions during control 3 Setting the acceleration deceleration time change function 1 Control details The following drawing s...

Page 587: ... 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 decel...

Page 588: ...g data being executed The new acceleration deceleration time remains valid until the changeover to the next positioning data The automatic deceleration processing at the completion of the positioning will also be controlled by the new acceleration deceleration time 3 Setting the acceleration deceleration time change function To use the acceleration deceleration time change function write the data ...

Page 589: ...me change program Pulsate acceleration deceleration time change command Set 2000ms for acceleration time Set 0 not change for deceleration time Write acceleration deceleration time Write acceleration deceleration time change enable Write acceleration deceleration time change disable ...

Page 590: ...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 functio...

Page 591: ...value 1552 New toruque value 1525 Torque limit stored value 826 Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 1 2 2 2 3 3 4 4 4 4 4 3 6 5 1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal Y0 rising edge however after the servo turned ON If the torque output setting value is 0 or larger than...

Page 592: ...ned ON 3 If the setting value is outside the setting range an axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed 4 If the time to hold the new torque value is not more than 100ms a torque change may not be executed 3 Setting the torque change function start signal To use the torque change function write the data shown in the following table t...

Page 593: ...n detector Back up Return of the present value Battery Position command Control command Servo parameter Monitor data Fig 12 31 Configuration of absolute position system 1 Setting for absolute positions When constructing an absolute position system use a servomotor with absolute position detector It is also necessary to install a battery for retaining the location of the OPR in the servo amplifier ...

Page 594: ...location to which the location of the OPR position is moved by manual operation JOG operation manual pulse generator operation is treated as the OPR position The stop position during OPR execution is stored as the OPR position 9001 OPR destignation Cd 3 Positioning start No Positioning start Y10 to Y13 Movement range for the machine Moved to this position by manual operation Fig 12 32 Operation of...

Page 595: ... in the step start information The details shown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Precautions during control 7 Step function settings 1 Relation between the step function and various controls The following table shows the relation between the step funct...

Page 596: ...he 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 standing by 1 Step ...

Page 597: ... by a stop signal Take appropriate measures go to step 5 c An error occurred and the control stopped Take appropriate measures go to step 3 5 Write 1 restart to Cd 6 Restart command and check that the positioning data where the control stopped operates normally Go to step 4 6 Write 1 step continue to Cd 36 Step start information and check that the next positioning data operates normally a One step...

Page 598: ...al Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Fig 12 33 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step Cd 36 Step start information Cd 35 Step valid flag No 10 11 No 11 01 Operation pattern becomes one step of positioning data No unit regardless of continuous path control 11 00H 01H 00H OFF ON OFF OFF ON ON ON OF...

Page 599: ...t No 7 Step function settings To use the step function write the data shown in the following table to the QD75 using the PLC 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 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 34 Step mode Set 0 Deceleration unit step...

Page 600: ...ignal is input during positioning control 2 Precautions during control 1 If the skip signal is turned ON at the last of an operation a deceleration stop will occur and the operation will be terminated 2 When a control is skipped when the skip signal is turned ON during a control the positioning complete signals X14 X15 X16 X17 will not turn ON 3 When the skip signal is turned ON during the dwell t...

Page 601: ...ddress Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 37 Skip command 1 Set 1 Skip request 1547 1647 1747 1847 Refer to Section 5 7 List of control data for details on the setting details 2 Add the following PLC program to the control program and write it to the PLC CPU 1 When the skip command is input the value 1 skip request set in Cd 37 Skip command is written to the ...

Page 602: ...PLC program shown below in section 2 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 3 Set 3 Skip request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate external command 1505 1605 1705 1805 Refer to Section 5 7 List of control data for details on the setting details 2 Add the following PLC program t...

Page 603: ...put function 1 M code ON signal output timing 2 M code OFF request 3 Precautions during control 4 Setting the M code output function 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...

Page 604: ...rn OFF the M code signal in Cd 7 M code OFF request Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 7 M code OFF request 1 Set 1 Turn OFF the M code ON signal 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...

Page 605: ...e 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 signal ON at positioning 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 positionin...

Page 606: ...l 0 WITH mode 1 AFTER mode 27 177 327 477 Refer to Section 5 2 List of parameters for setting details 5 Reading M codes M codes are stored in the following buffer memory when the M code ON signal turns ON Buffer memory address Monitor item Monitor value Storage details Axis 1 Axis 2 Axis 3 Axis 4 Md 25 Valid M code The M code No Da 10 M code set in the positioning data is stored 808 908 1008 1108 ...

Page 607: ... 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 Position...

Page 608: ...ome impossible assured value is up to 100 000 times If an 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 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 1 Flash R...

Page 609: ...the completion of the writing Move the workpiece to the target position using a manual operation Set the positioning data No for which the teaching will be carried out Turn OFF the PLC READY signal Y0 Carry out a writing request to the flash ROM End teaching Set the current feed value in the positioning address by teaching data selection NO YES Set the positioning data No in the buffer memory addr...

Page 610: ...end point position using a manual operation Set the current feed value in the arc sub point by teaching data selection Set the positioning data No in the buffer memory address 1549 Set 1 in the buffer memory address 1548 Set the current feed value in the positioning address by teaching data selection Using a JOG operation inching operation or manual pulse generator Set 0 in the buffer memory addre...

Page 611: ...ite 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 TEACH 1 1 Move the workpiece to the target position using a JOG operation or an inching operation a manual pulse generator operation All axis servo ON QD75 READY signal V t Forward run JOG start signal Target position BUSY signal X8 n2 n1 nx Md...

Page 612: ... 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 b...

Page 613: ...Details of control 2 Precaution during operation 3 Method of setting target position change function from PLC CPU 1 Details of control 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...

Page 614: ...ioning 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...

Page 615: ...is 3 Axis 4 Cd 27 Target position Value new ad dress 3000 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position value new speed 1000000 Set the new speed 1536 1537 1636 1637 1736 1737 1836 1837 Cd 29 Target position change request flag 1 Set 1 Carry out speed change 1538 1638 1738 1838 Refer to Section 5 7 List of control data for details on the setting details 2 The fo...

Page 616: ...program and written to the PLC CPU Example No 22 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 position change request Write speed change Turn OFF speed change request memory ...

Page 617: ...Setting the command in position function 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 f...

Page 618: ...n position width setting value V Execution of the command in position width check OFF ON Command in position width setting value Execution of the command in position width check Fig 12 42 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 spee...

Page 619: ...ion control 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 Buffer memory address Monitor item Monitor value Storage details Axis 1 Axis 2 Axis 3 Axis 4 Md 31 Status The command in position flag is stored in the b2 position 817 917 1017 1117 Refer to Section 5 6 List of m...

Page 620: ... 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 Th...

Page 621: ...sing 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 V t Fig 12 43 Automatic trapezoidal acceleration deceleration processing method 2 S pattern acceleration deceleration processing method In this method the motor burden is reduced during starting and stopping This is a method in...

Page 622: ...D75 The set details are validated when written to the QD75 Setting item Setting value Setting details Factory set initial value Pr 34 Acceleration deceleration process selection Set the acceleration deceleration method 0 Automatic trapezoidal acceleration deceleration processing 1 S pattern acceleration deceleration processing 0 Pr 35 S pattern proportion Set the acceleration deceleration curve wh...

Page 623: ...ing 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 PSTRT1 PSTRT2 PSTRT3 PSTRT4 However if positioning is started with the execution prohibition flag ON the positioning data is analyzed but servo start is not provided While the execution prohibition flag is ON Md ...

Page 624: ... Cutter shaft Feed shaft Stock Fig 12 47 System example using pre reading start function Fig 12 47 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 48 ...

Page 625: ...eives a start request until it servo start The system s tact time can be reduced by the shortening of this delay with the Pre reading start function In Fig 12 48 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...

Page 626: ...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 outside start No range error 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...

Page 627: ...tion when dedicated instruction PSTRT1 is used 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 ...

Page 628: ... the following will be explained 1 Control details 2 Precautions during control 3 Deceleration start flag function setting method 4 Checking of deceleration start flag Usable with the module whose first six digits of SERIAL No are 050224 or later 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 ...

Page 629: ...Block start 2nd point 1 Continue 3 0 Block start 3rd point 0 End 4 0 Block start Positioning Data No Da 1 Operation pattern 1 01 Continuous positioning control 2 00 Positioning complete 3 00 Positioning complete 4 11 Continuous path control 5 00 Positioning complete t 1st point Continue 1 3rd point End 0 2nd point Continue 1 Operation pattern Continuous path control 11 Positioning data No 4 Positi...

Page 630: ...lag is ON the deceleration start flag remains ON Time Operation pattern Positioning complet 00 Md 48 Deceleration start flag 0 1 Deceleration start point Execution of target position change request 6 When the movement direction is reversed by a target position change the deceleration start flag turns ON Time Operation pattern Positioning complete 00 Md 48 Deceleration start flag 0 1 Execution of t...

Page 631: ... valid or invalid 0 Deceleration start flag invalid 1 Deceleration start flag valid 1905 Refer to Section 5 7 List of control data for details on the setting details 4 Checking of deceleration start flag The deceleration start flag is stored into the following buffer memory addresses Buffer memory address Monitor item Monitor value Storage details Axis 1 Axis 2 Axis 3 Axis 4 Md 48 Deceleration sta...

Page 632: ...e has occurred This section explains the stop command processing for deceleration stop function as follows 1 Control 2 Precautions for control 3 Setting method 1 Control 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 ...

Page 633: ... 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 re processed 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 c...

Page 634: ...hey are written to the buffer memory The PLC ready signal Y0 is irrelevant Setting item Setting value Setting details Buffer memory address 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 1907 For details of the setting details refer to Section 5 7 Contr...

Page 635: ... value for All axis servo ON Y1 is OFF 2 Set 0 for Cd 100 Each axis servo OFF Buffer memory 1551 1651 1751 1851 3 Turn ON All axis servo ON Y1 Now the servo amplifier turns ON the servo servo operation enabled state The servo LED indicates d 2 Servo OFF Servo operation disabled The following shows the procedure for servo OFF 1 Set 1 for Cd 100 Each axis servo OFF Buffer memory 1551 1651 1751 1851 ...

