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Appendix - 26

MELSEC-Q

APPENDICES

(4) For axis 4

Command

speed

Positioning

address

Arc data

Command

speed

Positioning

address

Arc data

Data

No.

Posi-

tioning

identi-

fier

M

code

Dwell

time Low-

order

High-
order

Low-
order

High-
order

Low-
order

High-
order

Data

No.

Posi-

tioning

identi-

fier

M

code

Dwell

time Low-

order

High-
order

Low-
order

High-
order

Low-
order

High-
order

401

402

403

404

405

24000

24010

24020

24030

24040

24001

24011

24021

24031

24041

24002

24012

24022

24032

24042

24004

24014

24024

24034

24044

24005

24015

24025

24035

24045

24006

24016

24026

24036

24046

24007

24017

24027

24037

24047

24008

24018

24028

24038

24048

24009

24019

24029

24039

24049

451

452

453

454

455

24500

24510

24520

24530

24540

24501

24511

24521

24531

24541

24502

24512

24522

24532

24542

24504

24514

24524

24534

24544

24505

24515

24525

24535

24545

24506

24516

24526

24536

24546

24507

24517

24527

24537

24547

24508

24518

24528

24538

24548

24509

24519

24529

24539

24549

406

407

408

409

410

24050

24060

24070

24080

24090

24051

24061

24071

24081

24091

24052

24062

24072

24082

24092

24054

24064

24074

24084

24094

24055

24065

24075

24085

24095

24056

24066

24076

24086

24096

24057

24067

24077

24087

24097

24058

24068

24078

24088

24098

24059

24069

24079

24089

24099

456

457

458

459

460

24550

24560

24570

24580

24590

24551

24561

24571

24581

24591

24552

24562

24572

24582

24592

24554

24564

24574

24584

24594

24555

24565

24575

24585

24595

24556

24566

24576

24586

24596

24557

24567

24577

24587

24597

24558

24568

24578

24588

24598

24559

24569

24579

24589

24599

411

412

413

414

415

24100

24110

24120

24130

24140

24101

24111

24121

24131

24141

24102

24112

24122

24132

24142

24104

24114

24124

24134

24144

24105

24115

24125

24135

24145

24106

24116

24126

24136

24146

24107

24117

24127

24137

24147

24108

24118

24128

24138

24148

24109

24119

24129

24139

24149

461

462

463

464

465

24600

24610

24620

24630

24640

24601

24611

24621

24631

24641

24602

24612

24622

24632

24642

24604

24614

24624

24634

24644

24605

24615

24625

24635

24645

24606

24616

24626

24636

24646

24607

24617

24627

24637

24647

24608

24618

24628

24638

24648

24609

24619

24629

24639

24649

416

417

418

419

420

24150

24160

24170

24180

24190

24151

24161

24171

24181

24191

24152

24162

24172

24182

24192

24154

24164

24174

24184

24194

24155

24165

24175

24185

24195

24156

24166

24176

24186

24196

24157

24167

24177

24187

24197

24158

24168

24178

24188

24198

24159

24169

24179

24189

24199

466

467

468

469

470

24650

24660

24670

24680

24690

24651

24661

24671

24681

24691

24652

24662

24672

24682

24692

24654

24664

24674

24684

24694

24655

24665

24675

24685

24695

24656

24666

24676

24686

24696

24657

24667

24677

24687

24697

24658

24668

24678

24688

24698

24659

24669

24679

24689

24699

421

422

423

424

425

24200

24210

24220

24230

24240

24201

24211

24221

24231

24241

24202

24212

24222

24232

24242

24204

24214

24224

24234

24244

24205

24215

24225

24235

24245

24206

24216

24226

24236

24246

24207

24217

24227

24237

24247

24208

24218

24228

24238

24248

24209

24219

24229

24239

24249

471

472

473

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

24264

24274

24284

24294

24255

24265

24275

24285

24295

24256

24266

24276

24286

24296

24257

24267

24277

24287

24297

24258

24268

24278

24288

24298

24259

24269

24279

24289

24299

476

477

478

479

480

24750

24760

24770

24780

24790

24751

24761

24771

24781

24791

24752

24762

24772

24782

24792

24754

24764

24774

24784

24794

24755

24765

24775

24785

24795

24756

24766

24776

24786

24796

24757

24767

24777

24787

24797

24758

24768

24778

24788

24798

24759

24769

24779

24789

24799

431

432

433

434

435

24300

24310

24320

24330

24340

24301

24311

24321

24331

24341

24302

24312

24322

24332

24342

24304

24314

24324

24334

24344

24305

24315

24325

24335

24345

24306

24316

24326

24336

24346

24307

24317

24327

24337

24347

24308

24318

24328

24338

24348

24309

24319

24329

24339

24349

481

482

483

484

485

24800

24810

24820

24830

24840

24801

24811

24821

24831

24841

24802

24812

24822

24832

24842

24804

24814

24824

24834

24844

24805

24815

24825

24835

24845

24806

24816

24826

24836

24846

24807

24817

24827

24837

24847

24808

24818

24828

24838

24848

24809

24819

24829

24839

24849

436

437

438

439

440

24350

24360

24370

24380

24390

24351

24361

24371

24381

24391

24352

24362

24372

24382

24392

24354

24364

24374

24384

24394

24355

24365

24375

24385

24395

24356

24366

24376

24386

24396

24357

24367

24377

24387

24397

24358

24368

24378

24388

24398

24359

24369

24379

24389

24399

486

487

488

489

490

24850

24860

24870

24880

24890

24851

24861

24871

24881

24891

24852

24862

24872

24882

24892

24854

24864

24874

24884

24894

24855

24865

24875

24885

24895

24856

24866

24876

24886

24896

24857

24867

24877

24887

24897

24858

24868

24878

24888

24898

24859

24869

24879

24889

24899

441

442

443

444

445

24400

24410

24420

24430

24440

24401

24411

24421

24431

24441

24402

24412

24422

24432

24442

24404

24414

24424

24434

24444

24405

24415

24425

24435

24445

24406

24416

24426

24436

24446

24407

24417

24427

24437

24447

24408

24418

24428

24438

24448

24409

24419

24429

24439

24449

491

492

493

494

495

24900

24910

24920

24930

24940

24901

24911

24921

24931

24941

24902

24912

24922

24932

24942

24904

24914

24924

24934

24944

24905

24915

24925

24935

24945

24906

24916

24926

24936

24946

24907

24917

24927

24937

24947

24908

24918

24928

24938

24948

24909

24919

24929

24939

24949

446

447

448

449

450

24450

24460

24470

24480

24490

24451

24461

24471

24481

24491

24452

24462

24472

24482

24492

24454

24464

24474

24484

24494

24455

24465

24475

24485

24495

24456

24466

24476

24486

24496

24457

24467

24477

24487

24497

24458

24468

24478

24488

24498

24459

24469

24479

24489

24499

496

497

498

499

500

24950

24960

24970

24980

24990

24951

24961

24971

24981

24991

24952

24962

24972

24982

24992

24954

24964

24974

24984

24994

24955

24965

24975

24985

24995

24956

24966

24976

24986

24996

24957

24967

24977

24987

24997

24958

24968

24978

24988

24998

24959

24969

24979

24989

24999

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Summary of Contents for QD75MH1

Page 1: ...300117 A 0505 MEE MODEL MODEL CODE QD75MH U S E 1XB917 IB NA 0300117 A 0505 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice Printed in Japan Details HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 ...

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: ...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 directly touch the module...

Page 4: ...ith the main circuit cable power cable and or other such load carrying cables other than those for the PLC These cables should be separated by at least 100mm 3 94inch They can cause electrical interference surges and inductance that can lead to mis operation When pulling out SSCNET cable from SSCNET connector be sure to put the cap on SSCNET connector If the end face of SSCNET connector is dirty o...

Page 5: ...al If the adhesion of solvent and oil to the code part of SSCNET cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the optical cord When storing put a cap on the connector part for preventing the connector edge of SSCNET from getting dirt dust and so on SSCNET connector is put a cap to protect light devi...

Page 6: ... the module Precautions for use CAUTION Note that when the reference axis speed is designated for interpolation operation the speed of the partner axis 2nd axis 3rd axis and 4th axis may be larger than the set speed larger than the speed limit value Disposal Instructions When you discard QD75MH servo amplifier a battery primary battery and other option articles please follow the law of each countr...

Page 7: ...ual Version IB 0300098 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION ...

Page 8: ...2 1 1 1 Features of QD75MH 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 QD75MH 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 9: ...s 4 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 10 4 3 1 Precautions for wiring 4 10 4 4 Confirming the installation and wiring 4 16 4 4 1 Items to confirm when installation and wiring are completed 4 16 4 5 Maintenance 4 17 4 5 1 Precautions for maintenance 4 17 4 5 2 Disposal instructions 4 17 5 Data Used for Positioning Control List of buffer memory addresses 5 1 ...

Page 10: ...tioning Control 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 52 6 5 1 Initialization program 6 52 6 5 2 Start details setting program 6 53 6 5 3 Start program 6 55 6 5 4 Continuous o...

Page 11: ...nt 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 ...

Page 12: ...r high level positioning control 10 23 10 6 1 Starting high level positioning control 10 23 10 6 2 Example of a start program for high level positioning control 10 24 11 Manual Control 11 1 to 11 36 11 1 Outline of manual control 11 2 11 1 1 Three manual control methods 11 2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting th...

Page 13: ... 12 5 4 Torque change function 12 56 12 6 Absolute position system 12 59 12 7 Other functions 12 61 12 7 1 Step function 12 61 12 7 2 Skip function 12 66 12 7 3 M code output function 12 69 12 7 4 Teaching function 12 73 12 7 5 Target position change function 12 79 12 7 6 Command in position function 12 83 12 7 7 Acceleration deceleration processing function 12 86 12 7 8 Pre reading start function...

Page 14: ... 3 Appendix 1 2 The combination of software package for QD75MH and QCPU Appendix 3 Appendix 2 Positioning data No 1 to 600 List of buffer memory addresses Appendix 4 Appendix 3 Connection with servo amplifiers Appendix 28 Appendix 3 1 Connection of SSCNET cables Appendix 28 Appendix 3 2 Wiring of SSCNET cables Appendix 30 Appendix 4 Connection with external device connector Appendix 34 Appendix 4 ...

Page 15: ...l are shown below Pr Symbol indicating positioning parameter and OPR parameter item Da Symbol indicating positioning data block start data and condition data item Md Symbol indicating monitor data item Cd Symbol indicating control data item A serial No is inserted in the mark Conformation to the EMC Directive The CE logo is printed on the rating plate on the main body of the PLC that conforms to t...

Page 16: ...r 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 Axis 1 axis 2 axis 3 axis 4 Indicates each axis connected ...

Page 17: ...A 16 MEMO ...

Page 18: ... 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 24 Chapter 4 Installatio...

Page 19: ...MEMO ...

Page 20: ...d the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD75MH 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 QD75MH and each module 1 19 1 2 Flow of system operati...

Page 21: ... can be prepared for each axis Using the prepared positioning data the positioning control is performed independently for each axis In addition such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible 2 Independent control of each axis can be achieved in linear control mode executable simultaneously over four axes Such control can either be t...

Page 22: ...Axis 2 and interpolation operation Axis 4 start 4 SSCNET makes the connection to the servo amplifier possible a The QD75MH can be directly connected to the servo amplifier using the MELSERVO Mitsubishi s servo amplifier MR J3 B b Because the SSCNET cable is used to connect the QD75MH and the servo amplifier or servo amplifiers saving wiring can be realized The cable between the QD75MH and servo am...

Page 23: ...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 Configurator QP Using GX Configurator QP the user can control the QD75MH parameters and positioning data without having to be conscious of the buffer memory ad...

Page 24: ...d the positioning pattern is changed Palletizer Servo amplifier PLC MELSEC Q Conveyor Servomotor with brakes Reduction gears Ball screw From QD75MH Palletizer QD75MH 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 cente...

Page 25: ... Servomotor Worm gears Index table Digital switch PLC MELSEC Q Servo amplifier QD75MH The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder PLC MELSEC Q QD75MH 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 C...

Page 26: ... the QD75MH GX Configurator QP QD75MH 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 according to th...

Page 27: ...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 28: ...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 29: ... 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 30: ... 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 speed until the stop command is input V t ON ON ON OFF OFF OFF P...

Page 31: ...nput of the QD75MH 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 32: ...ta 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 33: ...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 34: ... 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 35: ...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 36: ...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 37: ...back Interface Servo motor M PLG EMI Forced stop input signal FLS Upper limit signal RLS Lower limit signal CHG External command signal switching signal STOP Stop signal DOG Near point dog signal External input signal Refer to Section 3 4 2 Manual puse generator A phese B phese SSCNET S S C N E T I F Interface MR J3 B FLS Upper limit signal RLS Lower limit signal DOG Near point dog signal External...

Page 38: ...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 JOG start signal Positioning com...

