Mitsubishi Melsec-Q QD75D1 User Manual Download

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MELSEC-Q

9 MAJOR POSITIONING CONTROL

Operation chart

The following chart shows the operation timing for 4-axis speed control with axis 1
as the reference axis.
The "in speed control" flag (

Md.31

Status: b0) is turned ON during speed control.

The "positioning complete signal" is not turned ON.

BUSY signal
[XC,XD,XE,XF]

OFF

Positioning start signal
[Y10]

OFF

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

OFF

Axis stop signal (stop command)
(Either Y4,Y5,Y6 or Y7)

OFF

Does not turn ON even
when control is stopped
by stop command.

Status: b0

OFF

Md.31

In speed control flag

Referense axis (axis 1)

Interpolation axis (axis 3)

Command speed

Da. 8

Interpolation axis (axis 4)

Interpolation axis (axis 2)

Command speed

Da. 8

Command speed

Da. 8

Command speed

Da. 8

Fig. 9.12 4-axis speed control operation timing

Summary of Contents for Melsec-Q QD75D1

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Page 3: ...then keep the manual in a safe place for future reference Design Precautions WARNING Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply error or programmable controller fault occurs Failure to observe this could lead to accidents for incorrect outputs or malfunctioning 1 Configure an emergency stop circuit a...

Page 4: ...on and damage to or deterioration of the product While pressing the installation lever located at the bottom of module insert the module fixing tab into the fixing hole in the base unit until it stops Then securely mount the module with the fixing hole as a supporting point Incorrect loading of the module can cause a malfunction failure or drop When using the programmable controller in the environ...

Page 5: ... malfunction When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction ...

Page 6: ...lure to do so may cause malfunction Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately if a hazardous state occurs Always make sure to touch the grounded metal to discharge the electricity charged in the body etc before touching the module Failure to do so may cause a failure or malfunctions of the module ...

Page 7: ...of the PRODUCT in y Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT y Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User y Aircraft or Aerospace M...

Page 8: ...DEX Apr 2003 SH NA 080058 D Partial corrections and additions SAFETY INSTRUCTIONS CONTENTS Component List Section 1 2 3 Section 1 4 Section 2 3 Section 2 4 Section 3 1 Section 3 2 1 Section 3 2 3 Section 3 2 4 Section 3 4 1 Section 3 4 4 Section 4 1 2 Section 4 3 1 Section 4 3 2 Section 5 1 1 Section 5 1 7 Section 5 1 8 Section 5 2 1 Section 5 2 4 Section 5 6 2 Section 5 7 1 Section 6 4 Section 6 ...

Page 9: ...on 6 2 Section 6 4 Section 9 2 16 9 2 17 Section 12 6 Section 12 7 2 Section 14 3 to14 7 Appendix 12 13 Oct 2010 SH NA 080058 K Full revision Apr 2011 SH NA 080058 L Partial corrections and additions Section 3 4 1 Section 4 3 1 4 3 2 Section 5 6 1 5 7 2 Section 6 2 6 4 Section 7 2 Section 8 2 7 8 2 8 Section 9 2 3 9 2 16 9 2 18 Section 10 5 Section 11 2 1 Section 12 4 2 12 6 12 7 4 Section 13 2 13...

Page 10: ...3 2 1 Section 3 2 3 Section 3 2 4 Section 5 7 1 Section 9 1 2 Chapter 12 Section 12 1 1 Section 12 3 Appendix 1 1 Appendix 13 Additions Section 12 3 4 Japanese Manual Version SH 080047 U 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 indust...

Page 11: ...ATIONS AND HANDLING 1 PRODUCT OUTLINE 1 1 to 1 24 1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning control 1 7 1 1 4 Outline design of positioning system 1 9 1 1 5 Communicating signals between QD75 and each module 1 12 1 2 Flow of system operation 1 15 1 2 1 Flow of all processes 1 15 1 2 2 Outline of s...

Page 12: ...ION WIRING AND MAINTENANCE OF THE PRODUCT 4 1 to 4 16 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part 4 3 4 1 3 Handling precautions 4 5 4 2 Installation 4 7 4 2 1 Installation precautions 4 7 4 3 Wiring 4 8 4 3 1 Wiring precautions 4 8 4 3 2 Wiring of the differential driver common terminal 4 14 4 4 Checking ...