Page 636: ...droop pulses the next time the servo turns ON but positioning can be performed from the stop position 2 Execution follow up Follow up function is executed continually during the servo OFF status OFF Follow up function executed ON 0 All axis servo ON Y1 Each axis servo OFF command Servo ON or OFF status OFF ON Servo error detected Fig 12 54 Operation timings of follow up function POINT The follow u...

Page 637: ...ers set the only DRU parameters Don t set change IFU parameters from QD75 The IFU parameters set change the unit operation section pushbutton switches of the MR J2M B interface unit or setup software 4 Don t change setting value Pr 122 Analog monitor output 0001 initial value Pr 127 Monitor output 1 offset 0000 initial value and Pr 128 Monitor output 2 offset 0000 initial value Set up IFU paramete...

Page 638: ...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...

Page 639: ...the factory set initial value Execution data backup This function writes the execution data currently being used for control to the flash ROM External I O signal logic switching This function switches I O signal logic according to the equipment connected to the QD75 For the system in which with b contact upper limit switch and lower limit switch are not used the parameter logic setting can be cont...

Page 640: ...PR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 49 to Pr 57 Servo parameters Pr 100 to Pr 161 Positioning data No 1 to 600 Block start data No 7000 to 7004 3 Precautions during control 1 Parameter initialization is only executed when the positioning control is not carried out when the PLC READY signal Y0 is OFF A warning In PLC READY warning code 111 will occur if executed when the P...

Page 641: ...sing the TO command intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 2 Parameter initialization request 1 Set 1 parameter initialization request 1901 Refer to Section 5 7 List of control data for details on the se...

Page 642: ...hows 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 200 Pr 201 Parameters Pr 1 to Pr 57 Pr 200 Pr 201 Positioning data No 1 to 600 Positioning data No 1 to 600 Block start data No 7000 to 7004 Block start data No 7000 to 7004 Servo parameters Pr 100 to Pr 161 Servo parameters Pr 100 to Pr 161 3 Precautions ...

Page 643: ...out by the writing of the data shown in the table below to the QD75 buffer memory using the TO command intelligent function device The writing to the flash ROM is executed at the time point the data is written to the QD75 buffer memory Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 1 Flash ROM write request 1 Set 1 flash ROM write request 1900 Refer...

Page 644: ... item Setting details Factory set 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 0 Negative logic 1 Positive logic b2 Not used Set 0 b3 Stop signal b4 External command switching signal 0 Negative logic 1 Positive logic b5 Not used Set 0 b6 Near point dog signal 0 Negative logic 1 Positive logic b7 Not used Se...

Page 645: ...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 Indicates that RLS signal of axis 1 is ON 0 OFF 1 ON Axis by axis external I O signals and module RUN ERR LEDs Use GX Developer of v...

Page 646: ...s 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 PSTRT1 PSTRT2 PSTRT3 PSTRT4 14 3 14 4 TEACH1 TEACH2 TEACH3 TEACH4 14 7 14 5 PFWRT 14 11 14 6 PINIT 14 15 ...

Page 647: ...es the buffer memory parameters positioning data and block start data to the flash ROM Section 14 6 Parameter initialization 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 positioning start instruction PSTRT and teaching instruction TEACH cannot be executed ...

Page 648: ...n S D When PSTRT1 PSTRT2 PSTRT3 and PSTRT4 are common to each other they are designated as 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 D Head number of a bit device which turns ON the operation ...

Page 649: ...s at abnormal completion Functions 1 The positioning start of the axes to be processed See below is carried out PSTRT1 Axis 1 PSTRT2 Axis 2 PSTRT3 Axis 3 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 PSTRT instruction completion can be confirmed using the...

Page 650: ...before completion of the positioning which has been started by the PSTRT instruction the completion device D turns the 1 scan ON to complete execution of the PSTRT instruction 3 The following dedicated instructions cannot be executed simultaneously for the same axis Can be executed simultaneously for different axes Positioning start instructions PSTRT1 to PSTRT4 Teaching instructions TEACH1 to TEA...

Page 651: ...am 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 Positioning start program Positioning start command pulse Positioning start No 1 setting Positioning start command hold Positioning start execution Positioning start command storage...

Page 652: ... TEACH1 TEACH2 TEACH3 and TEACH4 are common to each other they are designated as 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 D Head number of a bit device which turns ON the operation by one sca...

Page 653: ...e positioning address or arc address The positioning data other than the positioning addresses and arc addresses are set by peripheral device or using a PLC program TEACH1 Axis 1 TEACH2 Axis 2 TEACH3 Axis 3 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 position...

Page 654: ...tion can only be executed when the BUSY signal XC XD XE XF is turned OFF When the BUSY signal is turned ON the TEACH instruction will not be executed not processed Before executing the PFWRT 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 TEACH...

Page 655: ...g data No setting Teaching execution Teaching command storage OFF No 20 Teaching program Positioned manually to target position Program example for use when dedicated instruction is not used Teaching command pulse Teaching command hold Teaching positioning address Sets teaching positioning data No to 1 Turns OFF teaching command storage Teaching program when dedicated instruction is not used Posit...

Page 656: ...l data is stored Device D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be used as a device for setting data Control data Device Item Setting data Setting Range Setting side 1 S...

Page 657: ...rned ON by the END processing of the scan for which PFWRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnormally When completed normally 1 scan PFWRT instruction execution completion PLC program PFWRT instruction Complete device Complete st...

Page 658: ...lash ROM is carried out by peripheral device If the 26th or more writing is requested after the power ON PLC CPU reset operation a flash ROM exceed writing 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 PLC CPU a...

Page 659: ...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 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 Flash ROM write program when dedicated ...

Page 660: ...e D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be used as a device for setting data Control data Device Item Setting data Setting range Setting side 1 S 0 System area S 1 Com...

Page 661: ... END processing b Complete state display device D 1 This device is turned ON and OFF according to the state in which 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 PINIT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete devi...

Page 662: ...g MELSECNET H Network System Reference Manual Remote I O Network Program example The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON No 25 Parameter initialization program Parameter initialization command pulse Parameter initialization command hold PLC READY output to QD75 standby Parameter initialization execution Parameter initialization command stor...

Page 663: ...14 18 MELSEC Q 14 DEDICATED INSTRUCTIONS MEMO ...

Page 664: ...of errors 15 6 15 2 1 QD75 detection error 15 6 15 2 2 MR H BN detection error 15 34 15 2 3 MR J2 B detection error 15 46 15 2 4 MR J2S B detection error 15 56 15 2 5 MR J2 Jr detection error 15 66 15 2 6 MR J2M B detection error 15 76 15 3 List of warnings 15 90 15 3 1 QD75 detection warning 15 90 15 3 2 MR H BN detection warning 15 96 15 3 3 MR J2 B detection warning 15 98 15 3 4 MR J2S B detect...

Page 665: ...n 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 occ...

Page 666: ...etection signal Buffer memory address 1 X8 806 2 X9 906 3 XA 1006 4 XB 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 2 Warnings Types of warnings Warnings detected by the QD75 include system warnings axis warnings and warnings detected by servo amplifier 1 Warnings include system warnings The types of system warni...

Page 667: ...ifier 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 Buffer memory address 1 807 2 907 3 1007 4 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 stora...

Page 668: ...s stop during axis stop Axis sudden stop during axis stop Axis stop before axis operation Axis sudden stop before axis operation Writing to the buffer memory monitoring area 5 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 O...

Page 669: ...ommunicate 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 hardware stroke limit upper limit signal FLS is input turned OFF 105 Hardware stroke limit The hardware stroke limit lower lim...

Page 670: ...s error reset refer to 3 in Section 15 1 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 turn ON After making an axis error reset refer to 3 in Section 15 1 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 turn ON Check w...

Page 671: ...etting of movement amount after near point dog ON is smaller than a distance necessary for deceleration stop from a home position return OPR speed 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 3 207 Home position return OPR request flag ON The OPR request flag is tur...

Page 672: ...point dog ON 0 to 2147483647 74 75 224 225 374 375 524 525 OPR speed 1 to 10000000 PLS s 1 to 2000000000 mm min Calculate the movement distance using a speed limit home position return 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 home position return OPR speed Adjust the near point dog p...

Page 673: ...er axis for simultaneous start is BUSY 501 Error before simultaneous start When multiple axes are started and controlled simultaneously 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 The Simultaneous start axis start data No of those axes other than the start axis is outside the setting range At start...

Page 674: ... 10H 20H 30H 40H 50H 60H 70H 80H 90H A0H B0H C0H D0H E0H Review the simultaneous start axis start data No Refer to Section 5 5 Da 16 1540 1640 1740 1840 Axis 1 start data No 1541 1641 1741 1841 Axis 2 start data No 1542 1642 1742 1842 Axis 3 start data No 1543 1643 1743 1843 Axis 4 start data No Simultaneous start axis start data No 0 to 600 Review the simultaneous start axis start data No to corr...

Page 675: ...ontrol unit is set to degree and software stroke limit upper limit is not equal to the software stroke limit lower limit At start The system will not operate During operation The system stops immediately Positioning operation errors 506 Outside circular interpolation error allowable limit When an arc is interpolated by the designation of the center point a difference between a radius of start poin...

Page 676: ...stroke limits are valid Unit degree 35999999 to 35999999 Unit mm PLS 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 Center point address positioning address End address arc address Correct 60 61 210 21...

Page 677: ...e 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 speed position switching control or position speed switching control or during manual control falls outside the software stroke limit range 514 Outside new current value range The new current addr...

Page 678: ...he new current value into the setting range Refer to Section 9 2 19 Do not designate a current value changing using the positioning data following the continuous path control Do not designate a current value changing using the positioning data following the continuous path control Refer to Section 9 2 19 Refer to Section 5 3 List of positioning data Control system 01H to 1EH 80H to 84H 03H 0CH 17H...

Page 679: ...ot present in the unit In 2 axis interpolation the axis to be interpolated is the self axis or an axis not present 522 Command speed setting error The command speed is outside the setting range Linear interpolation circular interpolation Reference axis is outside the setting range Speed control interpolation Either of reference axis and interpolation axis is outside the speed range Positioning ope...