Page 39: ...MH Peripheral device The QD75MH and peripheral device communicate the following data via the PLC CPU Direction Communication QD75MH Peripheral device Peripheral device QD75MH 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 Manual pulse generato...

Page 40: ...Direction Communication QD75MH Manual pulse generator Manual pulse generator QD75MH Pulse signal Manual pulse generator A phase Manual pulse generator B phase QD75MH External signal The QD75MH and external signal communicate the following data via the external device connection connector Direction Communication QD75MH External signal External signal QD75MH Control signal Forced stop input signal U...

Page 41: ...iring 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 Maint...

Page 42: ...th GX Configurator QP into the QD75MH 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 QD75MH and external connection dev...

Page 43: ...rt 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 QD75MH start signal from the PLC CPU ...

Page 44: ...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 QD75MH Operation PLC program Write PLC CPU Create a PLC program for the sub functions Speed change C...

Page 45: ...ce OFF All axes No change Servo OFF Servo READY OFF Servo amplifier power supply OFF Servo amplifier disconnected Servo alarm During error Forced stop Forced stop input to servo amplifier Each axis No change Servo OFF 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 ch...

Page 46: ...se generator operation Stop signal ON from external device Intentional stop Stop group 3 Axis stop signal ON from PLC CPU Each axis No change When stopped While waiting Deceleration stop sudden stop Select with Pr 39 Sudden stop group3 sudden stop selection Deceleration stop Reference Provide the emergency stop circuits external to the servo system to prevent cases where danger may result from abn...

Page 47: ...tal system a The restart operation when the axis 1 movement amount 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 1 400 200 100 100 300 700 Axis 2 Restart Operation during restart Reference If the posit...

Page 48: ...ng QD75MH 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 49: ...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 Version 2 21X or lat...

Page 50: ...nal 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 Extenal connector of servo amplifer Upper lower stroke limit switch Near point dog signal ...

Page 51: ... 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 QD75MH and the servo amplifier Prepared by user Cables are needed to...

Page 52: ... 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 80ft 20 20m 65 62ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note The cable length of the SSCNET cable depends on the cable type MR J3BUS M The cable length is 3m 0 98ft max MR J3BUS M A The cable length is 20m 65 62ft max MR J3BUS M B The cable length is 50m 164 04ft max Specifications of recommended manual pulse gen...

Page 53: ...25G 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 QD75MH can be installed in any of the I O slots 3 of a base unit When installing the QD75MH always consider the power su...

Page 54: ...e QD75MH Software version GX Developer GX Configurator QP Single PLC system Version 7 or later Q00J Q00 Q01CPU Multiple PLC system Version 8 or later Single PLC system Version 4 or later Q02 Q02H Q06H Q12H Q25HCPU Multiple PLC system Version 6 or later Single PLC system Q12PH Q25PHCPU Multiple PLC system Version 7 10L or later For use on MELSECNET H remote I O station Version 6 or later Version 2 ...

Page 55: ...27510 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 QD75MH4 QD75MH4 QD75MH4 1 This check can be made us...

Page 56: ... functions 3 4 3 2 1 QD75MH control functions 3 4 3 2 2 QD75MH main functions 3 6 3 2 3 QD75MH sub functions and common functions 3 8 3 2 4 Combination of QD75MH 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 QD75MH PLC CPU 3 15 3 3 3 Details of output signals PLC...

Page 57: ... 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 83647 inch 0 to 21474 83647 degree 0 to 2147483647 PLS In speed position switching control ABS mode 1 Positioning range 0 to 359 99999 degree Speed command 0 01 to 20000000 00 mm min 0 001 t...

Page 58: ...ion between QD75MH and MR J3 B Connection between MR J3 B and MR J3 B Standard code for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft MR J3BUS M A 4 Connection between QD75MH and MR J3 B Connection between MR J3 B and MR J3 B Standard code for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft SSCNET cable MR J3BUS M B 4 Connection between QD75MH and MR J3 B Connection betwee...

Page 59: ... Chapter 9 Major Positioning Control 3 High level positioning control This control executes the positioning data stored in the QD75MH 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 an...

Page 60: ...on of OPR function Major positioning control Control using Positioning 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 cha...

Page 61: ...t in 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...

Page 62: ...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 63: ...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 stroke limit function If a command outside of the upper lower limit stroke limit se...

Page 64: ...g the control use this function as a trigger for the sub work 12 7 6 Acceleration deceleration process function This function adjusts the control acceleration deceleration 12 7 7 Continuous operation interrupt function This function interrupts continuous operation When this request is accepted the operation stops when the execution of the current positioning data is completed 6 5 4 Pre reading sta...

Page 65: ... backup function 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 signal selection function This functions is selected either of external device connector of QD75MH or external input signal of servo amplifier whether connect the upper lower limit signal and the Near point dog signal 13 4 Ex...

Page 66: ...3 11 MELSEC Q 3 SPECIFICATIONS AND FUNCTIONS MEMO ...

Page 67: ...h 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 operation Always combine Combination possible Combination limited Combination ...

Page 68: ...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 Speed control 10 x multiplier setting for degree axis function Operation setting for incompletion of OPR function 3 3 4 6 6 7 8 10 5 2 9 REMARK The...

Page 69: ...6 Axis 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 Revers...

Page 70: ...DY 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...

Page 71: ...ment 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 QD75MH refers to the point when the pulse output from QD75MH is completed Thus even if the QD75MH s positioning complete signal turns ON the system may continue operation ...

Page 72: ...G operation inching operation and manual pulse generator operation will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During interpolation control of the positioning operation if the axis stop signal of any axis turns ON all axes in t...

Page 73: ...or more 3 5mA 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 phas...

Page 74: ... 2A15 No connect 1B15 P5 1A15 P5 2B14 No connect 2A14 No connect 1B14 SG 1A14 SG 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 connect 2B8...

Page 75: ...ositioning will stop when this signal turns OFF When OPR retry function is valid this will be the lower limit for finding the near point dog signal Near point dog signal 1A3 1B3 2A3 2B3 This signal is used for detecting the near point dog during OPR The near point dog OFF ON is detected at the rising edge The near point dog ON OFF is detected at the falling edge Stop signal 1A4 1B4 2A4 2B4 Input t...

Page 76: ...supply GND 5 SG When Upper limit switch is not used When Lower limit switch is not used 24VDC 5V 0V A B Manual pulse generator MR HDP01 2 1A10 5VDC 1 The symbols in Need for wiring column indicate the following meanings Wiring is necessary for positioning Wiring is necessary depending on the situation 2 Either polarity can be connected to the common COM 3 If using separately placed power supply as...

Page 77: ...and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop When designing the main circuit of the power supply make sure to use a no fuse breaker NFB The outline diagrams of the internal circuits for the QD75MH external device connection interface are shown next page ...

Page 78: ...al of the servo amplifier 4 When turning off the control power supply of servo amplifier communication with servo amplifier is not possible from then on Example If turning off the control power supply of servo amplifier L11 L21 in the above figure B communication with the servo amplifier of C cannot be performed either For turning off power supply of certain servo amplifier turn off the main circu...

Page 79: ...en turning off the control power supply of servo amplifier communication with servo amplifier is not possible from then on Example If turning off the control power supply of servo amplifier L11 L21 in the above figure B communication with the servo amplifier of C cannot be performed either For turning off power supply of certain servo amplifier turn off the main circuit power L1 L2 L3 but do not t...

Page 80: ...ation 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 10 4 3 1 Precautions for wiring 4 10 4 4 Confirming the installation and wiring 4 16 4 4 1...

Page 81: ...e cable to the module QD75MH Wire and connect the manufactured cable to QD75 MH 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 When the QD75MH is no longer necessary dispose of it with...

Page 82: ...ED 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 manual pulse generator...

Page 83: ...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 indicate t...

Page 84: ... 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 th...

Page 85: ...cts 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 c...

Page 86: ...ater radius than the minimum bend radius If the SSCNET cable is less than the minimum bend radius optical transmission is interrupted and it may cause malfunctions SSCNET cable Minimum bend radius mm inch MR J3BUS M 25 MR J3BUS M A Reinforcement film cable 50 1 97 Code part 25 0 98 MR J3BUS M B Reinforcement film cable 50 1 97 Code part 30 1 18 2 Tension If tension is added on SSCNET cable the inc...

Page 87: ... at worst 2 Precautions for SSCNET cable wiring Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on connector Wiring duct 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 Bundle fixing...

Page 88: ...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 89: ...tor for 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 the module may cause malfunction or damage to the module or cable The cable used for connecting the QD75MH e...

Page 90: ... vinyl tape goes into optical fiber and lowers the optical characteristic At worst it may cause wire breakage If using adhesive tape for the optical cable laying the fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended If laying with other wires do not make the optical cable touched wires or cables made from soft polyvinyl chloride PVC polyethylene resin PE tefl...

Page 91: ...ble is to use the twisted pair shielded cable wire size 0 3 mm 2 The shielded must be grounded on the QD75MH side 5 Use separate shielded cables of the forced stop input signal EMI EMI COM limit signal FLS RLS DOG STOP CHG COM and etc and manual pulse generator signal PULSER A PULSER A PULSER B PULSER B P5 SG for connecting to the QD75MH They can cause electrical interference surges and inductance...

Page 92: ...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 93: ...tsubishi Electric for grounding connected to the control box and the shielded cable QD75MH 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 together fo...

Page 94: ...se source Power system etc Relay Relay Relay PLC Servo amplifier Servo amplifier The servo amplifiers are placed near the noise source The connection cable between the QD75MH and servo amplifiers is too long The QD75MH and servo amplifiers are placed closely The connection cable between the QD75MH and servo amplifier is separately laid from the power line in this example the cable is outside of th...

Page 95: ...gnizes as forward run matches the address increment direction in the actual positioning work and whether the QD75MH 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 the monitor data of the Md 30 External input signal in the GX Developer may also...

Page 96: ...ration failure or damage to the module 4 5 2 Disposal instructions When you discard QD75MH servo amplifier a battery primary battery and other option articles please follow the law of each country area CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special ap...

Page 97: ...4 18 MELSEC Q 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT MEMO ...

Page 98: ...1 4 Setting items for servo parameters 5 9 5 1 5 Setting items for positioning data 5 11 5 1 6 Setting items for block start data 5 14 5 1 7 Setting items for condition data 5 15 5 1 8 Types and roles of monitor data 5 18 5 1 9 Types and roles of control data 5 20 5 2 List of parameters 5 24 5 2 1 Basic parameters 1 5 24 5 2 2 Basic parameters 2 5 28 5 2 3 Detailed parameters 1 5 30 5 2 4 Detailed...

Page 99: ...g control 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 Pr 80 Pr 84 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 Servo parameters Basic setting Servo parameters Gain filter se...

Page 100: ...ters Pr 124 Ratio of load inertia moment to servo motor inertia moment Gain filter setting parameters Pr 125 Model loop gain Gain filter setting parameters Pr 126 Position loop gain Gain filter setting parameters Pr 127 Speed loop gain Gain filter setting parameters Pr 128 Speed integral compensation Gain filter setting parameters Pr 129 Speed differential compensation Gain filter setting paramete...

Page 101: ...operation and controls the speed change during operation and stops restarts the operation to Cd 1 Cd 42 to Cd 1 Cd 2 Cd 41 Cd 42 to Cd 3 Cd 40 Cd 100 Cd 101 Cd 108 Cd 100 Cd 101 Cd 108 Control using the control data is carried out with the PLC program Deceleration 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 da...

Page 102: ...5 5 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 103: ...er 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 selection Pr 15 Software stroke limit vali...

Page 104: ... 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 Pr 83 Speed control 10 x multiplier setting for degree axis 12 7 11 Detailed parameters 2 Pr 84 Restart allowable range when servo OFF to ON 5...

Page 105: ...tion time selection Pr 53 OP shift amount S S S Pr 54 OPR torque limit value Preset parameters are used for machine OPR control Pr 55 Operation setting for incompletion of OPR Pr 56 Speed designation during OP shift S S S OPR detailed parameters Pr 57 Dwell time during OPR retry R R R Preset parameters are used for machine OPR control Always set Set as required Setting not required This is an irre...

Page 106: ...mode Adaptive filter Pr 120 Vibration suppression control filter tuning mode Pr 122 Feed forward gain Pr 124 Ratio of load inertia moment to servo motor inertia moment Pr 125 Model loop gain Pr 126 Position loop gain Pr 127 Speed loop gain Pr 128 Speed integral compensation Pr 129 Speed differential compensation Pr 131 Machine resonance suppression filter 1 Pr 132 Notch form selection 1 Pr 133 Mac...

Page 107: ...ontrol resonance frequency setting Refer to the section 5 2 8 Pr 164 Error excessive alarm level Pr 165 Electromagnetic brake sequence output Pr 166 Encoder output pulses selection Pr 167 Function selection C 1 Pr 168 Function selection C 2 Pr 170 Zero speed Pr 172 Analog monitor output 1 Pr 173 Analog monitor output 2 Pr 174 Analog monitor 1 offset Pr 175 Analog monitor 2 offset Expansion setting...