Page 13: ...GRAM USED FOR POSITIONING CONTROL 6 1 to 6 46 6 1 Precautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 11 6 3 1 General configuration of program 6 11 6 3 2 Positioning control operation program 6 12 6 4 Positioning program examples 6 15 6 5 Program details 6 24 6 5 1 Initialization program 6 24 6 5 2 Start details setting program 6 25 6 5 3 Start program 6 27 ...

Page 14: ...9 17 9 1 5 Control unit degree handling 9 19 9 1 6 Interpolation control 9 22 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26 9 2 2 1 axis linear control 9 28 9 2 3 2 axis linear interpolation control 9 30 9 2 4 3 axis linear interpolation control 9 34 9 2 5 4 axis linear interpolation control 9 40 9 2 6 1 axis fixed feed control 9 44 9 2 7 2 axi...

Page 15: ...us start control 10 21 10 6 Start program for high level positioning control 10 24 10 6 1 Starting high level positioning control 10 24 10 6 2 Example of a start program for high level positioning control 10 25 11 MANUAL CONTROL 11 1 to 11 34 11 1 Outline of manual control 11 2 11 1 1 Three manual control methods 11 2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operatio...

Page 16: ...12 5 2 Override function 12 47 12 5 3 Acceleration deceleration time change function 12 50 12 5 4 Torque change function 12 55 12 5 5 Target position change function 12 57 12 6 Absolute position restoration function 12 61 12 7 Other functions 12 72 12 7 1 Step function 12 72 12 7 2 Skip function 12 77 12 7 3 M code output function 12 80 12 7 4 Teaching function 12 84 12 7 5 Command in position fun...

Page 17: ...QD75D N and MR H A Differential driver Appendix 40 Appendix 4 3 Connection example of QD75D N and MR J2 J2S A Differential driver Appendix 41 Appendix 4 4 Connection example of QD75D N and MR C A Differential driver Appendix 42 Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co Ltd Appendix 43 Appendix 5 1 Connection example of QD75P N and VEXTA UPD Open collector...

Page 18: ... function Appendix 105 Appendix 10 10 External I O signal logic switching function Appendix 107 Appendix 10 11 External I O signal monitor function Appendix 108 Appendix 10 12 History monitor function Appendix 109 Appendix 10 13 Checking errors Appendix 111 Appendix 11 MELSEC Explanation of positioning terms Appendix 115 Appendix 12 Positioning control troubleshooting Appendix 135 Appendix 13 List...

Page 19: ...meter settings monitoring and operations of the pre defined protocol support function of intelligent function modules using GX Works2 sold separately SH 080921ENG 13JU69 1 The manual is included in the CD ROM of the software package in a PDF format file For users interested in buying the manual separately a printed version is available Please contact us with the manual number model code in the lis...

Page 20: ...o indicate a specific module QD75P N Generic term for positioning module QD75P1N QD75P2N QD75P4N QD75D N Generic term for positioning module QD75D1N QD75D2N QD75D4N QD75P Generic term for positioning module QD75P1 QD75P2 QD75P4 QD75D Generic term for positioning module QD75D1 QD75D2 QD75D4 Peripheral device Generic term for DOS V personal computer that can run the following GX Developer and GX Con...

Page 21: ...t system 1 QD75D2N Differential driver common terminal 1 QD75D4N Positioning Module 4 axes differential driver output system 1 QD75D4N Differential driver common terminal 1 QD75P1 QD75P1 Positioning Module 1 axis open collector output system 1 QD75P2 QD75P2 Positioning Module 2 axes open collector output system 1 QD75P4 QD75P4 Positioning Module 4 axes open collector output system 1 QD75D1 Positio...

Page 22: ...A 20 MEMO ...

Page 23: ... program required for positioning control 5 To understand the memory configuration and data transmission process Read PART 2 for details on each control CHAPTER 1 PRODUCT OUTLINE 1 1 to 1 24 CHAPTER 2 SYSTEM CONFIGURATION 2 1 to 2 12 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3 1 to 3 28 CHAPTER 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT 4 1 to 4 16 CHAPTER 5 DATA USED FOR POSITIONING CONTRO...

Page 24: ...MEMO ...

Page 25: ...red smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning control 1 7 1 1 4 Outline design of positioning system 1 9 1 1 5 Communicating signals between QD75 and each module 1 12 1 2 Flow of system operation 1 15 1 2 1 Flow of all processes 1 15 1 2 2 Outline of starting 1 18 1 2 3 Outline of stoppin...