Page 680: ...t setting of the axis to be interpolated Refer to Section 9 1 6 Same as error codes 515 to 516 Correct the control system Refer to Section 5 3 Da 2 Correct the axis to be interpolated Refer to Section 5 3 Da 5 Command speed storage addresses of positioning data No 1 to 600 Command speed 1 to 10000000 PLS s 1 to 2000000000 mm min or others Correct the command speed Refer to Section 5 3 Da 8 29 179 ...

Page 681: ... point are outside the range of 2147483648 to 2147483647 526 End point setting error Start point is equal to end point in the circular interpolation with sub points designated End point address is outside the range of 2147483648 to 2147483647 At start The system will not operate During operation The system stops immediately 527 Center point setting error In an arc with designated center point eith...

Page 682: ...movement amount unit mm PLS inch 2147483648 to 2147483647 Unit degree cannot be set Arc address 2147483648 to 2147483647 Correct the end address positioning address Refer to Section 9 2 10 Same as in error codes 525 to 526 Correct the center point address arc address Refer to Section 9 2 11 Same as in error codes 504 506 Correct the positioning address Refer to Section 9 2 16 9 2 17 9 2 18 Refer t...

Page 683: ...operation is terminated 536 M code signal ON at positioning start The positioning start is carried out when an M code ON signal X4 to X7 is turned ON 537 PLC READY signal OFF at positioning start The positioning start is carried out when the PLC READY signal Y0 is turned OFF 538 READY signal OFF at positioning start The positioning start is carried out when the QD75 READY signal X0 is turned OFF 5...

Page 684: ... M code ON signal is turned OFF After turning OFF the M code ON signal start the system Refer to Section 12 7 3 Check the PLC 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 Review the p...

Page 685: ...he manual pulse generator operation 801 Flash ROM writing error Data is not written to the flash ROM 802 Flash ROM sum check error While data is written to the flash ROM the power is turned OFF At start The system will not operate 803 PLC CPU error The PLC CPU has an error 804 Dedicated instruction error The ABRST instruction is executed with the status set to other than 0 The PSTRT instruction is...

Page 686: ...r to that set at the time of delivery from the plant Refer to Section 13 2 Refer to QCPU User s Manual ABRST status 0 Communication complete received from the servo amplifier PSTRT start No 1 to 600 7000 to 7004 9001 to 9004 TEACH teaching data selection 0 The current feed value is written to the positioning address 1 The current feed value is written to the arc address TEACH positioning data No 1...

Page 687: ... ON 910 Outside speed limit value range The set range of the basic parameter 2 Speed limit value is outside the setting range The value obtained by the conversion of the speed limit value with respect to the frequency exceeds the maximum output frequency of the unit The speed limit value is smaller than the OPR speed 911 Outside acceleration time 0 range The set range of the basic parameter 2 Acce...

Page 688: ...ange turn the PLC READY signal Y0 from OFF to ON 10 11 160 161 310 311 460 461 Speed limit value 1 to 10000000 PLS s 1 to 2000000000 mm min or others Set a value which is not less than the home position return OPR speed After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON 12 13 162 163 312 313 462 463 1 to 8388608 14 15 164 165 314 315 464 465 1 to 8388608 A...

Page 689: ...error The set range of the detailed parameter 1 Interpolation speed designation method is outside the setting range 930 Current value update request error The set range of the detailed parameter 1 Current feed value during speed control is outside the setting range 932 Manual pulse generator input mode error The set range of the detailed parameter 1 Manual pulse generator input selection is outsid...

Page 690: ...77 327 477 0 1 28 178 328 478 0 1 29 179 329 479 0 1 30 180 330 480 0 1 2 33 0 1 2 3 After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON 34 184 334 484 0 2 Speed position switching control ABS mode should satisfy the conditions 1 to 3 given on the left When speed position switching control ABS mode is not used set 0 to speed position function selection and ...

Page 691: ...Illegal sudden stop deceleration time The set range of the detailed parameter 2 Sudden stop deceleration time is outside the setting range 962 Stop group 1 sudden stop selection error The set range 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 range of the detailed parameter 2 Stop group 2 sudden sto...

Page 692: ...to 2000000000 mm min or others After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON Change 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 1 to 100 54 55 204 205 354 355 504 505 1 to 8388608 56 206 356 506 0 1 57 207 357 507 0 1 58 208 358 508 0 1 60 61 210 211 360 361 510 511 0 ...

Page 693: ...ge of the home position return OPR basic parameter Creep speed is larger than the home position return OPR speed The set range of the home position return OPR basic parameter Creep speed is smaller than the bias speed at start 985 Home position return OPR retry error The set range of the home position return OPR basic parameter Home position return OPR retry is outside the setting range 990 Home p...

Page 694: ...to 2000000000 mm min or others Set the value inside the setting range Set the speed to the bias speed at start or higher Refer to Section 5 2 5 76 77 226 227 376 377 526 527 Creep speed 1 to 10000000 PLS s 1 to 2000000000 mm min or others Set the value inside the setting range Set the speed to that below the home position return OPR speed Set the value to the bias speed at start or higher Refer to...

Page 695: ...ror The set range of the home position return OPR detailed parameter Speed designation during home position OP shift is outside the setting range 1201 Home position return OPR data incorrect The backup data for absolute position restoration is illegal 1203 Encoder error 1 The change amount of the encoder current value during operation is shown below Change amount of the encoder current value 3 5 m...

Page 696: ...ide the setting range turn the PLC READY signal Y0 from OFF to ON Execute the home position return OPR Check the servomotor and encoder cable Take measures against noise Check the servomotor and encoder cable Take measures against noise Check whether the rotation direction Pr 107 Rotation direction selection is set 0 1 or 1 0 by PLC program or GX configurator QP Refer to Section 14 5 PFWRT precaut...

Page 697: ...5 Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communication error occurred between encoder and servo amplifier Improper motor was connected with servo amplifier 2017 17 Board error 2 CPU or parts of the circuit fault 2019 19 Memory error 3 Flash memory e...

Page 698: ...f A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the servo amplifier Connect correctly Change the servomotor Repair or change the cable Use correct combination Alarm A 17 A 19 occurs if interface unit is changed Change the servo amplifier Use correct combination Connect correctly Change the servomotor Repair or change ...

Page 699: ...nected High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded Power supply voltage is abnormal 260VAC or more Permissible regenerative power of the built in regenerative brake resistor or regenerative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty Regenerative trans...

Page 700: ...ve brake option The regenerative brake option has overheated abnormally The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option Change the servo amplifier Change the servo amplifier or regenerative brake option Change the servo amplifier or cooling fan Reduce ambient temperature Load inertia ratio 30112 30212 30312 30412 Increase acceleration de...

Page 701: ... regenerative brake resistor or regenerative brake option is open or disconnected Though the regenerative brake option is used the DRU parameter Pr 102 Regenerative brake resistor setting value is 0 00 not used Regenerative brake option is open or disconnected Regenerative transistor faulty Wire breakage of built in regenerative brake resistor or regenerative brake option Capacity of built in rege...

Page 702: ...power cables Change the servo amplifier Correct the U V W phase wiring of the servo amplifier Take noise suppression measures Change lead Connect correctly Regenerative brake option 30102 30202 30302 30402 Set correctly Change lead Connect correctly Change the servo amplifier For wire breakage of built in regenerative brake resistor change the servo amplifier For wire breakage of regenerative brak...

Page 703: ...motor encoder signal is abnormal The motor encoder fault Air cooling fan of servo amplifier stops The power supply was turned on and off continuously by overloaded status 2045 45 Main circuit device over heated Main circuit device overheat Servo amplifier abnormal Servo motor ambient temperature exceeded the operating value of 40 C Servomotor overloaded 2046 46 Servomotor heated Servo motor temper...

Page 704: ... temperature Review operation method Change the servo amplifier or cooling fan Review environment so that ambient temperature is 0 to 40 C Reduce load Review operation pattern Use servomotor that provides larger output Change the servomotor Reduce load Review operation pattern Use servomotor that provides larger output Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repe...

Page 705: ...The servo system is unstable causing hunting The bus voltage of the unit has decreased 2051 51 Overload 2 Machine collision or the like caused max output current to flow successively for several seconds Servomotor locked 1s or more Encoder faulty Acceleration deceleration time constant too small Torque limit value too small Start disabled due to insufficient torque caused drop in power supply volt...

Page 706: ...he servo amplifier When the servomotor shaft is rotated with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or returns midway the encoder if faulty Change the servomotor Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 ...

Page 707: ...h motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the parameter Pr 131 The bus voltage of the unit due to the breakdown The communication cable fault Wire breakage or shot Servo amplifier errors 2086 8E Serial communication error The fault has occurred in communication between the servo amplifier...

Page 708: ...6 Torque output setting value 1552 1652 1752 1852 When torque is limited increase the limit value Reduce load Use servomotor that provides larger output Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Change the servomotor Connect correctly Change the servo amplifier Repair or change the cable Change the communication devices e g personal computer ...

Page 709: ... amplifier The encoder connecter CN2 is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communication error occurred between encoder and servo amplifier Improper motor was connected with servo amplifier 2017 17 Board error 2 CPU or parts of the circuit fault 2018 18 Board error 3 ROM memory error Faulty parts in the servo amplifier The encoder co...

Page 710: ...rvo amplifier Connect correctly Change the servomotor Repair or change the cable Use correct combination Alarm A 17 A 18 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 connector Change the servo amplifier Connect correctly Change the servomotor Repair or change the cable Change the cable After leaving the alarm occurring for few minutes switch power off then on again A...

Page 711: ...rative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regenerative brake option faulty Small acceleration deceleration time constant caused overshoot to be large Servo system is instable to cause overshoot 2031 31 Overspeed Speed has exceeded the instantaneous ...

Page 712: ...ier or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497...

Page 713: ...lt Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC error SSCNET cable communication fault The same No exists in the servo amplifier side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 35 Command pulse frequency error Input frequency of too high Fault in the QD75M The SSCNET cable is discon...

Page 714: ... brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change QD75M Connect the connector of the SSCNET cable Change the SSCNET cable Change the servo amplifier Connect terminal connector Change the ser...

Page 715: ...f servo amplifier Load ratio 300 2 5s or more Load ratio 200 100s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase The servo system is unstable causing hunting 2051 51 Overload 2 Machine collision or the like caused max output current to flow successively for several seconds Servomotor lock...