Page 108: ...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 109: ... 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 110: ...5 13 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 111: ...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 112: ... 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 113: ...N signal X4 X5 X6 X7 turns ON 1 Monitoring the system Monitoring the positioning system operation history Monitoring details Corresponding item Whether the system is in the test mode or not 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 t...

Page 114: ... Md 21 Machine feed value Monitor the current current feed value Md 20 Current feed value Monitor the current target value Md 32 Target value Monitoring the speed Monitor details 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 contro...

Page 115: ...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 116: ...5 19 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 117: ...or machine operation Controlling the system data Setting and resetting QD75MH 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 Cd 100 to Cd 108 1 Controlling the system data Setting and resetting the setting data Control detai...

Page 118: ...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 119: ...get position change value new address Set new speed when changing target position during positioning Cd 28 Target position change value new speed Set absolute ABS moving direction in degrees Cd 40 ABS direction in degrees Set manual pulse generator operation validity Cd 21 Manual pulse generator enable flag Set scale per pulse of No of input pulses from manual pulse generator Cd 20 Manual pulse ge...

Page 120: ...5 23 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 121: ... 100 Movement amount per pulse 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 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 different axes axis 1 to 4 Example D...

Page 122: ...ation of the motor shaft If you are using the Mitsubishi servo amplifier MR J3 B 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 200000000 10 1µm 1...

Page 123: ...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 124: ...5 27 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 125: ...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 126: ...e maximum speed during positioning control has to be limited in consideration of the drive unit and control target specifications Take account of the following when determining the speed limit value 1 Motor speed 2 Workpiece movement speed Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Pr 9 Acceleration time 0 specifies the time for the speed to increase from zero to the speed limit value Pr 8...

Page 127: ...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 128: ...peripheral 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 ...

Page 129: ...ke 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 P...

Page 130: ...e 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 o...

Page 131: ...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 not used 0 31 181 331 481 0 External input signal of QD75MH 0 Pr 80 External input signal selection 1 E...

Page 132: ...d 0 Composite speed The movement speed for the control target is designated and the speed for each axis is calculated by the QD75MH 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 QD75MH X axis Y axis Designate composite speed Calculated by QD75MH When composite speed is designated Desig...

Page 133: ... of the connected external device Negative logic 1 When the input signal contact is not flowed with the current a FLS RLS ON Limit signal turn ON b DOG STOP CHG OFF 2 When the input signal contact is flowed with the current a FLS RLS OFF Limit signal turn OFF b DOG STOP CHG ON Positive logic Opposite the concept of negative logic Note1 A mismatch in the signal logic will disable normal operation B...

Page 134: ... the INC mode with the setting regarded as 0 Pr 82 Forced stop valid invalid selection Set the forced stop valid invalid Only the value specified against the axis 1 is valid All axis of the servo amplifier are made to batch forced stop when the forced stop input signal is turned on But Servo READY signal OFF during operation error code 102 does not occur even if the forced input signal is turned o...

Page 135: ...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 136: ...ecome 1 to 2000000000 10 2 degree min by setting Pr 83 Speed control 10 x multiplier setting for degree axis to valid Pr 31 JOG speed limit value Set the maximum speed for JOG operation Note Set the JOG speed limit value to less than Pr 8 Speed limit value If the speed limit value is exceeded the JOG speed limit value error error code 956 will occur Pr 32 JOG operation acceleration time selection ...

Page 137: ... 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 138: ...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 139: ...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 140: ... 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 141: ...est 2 Pr 42 External command function selection 3 Skip request 3 0 62 212 362 512 Pr 83 Speed control 10 x multiplier setting for degree axis Table 2 on right page 0 63 213 363 513 Pr 84 Restart allowable range when servo OFF to ON 0 1 to 327680 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 si...

Page 142: ...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 143: ...put is used skip the current positioning operation POINT To enable the external command signal set the Cd 8 External command enable to 1 Pr 83 Speed control 10 x multiplier setting for degree axis Set the speed control 10 x multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at Pr 1 Unit setting setup degree by ten times...

Page 144: ...when the difference between the last command position for the QD75MH when it stopped and the present value when servo OFF changed to ON is less than the value set in the buffer memory for the restart allowable range setting a Servo emergency stop processing 1 For stop caused by a servo emergency stop signal positioning operation is judged as stopped and can be restarted if the difference between t...

Page 145: ...n of the QD75MH 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 ...

Page 146: ...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 147: ...e 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 near point dog ON and start deceleration 3 Decelerate to Pr 47 Creep speed and move with the creep sp...

Page 148: ... zero signal 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 w...

Page 149: ...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 150: ... 0 001 to 2000000 000 degree min but it will be decupled and become 0 01 to 20000000 00 degree min by setting Pr 83 Speed control 10 x multiplier setting for degree axis to valid 2 The OPR speed setting range is 1 to 2000000000 10 3 degree min but it will be decupled and become 1 to 2000000000 10 2 degree min by setting Pr 83 Speed control 10 x multiplier setting for degree axis to valid Pr 45 OP ...

Page 151: ...ed Pr 47 Creep speed ON V Machine OPR start Near point dog signal OFF Zero signal OPR speed Pr 46 Creep speed Pr 47 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 0 001 to 2000000 000 degree min 1 1 to 2000000000 1...

Page 152: ...etected 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 for OPR retry function 1 Movement in the OPR direction starts with the machine OPR start 2 The axis decelerates when the limit switch is detected 3 After stopping at dete...

Page 153: ...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 154: ...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 155: ...xecuted 1 0 87 237 387 537 0 OPR speed 0 Pr 56 Speed designation during 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 c...

Page 156: ...or error code 547 and positioning control will not be performed At this time operation with the manual control JOG operation inching operation manual pulse generator operation is available 2 The following shows whether the positioning control is possible to start restart or not a Start possible Machine OPR JOG operation inching operation manual pulse generator operation current value changing usin...

Page 157: ...46 OPR speed or Pr 47 Creep speed 0 Designate Pr 46 OPR speed as the setting value 1 Designate Pr 47 Creep speed as the setting value Pr 57 Dwell time during OPR retry When OPR retry is validated when 1 is set for Pr 48 set the stop time after decelerating in 2 and 4 in the following drawing Start position Temporarily stop for the time set in Pr 57 Temporarily stop for the time set in Pr 57 1 2 3 ...

Page 158: ...5 61 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 159: ...n Used to select the regenerative brake option 09 MR RB51 Pr 103 PA03 3 Absolute position detection system Used to select the absolute position detection system When used to the incremental 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 0 Invalid Incremental...

Page 160: ...ake option selection 0 H 1 is used to set up the setting value Hexadecimal 0 0000H 30102 30302 30502 30702 0 to 1 0 30103 30303 30503 30703 Forced stop selection 0 H 1 is used to set up the setting value Hexadecimal 0000H 30104 30304 30504 30704 0 to 3 1H 30108 30308 30508 30708 2 The PA corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once ...

Page 161: ...73 9Hz 26 195 9Hz 27 220 6Hz 28 248 5Hz 29 279 9Hz 30 315 3Hz 31 355 1Hz Pr 109 PA09 Auto tuning response Used to set the response of auto tuning When Pr 108 Auto tuning mode is valid Optimum response can be selected according to the rigidity of the machine As machine rigidity is higher faster response can be set to improve tracking performance in response to a command and to reduce setting time 3...

Page 162: ...d MR J3 B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 1 to 32 12 30109 30309 30509 30709 0 to 50000 100 30110 30310 30510 30710 2 The PA corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch it on again to make that parameter setting valid ...

Page 163: ...setting Pr 115 PA15 3 Encoder output pulses Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use Pr 166 Encoder output pulses selection to choose 0 Output pulse designation or 1 Division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of puls...

Page 164: ...d MR J3 B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 1 0 30114 30314 30514 30714 1 to 65535 4000 30115 30315 30515 30715 2 The PA corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch it on again to make that parameter setting valid ...

Page 165: ...1 Filter tuning mode Adaptive filter 2 Manual mode Gain filter setting Pr 120 PB02 Vibration suppression control filter tuning mode advanced vibration suppression control Used to set the vibration suppression control filter tuning mode of the servo amplifier Setting this parameter to 1 Vibration suppression control tuning mode automatically changes Pr 137 Vibration suppression control vibration fr...

Page 166: ...valid MR J3 B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 2 0 30119 30319 30519 30719 0 to 2 0 30120 30320 30520 30720 2 The PB corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch it on again to make that parameter setting valid ...

Page 167: ...t position Increase the gain to improve trackability in response to the position command When auto turning mode 1 2 is selected the result of auto turning is automatically used When Pr 108 Auto tuning mode is set to 1 Auto tuning mode 1 or 3 Manual mode this parameter can be set manually 1 to 2000 rad s Pr 126 PB08 Position loop gain Used to set the gain of the position loop Set this parameter to ...

Page 168: ...1 Axis 2 Axis 3 Axis 4 0 to 100 0 30122 30322 30522 30722 0 to 3000 70 30124 30324 30524 30724 1 to 2000 24 30125 30325 30525 30725 1 to 1000 37 30126 30326 30526 30726 20 to 50000 823 30127 30327 30527 30727 2 The PB corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch...

Page 169: ...ed to set the notch frequency of the machine resonance suppression filter 1 Setting Pr 119 Adaptive tuning mode to 1 Filter tuning mode automatically changes this parameter When Pr 119 Adaptive tuning mode setting is 0 Filter OFF the setting of this parameter is ignored 100 to 4500 Hz Pr 132 PB14 Notch form selection 1 Used to selection the machine resonance suppression filter 1 Setting Pr 119 Ada...

Page 170: ...528 30728 0 to 1000 980 30129 30329 30529 30729 100 to 4500 4500 30131 30331 30531 30731 0 1 is used to set up the setting value Hexadecimal Notch depth selection Notch width selection H 0 0000H 30132 30332 30532 30732 100 to 4500 4500 30133 30333 30533 30733 2 The PB corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is tra...

Page 171: ... Setting Pr 120 Vibration suppression control filter tuning mode to 1 Vibration suppression control tuning mode automatically changes this parameter When Pr 120 Vibration suppression control filter tuning mode is set to 2 Manual mode this parameter can be set manually When Pr 120 Vibration suppression control filter tuning mode setting is 0 Vibration suppression OFF the setting parameter is invali...

Page 172: ...tting value Hexadecimal Machine resonance suppression filter 2 Notch depth selection Notch width selection H 0000H 30134 30334 30534 30734 100 to 18000 3141 30136 30336 30536 30736 1 to 1000 1000 30137 30337 30537 30737 1 to 1000 1000 30138 30338 30538 30738 2 The PB corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is tran...

Page 173: ...Command frequency Pr 145 Gain changing condition setting value 3 Droop pulse value Pr 145 Gain changing condition setting value 4 Servomotor speed Pr 145 Gain changing condition setting value Gain changing condition 0 Valid at more than condition When Cd 108 Gain changing command setting is 1 the setting of this parameter is valid 1 Valid at less than condition When Cd 108 Gain changing command se...

Page 174: ...ion suppression control selection 0 PI PID control switch over selection 1 is used to set up the setting value Hexadecimal H 0000H 30142 30342 30542 30742 Gain changing selection 0 Gain changing condition 1 is used to set up the setting value Hexadecimal H 0000H 30144 30344 30544 30744 0 to 9999 10 30145 30345 30545 30745 0 to 100 1 30146 30346 30546 30746 2 The PB corresponds with servo parameter...

Page 175: ...uto tuning is invalid Pr 108 Auto tuning mode 3 0 1 to 5000 0 ms Pr 151 PB33 Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid This parameter is made valid when Pr 120 Vibration suppression control filter tuning mode setting is 2 Manual mode and Pr 144 Gain changing selection setting...

Page 176: ...0 to 3000 70 30147 30347 30547 30747 1 to 2000 37 30148 30348 30548 30748 20 to 50000 823 30149 30349 30549 30749 1 to 50000 337 30150 30350 30550 30750 1 to 1000 1000 30151 30351 30551 30751 1 to 1000 1000 30152 30352 30552 30752 2 The PB corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier f...

Page 177: ...tion 1 Division ratio setting Pr 167 PC04 3 Function selection C 1 Select the encoder cable communication system selection The following encoder cables are four wire type MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H 0 Two wire type 1 Four wire type Pr 168 PC05 3 Function selection C 2 Motor less operation select 0 Valid 1 Invalid Pr 170 PC07 Zero speed Used to set the output range of th...

Page 178: ... output pulse setting selection 1 is used to set up the setting value Hexadecimal H 0000H 30166 30366 30566 30766 Encoder cable communication system selection 0 1 is used to set up the setting value Hexadecimal H 0 0000H 30167 30367 30567 30767 0 to 1 0 30168 30368 30568 30768 0 to 10000 50 30170 30370 30570 30770 0 to D 0H 30172 30372 30572 30772 2 The PC corresponds with servo parameter No of th...