Page 716: ...encoder if faulty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo response setting Set Pr 108 Auto tuning to OFF and make gain adjustment manually When the servom...

Page 717: ...l force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value of the parameter Pr 131 Servo motor miswiring servo amplifier terminals U V W do not mach motor terminals U V W The communication cable fault Wire breakage or shot Servo amplifier errors 2086 8E Serial communication error The fault has occurred i...

Page 718: ... larger output Positioning gain 1 30113 30213 30313 30413 Increase set value and adjust to ensure proper operation Torque limit value 26 176 326 476 OPR torque limit value 86 236 386 536 Torque output setting value 1552 1652 1752 1852 When torque is limited increase the limit value Reduce load Use servomotor that provides larger output Input signal logic selection 31 181 331 481 Review operation p...

Page 719: ...d between encoder and servo amplifier Encoder cable fault Wire breakage or shot 2017 17 Board error 2 CPU or parts of the circuit fault 2019 19 Memory error 3 ROM memory error Faulty parts in the servo amplifier 2020 1A Servomotor combination error Wrong combination of servo amplifier and servomotor Wrong combination of servo amplifier and servomotor connected The encoder connecter CN2 is disconne...

Page 720: ...ge the servo amplifier Connect correctly Change the servomotor Repair or change the cable Alarm A 17 A 19 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 connector Change the servo amplifier Use correct combination Connect correctly Change the servomotor Repair or change the cable Change the cable After leaving the alarm occurring for few minutes switch power off then o...

Page 721: ...erative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regenerative brake option faulty Small acceleration deceleration time constant caused overshoot to be large Servo system is instable to cause overshoot 2031 31 Overspeed Speed has exceeded the instantaneous...

Page 722: ...ier or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497...

Page 723: ... supply voltage high The SSCNET cable is disconnected SSCNET cable fault Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC error SSCNET cable communication fault The same No exists in the servo amplifier side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 35 Command pulse frequency error Inp...

Page 724: ...r For wire breakage of regenerative brake option change regenerative brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change QD75M Connect the connector of the SSCNET cable Change the SSCNET cable ...

Page 725: ...put current of the servo amplifier The servo system is unstable causing hunting Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach motor terminals U V W phase 2050 50 Overload 1 Load exceeded overload protection characteristic of servo amplifier Load ratio 300 2 5s or more Load ratio 200 100s or more The motor encoder fault Collision with the machine...

Page 726: ...djustment manually Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly When the servomotor shaft is rotated with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or returns midway the encoder if faulty Change servomotor Input signal logic selection 31 181 331 481 Review opera...

Page 727: ...external force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the parameter Pr 131 Servo motor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase The communication cable fault Wire breakage or shot Servo amplifier errors 2086 8E Serial c...

Page 728: ... 86 236 386 536 Torque output setting value 1552 1652 1752 1852 Increase the torque limit value Review the power supply capacity Use servomotor which provides larger output Positioning gain 1 30113 30213 30313 30413 Increase set value and adjust to ensure proper operation Torque limit value 26 176 326 476 OPR torque limit value 86 236 386 536 Torque output setting value 1552 1652 1752 1852 When to...

Page 729: ... error 2013 13 Clock error Printed circuit board fault 2015 15 Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter CNP2 is disconnected Fault in the encoder 2016 16 Encoder error 1 Communication error occurred between encoder and servo amplifier Encoder cable fault Wire breakage or shot 2017 17 Board error 2 CPU or parts of the circuit fault Faulty parts in the s...

Page 730: ...2 to 15 occurs if power is switched on after disconnection of CN1A CN1B CNP2 and CNP3 connector Change the servo amplifier Connect correctly Change the servo amplifier Repair or change the cable Alarm A 17 occurs if power is switched on after disconnection of the CN1A CN1B CNP2 and CNP3 connector Change the servomotor Connect correctly Change the servomotor Repair or change the cable Connect corre...

Page 731: ...t 2031 31 Overspeed Speed has exceeded the instantaneous permissible speed Fault in the encoder Output phases U V W phase of the servo amplifier were connected with each other Transistor of the servo amplifier damaged Short circuit in the servo amplifier out put phase U V W phase Servo amplifier errors 2032 32 Overcurrent Current that flew is higher than the permissible current of the servo amplif...

Page 732: ...time 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497 Reset servo gain to proper value If servo gain cannot be set to proper value 1 Reduce Pr 112 Load inertia moment ratio or 2 Reexamine acceleration deceleration time constant Change servomotor Correct the U V W phase wiring of the servo amplifier Alarm A 32 occurs if power is...

Page 733: ... axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 35 Command pulse frequency error Input frequency of too high Fault in the QD75M The SSCNET cable is disconnected The SSCNET cable fault Printed circuit board fault 2036 36 Transfer error Bus cable or printed board is faulty The terminal connector is disconnected Servo amplifier f...

Page 734: ...SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change QD75M Connect the connector of the SSCNET cable Change the SSCNET cable Change the servo amplifier Connect terminal connector Change the servo amplifier Change the parameter value to within the setting range Change the servo amplifier ...

Page 735: ... amplifier Load ratio 200 85s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach motor terminals U V W phase The servo system is unstable causing hunting The bus voltage of the unit has decreased 2051 51 Overload 2 Machine collision or the like caused max output current to flow successively for several seconds Servomot...

Page 736: ...lty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo response setting Set Pr 108 Auto tuning to OFF and make gain adjustment manually Change the servo amplifier Wh...

Page 737: ...tor encoder fault Servo motor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value default value 80kPLS of the parameter Pr 131 The bus voltage of the unit due to the breakdown The communication cable fault Wire breakage or shot Servo amplifier errors 2086 8E Serial comm...

Page 738: ...Positioning gain 1 30113 30213 30313 30413 Increase set value and adjust to ensure proper operation Torque limit value 26 176 326 476 OPR torque limit value 86 236 386 536 Torque output setting value 1552 1652 1752 1852 When torque is limited increase the limit value Reduce load Use servomotor that provides larger output Input signal logic selection 31 181 331 481 Review operation pattern Install ...

Page 739: ...ts of the circuit fault 2015 FA 15 Memory error 2 EEP ROM error Faulty parts in interface unit 2012 A 12 Memory error 1 ROM or RAM memory error 2013 A 13 Clock error Printed circuit board fault 2014 A 14 Watchdog error CPU parts of the circuit fault 2015 A 15 Memory error 2 EEP ROM error Faulty parts in the drive unit The encoder connecter is disconnected Fault in the encoder 2016 A 16 Encoder err...

Page 740: ...circuit power supply cables Change the interface unit Alarm any of A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the drive unit Connect correctly Change the drive unit Repair or change the cable Alarm A 17 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Chan...

Page 741: ...ase unit after initialization Faulty parts in servo amplifier The encoder connecter is disconnected Encoder fault 2020 A 20 Encoder error 2 Communication error occurred between encoder and drive unit Encoder cable faulty Wire breakage or shorted Power input wires and servo motor output wires are in contact at CNP2 Sheathes of servo motor power cables deteriorated resulting in ground fault 2024 A 2...

Page 742: ...e unit properly Change the base unit Alarm A 1E occurs if power is switched on after disconnection of the U V W phase power cables Change the drive unit Connect correctly Change the servomotor Repair or change cable Connect correctly Change the cable Alarm A 24 occurs if power is switched on after disconnection of the U V W phase power cables Change the drive unit Change battery unit Always make h...

Page 743: ...ative brake resistor or regenerative brake option is exceeded Regenerative brake option faulty 2030 FA 30 Regenerative error Regenerative transistor fault Regenerative transistor faulty Small acceleration deceleration time constant caused overshoot to be large Servo system is instable to cause overshoot 2031 A 31 Overspeed Speed has exceeded the instantaneous permissible speed Fault in the encoder...

Page 744: ...unit Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497 Reset servo gain to proper ...

Page 745: ...ble fault Noise has entered the SSCNE cable The terminal connector is disconnected 2034 FA 34 CRC error SSCNET cable communication fault The same No exists in the interface unit side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 A 35 Command pulse frequency error Input frequency of too high Fault in the QD75M The SSCNET cable...

Page 746: ...reakage of regenerative brake option change regenerative brake option Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change the QD75M Connect the connector of the SSCNET cable Change the SSCNET cable Change the interface unit Connect terminal connector Change...

Page 747: ... different from others Air cooling fan of the drive unit stops The power supply was turned on and off continuously by overloaded status 2045 A 45 Main circuit device overheat Main circuit device overheat Drive unit faulty Servo motor ambient temperature exceeded the operating value of 40 C Servomotor overloaded 2046 A 46 Servomotor heated Servo motor temperature rise actuated the thermal protector...

Page 748: ...uce load Review operation pattern Use servomotor that provides larger output Change the servomotor Reduce load Review operation pattern Use servomotor that provides larger output Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo response setting Set Pr 108 Auto tuning to OFF and make gain ad...

Page 749: ...d 2 Machine collision or the like caused max output current to flow successively for several seconds Servomotor locked 0 3s or more During rotation 2 5s or more The motor encoder fault Acceleration deceleration time constant too small Torque limit value too small Start disabled due to insufficient torque caused drop in power supply voltage The setting value for Pr 113 Position control gain 1 too s...

Page 750: ...e servomotor Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497 Increase the acceleration deceleration time constant Torque limit value 26 176 326 476 OPR torque limit value 8...

Page 751: ...ble and power cable U V W phase coming out of one drive unit are connected to the incorrect servomotor 2054 FA 54 Drive unit alarm Alarm occurred in one or more axes of drive units installed to the base unit Remove the alarm causes of all drive units where alarm has occurred Communication cable fault Wire break or short circuit Communication cycle is longer than the IFU parameter Pr 1 setting 2090...

Page 752: ...ern Use a servomotor whose output is large Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo response setting Set Pr 108 Auto tuning to OFF and make gain adjustment manually Connect correctly Remove the alarm causes of all drive units where alarm has occurred Repair or change the cable Set t...

Page 753: ...when the PLC READY is turned ON at the time of teaching request The warning for axis 1 is issued 112 Illegal override value A value other than 1 to 300 is set for the override value Controlled at a setting value of 0 100 Controlled at a setting value of 301 or over 300 113 Outside new torque value range A value other than 1 to 500 is set for the new torque value The torque change is not carried ou...