Page 179: ...solute position detection system D Bus voltage 8V 400 V 0 Servomotor speed 8V max speed 1 Torque 8V max torque Note 2 2 Servomotor speed 8V max speed 3 Torque 8V max torque Note 2 4 Current command 8V max current command 5 Speed command 8V max speed 6 Droop pulses 10V 1 x 10 2 PLS Note 1 7 Droop pulses 10V 1 x 10 3 PLS Note 1 8 Droop pulses 10V 1 x 10 4 PLS Note 1 9 Droop pulses 10V 1 x 10 5 PLS N...

Page 180: ...alid MR J3 B Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to D 0H 30172 30372 30572 30772 0 to D 1H 30173 30373 30573 30773 2 The PC corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch it on again to make that parameter setting valid ...

Page 181: ...s voltage 8V 400V Pr 174 PC11 Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 MO1 output 999 to 999 mV Pr 175 PC12 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 MO2 output 999 to 999 mV Expansion setting Pr 180 PC17 3 Function selection C 4 Home position setting condition in the absolute position detection system can be selected Used ...

Page 182: ...am Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to D 1H 30173 30373 30573 30773 999 to 999 0 30174 30374 30574 30774 999 to 999 0 30175 30375 30575 30775 0 to 1 0 30180 30380 30580 30780 2 The PC corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifier from QD75MH then switch it on again to make th...

Page 183: ...signal CN3 13 pin of the servo amplifier Note 1 It becomes to always OFF in speed control mode Note 2 It becomes SA Speed reached in speed control mode Note 3 For maker setting do not changed this value by any means 12 to 1F 20 to 3F Maker setting Note 3 00 Always OFF 01 Maker setting Note 3 02 RD Servo ON 03 ALM Servo alarm 04 INP In position Note 1 05 MBR Electromagnetic brake interlock 06 DB Dy...

Page 184: ...put signal device selection 1 0 H 1 is used to set up the setting value Hexadecimal 0 0005H 30202 30402 30602 30802 Output signal device selection 2 0 H 1 is used to set up the setting value Hexadecimal 0 0004H 30203 30403 30603 30803 2 The PD corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifi...

Page 185: ...N 03 ALM Servo alarm 04 INP In position Note 1 05 MBR Electromagnetic brake interlock 06 DB Dynamic brake 07 TLC Limiting torque 08 WNG Servo warning 09 BWNG Battery warning 0A Always OFF Note 2 0B Maker setting Note 3 0C ZSP Zero speed 0D Maker setting Note 3 0E Maker setting Note 3 0F CDPS Variable gain selection 10 Maker setting Note 3 11 ABSV Absolute position erasing Note 1 Input output setti...

Page 186: ...put signal device selection 2 0 H 1 is used to set up the setting value Hexadecimal 0 0004H 30203 30403 30603 30803 Output signal device selection 3 0 H 1 is used to set up the setting value Hexadecimal 0 0003H 30204 30404 30604 30804 2 The PD corresponds with servo parameter No of the servo amplifier 3 Set the parameter value and switch power off once The parameter is transferred to servo amplifi...

Page 187: ...996 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 188: ... 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 189: ...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 190: ...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 191: ... 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 192: ...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 193: ...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 194: ...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 195: ...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 196: ...5 99 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 197: ...en 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 add...

Page 198: ...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 199: ...n 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 se...

Page 200: ...ral 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 0 001 to 2000000 000 degree min 1 1 to 2000000000 10 3 degree min 2 3 PLS 1 to 50000000 PLS s 1 to 50000000 PLS s 1 The command speed setting range is 0 001 to 2000000 000 degree min but it will be decupled and becom...

Page 201: ...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 202: ...5 105 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 203: ... 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 204: ...0th 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 da...

Page 205: ...Start 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 t...

Page 206: ...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 207: ...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 208: ...5 111 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 209: ...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 210: ...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 211: ...Start 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 t...

Page 212: ...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 213: ... 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 214: ... 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 215: ...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 216: ...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 217: ...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 218: ...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 219: ... 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 220: ...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 221: ...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 222: ...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 223: ...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 to 16 records can be stored Md 18 Warning history pointer Indicates a pointer No that is next to the Pointer No assigne...

Page 224: ...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 to...

Page 225: ...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 226: ...e 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 22 When Pr 83 Speed control 10 x mult...

Page 227: ...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 228: ...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 has not been connected servo amplifier...

Page 229: ...ntrol 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 Lower limit signal Stop signal External command signal switching sign...

Page 230: ...in 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 When Pr 83 Speed control 10 x multipler setting for degree axis is valied 2 0000H 814 815 914 915 1014 1015 1114 1115 Monitoring is carried out with a he...

Page 231: ... 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 flag This signal c...

Page 232: ...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 233: ...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 234: ... 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 dog ON Md 34 When Pr 83 Speed control 1...

Page 235: ...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 236: ...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 237: ...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 238: ... 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 239: ...e during the OPR travel to the zero point that was executed last time For setting units Update timing 1 7ms Example mm Buffer memory 0 1 µm Md 101 Real current value This area stores the present value feed present value deviation counter droop pulses Update timing 1 7ms Example mm Buffer memory 0 1 µm Md 102 Deviation counter value This area stores the difference between the feed present and the a...

Page 240: ...b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 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 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 trav...

Page 241: ...fier Software No This area stores the Software No of the servo amplifier used This area is update when the control power of the servo amplifier is turned on Md 107 Parameter error No When a servo parameter error occurs the area that corresponds to the parameter number affected by the error comes ON ...

Page 242: ...1 074 080 053 052 047 048 049 050 051 054 055 056 057 058 059 060 PB16 PB45 PC01 PB17 PA07 007 001 PA01 002 PA02 003 PA03 004 PA04 005 PA05 006 PA06 008 PA08 009 PA09 010 PA10 011 PA11 012 PA12 013 PA13 014 PA14 015 PA15 022 016 017 018 019 020 021 023 024 025 026 027 028 029 030 PB04 PA16 PA17 PA18 PB01 PB02 PB03 PB05 PB06 PB07 PB08 PB09 PB10 PB11 PB12 PB27 PB19 037 031 PB13 032 PB14 033 PB15 034...

Page 243: ...the servo amplifier is lost the absolute position Servo warning Turn ON during the servo warning Update timing 1 7ms Md 109 Regenerative load ratio The rate of regenerative power to the allowable regenerative power is indicated as a percentage When the regenerative option is used the rate to the allowable regenerative power of the option is indicated Buffer memory Update timing 1 7 ms Md 110 Effec...

Page 244: ... READY ON Servo ON In position Torque limit Servo alarm Servo warning Stored items Meaning Absolute position lost POINT When the forced stop of QD75MH and servo amplifier occurs the servo warning is turned ON When the forced stop is reset the servo warning is turned OFF 0000H 877 977 1077 1177 Monitoring is carried out with a decimal display Monitor value Regenerative load ratio 0 878 978 1078 117...

Page 245: ...or 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 1...

Page 246: ...1900 Set with a decimal Setting value K Parameter initialization request 1 Requests parameter initialization The QD75MH 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 w...

Page 247: ...ng 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 QD75MH axis operation state is in error occurrence the error is cleared and the QD75MH is returned to the waiting state Cd 6 Restart command When positioning is stopped for any reason when axis operation state is stopped s...

Page 248: ...ation 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 QD75MH 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 QD75MH au...

Page 249: ...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 250: ...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 251: ...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 252: ...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 253: ... 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 50000000 Cd 14 New speed value When Pr 83 Speed control 10 x multiplier setting ...

Page 254: ...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 When Pr 83 Speed control 10 x multipler setting for degree axis is valied 2 0 1514 1515 1614 1615 1714 1715 1814 1815 Set with a decimal Setting value Speed change request 1 Executes speed change K The QD75MH resets the value to 0 ...

Page 255: ...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 50000000 Cd 17 JOG speed When Pr 83 Speed control 10 x multiplier setting for degree axis is valid this will be the setting range 0 to 2000000000 10 2 degree min Cd 18 Interruption reque...

Page 256: ...er 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 When Pr 83 Speed control 10 x multipler setting for degree axis is valied 2 0 1518 1519 1618 1619 1718 1719 1818 1819 Set with a decimal Setting value Interruption request continuo...

Page 257: ... input magnification This data item determines the factor by which the number of pulses from the manual pulse generator is magnified Value 0 read as 1 Value 1001 or less read as 1000 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 spec...

Page 258: ...urned 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 1000 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 ...

Page 259: ...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 speed control stage For that use this data item to specify a new speed...

Page 260: ...l 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 Unit R Setting value Decimal Conversion i...

Page 261: ...83647 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 following range Pr 1 mm 10 2 mm min inch 10 3 inch min Degree 10 3 degree m...

Page 262: ...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 When Pr 83 Speed control 10 x multipler setting fo...

Page 263: ...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 264: ...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 265: ...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 QD75MH is nitialized when a teaching operation completes and when a illegal value 601 or higher is entered Cd 40 ABS direction in degrees T...

Page 266: ... to 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 Sett...

Page 267: ...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 Cd 101 Torque output setting value i...

Page 268: ...h a decimal 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 1000 0 1552 1652 1752 1852 Set with a decimal Setting value Gain changing command 0 Gain changing command OFF 1 Gain changing command ON K 0 1559 1659 1759 1859 ...

Page 269: ...5 172 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 270: ...eated 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...

Page 271: ...ase 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 in...

Page 272: ...e two methods for communication with QD75MH 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 QD75MH When using the FROM TO command for communication with QD75MH change the...

Page 273: ...ange 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 Function E...

Page 274: ...tion 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 MH Out put Y14 Y15 Y16 Y17 Execution prohibition request Execution prohibi...

Page 275: ...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 276: ...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 277: ... 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 Inching movement amount Cd 16 Inching movement amount D6 JOG oper...

Page 278: ...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 279: ...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 103 Absolute ...

Page 280: ...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 281: ...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 282: ...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 283: ...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 284: ...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 285: ... 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 286: ... 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 287: ...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 288: ...tion interrupt program Refer 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 pro...

Page 289: ... 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 QD75MH 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 321: ...ls 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 e...

Page 322: ... 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 323: ... 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 324: ...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 325: ...n flag ON QD75MH 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 There is no error 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 Forced stop input signal ON There is no forced st...

Page 326: ...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 327: ... 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 328: ...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 329: ...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 330: ...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 0 9 to 1 3 2 7 to 4 9 0 to 0 8 0 to 1 7 The t1 timing time could be delayed depending on the operating conditions of the other axis ...

Page 331: ... 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 332: ...g 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 ...

Page 333: ...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 334: ... 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 335: ...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 336: ...e Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD75MH 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 There is no error X8 X...

Page 337: ...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 338: ...nual pulse generator operation Forced stop input signal from an external device OFF All axes No change Servo OFF Servo READY OFF Servo amplifier power supply OFF Servo amplifier disconnected Servo alarm During error Forced stop Forced stop input to servo amplifier Each axis No change Servo OFF Servo OFF or free run The operation stops with dynamic brake Fatal stop Stop group 1 Hardware stroke limi...

Page 339: ...with dynamic brake or electromagnetic brake The operation does not decelerate The QD75MH 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 i...

Page 340: ...speed at stop cause occurrence When Cd 42 1 deceleration curve continuation The current deceleration curve is continued after stop cause occurrence For details refer to Section 12 7 10 Stop command processing for deceleration stop function 2 If the stop signal designated for sudden stop turns ON or a stop cause occurs during deceleration the sudden stop process will start from that point However i...

Page 341: ...on speed 2 If stop is input during deceleration for OPR the operation will stop at that deceleration speed If input at the creep speed the operation will stop immediately 3 If a stop cause designated for sudden stop occurs during deceleration the sudden stop process will start from that point The sudden stop process during deceleration is carried out only when the sudden stop time is shorter than ...

Page 342: ...s the QD75MH 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 QD75MH memory 7 2 7 1 1 Configuration and roles of QD75MH memory 7 2 7 1 2 Buffer memory area configurati...

Page 343: ...ea 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 s...

Page 344: ...et the items indicated with Cd 1 to Cd 42 Cd 100 to Cd 108 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 345: ...art 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 30804 Servo parameter area No 30100 to 30804 ...

Page 346: ...99 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 347: ...84 30564 to 30584 30764 to 30784 Servo parameter area Input output setting parameter area 30202 to 30204 30402 to 30404 30602 to 30604 30802 to 30804 Possible Use of address Nos skipped above is prohibited If used the system may not operate correctly POINT When the parameter of the servo amplifier side is changed it is transmitted to the servo memory area in the buffer memory after the QD75MH is r...

Page 348: ...7 7 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO ...

Page 349: ...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 QD75MH PLC CPU Parameter area a Parameter area b Positioning data ar...

Page 350: ...e TO command it is simultaneously valid 1 Parameter area b Parameters validated simultaneously with the writing to the buffer memory with the TO command Pr 8 to Pr 10 Pr 25 to Pr 42 Pr 84 POINT When a value other than 0 has been set to the servo parameter Pr 100 Servo series 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 351: ...tting values of the parameters that correspond to parameter area b are valid when written into the buffer memory with the TO command However the setting values of the parameters that correspond to parameter area a are not validated until the PLC READY signal Y0 changes from OFF to ON 4 Accessing with FROM command from PLC CPU The data is read from the buffer memory to the PLC CPU using the FROM co...

Page 352: ...7 11 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO ...

Page 353: ...o 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 QD75MH PLC CPU Servo parameter area No 30100 to 30804 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 area No 301...

Page 354: ...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 355: ...ositioning 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 PLC CPU Servo parameter area No 30100 to 30804 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 30804 Parameter area a Parameter area b Flash ROM 9 Data write to to to to ...

Page 356: ... 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 357: ...600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory Servo parameter area No 30100 to 30804 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 30804 Flash ROM QD75MH Servo amplifier Servo parameter area to For MR J3 B ...

Page 358: ...meters Pr 129 Speed differential compensation Gain filter setting parameters About the communication start with servo amplifier Communication with servo amplifier is valid when following condition is realized together 1 The power of QD75MH and servo amplifier is turned ON 2 When the servo parameter Pr 100 Servo series inside the buffer memory area is set to the value other than 0 in QD75MH When th...

Page 359: ...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 QD75MH initialization of the data when the power is turned ON 2 Communication with servo amplifer is carrie...

Page 360: ...l 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 t...

Page 361: ... 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 QD75MH state ...

Page 362: ...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 16 Chapter 9 Major Positioning Control 9 1 to 9 116 Chapter 10 High Level Positioning Control 10 1 to 10 26 Chap...

Page 363: ...MEMO ...

Page 364: ... 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 5 8 2 1 Outline of the machine OPR operation 8 5 8 2 2 Machine OPR method 8 6 8 2 3 OPR method 1 Near point dog method 8 7 8 2 4 OPR method 2 Count method 1 8 9 8 2 5 OPR method 3 Count method 2 8 11 8 2 6 OPR method 4 Data...

Page 365: ...signal The PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control For details refer to Chapter 14 Dedicated instructions 1 Establish a positioning control OP Machine OPR positioning start No 9001 2 Carry out positioning toward the OP Fast OPR positioning start No 9002 The machine OPR in 1 above must always be carried out before executing the fas...

Page 366: ...ower is turned ON in the case of the absolute position system however the OPR request flag is not established When the machine OPR has not been executed at the absolute position system When the absolute position lost Md 108 Status b4 turns ON in the absolute position system When the Pr 114 Rotation direction selection is changed When the machine OPR starts The address information stored in the QD7...

Page 367: ...R 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 368: ...to be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following shows the operation when starting a machine OPR 1 The machine OPR is started 2 The operation starts according to the speed and direction set in the OPR parameters Pr 43 to Pr 57 3 The OP is established by the method set in Pr 43 O...

Page 369: ...ng 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 at the Pr 47 Creep speed The machine moves the distance set in the Pr 50 Setting for the mov...

Page 370: ...1 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 value Mach...

Page 371: ...st be passed at least once before point A is reached However if selecting 1 It is not necessary to pass through the Z phase after the power on with Pr 180 Function selection C 4 it is possible to carried out the home position return OPR 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 detect...

Page 372: ... to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF 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 pos...

Page 373: ...ce before point A is reached However if selecting 1 It is not necessary to pass through the Z phase after the power on with Pr 180 Function selection C 4 it is possible to carried out the home position return OPR 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 mac...

Page 374: ...g when the near point dog ON is detected 3 The machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed 4 The command from the QD75MH 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 ...

Page 375: ...ar 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 OP...

Page 376: ...tioning 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 However if selecting 1 Not need to pass motor Z phase after the power supply is switched on with Pr 180 Function selection C 4 it is possible to carried out the home position return OP...

Page 377: ... 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 Fi...

Page 378: ...ositioning operation Md 26 Axis operation status Y10 Y11 Y12 Y13 X10 X11 X12 X13 XC XD XE XF Fig 8 11 Operation timing and processing time of fast OPR Normal timing time Unit ms t1 t2 t3 1 0 to 1 3 3 0 to 4 4 0 to 1 8 The t1 timing time could be delayed by the operation state of other axes Operating restrictions When the OPR complete flag Md 31 Status b3 is ON executing a fast OPR start will resul...

Page 379: ...condition is stored into the following buffer memory addresses Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 180 Function selection C 4 PC17 0 0 Need to pass motor Z phase after the power supply is switched on 1 Not need to pass motor Z phase after the power supply is switched on 30180 30380 30580 30780 Refer to Section 5 2 9 Servo parameters Expan...

Page 380: ... 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 381: ...1 axis is carried out from the start address current stop position The Md 20 Current feed value is set to 0 at the start 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 382: ...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 383: ...ddress 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 QD75MH positioning completion Positioning data No 1 Da 10 M code Set this item when carr...

Page 384: ...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 385: ... 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 386: ...he 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 387: ...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 388: ...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 389: ...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 390: ...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 391: ... 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 392: ...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 393: ...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 394: ...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 395: ...value to a new value This value is updated every 1 7ms 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 curr...

Page 396: ...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 397: ...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 398: ...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 399: ...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 400: ...ls 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 i...

Page 401: ...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 2 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 required Set according to requirements Set to when not used Setting res...

Page 402: ...polation 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 5...

Page 403: ...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 404: ...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 405: ...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 406: ... 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 407: ...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 408: ... 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 409: ... 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 410: ...nt 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 cur...

Page 411: ...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 412: ...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 413: ...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 414: ...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 415: ... 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 416: ...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 417: ...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 418: ...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 419: ...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 420: ...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 421: ...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 422: ...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 423: ...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 424: ... 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 425: ...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 426: ... 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 427: ...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 428: ...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 429: ...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 430: ...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 431: ...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 432: ... 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 433: ...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 434: ...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 435: ... 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 436: ...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 437: ...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 438: ...ion 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 set...

Page 439: ...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 440: ...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 441: ...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 442: ...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 443: ... 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 address...

Page 444: ...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 445: ...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 446: ...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 447: ...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 448: ... 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 449: ...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 450: ...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 451: ...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 452: ...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 453: ... 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 454: ...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 455: ...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 456: ...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 457: ... 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 458: ...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 459: ...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 460: ...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 461: ... 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 462: ...Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 81 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 p...

Page 463: ...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 464: ...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 465: ... 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 466: ...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 467: ...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 468: ... 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 469: ...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 10000 0µm INC mode Pr 81 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 470: ...DY signal Y0 turns ON Use the detailed parameter 1 Pr 81 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 81 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 op...

Page 471: ...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 472: ... 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 473: ...ol 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 t4 Fig 9 17 Operation timing and processing time during speed position switching con...

Page 474: ...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 475: ...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 476: ... 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 81 Speed position function selection...

Page 477: ... 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 81 2 Set the address after the switching to position control Assuming that the Pr 1 Unit setting is set t...

Page 478: ...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 479: ... 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 480: ...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 481: ...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 482: ...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 483: ...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 484: ...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 485: ... 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 486: ...etting example Setting details Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will be executed Continuous path control cannot be set by current value change Da 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 n...

Page 487: ...rrent value range error code 514 will occur if the designated value is outside the setting range when degree is set in Unit setting 2 An error Software stroke limit error code 507 or 508 will occur if the designated value is outside the software stroke limit range 3 The current value cannot be changed during stop commands and while the M code ON signal is ON 4 The M code output function is made in...

Page 488: ...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 489: ...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 490: ... 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 491: ...on execution conditions When block positioning data No 7000 to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When the execution conditions set in Da 10 M code of the JUMP instruction have been established the JUMP instruction is executed to jump the operation to the positioning data No set in Da 9 Dwell time When...

Page 492: ...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 493: ...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 494: ...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 495: ...9 116 MELSEC Q 9 MAJOR POSITIONING CONTROL MEMO ...

Page 496: ...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 497: ...epeats 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 positioni...

Page 498: ...data stored in the QD75MH 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 ...

Page 499: ...119 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 œ ˆ Ê uŒ ˆ ßŽ n ƒ f ƒ Setting item Buffer memory address 26001 26051 1...

Page 500: ...305 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 Conditio...

Page 501: ...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 502: ...level 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 Shape 1 Continue Da 12 Start data No 1 to 600 Da 13 Special start instruction 0 1 2 3 4 5 6 Da 14 Parameter Condition data No No of repetitions Condition data No One of the two setting items must...

Page 503: ...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 504: ...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 505: ...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 506: ...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 507: ...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 508: ...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 509: ...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 510: ...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 511: ...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 512: ...signation 30H Axis 1 and axis 2 designation 40H Axis 3 designation 50H Axis 1 and axis 3 designation 60H Axis 2 and axis 3 designation 70H Axis 1 axis 2 and axis 3 designation 80H Axis 4 designation 90H Axis 1 and axis 4 designation A0H Axis 2 and axis 4 designation B0H Axis 1 axis 2 and axis 4 designation C0H Axis 3 and axis 4 designation D0H Axis 1 axis 3 and axis 4 designation E0H Axis 2 axis 3...

Page 513: ...OSITIONING 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 QD75MH memory Address 30000 30001 30099 QD75MH buffer memory ...

Page 514: ...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 515: ...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 516: ...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 517: ...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 518: ...ignal 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 po...

Page 519: ...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 QD75 READY signal ON QD75MH pre...

Page 520: ...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 521: ...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 522: ...4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start programs for JOG operation 11 10 11 2 5 JOG operation example 11 13 11 3 Inching operation 11 17 11 3 1 Outline of inching operation 11 17 11 3 2 Inching operation execution procedure 11 20 11 3 3 Setting the required parameters fo...

Page 523: ...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 524: ...o Section 3 2 4 Combination of QD75MH 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 Configu...

Page 525: ...n 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 f...

Page 526: ...1 JOG speed limit value and an Axis warning will occur in the QD75MH 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 op...

Page 527: ... 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 1 8 0 to 3 0 4 0 to 4 2 0 to 1 0 Delays may occur in the t1 timing time due to the operatio...

Page 528: ...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 QD75MH 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 op...

Page 529: ... 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 invalid...

Page 530: ...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 531: ...embled 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 QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD75MH buffer memory The access is ...

Page 532: ... 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 533: ...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 534: ... 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 signa...

Page 535: ... when the QD75MH 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 sign...

Page 536: ... 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 537: ... 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 538: ... 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 539: ...wing 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 562 5 When the unit is degree and the Pr 82 Speed control 10 x multiplier setting for degree axis is valid 33 75 When the unit is other than the above 337 5 2 JOG start signal OFF ON immediately after stop signal ON OFF within 100 ms is ignored Operation will not start...

Page 540: ...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 2 8 3 1 to 3 3 0 to 3 5 Depending on parameters Depending on the operating statuses of the o...

Page 541: ...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 QD75MH 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...

Page 542: ...it 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 543: ... 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 QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON Accessible to QD75MH buffer memory X1 Axis stop ...

Page 544: ...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 545: ...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 546: ...n 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 durin...

Page 547: ... 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 548: ...nerator 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...

Page 549: ...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 550: ...ion 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 X12 X13 Posit...

Page 551: ...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 552: ...input 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 Configurato...

Page 553: ...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 Pr...

Page 554: ... 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 signal ON QD75MH preparation compl...

Page 555: ... 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 556: ...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 557: ...11 36 MELSEC Q 11 MANUAL CONTROL MEMO ...

Page 558: ...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 4 5 Forced stop function 12 39 12 5 Functions to change the control details 12 42 12 5 1 Speed change function 12 42 12 5 2 Override function 12 49 12 5 3 Acceleration deceleration time change function 1...

Page 559: ...and 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 within the Pr 17 Torque limit setting value setting range Software stroke limit functio...

Page 560: ... can change the speed Command in position function At each automatic deceleration this function calculates the remaining distance for the QD75MH to reach the positioning stop position and when the value is less than the set value sets the command in position flag When using another sub work before ending the control use this function as a trigger for the sub work Acceleration deceleration process ...

Page 561: ...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 562: ...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 563: ... 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 564: ...try 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 QD75MH When the parameters are set the OP...

Page 565: ...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 566: ...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 567: ...f 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 QD75MH 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 Factor...

Page 568: ...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 569: ...ment 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 QD75MH 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 570: ...tarted 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 moveme...

Page 571: ...ntrol unit QD75MH 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 ...

Page 572: ...vel 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 262144 S 10000 0 µm 9 44 262144 44 10000 0 9 11534336 90000 0 1441792 1441792 AP 11250 0 11250 0 AL 1 AM 1441792 AP 1125 0 AL 10 AM Thus AP AL and AM to be set are as follows AP 1...

Page 573: ...y axis When the rotary axis is used the motor is HF KP 262144PLS 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 262144 S Machine travel value per motor revolution 360 00000 degree Reduction ratio 360 00000 3 11 Substitute this for the abov...