Page 754: ...oning 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 Set a value within the setting range Refer to Section 5 3 List of positioning data for command speed Command speed 1 to 10000000 PLS s 1 to 2000000000 mm min or another Bias speed at start 6 7 156 157 306 307 456 457 Bias speed at start 0 PLS s 0 m...

Page 755: ...ion FOR to NEXT is nested 508 Speed position switching during acceleration signal ON The switching signal for speed position switching control INC mode is turned ON during acceleration The operation is continued 509 Insufficient remaining distance At a continuous operation interrupt request the distance required deceleration stop is not long enough At a speed change request the remaining distance ...

Page 756: ...F request 1 M code ON signal is turned OFF Normalize the ON and OFF timings of the M code OFF request Refer to Section 12 7 3 Refer to Section 5 3 List of positioning data Operation pattern 00 Positioning end 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...

Page 757: ...more A 0 is canceled by the QD75M automatically even when a 0 or 601 or more is set 517 Illegal teaching data selection The teaching data selection set value is outside the setting range Teaching is not carried out Positioning operation warnings 518 Target position change not possible A target position change request was given for the control system other than ABS1 and INC1 The target position cha...

Page 758: ...ng 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 A control system other than ABS1...

Page 759: ... Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error code 2050 or 2 error code 2051 occurrence level 2144 E4 Parameter alarm warning...

Page 760: ... battery Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emergency stop selection 30123...

Page 761: ...regenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error code 2050 or 2 error code 2051 occurrence level Noise entered the encoder 2143 E3 Absolute position counter warning Absolute position encoder pulses faulty Fault of the encoder 2144 E4 Parameter warni...

Page 762: ... and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to error code 2050 2051 Refer to Section 15 2 3 Take noise suppression measures Change servomotor Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emergency st...

Page 763: ...ble regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error code 2050 or 2 error code 2051 occurrence level Noise entered the encoder 2143 E3 Absolute position counter warning Absolute position ...

Page 764: ... display and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to error code 2050 2051 Refer to Section 15 2 3 Take noise suppression measures Change servomotor Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emer...

Page 765: ...tside setting range Parameter value set from QD75M controller is outside setting range 2146 E6 Servo emergency stop warning EMG1 SG is open Emergency stop was made valid EMG1 SG was opened EMG 6 pin or EMG 16 pin in the SSCNET cable is open Fault of connector in the servo amplifier Fault of connector in the QD75 2147 E7 Controller emergency stop warning An emergency stop signal is input to the QD7...

Page 766: ...er to Section 15 2 3 Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emergency stop selection 30123 30223 30323 30423 Check for safety and release the emergency stop Check continuity status of the SSCNET cable Repair cable or battery changed Change servo amplifier Change QD75 Servo OFF Switch on main circuit...

Page 767: ...rake option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 A E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error code 2050 or 2 error code 2051 occurrence level Noise entered the ...

Page 768: ...duce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050 2051 Refer to Section 15 2 3 Refer to error code 2050 2051 Refer to Section 15 2 3 Take noise suppression measures Change servomotor Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter proper...

Page 769: ...R LED System error An operation condition setting error or installation PLC CPU type error occurs The setting and PLC CPU type are outside the specification range Set the PLC CPU type to a one contained in the specification RUN ERR AX1 AX2 AX3 AX4 Extinguishment of AX1 to AX4 LEDs During axis stop during axis standby RUN ERR AX1 AX2 AX3 AX4 Lighting of AX1 Same even if the other axis is lit During...

Page 770: ...pendix 28 Appendix 3 2 Wiring of SSCNET cables Appendix 30 Appendix 4 Connection with external device connector Appendix 34 Appendix 4 1 Connector Appendix 34 Appendix 4 2 Wiring of manual pulse generator Appendix 36 Appendix 5 Comparisons with conventional positioning modules Appendix 37 Appendix 5 1 Comparisons with QD75P model Appendix 37 Appendix 5 2 Comparisons with A1SD75M1 A1SD75M2 A1SD75M3...

Page 771: ...Appendix 2 MELSEC Q APPENDICES MEMO ...

Page 772: ...unctions Appendix 1 1 Multiple CPU correspond function Refer to the QCPU User s Manual Multiple CPU system SH 080485ENG Appendix 1 2 The combination of software package for QD75 and QCPU Refer to the GX Configurator QP Operating Manual SH 080172 ...

Page 773: ... 2217 2227 2237 2247 2208 2218 2228 2238 2248 2209 2219 2229 2239 2249 71 72 73 74 75 2700 2710 2720 2730 2740 2701 2711 2721 2731 2741 2702 2712 2722 2732 2742 2704 2714 2724 2734 2744 2705 2715 2725 2735 2745 2706 2716 2726 2736 2746 2707 2717 2727 2737 2747 2708 2718 2728 2738 2748 2709 2719 2729 2739 2749 26 27 28 29 30 2250 2260 2270 2280 2290 2251 2261 2271 2281 2291 2252 2262 2272 2282 2292...

Page 774: ...3238 3248 3209 3219 3229 3239 3249 171 172 173 174 175 3700 3710 3720 3730 3740 3701 3711 3721 3731 3741 3702 3712 3722 3732 3742 3704 3714 3724 3734 3744 3705 3715 3725 3735 3745 3706 3716 3726 3736 3746 3707 3717 3727 3737 3747 3708 3718 3728 3738 3748 3709 3719 3729 3739 3749 126 127 128 129 130 3250 3260 3270 3280 3290 3251 3261 3271 3281 3291 3252 3262 3272 3282 3292 3254 3264 3274 3284 3294 ...

Page 775: ...4238 4248 4209 4219 4229 4239 4249 271 272 273 274 275 4700 4710 4720 4730 4740 4701 4711 4721 4731 4741 4702 4712 4722 4732 4742 4704 4714 4724 4734 4744 4705 4715 4725 4735 4745 4706 4716 4726 4736 4746 4707 4717 4727 4737 4747 4708 4718 4728 4738 4748 4709 4719 4729 4739 4749 226 227 228 229 230 4250 4260 4270 4280 4290 4251 4261 4271 4281 4291 4252 4262 4272 4282 4292 4254 4264 4274 4284 4294 ...

Page 776: ...5238 5248 5209 5219 5229 5239 5249 371 372 373 374 375 5700 5710 5720 5730 5740 5701 5711 5721 5731 5741 5702 5712 5722 5732 5742 5704 5714 5724 5734 5744 5705 5715 5725 5735 5745 5706 5716 5726 5736 5746 5707 5717 5727 5737 5747 5708 5718 5728 5738 5748 5709 5719 5729 5739 5749 326 327 328 329 330 5250 5260 5270 5280 5290 5251 5261 5271 5281 5291 5252 5262 5272 5282 5292 5254 5264 5274 5284 5294 ...

Page 777: ...6238 6248 6209 6219 6229 6239 6249 471 472 473 474 475 6700 6710 6720 6730 6740 6701 6711 6721 6731 6741 6702 6712 6722 6732 6742 6704 6714 6724 6734 6744 6705 6715 6725 6735 6745 6706 6716 6726 6736 6746 6707 6717 6727 6737 6747 6708 6718 6728 6738 6748 6709 6719 6729 6739 6749 426 427 428 429 430 6250 6260 6270 6280 6290 6251 6261 6271 6281 6291 6252 6262 6272 6282 6292 6254 6264 6274 6284 6294 ...

Page 778: ...7238 7248 7209 7219 7229 7239 7249 571 572 573 574 575 7700 7710 7720 7730 7740 7701 7711 7721 7731 7741 7702 7712 7722 7732 7742 7704 7714 7724 7734 7744 7705 7715 7725 7735 7745 7706 7716 7726 7736 7746 7707 7717 7727 7737 7747 7708 7718 7728 7738 7748 7709 7719 7729 7739 7749 526 527 528 529 530 7250 7260 7270 7280 7290 7251 7261 7271 7281 7291 7252 7262 7272 7282 7292 7254 7264 7274 7284 7294 ...

Page 779: ... 8238 8248 8209 8219 8229 8239 8249 71 72 73 74 75 8700 8710 8720 8730 8740 8701 8711 8721 8731 8741 8702 8712 8722 8732 8742 8704 8714 8724 8734 8744 8705 8715 8725 8735 8745 8706 8716 8726 8736 8746 8707 8717 8727 8737 8747 8708 8718 8728 8738 8748 8709 8719 8729 8739 8749 26 27 28 29 30 8250 8260 8270 8280 8290 8251 8261 8271 8281 8291 8252 8262 8272 8282 8292 8254 8264 8274 8284 8294 8255 8265...

Page 780: ... 9688 9698 9659 9669 9679 9689 9699 126 127 128 129 130 9250 9260 9270 9280 9290 9251 9261 9271 9281 9291 9252 9262 9272 9282 9292 9254 9264 9274 9284 9294 9255 9265 9275 9285 9295 9256 9266 9276 9286 9296 9257 9267 9277 9287 9297 9258 9268 9278 9288 9298 9259 9269 9279 9289 9299 176 177 178 179 180 9750 9760 9770 9780 9790 9751 9761 9771 9781 9791 9752 9762 9772 9782 9792 9754 9764 9774 9784 9794...

Page 781: ...73 274 275 10700 10710 10720 10730 10740 10701 10711 10721 10731 10741 10702 10712 10722 10732 10742 10704 10714 10724 10734 10744 10705 10715 10725 10735 10745 10706 10716 10726 10736 10746 10707 10717 10727 10737 10747 10708 10718 10728 10738 10748 10709 10719 10729 10739 10749 226 227 228 229 230 10250 10260 10270 10280 10290 10251 10261 10271 10281 10291 10252 10262 10272 10282 10292 10254 102...

Page 782: ...73 374 375 11700 11710 11720 11730 11740 11701 11711 11721 11731 11741 11702 11712 11722 11732 11742 11704 11714 11724 11734 11744 11705 11715 11725 11735 11745 11706 11716 11726 11736 11746 11707 11717 11727 11737 11747 11708 11718 11728 11738 11748 11709 11719 11729 11739 11749 326 327 328 329 330 11250 11260 11270 11280 11290 11251 11261 11271 11281 11291 11252 11262 11272 11282 11292 11254 112...