Page 574: ...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 262144 S Machine travel value per motor revolution 135000 0 µm Reduction ratio 135000 0 µm 7 53 1...

Page 575: ...AP 24168089 41680896 AP S AL AM 2968805 0 2968805 0 AL 1 AM Thus AP AL and AM to be set are as follows AP 41680896 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 41680896 9450000 41680896 1 100 1 94 10 6 It is equivalent to an about 19 4 µm error in continuous 1km feed ...

Page 576: ...L AM L L PLS Servo amplifier QD75MH AP AL AM Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration QD75MH Calculation example Conditions Movement amount per pulse 262144 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 C...

Page 577: ...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 578: ...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 579: ...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 580: ...etween the speed limit function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit function Speed limit value 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 ...

Page 581: ... use the speed limit function set the speed limit value in the parameters shown in the following table and write them to the QD75MH The set details are validated after they are written to the QD75MH 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 val...

Page 582: ...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 583: ... 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 584: ...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 tor...

Page 585: ...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 586: ...e 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 an...

Page 587: ...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 588: ...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 589: ... 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 590: ...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 QD75MH Pr 12 Software stroke l...

Page 591: ...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 592: ...on stop by the input of a signal from the limit switch Damage to the machine can be prevented by stopping the control before the upper lower limit of the physical moveable range is reached The hardware stroke limit is able to use external input connector of the QD75MH or servo amplifier Refer to the Pr 80 External signal selection The details shown below explain about the hardware stroke limit fun...

Page 593: ...fier SSCNET Start Movement direction Deceleration stop at upper limit switch detection Upper limit switch Deceleration stop at lower limit switch detection Lower limit switch Deceleration stop at upper limit switch detection Upper limit switch Servo amplifier QD75MH 1 For an external input signal of QD75MH Mechanical stopper Mechanical stopper Movement direction Movement direction Start Start QD75...

Page 594: ...ed properly In addition the servomotor does not stop Refer to Section 5 2 7 Servo parameters Basic setting for details about the Pr 114 Rotation direction selection Fig 12 19 Wiring when using the hardware stroke limit 3 Precautions during control 1 If the machine is stopped outside the QD75MH control range outside the upper lower limit switches or if stopped by hardware stroke limit detection the...

Page 595: ...ing When the logic of FLS and RLS is set to positive logic using Pr 22 Input signal logic selection positioning control can be carried out even if FLS and RLS are not wired For details refer to Section 13 4 External I O signal logic switching function QD75MH FLS RLS COM 24VDC MR J3 B DICOM 24VDC DI1 FLS DI2 RLS Fig 12 20 Wiring when not using the hardware stroke limit function When Pr 22 Input sig...

Page 596: ...bout the forced stop function 1 Control details 2 Wiring the forced stop 3 Setting the forced stop 4 How to check the forced stop 5 Precautions during control 1 Control details A warning controller forced stop warning warning code 2147 will occur if turned on the forced stop input signal when the Pr 82 Forced stop valid invalid is set 0 Valid And then it is available for all axes of servo amplifie...

Page 597: ...rence Pr 82 Forced stop valid invalid 0 Forced stop valid Md 108 Servo status b1 Servo ON ON 0 1 OFF 1 ON ON OFF Forced stop causes occurrence Fig 12 21 Operation for the forced stop function 2 Wiring the forced stop When using the forced stop function wire the terminals of the QD75MH forced stop input as shown in the following drawing Either polarity can be connected to the forced stop input EMI ...

Page 598: ...own in the following table Setting item Setting value Setting details Buffer memory address Md 50 Forced stop input Stores the states ON OFF of forced stop input 0 Forced stop input ON Forced stop 1 Forced stop input OFF Forced stop release 1431 Refer to Section 5 6 1 System monitor data for details on the setting details 5 Precautions during control 1 After the Forced stop input is released the s...

Page 599: ... 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 600: ...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 601: ... 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 602: ...orrectly 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 603: ...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 27 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 604: ...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 605: ...d signal QD75MH 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 606: ...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 607: ...y 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 QD75MH 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 an...

Page 608: ...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 30 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 609: ...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 610: ... 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 611: ...tion time change during speed change enable disable selection Controlled with the acceleration deceleration time in the parameter 5 The acceleration deceleration time change function is disabled for JOG operation and inching operation POINT If the speed is changed when an acceleration deceleration change is enabled the new acceleration deceleration time will become the acceleration deceleration ti...

Page 612: ...08 1509 1608 1609 1708 1709 1808 1809 Cd 11 New deceleration time value Set the new deceleration time 1510 1511 1610 1611 1710 1711 1810 1811 Cd 12 Acceleration deceleration time change during speed change enable disable selection 1 Set 1 Acceleration deceleration time change enable 1512 1612 1712 1812 Refer to Section 5 7 List of control data for details on the setting details Example No 16 Accel...

Page 613: ...tting 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 QD75MH 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 QD75MH The details shown below explain about the torque change funct...

Page 614: ... 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 tha...

Page 615: ...ed ON 3 If the setting value is outside the setting range an axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed 4 If the time to hold the new torque value is not more than 100ms a torque change may not be executed 3 Setting the torque change function start signal To use the torque change function write the data shown in the following table to...

Page 616: ... up Return of the present value Battery Position command Control command Servo parameter Monitor data Fig 12 33 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 When an absolut...

Page 617: ...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 34 Operation of...

Page 618: ... 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 619: ...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 620: ... 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 621: ...al Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Fig 12 35 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step Cd 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 622: ... 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 QD75MH 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 ste...

Page 623: ...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 624: ...dress 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 Q...

Page 625: ...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 626: ...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 627: ...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 628: ...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 629: ...al 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 630: ... 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 631: ...me 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 RO...

Page 632: ...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 633: ...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 634: ...rite 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 M...

Page 635: ...Set teaching data Set positioning data No Execute teaching Turn OFF teaching command memory POINT 1 Confirm the teaching function and teaching procedure before setting the positioning data 2 The positioning addresses that are written are absolute address ABS values 3 If the positioning operation is correctly completed with the written positioning data it is recommended that the positioning data be...

Page 636: ...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 637: ...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 638: ...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 639: ...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 640: ...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 641: ...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 44 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 642: ...tion 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 ...

Page 643: ...tting In the QD75MH 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 QD75MH T...

Page 644: ...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 45 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 645: ...5MH The set details are validated when written to the QD75MH 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 ...

Page 646: ...ading 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 M...

Page 647: ... Cutter shaft Feed shaft Stock Fig 12 49 System example using pre reading start function Fig 12 49 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 50 ...

Page 648: ...eceives 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 50 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 ...

Page 649: ... 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 turne...

Page 650: ...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 651: ...For the deceleration start flag function 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 1 Control details When deceleration for a stop is started in the position control whose operation pattern is Positioning complete 1 is stored into Md 48 Deceleration start flag When the next o...

Page 652: ...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 653: ...flag 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 ...

Page 654: ... 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 655: ...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 656: ... 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 657: ...they 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 Cont...

Page 658: ...is valid this function related to the command speed monitor data speed limit value is shown below 1 Command speed a Parameters Pr 46 OPR speed Pr 47 Creep speed Cd 14 New speed value Cd 17 JOG speed Cd 25 Position speed switching control speed change register Cd 28 Target position change value New speed Da 8 Command speed b Major positioning control 1 For 2 to 4 axis linear interpolation control a...

Page 659: ...peed control 10 x multiplier setting for degree axis is evaluated whether it is valid for each axis If valid the positioning control will be performed at decuple speed of setting value max speed 2 Setting method of Speed control 10 x multiplier setting for degree axis function Normally the speed specification range is 0 001 to 2000000 000 degree min but it will be decupled and become 0 01 to 20000...

Page 660: ...ion Current value changing using current value changing start No No 9003 The positioning control is impossible to start restart in the following case 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed feed control 2 axis circular interpolation control with sub point designation 2 axis circular interpolation control with center point designation 1 2 3 4 axis speed cont...

Page 661: ...ethod of Operation setting for incompletion of OPR The use the Operation setting for incompletion of OPR set the following parameters using a PLC program Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 55 Operation setting for incompletion of OPR Set the operation setting for incompletion of OPR 0 Positioning control is not executed 1 Positioning con...

Page 662: ...l 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 663: ... 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 56 Operation timings of follow up function POINT The follow ...

Page 664: ...s 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 signal selection function 13 7 13 5 External I O signa...

Page 665: ...evices Parameter initialization This function returns the parameter stored in the QD75MH buffer memory and flash ROM to 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 QD75MH For the sys...

Page 666: ...PR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 49 to Pr 57 Servo parameters Pr 100 to Pr 204 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 667: ...ng the TO command intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75MH 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 668: ...shows the data that can be written to the flash ROM using the execution data backup function Buffer memory Flash ROM Parameters Pr 1 to Pr 57 Pr 80 to Pr 84 Parameters Pr 1 to Pr 57 Pr 80 to Pr 84 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 204 Servo parameters Pr 100 to Pr 204 3 Precautio...

Page 669: ... by the writing of the data shown in the table below to the QD75MH 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 QD75MH 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 Refe...

Page 670: ...xternal signal selection 0 External input signal of QD75MH 1 External input signal of servo amplifier 32 182 332 482 The use the External input signal of QD75MH servo amplifier set the Pin No shown in the following table Setting details 0 External input signal of QD75MH 1 External input signal of servo amplifier Axis No Pin No Signal name Pin No Signal name 1A3 DOG 1A2 RLS Axis 1 1A1 FLS 2A3 DOG C...

Page 671: ... value Axis 1 Axis 2 Axis 3 Axis 4 Selection of logic of signals input from external device to QD75MH b0 1 Lower limit b1 1 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 1 Near point dog signal 0 Negative logic 1 Positive logic b7 Not used Set 0 b8 Manual pulse generator inp...

Page 672: ...s of the intelligent function module Using the dedicated instructions the programming can be carried out without being aware of the QD75MH 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 673: ...ites 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 execute...

Page 674: ... 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 QD75MH 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 675: ...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 676: ...struction is input 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 instruc...

Page 677: ...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 678: ...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 QD75MH 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 sc...

Page 679: ...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 680: ...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 681: ...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 682: ...rol 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...

Page 683: ...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 684: ...flash 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 ...

Page 685: ...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 686: ...ice 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 C...

Page 687: ...xt 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 de...

Page 688: ...nce 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 storage OFF PLC READY output to QD75MH ...

Page 689: ...14 18 MELSEC Q 14 DEDICATED INSTRUCTIONS MEMO ...

Page 690: ...devices When an error or warning is detected confirm the detection details and carry out the required measures 15 1 Error and warning details 15 2 15 2 List of errors 15 6 15 2 1 QD75MH detection error 15 6 15 2 2 MR J3 B detection error 15 36 15 3 List of warnings 15 50 15 3 1 QD75MH detection warning 15 50 15 3 2 MR J3 B detection warning 15 56 15 4 LED display functions 15 60 ...

Page 691: ...ly in the reference axis during analysis of the positioning data set in each point of the positioning start data table a When the interpolation axis is BUSY b When the error occurred in positioning data or parameters unrelated to interpolation control If the error occurred at the simultaneous start of a positioning operation the axis error storage details will differ depending on whether the error...

Page 692: ...ection 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 QD75MH include system warnings axis warnings and warnings detected by servo amplifier 1 Warnings include system warnings The types of system warni...

Page 693: ...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 694: ...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 695: ...communicate with the CPU unit The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the deceleration stop only occurs during the manual pulse generator operation 104 Hardware stroke limit The hardware stroke limit upper limit signal FLS is input turned OFF 105 Hardware stroke limit The hardware stroke limit lower li...

Page 696: ... 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 wh...

Page 697: ...rn OPR a parameter Setting 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...

Page 698: ...r point dog ON 0 to 2147483647 74 75 224 225 374 375 524 525 OPR speed 1 to 50000000 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...

Page 699: ...us start FOR condition 1 Condition data No 10 The operation is terminated When blocks are started simultaneously The partner axis for simultaneous start is BUSY 501 Error before simultaneous start When multiple axes are started and controlled simultaneously 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 ran...

Page 700: ...Refer to Section 5 4 Da 14 Refer to Section 5 5 List of condition data Condition operators Axis designation 10H 20H 30H 40H 50H 60H 70H 80H 90H A0H B0H C0H D0H E0H 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...

Page 701: ...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 702: ...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 703: ...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 704: ...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 705: ...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 706: ...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 50000000 PLS s 1 to 2000000000 mm min or others Correct the command speed Refer to Section 5 3 Da 8 29 179 ...

Page 707: ... 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 708: ...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 709: ...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 710: ... 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 711: ...operate During operation The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 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...

Page 712: ...if OPR request signal has been turned on at the system which can be executed the positioning control Clear the setting of the PLC CPU module parameter Output at error stop Refer to QCPU User s Manual Replace the flash ROM with a new one 1901 Parameter initialization request 1 Parameter initialization is requested Return the parameter to that set at the time of delivery from the plant Refer to Sect...