Page 783: ...73 474 475 12700 12710 12720 12730 12740 12701 12711 12721 12731 12741 12702 12712 12722 12732 12742 12704 12714 12724 12734 12744 12705 12715 12725 12735 12745 12706 12716 12726 12736 12746 12707 12717 12727 12737 12747 12708 12718 12728 12738 12748 12709 12719 12729 12739 12749 426 427 428 429 430 12250 12260 12270 12280 12290 12251 12261 12271 12281 12291 12252 12262 12272 12282 12292 12254 122...

Page 784: ...73 574 575 13700 13710 13720 13730 13740 13701 13711 13721 13731 13741 13702 13712 13722 13732 13742 13704 13714 13724 13734 13744 13705 13715 13725 13735 13745 13706 13716 13726 13736 13746 13707 13717 13727 13737 13747 13708 13718 13728 13738 13748 13709 13719 13729 13739 13749 526 527 528 529 530 13250 13260 13270 13280 13290 13251 13261 13271 13281 13291 13252 13262 13272 13282 13292 13254 132...

Page 785: ...74 75 14700 14710 14720 14730 14740 14701 14711 14721 14731 14741 14702 14712 14722 14732 14742 14704 14714 14724 14734 14744 14705 14715 14725 14735 14745 14706 14716 14726 14736 14746 14707 14717 14727 14737 14747 14708 14718 14728 14738 14748 14709 14719 14729 14739 14749 26 27 28 29 30 14250 14260 14270 14280 14290 14251 14261 14271 14281 14291 14252 14262 14272 14282 14292 14254 14264 14274 1...

Page 786: ...73 174 175 15700 15710 15720 15730 15740 15701 15711 15721 15731 15741 15702 15712 15722 15732 15742 15704 15714 15724 15734 15744 15705 15715 15725 15735 15745 15706 15716 15726 15736 15746 15707 15717 15727 15737 15747 15708 15718 15728 15738 15748 15709 15719 15729 15739 15749 126 127 128 129 130 15250 15260 15270 15280 15290 15251 15261 15271 15281 15291 15252 15262 15272 15282 15292 15254 152...

Page 787: ...73 274 275 16700 16710 16720 16730 16740 16701 16711 16721 16731 16741 16702 16712 16722 16732 16742 16704 16714 16724 16734 16744 16705 16715 16725 16735 16745 16706 16716 16726 16736 16746 16707 16717 16727 16737 16747 16708 16718 16728 16738 16748 16709 16719 16729 16739 16749 226 227 228 229 230 16250 16260 16270 16280 16290 16251 16261 16271 16281 16291 16252 16262 16272 16282 16292 16254 162...

Page 788: ...73 374 375 17700 17710 17720 17730 17740 17701 17711 17721 17731 17741 17702 17712 17722 17732 17742 17704 17714 17724 17734 17744 17705 17715 17725 17735 17745 17706 17716 17726 17736 17746 17707 17717 17727 17737 17747 17708 17718 17728 17738 17748 17709 17719 17729 17739 17749 326 327 328 329 330 17250 17260 17270 17280 17290 17251 17261 17271 17281 17291 17252 17262 17272 17282 17292 17254 172...

Page 789: ...73 474 475 18700 18710 18720 18730 18740 18701 18711 18721 18731 18741 18702 18712 18722 18732 18742 18704 18714 18724 18734 18744 18705 18715 18725 18735 18745 18706 18716 18726 18736 18746 18707 18717 18727 18737 18747 18708 18718 18728 18738 18748 18709 18719 18729 18739 18749 426 427 428 429 430 18250 18260 18270 18280 18290 18251 18261 18271 18281 18291 18252 18262 18272 18282 18292 18254 182...

Page 790: ...73 574 575 19700 19710 19720 19730 19740 19701 19711 19721 19731 19741 19702 19712 19722 19732 19742 19704 19714 19724 19734 19744 19705 19715 19725 19735 19745 19706 19716 19726 19736 19746 19707 19717 19727 19737 19747 19708 19718 19728 19738 19748 19709 19719 19729 19739 19749 526 527 528 529 530 19250 19260 19270 19280 19290 19251 19261 19271 19281 19291 19252 19262 19272 19282 19292 19254 192...

Page 791: ...74 75 20700 20710 20720 20730 20740 20701 20711 20721 20731 20741 20702 20712 20722 20732 20742 20704 20714 20724 20734 20744 20705 20715 20725 20735 20745 20706 20716 20726 20736 20746 20707 20717 20727 20737 20747 20708 20718 20728 20738 20748 20709 20719 20729 20739 20749 26 27 28 29 30 20250 20260 20270 20280 20290 20251 20261 20271 20281 20291 20252 20262 20272 20282 20292 20254 20264 20274 2...

Page 792: ...73 174 175 21700 21710 21720 21730 21740 21701 21711 21721 21731 21741 21702 21712 21722 21732 21742 21704 21714 21724 21734 21744 21705 21715 21725 21735 21745 21706 21716 21726 21736 21746 21707 21717 21727 21737 21747 21708 21718 21728 21738 21748 21709 21719 21729 21739 21749 126 127 128 129 130 21250 21260 21270 21280 21290 21251 21261 21271 21281 21291 21252 21262 21272 21282 21292 21254 212...

Page 793: ...73 274 275 22700 22710 22720 22730 22740 22701 22711 22721 22731 22741 22702 22712 22722 22732 22742 22704 22714 22724 22734 22744 22705 22715 22725 22735 22745 22706 22716 22726 22736 22746 22707 22717 22727 22737 22747 22708 22718 22728 22738 22748 22709 22719 22729 22739 22749 226 227 228 229 230 22250 22260 22270 22280 22290 22251 22261 22271 22281 22291 22252 22262 22272 22282 22292 22254 222...

Page 794: ...73 374 375 23700 23710 23720 23730 23740 23701 23711 23721 23731 23741 23702 23712 23722 23732 23742 23704 23714 23724 23734 23744 23705 23715 23725 23735 23745 23706 23716 23726 23736 23746 23707 23717 23727 23737 23747 23708 23718 23728 23738 23748 23709 23719 23729 23739 23749 326 327 328 329 330 23250 23260 23270 23280 23290 23251 23261 23271 23281 23291 23252 23262 23272 23282 23292 23254 232...

Page 795: ...73 474 475 24700 24710 24720 24730 24740 24701 24711 24721 24731 24741 24702 24712 24722 24732 24742 24704 24714 24724 24734 24744 24705 24715 24725 24735 24745 24706 24716 24726 24736 24746 24707 24717 24727 24737 24747 24708 24718 24728 24738 24748 24709 24719 24729 24739 24749 426 427 428 429 430 24250 24260 24270 24280 24290 24251 24261 24271 24281 24291 24252 24262 24272 24282 24292 24254 242...

Page 796: ...73 574 575 25700 25710 25720 25730 25740 25701 25711 25721 25731 25741 25702 25712 25722 25732 25742 25704 25714 25724 25734 25744 25705 25715 25725 25735 25745 25706 25716 25726 25736 25746 25707 25717 25727 25737 25747 25708 25718 25728 25738 25748 25709 25719 25729 25739 25749 526 527 528 529 530 25250 25260 25270 25280 25290 25251 25261 25271 25281 25291 25252 25262 25272 25282 25292 25254 252...

Page 797: ...t name Model name Depiction in connection example Description MR HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR H BN MR H BN4 and MR H BN MR H BN4 MR J2HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between QD75M and MR J2 B MR J2S B MR J2 Jr MR J2M B Connection between MR J2 B MR J2S B MR J2 Jr MR J2M B and MR J2 B MR J2S B MR J2 Jr MR J2M B SSCNET cable MR J2HBUS M A 0 5m 1 64ft...

Page 798: ...ttery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR J2 B MR J2 B 3 MR J2 B MR H BN MR H BN4 configuration Battery MR BAT A6BAT Termination connector Battery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR J2 B MR H BN MR H BN4 QD75 Battery MR BAT A6BAT Termination connector Battery MR BAT A6BAT Battery MR BAT A6BAT MR H BN MR H BN4 MR J2 B QD75 MR H BN MR H BN4 Battery MR BAT A6BAT Termination connect...

Page 799: ...ld separately MR J2HBUS M A Connection between QD75M MR J2 B MR J2S B MR J2 Jr MR J2M B and MR H BN MR H BN4 MR J2CN1 A connector set sold separately Use the following or equivalent twisted pair cables as the SSCNET cables Table 2 Table of wire model Type Length m ft Wire model MR HBUS M A14B2343 6 Pair MR J2HBUS M MR J2HBUS M A 0 5 1 64 1 3 28 5 16 4 UL20276 AWG 28 10 pair CREAM Table 3 Table of ...

Page 800: ...given on Appendix 3 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft LG LG RD RD TD TD EMG EMG SD BT LG LG 1 11 2 12 4 14 6 16 9 5 15 20 PCR LS20LA1 connector case PCR S20FS connector PCR LS20LA1 connector case PCR S20FS connector 1 11 2 12 4 14 6 16 9 5 15 20 LG LG RD RD TD TD EMG EMG SD BT LG LG MR HBUS M Mak...

Page 801: ...e use the recommended wire given on Appendix 3 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft 10120 6000EL connector 10320 3210 000 shell kit Maker 3M EMG LG 16 15 TD RD RD LG 1 14 5 LG LG SD TD 13 11 2 12 3 4 EMG 6 17 7 19 18 BT 8 9 10 20 16 15 1 14 5 13 11 2 12 3 4 6 17 7 19 8 9 10 20 10120 6000EL connector...

Page 802: ...m When fabricating a cable use the recommended wire given on Appendix 3 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft PCR S20FS connector 1 11 2 12 4 14 6 16 1 15 7 17 LG LG RD RD TD TD EMG EMG SD 5 15 LG LG 14 11 2 12 4 5 20 10320 3210 000 shell kit MR J2HBUS M A shell PCR LS20LA1 connector case 10120 6000E...

Page 803: ...707T T001 H cable cutter FCN 707T T101 H hand press Supplier s offices FUJITSU TAKAMISAWA AMERICA INC 250E Caribbean Drive Sunnyvale CA 94089 U S A Tel 1 408 745 4900 FUJITSU TAKAMISAWA EUROPE B V Jupiterstaat 13 15 our 2132 Hoofddorp The Netherland Tel 31 23 5560910 FUJITSU TAKAMISAWA EUROPE B V Schatzbogen 86 D 81829 Munchen Germany Zweiniederlassung Deutschland Tel 49 89 42742320 FUJITSU TAKAMI...