Page 713: ... range The set range of the basic parameter 1 Unit magnification is outside the setting range 906 Outside bias speed range The set range of the basic parameter 1 Bias speed at start is outside the setting range The bias speed exceeds the speed limit The QD75 READY signal X0 is not turned ON 910 Outside speed limit value range The set range of the basic parameter 2 Speed limit value is outside the ...

Page 714: ...setting range turn the PLC READY signal Y0 from OFF to ON 1 151 301 451 1 10 100 1000 After setting the AL x AM is not less than 2147483647 turn the PLC READY signal Y0 from OFF to ON 6 7 156 157 306 307 456 457 0 PLS s 0 mm min or others Set the bias speed to not more than 0 After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON 10 11 160 161 310 311 460 461 ...

Page 715: ... outside the setting range 924 Software stroke limit valid invalid setting error The set range of the detailed parameter 1 Software stroke limit valid invalid setting is outside the setting range 925 Command in position width error The set range of the detailed parameter 1 Command in position width is outside the setting range 926 Illegal torque limit setting value error The set range of the detai...

Page 716: ...it other than degree set the setting so that the lower limit value is smaller than the upper limit value 20 21 170 171 320 321 470 471 mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 In case unit is degree set the value inside the setting range In case unit is different than degree set so that the lower limit value is smaller than the upper limit value 22 172 322 472 0 1 23 173 323 473 0...

Page 717: ...system stops with the setting deceleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 954 Deceleration time 2 setting error The set range of the detailed parameter 2 Deceleration time 2 is outside the setting range 955 Deceleration time 3 setting error The set range of the d...

Page 718: ...8 489 1 to 8388608 40 41 190 191 340 341 490 491 1 to 8388608 42 43 192 193 342 343 492 493 1 to 8388608 After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON 44 45 194 195 344 345 494 495 1 to 8388608 46 47 196 197 346 347 496 497 1 to 8388608 After setting the value inside the setting range turn the PLC READY signal Y0 from OFF to ON 48 49 198 199 348 349 4...

Page 719: ...l command function selection is outside the setting range At start The system will not operate During operation The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 970 Restart allowable range error The set range of the detailed parameter...

Page 720: ... 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 to 10000 62 212 362 512 0 1 2 3 64 65 214 215 364 365 514 515 0 to 163840 63 213 363 513 0 1 70 220 370 520 0 1 4 5 6 71 221 371 521 0 1 72 73 222 223 372 373 522 523 mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 After setting the value inside the setting range turn the PLC READY signal Y0 from OFF t...

Page 721: ...turn 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 position return OPR error The set range of the home position return OPR detailed parameter Home position return OPR is outside the setting range 991 Setting for the movement amount after near point dog ON error The set range of the home position re...

Page 722: ...fer to Section 5 2 5 76 77 226 227 376 377 526 527 Creep speed 1 to 50000000 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 Section 5 2 5 78 228 378 528 0 1 79 229 379 529 0 to 65535 80 81 230 231 380 381 530 531 0 to 2147483647 82 232 382 532 0 ...

Page 723: ...s 998 Operation setting for incompletion of OPR setting error The set range of the home position return OPR detailed parameter Operation setting for incompletion of OPR setting is outside the setting range The QD75 READY signal X0 is not turned ON 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 ...

Page 724: ...alue inside the setting range turn the PLC READY signal Y0 from OFF to ON 0 1 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 114 Rotation direction selection is set 0 1 or 1 0 by PLC program or GX configurator QP Refer to Section 14 5 P...

Page 725: ...rts in the servo amplifier 2012 12 Memory error 1 RAM RAM memory error Faulty parts in the servo amplifier Printed circuit board fault Faulty parts in the servo amplifier 2013 13 Clock error Clock error transmitted from the QD75MH Faulty QD75MH 2014 14 CPU watch dog error Printed circuit board fault Faulty parts in the servo amplifier Faulty parts in the servo amplifier 2015 15 Memory error 2 EEP ...

Page 726: ... 2013 occurs when multi CPU system is reset Change the QD75MH Always Servo amplifier error 2015 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 Correct the setting in the fourth digit of Pr 167 Function selection C 1 Imme diate stop Servo amplifier error 2017 2019 occ...

Page 727: ...ge low Absolute position data in error Battery cable or battery fault 2025 25 Absolute position lost Power was switched on for the first time in the absolute position detection system Home position not set Parameter Pr 102 Regenerative brake resistor setting value error Built in regenerative brake resistor or regenerative brake option is not connected High duty operation or continuous regenerative...

Page 728: ...w minutes switch power off then on again Always make OPR setting again Regenerative brake option 30102 30302 30502 30702 Set correctly Connect correctly Call the status display and check the regenerative load ratio Reduce the frequency of positioning Use the regenerative brake option of larger capacity Reduce the load Review power supply Change servo amplifier or regenerative brake option Always I...

Page 729: ...ctric gear ratio is large 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 Ground fault occurred in servomotor power U V W Servo amplifier errors 2032 32 Overcurrent Current that flew is higher than the permissible current of the ser...

Page 730: ...inertia moment ratio or 2 Reexamine acceleration deceleration time constant No of pulses per rotation 2 3 152 153 302 303 452 453 Movement amount per rotation 4 5 154 155 304 305 454 455 Unit setting 1 151 301 451 Confirm whether Pr 2 No of pulses per rotation and Pr 3 Movement amount per rotation is applied to the machine specification Change the servomotor Correct the wiring Servo amplifier erro...

Page 731: ...ected Regenerative transistor faulty Wire breakage of built in regenerative brake resistor or regenerative brake option Capacity of built in regenerative brake resistor or regenerative brake option is insufficient Power supply voltage high 2033 33 Overvoltage Converter bus voltage exceeded 400VDC Short circuit in the servo amplifier out put phase U V W phase The SSCNET cable is disconnected The su...

Page 732: ... regenerative brake option change regenerative brake option Regenerative brake option 30102 30302 30502 30702 Add regenerative brake option or increase capacity Review the power supply Correct the wiring Connect the connector of the SSCNET cable Wipe dirt at the surface away Change the cable Take noise suppression measures Always Imme date stop Set correctly The error check timing is shown below W...

Page 733: ... error Parameter setting is wrong The number of write times to EEP ROM exceeded 100 000 due to parameter write etc Servo amplifier faulty The power supply was turned on and off continuously by overloaded status Ambient temperature of servo amplifier is over 55 C 2045 45 Main circuit device over heated Main circuit device overheat Used beyond the specifications of close mounting Servomotor ambient ...

Page 734: ...the servo amplifier Change the servo amplifier The drive method is reviewed Review environment so that ambient temperature is 0 to 55 C Change the servo amplifier 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 Change the cooling fan of the servo amplifier Remove the foreign matter Alw...

Page 735: ... 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 Servomotor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase The servo system is unstable causing hunting Servo amplifier errors 2051 51 Overload 2 Machine co...

Page 736: ...ion 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 operation pattern Install limit switches Connect correctly Auto tuning 30108 30308 30508 30708 Auto tuning response 30109 30309 30509 30709 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo response setting Set...

Page 737: ...ernal force Collision with the machine The motor encoder fault Servomotor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase 2052 52 Error excessive The deviation between the model position and the actual servomotor position exceeds Pr 164 setting value initial value 3 revolutions SSCNET cable fault 2060 1A Motor combination error Wrong combination of the servo ...

Page 738: ...r which provides larger output Model loop gain 30125 30325 30525 30725 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 Revie...

Page 739: ...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 1000 is set for the new torque value The torque change is not carried o...

Page 740: ...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 1000 Set a value within the setting range Refer to Section 5 3 List of positioning data for command speed Command speed 1 to 50000000 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 ...

Page 741: ...tion 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 742: ... 1704 1804 M code OFF 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 R...

Page 743: ...more A 0 is canceled by the QD75MH 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 ch...

Page 744: ...ing 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 ABS...

Page 745: ...option 2141 E1 Over load warning1 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 warning Parameter outsi...

Page 746: ...h larger capacity Reduce load Servo ON continued 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 Servo ON continued Home position request On Change servomotor Refer to Section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Forced stop input selection 30104 30304 30504 30704 Check for safety a...

Page 747: ...exceeding the rating flew intensively in any of the U V and W phases of the servomotor was repeated During a stop the status in witch a current flew intensively in any of the U V and W phases of the servomotor occurred repeatedly exceeding the warning level Servo amplifier warnings 2153 ED Output watt excess warning The status in witch the output wattage speed torque of the servomotor exceeded the...

Page 748: ...status of the warning occurrence Check point Corrective action Switch on main circuit power Reduce the positioning frequency at the specific positioning address Reduce the load Replace the servo amplifier servomotor with the one of large capacity Servo ON continued Reduce the servomotor speed Reduce the load ...

Page 749: ...ERR 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 Duri...

Page 750: ...ppendix 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 cable 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 QD75M1 QD75M2 QD75M...

Page 751: ...Appendix 2 MELSEC Q APPENDICES MEMO ...

Page 752: ...nctions 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 QD75MH and QCPU Refer to the GX Configurator QP Operating Manual SH 080172 ...

Page 753: ... 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...

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Page 777: ... Servo amplifier 1 1 No Model name Cable length Description MR J3BUS M 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft Standard code for inside panel MR J3HBUS M A 5m 16 40ft 10m 32 81ft 20m 65 62ft Standard code for outside panel 1 MR J2HBUS M B 30m 98 43ft 40m 131 23ft 50m 164 04ft Long distance cable Connection between QD75MH and MR J3 B Connection between MR J3 B and MR J3 B Cable len...

Page 778: ... sure to put cap on SSCNET connector When asking repair of servo amplifier for some troubles make sure to put a cap on SSCNET connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required 2 Cable specification a MR J3BUS M Model name Item MR J3BUS015M MR J3BUS03M MR J3BUS05M MR J3BUS1M MR J3BUS3M Cable leng...

Page 779: ...d cable use MR J3BUS M B 30 40 50 High winding Long distance cable use Please inquire of our company about the cable of less than 30m 2 Specification Table 2 Cable specification Content SSCNET Cable model name MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET Cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 4 to 65 62 30 to 50 98 43 to 164 04 Minimum bend radius mm inch 25 0 98 Reinforcement...

Page 780: ...ssion of light is obstructed when dirt adheres to the edge side in the code part of the SSCNET cable point and it causes the malfunction Please give dirt to me with the unwoven cloth wiper etc when becoming dirty and give a wipe to me Please do not use the solvent such as alcohol Please do not add impossible power to the connector of the SSCNET cable When incinerating optical cable cord used for S...

Page 781: ...0 49 0 3 0 98 1 3 28 3 9 84 5 16 40 10 32 81 20 65 62 30 98 43 0 5 1 64 40 131 23 50 164 04 2 Externals dimensional drawing MR J3BUS015M Unit mm inch 2 3 0 09 1 7 0 67 150 37 65 1 48 13 4 0 528 15 0 59 6 7 0 26 20 9 0 82 8 RD TD TD RD 50 0 0 5 91 0 32 MR J3BUS03M to MR J3BUS3M Please refer to the table of this paragraph 1 for cable length L Unit mm inch 100 3 94 L Note RD TD TD RD 100 3 94 Note Th...

Page 782: ... size mm inch SSCNET Cable A B MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch A A L Note B B RD TD TD RD Note The size in the connector part is the same as MR J3BUS015M b SSCNET cable connector Unit mm inch 4 8 0 19 1 7 0 07 2 3 0 09 9 3 0 87 20 9 0 2 0 82 17 6 0 2 0 69 8 0 32 13 4 0 58 15 0 59 6 7 0 26 ...

Page 783: ... 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 TAKAM...

Page 784: ...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 785: ...mm 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 dist...

Page 786: ...ulse 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 Provided 3 types 16 items axis Dat...

Page 787: ...osition control 1 axis 2 axis linear interpolation 3 axis linear interpolation Speed control 4 axis linear interpolation Speed position switching control Positioning systems Position speed switching control Positioning range Absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS Incremental system 214748364 8 to 214748364 7 m...

Page 788: ...deceleration processing S pattern acceleration deceleration No of patterns Acceleration time and deceleration time can be set independently 4 patterns each Acceleration deceler ation time Setting range 1 to 8388608ms Compensation Electronic gears backlash compensation near pass 4 Error display Error LED History data storage Start error warning Provided 3 types 16 items axis Data storage destinatio...

Page 789: ...of positioning data No 1 to 100 can be set using the buffer memory The positioning data in the buffer memory is not backed up 2 Indicates the INC mode ABS mode in speed position switching control 3 When Speed control 10 x multiplier setting for degree axis function is valid this will be the setting range 0 01 to 20000000 00 degree min 4 The near pass function is valid only during the continuous pa...

Page 790: ...000000 PLS s is changed to 0 to 50000000 PLS s When unit degree When the Speed control 10 x multiplier setting for degree axis is valid the speed specification range 0 001 to 2000000 000 degree min is changed to 0 01 to 20000000 00 degree min QD75M The servo parameter load inertia ratio position loop gain 1 2 speed loop gain 1 2 speed integral compensation is read from servo amplifier to the buffe...