Page 804: ...35 MELSEC Q APPENDICES 3 External dimension drawing A6CON1 A6CON2 A6CON3 A6CON4 72 72 2 87 14 0 55 or less 46 1 81 69 48 2 74 8 25 0 33 22 5 0 89 10 0 39 14 0 55 or less 71 8 2 82 47 1 85 50 8 2 00 Unit mm inch ...

Page 805: ... Note 2 17 0 16 6P SRV SV 2464 K 0 3 12 6 pairs 17 0 16 Max 57 5 1 26 8 4 NFKEV SB 0 3 mm 2 4P 0 3 8 4 pairs 7 0 127 Max 66 3 1 30 7 6 Note 1 d is as shown below Insulation sheath Conductor d Note 2 Standard OD Max OD is about 10 larger a Connection diagram When fabricating a cable use the recommended wire given on 1 and make the cable as show in the following connection diagram The overall distan...

Page 806: ...n Inching operation Manual pulse generator function Automatic trapezoidal acceleration deceleration Acceleration deceleration processing S pattern 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 Provid...

Page 807: ...remental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 PLS 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 2 0 to 2147483647 PLS Absolute system 214748364 8 to 214748364 7 m 13421772 8 to 13421772 7 m 21474 83648 to 21474 83647 ...

Page 808: ...35ms 1 to 8388608ms selectable Compensation Electronic gears backlash compensation near pass 3 Electronic gears backlash compensation near pass 3 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 A6CON4 Soldering typ...

Page 809: ...logic switching function Refer to Section 13 4 Inching operation Refer to Section 11 3 Target position change function Refer to Section 12 7 5 Multiple axes simultaneous start control Refer to Section 10 5 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...

Page 810: ...arried 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 ...

Page 811: ...and In speed control for position speed switching control are added Continuous path control 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 a...

Page 812: ...for manual operation Detailed parameters Pr 15 Software stroke limit valid invalid setting 1 Software stroke limits valid for manual operation Software stroke limits invalid for manual operation Error code comparisons Error code Error name A1SD75 QD75 Outside bias speed range 913 906 Illegal sudden stop deceleration time 962 961 Stop group 1 sudden stop selection error 963 962 Stop group 2 sudden ...

Page 813: ... Axis 3 Stop Y1C Y06 Axis 3 BUSY X06 X0E Axis 4 Stop Y07 Axis 4 BUSY X0F All axis servo ON Y15 Y01 Axis 1 Positioning complete X07 X14 Axis 1 Forward run JOG start Y16 Y08 Axis 2 Positioning complete X08 X15 Axis 1 Reverse run JOG start Y17 Y09 Axis 3 Positioning complete X09 X16 Axis 2 Forward run JOG start Y18 Y0A Axis 4 Positioning complete X17 Axis 2 Reverse run JOG start Y19 Y0B Axis 1 Error ...

Page 814: ... 17 167 317 Pr 13 Software stroke limit upper limit value 16 17 166 167 316 317 18 19 168 169 318 319 Pr 14 Software stroke limit lower limit value 18 19 168 169 318 319 20 21 170 171 320 321 Pr 15 Software stroke limit selection 20 170 320 22 172 322 Pr 16 Software stroke limit valid invalid setting 21 171 321 23 173 323 Pr 17 Command in position width 22 23 172 173 322 323 24 25 174 175 324 325 ...

Page 815: ...9 209 359 59 209 359 Pr 42 Allowable circular interpolation error width 60 61 210 211 360 361 60 61 210 211 360 361 Pr 43 External start function selection QD75 Pr 42 External command function selection 62 212 362 62 212 362 Pr 201 Restart allowable range when servo OFF to ON 64 65 214 215 364 365 64 65 214 215 364 365 Pr 44 Near pass mode selection for path control 66 216 366 Pr 45 OPR method 70 ...

Page 816: ...io 112 262 412 30112 30212 30312 Pr 113 Position loop gain 1 113 263 413 30113 30213 30313 Pr 114 Speed loop gain 1 114 264 414 30114 30214 30314 Pr 115 Position loop gain 2 115 265 415 30115 30215 30315 Pr 116 Speed loop gain 2 116 266 416 30116 30216 30316 Pr 117 Speed integral compensation 117 267 417 30117 30217 30317 Pr 118 Machine resonance suppression filter 118 268 418 30118 30218 30318 Pr...

Page 817: ... vibration suppression control selection 2 30144 30244 30344 Pr 145 Induction voltage compensation 30145 30245 30345 Pr 146 Maker setting 30146 30246 30346 Pr 147 Maker setting 30147 30247 30347 Pr 148 Maker setting 30148 30248 30348 Pr 149 Gain changing selection 30149 30249 30349 Pr 150 Gain changing condition 30150 30250 30350 Pr 151 Gain changing time constant 30151 30251 30351 Pr 152 Ratio of...

Page 818: ...d 465 to 540 1215 to 1290 Md 11 Error judgment 466 to 541 1216 to 1291 Md 12 Start history pointer Start history 542 1292 Pointer number 0 to 15 Md 13 Start axis 543 to 618 Md 14 Operation type 544 to 619 Md 15 Start Hour minute 545 to 620 Md 16 Start Second 100 ms 546 to 621 Md 17 Error judgment 547 to 622 Md 18 Start history storage during error Start history during errors 623 Pointer number 0 t...

Page 819: ...h the warning occurred 689 to 749 1358 to 1418 Md 25 Axis warning No 690 to 750 1359 to 1419 Md 26 Axis warning occurrence Hour minute QD75 Md 16 Axis warning occurrence Hour 691 to 751 1360 to 1420 Md 27 Axis warning occurrence Second 100 ms QD75 Md 17 Axis warning occurrence Minute second 692 to 752 1361 to 1421 Md 28 Warning history pointer Warning history 753 1422 ...

Page 820: ...18 1019 818 819 918 919 1018 1019 Md 42 Target speed 820 821 920 921 1020 1021 820 821 920 921 1020 1021 Md 43 OP absolute position 822 823 922 923 1022 1023 Md 44 Movement amount after near point dog ON 824 825 924 925 1024 1025 824 825 924 925 1024 1025 Md 45 Torque limit stored value 826 926 1026 826 926 1026 Md 46 Special start data instruction code setting value 827 927 1027 827 927 1027 Md 4...

Page 821: ...Md 105 Position loop gain 2 861 961 1061 Md 105 Speed loop gain 2 862 962 162 Md 105 Speed integral compensation 863 963 1063 Md 106 Servo amplifier software No 864 865 866 867 868 869 964 965 966 967 968 969 1064 1065 1066 1067 1068 1069 Md 107 Parameter error No No 0 to 15 870 970 1070 Md 107 Parameter error No No 16 to 31 871 971 1071 Md 107 Parameter error No No 32 to 47 872 972 1072 Md 107 Pa...

Page 822: ...159 1209 1259 1513 1613 1713 Cd 19 JOG speed 1160 1161 1210 1211 1260 1261 1518 1519 1618 1619 1718 1719 Cd 20 Speed position switching enable flag 1163 1213 1263 1528 1628 1728 Cd 21 Speed position switching control movement amount change register 1164 1165 1214 1215 1264 1265 1526 1527 1626 1627 1726 1727 Cd 22 Manual pulse generator enable flag 1167 1217 1267 1524 1624 1724 Cd 23 Manual pulse g...

Page 823: ...1300 2300 3300 2000 8000 14000 Da 9 M code condition data 1301 2301 3301 2001 8001 14001 Da 8 Dwell time JUMP destination positioning data No 1302 2302 3302 2002 8002 14002 Da 7 Command speed 1304 1305 2304 2305 3306 3307 2004 2005 8004 8005 14004 14005 Da 5 Positioning address movement amount 1306 1307 2306 2307 3306 3307 2006 2007 8006 8007 14006 14007 Da 6 Arc address No 1 1308 1309 2308 2309 3...

Page 824: ...406 4407 4656 4657 4906 4907 26106 26107 27106 27107 28106 28107 No 2 4410 to 4419 4660 to 4669 4910 to 4919 26110 to 26119 27110 to 27119 28110 to 28119 No 3 4420 to 4429 4670 to 4679 4920 to 4929 26120 to 26129 27120 to 27129 28120 to 28129 to to to to to to to Positioning start information 2 Condition data No 10 4490 to 4499 4740 to 4749 4990 to 4999 26190 to 26199 27190 to 27199 28190 to 28199...

Page 825: ...ve logic Possible Upper limit Negative logic Not possible Negative logic Possible Lower limit Negative logic Not possible Negative logic Possible External start 2 Negative logic Not possible Negative logic Possible Speed position switching signal 2 Negative logic Not possible Negative logic Possible 1 Comparisons about manual pulse generator A phase B phase A1SD75 QD75 No of connectable manual pul...

Page 826: ...are stroke limit When the machine exceeded the hardware stroke limit range positioning toward inside the range was started but the machine did not start Use a JOG operation Inching operation or Manual pulse generator operation to return the machine to inside the hardware stroke limit range When the hardware stroke limit range is exceeded positioning will not start toward inside the range even when...

Page 827: ...leration deceleration process function 13 Acceleration decelerat ion time The machine starts and stops suddenly when carrying out JOG operations and positioning operations Using an MR J2S servo amplifier Review the parameter settings for acceleration deceleration time speed limit value JOG speed limit value JOG acceleration deceleration time etc 14 Simplified absolute value Are simplified absolute...

Page 828: ... it will pass over the OP and continue moving 19 In the near point dog method machine OPR the stop positions are not uniform Carry out the following measures 1 Separate the near point dog signal and zero signal detection positions 2 Lower the values in Pr 46 OPR speed and Pr 47 Creep speed 3 Confirm whether the zero signal and near point dog signal turn ON normally 4 Check that there is no play ba...

Page 829: ...e continued This also applies for Pr 37 and Pr 38 29 Circular interpolation 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 ...

Page 830: ...hether the current value changing has been executed 39 QD75 READY signal The QD75 READY signal does not turn ON even when the PLC READY signal Y0 is turned ON A parameter error has occurred Confirm the error No in the error history and correct the parameter 40 M code ON signal Is there any problem with setting an M code ON signal OFF request in the next scan after the M code ON signal ON The QD75 ...

Page 831: ...top signal ON Even if the start signal is turned ON at that time the start request will be ignored and warning 100 will occur 49 Error warning Does warning 500 deceleration and stop speed change occur only during stop deceleration and automatically deceleration Is there any problem if the operation is continued in that state without resetting the error The warning occurs only at those times mentio...

Page 832: ...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 23 173 323 473 Pr 15 Software stroke limit valid invalid selection 24 25 174 175 324 325 474 475 Pr 16 Command in position width 26 176 326 476 Pr 17 To...

Page 833: ...top selection 59 209 359 509 Pr 40 Positioning complete signal output time 60 61 210 211 360 361 510 511 Pr 41 Allowable circular interpolation error width 62 212 362 512 Pr 42 External command function selection 64 65 214 215 364 365 514 515 Pr 201 Restart allowable range when servo OFF to ON Detailed parameters 2 Positioning parameters 70 220 370 520 Pr 43 OPR method 71 221 371 521 Pr 44 OPR dir...

Page 834: ...3 1337 1341 1345 1349 1353 Md 9 Axis in which the error occurred 1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354 Md 10 Axis error No 1295 1299 1303 1307 1311 1315 1319 1323 1327 1331 1335 1339 1343 1347 1351 1355 Md 11 Axis error occurrence Hour 1296 1300 1304 1308 1312 1316 1320 1324 1328 1332 1336 1340 1344 1348 1352 1356 Md 12 Axis error occurrence Minute second ...

Page 835: ...rget value 820 821 920 921 1020 1021 1120 1121 Md 33 Target speed 824 825 924 925 1024 1025 1124 1125 Md 34 Movement amount after near point dog ON 826 926 1026 1126 Md 35 Torque limit stored value 827 927 1027 1127 Md 36 Special start data instruction parameter setting value 828 928 1028 1128 Md 37 Special start data instruction No setting value 829 929 1029 1129 Md 38 Start positioning data No s...

Page 836: ... Md 105 Speed loop gain 2 863 963 1063 1163 Md 105 Speed integral compensation 864 865 866 867 868 869 964 965 966 967 968 969 1064 1065 1066 1067 1068 1069 1164 1165 1166 1167 1168 1169 Md 106 Servo amplifier software No 870 970 1070 1170 Md 107 Parameter error No No 0 to 15 871 971 1071 1171 Md 107 Parameter error No No 16 to 31 872 972 1072 1172 Md 107 Parameter error No No 32 to 47 873 973 107...

Page 837: ... 1818 1819 Cd 17 JOG speed 1520 1620 1720 1820 Cd 18 Interrupt request during continuous operation 1521 1621 1721 1821 Cd 19 OPR request flag OFF request 1522 1523 1622 1623 1722 1723 1822 1823 Cd 20 Manual pulse generator 1 pulse input magnification 1524 1624 1724 1824 Cd 21 Manual pulse generator enable flag 1525 1625 1725 1825 Cd 22 New torque value 1526 1527 1626 1627 1726 1727 1826 1827 Cd 23...

Page 838: ...flag 1546 1646 1746 1846 Cd 36 Step start information 1547 1647 1747 1847 Cd 37 Skip command 1548 1648 1748 1848 Cd 38 Teaching data selection 1549 1649 1749 1849 Cd 39 Teaching positioning data No 1550 1650 1750 1850 Cd 40 ABS direction in degrees 1551 1651 1751 1851 Cd 100 Servo OFF command 1552 1652 1752 1852 Cd 101 Torque output setting value 1553 1653 1753 1853 Cd 102 Servo amplifier data rea...

Page 839: ... 20002 Da 9 Dwell time JUMP destination positioning data No 2003 8003 14003 20003 Maker setting 2004 2005 8004 8005 14004 14005 20004 20005 Da 8 Command speed 2006 2007 8006 8007 14006 14007 20006 20007 Da 6 Positioning address movement amount 2008 2009 8008 8009 14008 14009 20008 20009 Da 7 Arc address No 1 2010 to 2019 8010 to 8019 14010 to 14019 20010 to 20019 No 2 2020 to 2029 8020 to 8029 140...

Page 840: ...0 to 27119 28110 to 28119 29110 to 29119 No 2 26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129 No 3 to to to to to 26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199 No 10 Condition data Starting block 0 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 Starting block 1 26400 t...

Page 841: ...Appendix 72 MELSEC Q APPENDICES Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Item Memory area 30000 to 30099 Condition judgement target data of the condition data PLC CPU memo area Positioning data ...

Page 842: ... resonance suppression filter 30119 30219 30319 30419 Pr 119 Feed forward gain 30120 30220 30320 30420 Pr 120 In position range 30121 30221 30321 30421 Pr 121 Electromagnetic brake sequence output 30122 30222 30322 30422 Pr 122 Analog monitor output 30123 30223 30323 30423 Pr 123 Optional function 1 30124 30224 30324 30424 Pr 124 Optional function 2 30125 30225 30325 30425 Pr 125 Adaptive vibratio...

Page 843: ...30351 30451 Pr 151 Gain changing time constant 30152 30252 30352 30452 Pr 152 Ratio of load inertia moment to servo motor inertia moment 2 30153 30253 30353 30453 Pr 153 Position loop gain 2 changing ratio 30154 30254 30354 30454 Pr 154 Speed loop gain 2 changing ratio 30155 30255 30355 30455 Pr 155 Speed integral compensation changing ratio 30156 30256 30356 30456 Pr 156 Maker setting 30157 30257...

Page 844: ...ix 8 External dimension drawing 1 QD75M1 QD75M2 QD75M4 98 3 86 27 4 1 08 Unit mm inch QD75M1 QD75M2 AX1 AX2 AX1 RUN ERR AX2 AX1 RUN ERR AX1 QD75M1 QD75M2 QD75M4 AX1 AX2 AX3 AX4 RUN ERR AX4 AX3 AX2 AX1 QD75M4 70 2 76 90 3 54 136 5 35 46 1 81 ...

Page 845: ...Appendix 76 MELSEC Q APPENDICES MEMO ...

Page 846: ...control 9 78 A ABS direction in degrees Cd 40 5 158 Absolute system 9 15 Acceleration time 0 Pr 9 5 26 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 84 Acceleration deceleration process selection Pr 34 5 38 Acceleration deceleration processing function 12 81 Acceleration deceleration time change during speed change enable d...

Page 847: ... of QD75 memory 7 2 Confirming the current value 9 16 Confirming the installation and wiring 4 14 Connection confirmation 4 14 Connector 4 3 Continuous operation interrupt program 6 48 Continuous path control 9 8 Continuous positioning control 9 7 Control data area 7 3 Control functions 3 4 Control system Da 2 5 84 Control system repetition counter Md 42 5 132 Count method 1 8 8 Count method 2 8 1...

Page 848: ...unction 12 97 For creating program 6 2 For installation 4 7 For maintenance 4 15 For restarting 6 68 For starting fast OPR 6 60 For starting machine OPR 6 59 For starting major positioning control 6 60 For starting position speed switching control 6 61 For starting speed position switching control 6 61 For starting with external command signal 6 64 For wiring 4 9 Forced stop 6 70 Front loading spe...

Page 849: ...ameters 5 22 List of positioning data 5 82 List of warnings 15 90 Load inertia Pr 112 5 64 LOOP 9 114 Lower limit 3 21 M M code Condition data No No of LOOP to LEND repetitions Da 10 5 94 M code OFF request 12 65 M code OFF request Cd 7 5 140 M code ON signal 3 15 M code ON signal output timing 12 64 M code ON signal output timing Pr 18 5 30 M code output function 12 64 Machine feed value 9 16 Mac...

Page 850: ...ng and processing time during speed position switching control ABS mode 9 94 Operation timing and processing time during speed position switching control INC mode 9 86 Operation timing and processing time of fast OPR 8 14 OPR acceleration time selection Pr 51 5 54 OPR basic parameters 5 48 OPR complete flag 5 126 OPR deceleration time selection Pr 52 5 54 OPR detailed parameters 5 54 OPR direction...

Page 851: ...rogram 6 36 Positioning start program 6 39 Positioning start signal 3 17 Positioning starting point No Cd 4 5 140 Precautions Disposal instructions 4 15 Handling precautions 4 5 Precautions for creating program 6 2 Precautions for installation 4 7 Precautions for maintenance 4 15 Precautions for MR J2M B connection 12 98 Precautions for SSCNET cable wiring 4 7 Precautions for using stepping motor ...

Page 852: ...ogram 6 67 Rotation direction Pr 107 5 60 S Servo adjustment parameter 5 64 Servo expansion parameter 5 74 Servo expansion parameter 2 5 78 Servo amplifier data read Cd 102 5 160 Servo amplifier S W No Md 106 5 136 Servo basic parameter 5 58 Servo OFF command Cd 100 5 160 Servo ON OFF 12 96 Servo parameter Md 105 5 134 Servo response Pr 109 5 62 Servo series Pr 100 5 58 Servo status Md 108 5 136 S...

Page 853: ... 5 80 Speed limit function 12 23 Speed limit value Pr 8 5 26 Stop command processing for deceleration stop selection Cd 42 5 138 Speed loop gain 1 Pr 114 5 64 Speed loop gain 2 Pr 116 5 64 Speed loop gain changing ratio Pr 154 5 78 Speed position function selection Pr 200 5 32 Speed switching mode Pr 19 5 32 Speed position switching control ABS mode 9 91 Speed position switching control INC mode 9...

Page 854: ...on start time chart 11 23 JOG operation start time chart 11 11 Time chart for restarting 6 39 Time chart for starting fast OPR 6 60 Time chart for starting machine OPR 6 59 Time chart for starting major positioning control 6 60 Time chart for starting position speed switching control 6 61 Time chart for starting speed position switching control 6 61 Time chart for starting with external command si...

Page 855: ...Index 10 X X0 QD75 READY 3 15 X1 Synchronization flag 3 15 Z Zero speed Pr 130 5 74 ...

Page 856: ...uction 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not possible after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note ...

Page 857: ...nd Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of their respective owners ...

Page 858: ...thout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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