Page 791: ...d X02 X03 X18 to X1F Use prohibited Y02 Y03 Y18 to Y1F 4 External device connection connector comparisons QD75MH QD75M Axis 2 AX2 Axis 1 AX1 Axis 2 AX2 Axis 1 AX1 Pin layout Pin No Signal name Pin No Signal name Pin No Signal name Pin No Signal name 1B20 PULSER B 1A20 PULSER B 1B20 PULSER B 1A20 PULSER B 1B19 PULSER A 1A19 PULSER A 1B19 PULSER A 1A19 PULSER A 1B18 No connect 1A18 No connect 1B18 N...

Page 792: ...18 319 468 469 18 19 168 169 318 319 468 469 Pr 13 Software stroke limit lower limit value 20 21 170 171 320 321 470 471 20 21 170 171 320 321 470 471 Pr 14 Software stroke limit selection 22 172 322 472 22 172 322 472 Pr 15 Software stroke limit valid invalid setting 23 173 323 473 23 173 323 473 Pr 16 Command in position width 24 25 174 175 324 325 474 475 24 25 174 175 324 325 474 475 Pr 17 Tor...

Page 793: ...ircular interpolation error width 60 61 210 211 360 361 510 511 60 61 210 211 360 361 510 511 Pr 42 External command function selection 62 212 362 512 62 212 362 512 Pr 83 Speed control 10 x multiplier setting for degree axis 63 213 363 513 Pr 201 Restart allowable range when servo OFF to ON QD75MH Pr 84 Restart allowable range when servo OFF to ON 64 65 214 215 364 365 514 515 64 65 214 215 364 3...

Page 794: ... Pr 114 Rotation direction selection 30114 30214 30314 30414 30114 30314 30514 30714 Pr 115 Position loop gain 2 QD75MH Pr 115 Encoder output pulses 30115 30215 30315 30415 30115 30315 30515 30715 Pr 116 Speed loop gain 2 30116 30216 30316 30416 Pr 117 Speed integral compensation 30117 30217 30317 30417 Pr 118 Machine resonance suppression filter 30118 30218 30318 30418 Pr 119 Feed forward gain QD...

Page 795: ...g 30139 30239 30339 30439 30139 30339 30539 30739 Pr 140 Maker setting 30140 30240 30340 30440 30140 30340 30540 30740 Pr 141 Maker setting QD75MH Pr 141 Low pass filter selection 30141 30241 30341 30441 30141 30341 30541 30741 Pr 142 Maker setting QD75MH Pr 142 Slight vibration suppression control selection 30142 30242 30342 30442 30142 30342 30542 30742 Pr 143 Slight vibration suppression contro...

Page 796: ...5 Maker setting QD75MH Pr 165 Electromagnetic brake sequence output 30165 30365 30565 30765 Pr 166 Maker setting QD75MH Pr 166 Encoder output pulses selection 30166 30366 30566 30766 Pr 167 Maker setting QD75MH Pr 167 Function selection C 1 30167 30367 30567 30767 Pr 168 Maker setting QD75MH Pr 168 Function selection C 2 30168 30368 30568 30768 Pr 169 Maker setting 30169 30369 30569 30769 Pr 170 M...

Page 797: ...3 Output signal device selection 2 30203 30403 30603 30803 Pr 204 Maker setting QD75MH Pr 204 Output signal device selection 3 30204 30404 30604 30804 Pr 205 Maker setting 30205 30405 30605 30805 Pr 206 Maker setting 30206 30406 30606 30806 Pr 207 Maker setting 30207 30407 30607 30807 Pr 208 Maker setting 30208 30408 30608 30808 Pr 209 Maker setting 30209 30409 30609 30809 Pr 210 Maker setting 302...

Page 798: ...QD75MH Md 50 Forced stop input 1431 Md 105 Servo parameter QD75MH Md 105 Maker setting 857 to 863 957 to 963 1057 to 1063 1157 to 1163 857 to 863 957 to 963 1057 to 1063 1157 to 1163 Cd 102 Servo amplifier data read QD75MH Cd 102 Maker setting 1553 1653 1753 1853 1553 1653 1753 1853 Cd 108 Maker setting QD75MH Cd 108 Gain changing command 1559 1659 1759 1859 ...

Page 799: ...e Negative logic Possible Upper limit signal 2 Negative logic Possible Negative logic Possible Lower limit signal 2 Negative logic Possible Negative logic Possible External start Negative logic Possible Negative logic Possible Speed position switching signal Negative logic Possible Negative logic Possible 1 Comparisons about manual pulse generator A phase B phase QD75M QD75MH No of connectable man...

Page 800: ...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 801: ...on 12 7 7 Acceleration deceleration process function 13 Acceleration decelerat ion time The machine starts and stops suddenly when carrying out JOG operations and positioning operations 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 values possible i...

Page 802: ... 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 backlash in the machine system 20 Can the machine OPR be ...

Page 803: ...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 804: ...ent value changing The BUSY signal is not canceled by the current value changing How can it be canceled The BUSY signal may remain if the scan time is long Use a complete signal to check whether the current value changing has been executed 39 QD75 READY signal The QD75MH 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...

Page 805: ...stop signal ON Even if the start signal is turned ON at that time the start request will be ignored and warning 100 will occur 48 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 menti...

Page 806: ...n 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 Torque limit setting value 27 177 32...

Page 807: ... 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 63 213 363 513 Pr 83 Speed control 10 x multiplier setting for degree axis 64 65 214 215 364 365 514 515 Pr 84 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 OP...

Page 808: ...45 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 1357 Md 13 Err...

Page 809: ...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 810: ...0 1160 861 961 1061 1161 862 962 1062 1162 863 963 1063 1163 Maker setting 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 871 971 1071 1171 872 972 1072 1172 873 973 1073 1173 874 974 1074 1174 875 975 1075 1175 Maker setting 876 976 1076 1176 877 977 1077 117...

Page 811: ... 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 812: ...d 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 1559 1659 1759 1859 Cd 108 Gain changing command ...

Page 813: ... 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 814: ...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 815: ...Appendix 66 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 816: ...ng 30114 30314 30514 30714 0 Pr 114 Rotation direction selection 30115 30315 30515 30715 4000 Pr 115 Encoder output pulses 30116 30316 30516 30716 0 Pr 116 Maker setting 30117 30317 30517 30717 0 Pr 117 Maker setting 30118 30318 30518 30718 0 Pr 118 Maker setting Basic setting parameters 30119 30319 30519 30719 0000H Pr 119 Adaptive tuning mode 30120 30320 30520 30720 0000H Pr 120 Vibration suppre...

Page 817: ...ting 30141 30341 30541 30741 0000H Pr 141 Low pass filter selection 30142 30342 30542 30742 0000H Pr 142 Slight vibration suppression control selection 30143 30343 30543 30743 0000H Pr 143 Maker setting 30144 30344 30544 30744 0000H Pr 144 Gain changing selection 30145 30345 30545 30745 10 Pr 145 Gain changing condition 30146 30346 30546 30746 1 Pr 146 Gain changing time constant 30147 30347 30547...

Page 818: ...368 30568 30768 0000H Pr 168 Function selection C 2 30169 30369 30569 30769 0000H Pr 169 Maker setting 30170 30370 30570 30770 50 Pr 170 Zero speed 30171 30371 30571 30771 0 Pr 171 Maker setting 30172 30332 30572 30772 0000H Pr 172 Analog monitor output 1 30173 30333 30573 30773 0001H Pr 173 Analog monitor output 2 30174 30374 30574 30774 0 Pr 174 Analog monitor 1 offset 30175 30375 30575 30775 0 ...

Page 819: ...405 30605 30805 0 Pr 205 Maker setting 30206 30406 30606 30806 0004H Pr 206 Maker setting 30207 30407 30607 30807 0 Pr 207 Maker setting 30208 30408 30608 30808 0 Pr 208 Maker setting 30209 30409 30609 30809 0 Pr 209 Maker setting 30210 30410 30610 30810 0 Pr 210 Maker setting 30211 30411 30611 30811 0 Pr 211 Maker setting 30212 30412 30612 30812 0 Pr 212 Maker setting 30213 30413 30613 30813 0 Pr...

Page 820: ...External dimension drawing 1 QD75MH1 QD75MH2 QD75MH4 27 4 1 08 Unit mm inch QD75MH1 QD75MH2 AX1 AX2 AX1 RUN ERR AX2 AX1 RUN ERR AX1 QD75MH1 QD75MH2 QD75MH4 AX1 AX2 AX3 AX4 RUN ERR AX4 AX3 AX2 AX1 QD75MH4 98 3 86 70 2 76 136 5 35 46 1 81 90 3 54 ...

Page 821: ...Appendix 72 MELSEC Q APPENDICES MEMO ...

Page 822: ...ystem Pr 103 5 62 Absolute system 9 15 Acceleration time 0 Pr 9 5 28 Acceleration time 1 Pr 25 5 38 Acceleration time 2 Pr 26 5 38 Acceleration time 3 Pr 27 5 38 Acceleration time No Da 3 5 92 Acceleration deceleration process selection Pr 34 5 40 Acceleration deceleration processing function 12 86 Acceleration deceleration time change during speed change enable disable selection Cd 12 5 154 Accel...

Page 823: ...s of QD75MH 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 92 Control system repetition counter Md 42 5 140 Count method 1 8 9 Count method 2 ...

Page 824: ...eration 1 22 Follow up function 12 106 For creating program 6 2 For installation 4 7 For maintenance 4 17 For restarting 6 68 For starting fast OPR 6 59 For starting machine OPR 6 58 For starting major positioning control 6 59 For starting position speed switching control 6 60 For starting speed position switching control 6 60 For starting with external command signal 6 63 For wiring 4 9 Forced st...

Page 825: ...eration timing and processing times 11 6 JOG speed Cd 17 5 158 JOG speed limit value Pr 31 5 38 JOG start signal 3 14 JUMP instruction 9 112 K L Last executed positioning data No Md 46 5 140 LED display functions 15 60 LEND 9 115 List of block start data 5 106 List of condition data 5 112 List of configuration devices 2 4 List of control data 5 148 List of dedicated instructions 14 2 List of devic...

Page 826: ...o of occupied I O points 3 3 No of pulses per rotation Pr 2 5 24 No of write accesses to flash ROM Md 19 5 126 NOP instruction 9 111 Normal start 10 8 Notch form selection 1 Pr 132 5 72 Notch form selection 2 Pr 134 5 74 O OP address Pr 45 5 52 OP shift amount Pr 53 5 58 OP shift function 12 8 Operating principle 1 7 Operation pattern Da 1 5 92 Operation patterns 9 5 Operation setting for incomple...

Page 827: ...4 Positioning complete signal output time Pr 40 5 44 Positioning control operation program 6 16 Positioning complete 9 6 Positioning data area No 1 to 600 7 3 Positioning data being executed Md 47 5 140 Positioning data No being executed Md 44 5 140 Positioning operation speed override Cd 13 5 156 Positioning program examples 6 20 Positioning start No Cd 3 5 150 Positioning start No setting progra...

Page 828: ...egenerative load ratio Md 109 5 146 Relatively safe stop 6 70 Remote I O station 2 5 Repeated start FOR condition 10 14 Repeated start FOR loop 10 13 Restart allowable range when servo OFF to ON Pr 84 5 44 Restart command Cd 6 5 150 Restart operation 6 66 Restart program 6 66 Rotation direction selection Pr 114 5 66 S Selection of OPR set condition 8 16 Servo amplifier S W No Md 106 5 144 Servo OF...

Page 829: ...program 6 43 Speed change request Cd 15 5 156 Speed control 10 x multiplier setting for degree axis Pr 83 5 44 Speed control 10 x multiplier setting for degree axis function 12 101 Speed designation during OP shift Pr 56 5 58 Speed differential compensation Pr 129 5 72 Speed integral compensation Pr 128 5 72 Speed limit function 12 23 Speed limit value Pr 8 5 28 Speed loop gain Pr 127 5 70 Stop co...

Page 830: ...CH4 14 7 Teaching data selection Cd 38 5 168 Teaching function 12 73 Teaching positioning data No Cd 39 5 168 Teaching program 6 47 Time chart Inching operation 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 59 Time chart for...

Page 831: ...ol resonance frequency setting Pr 138 5 74 Vibration suppression control vibration frequency setting Pr 137 5 74 W Wait start 10 11 Warning history 5 126 Warning history pointer Md 18 5 126 Writing to the Flash ROM 13 6 WITH mode 12 69 Work piece A 14 X X0 QD75 READY 3 15 X1 Synchronization flag 3 15 Z Zero speed Pr 170 5 80 ...

Page 832: ...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 833: ...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 834: ...300117 A 0505 MEE MODEL MODEL CODE QD75MH U S E 1XB917 IB NA 0300117 A 0505 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice Printed in Japan Details HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 ...

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