Page 26: ... 600 positioning data items including such information as positioning addresses control systems and operation patterns can be prepared for each axis Using the prepared positioning data the positioning control is performed independently for each axis In addition such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible 2 Independent control of ...

Page 27: ...ction 3 1 The processing time to start the positioning operation is shortened QD75P N QD75D N 1 5ms QD75P QD75D 6ms When operation using simultaneous start function or interpolation operation is executed the axes start without delay Example Axis 1 and Axis 3 are started by the simultaneous start function No delay in Axis 1 and Axis 3 start Axis 2 and Axis 4 are started by the interpolation operati...

Page 28: ...toring and testing through GX Configurator QP Using GX Configurator QP the user can control the QD75 parameters and positioning data without having to be conscious of the buffer memory addresses Moreover GX Configurator QP has a test function which allows the user to check the wiring before creating a sequence program for positioning control or test operation the QD75 using created parameters and ...

Page 29: ...r shape changes the press head die is changed and the positioning pattern is changed Palletizer Conveyor Conveyor control Servomotor with brakes Servo amplifier Reduction gears Ball screw Position detector Unloader control Palletizer From QD75 QD75 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 ...

Page 30: ... of angle QD75 Digital switch Index table Worm gears Detector Servomotor Servo amplifier The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder QD75 Servomotor Motor Workpiece Grinding stone Motor Inverter Inverter Servo amplifier 220VAC 60Hz Operation panel Fix the grinding stone feed the workpiece and grind a Total feed amount m b Finishing feed amount m c ...

Page 31: ...figurator QP 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 The QD75 outputs the start signal and stop signal following the stored program QD75 positioning module Servo amplifier Carries out the actual work according to commands from the servo Outputs the drive unit REA...

Page 32: ...n one pulse is issued to the servo amplifier is called the movement amount per pulse This value is the min value for the workpiece to move and is also the electrical positioning precision Speed control The Total No of pulses mentioned above is invariably required for controlling the distance For positioning or speed control the speed must be controlled as well The speed is determined by the freque...

Page 33: ...e droop The analog DC current serves as the servomotor speed control signal 2 The motor rotation is controlled by the speed control signal from the drive unit As the motor rotates the pulse encoder PLG attached to the motor generates feedback pulses the frequency of which is proportionate to the rotation speed The feedback pulses are fed back to the drive unit and decrements the pulse droop the pu...

Page 34: ...l deceleration and stopping of the motor This difference called the stop settling time is required for gaining a stopping accuracy Speed V Pulse droop amount Pulse distribution Servomotor speed Accel eration Decel eration Time t Stop settling time Pulse train Rough Dense Rough Fig 1 3 QD75 output pulses 2 Movement amount and speed in a system using worm gears V R L P0 P Pulse encoder PLG Workpiece...

Page 35: ... s 3 Deviation counter droop pulse amount The deviation counter droop pulse amount is determined by the command pulse frequency and position loop gain Vs ε K pulse b The QD75 allows the user to select from the following four units as the unit used by positioning commands to any of the axes 1 to 4 if the module supports four axes mm inch degree and pulse The unit selected for one axis may differ fr...

Page 36: ...t READY signal Drive unit Manual pulse generator A phase Deviation counter clear Pulse train Manual pulse generator External interface QD75 Data write read Y0 X0 Y8 YA YC YE External signal Stop signal External command signal Positioning data write read Block start data write read Operation monitor Parameter write read JOG Inching operation Positioning operation test OPR operation test Peripheral ...

Page 37: ...Positioning data Block start data Test operation OPR control start command Positioning control start command JOG Inching operation start command Teaching start command Manual pulse generator operation enable disable command Operation monitor Monitor data QD75 Drive unit The QD75 and drive unit communicate the following data via the external device connection connector Direction Communication QD75 ...

Page 38: ...wing data via the external device connection connector Direction Communication QD75 External signal External signal QD75 Control signal Signals from detector such as near point dog signal upper lower limit signal zero signal Control signals from external device such as stop signal external command signal ...

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

Page 40: ...l 6 Using GX Developer write the created sequence program into the CPU module When not using GX Configurator QP also write in the sequence program for setting data CHAPTER 7 GX Developer Operating Manual 7 Carry out test operation and adjustments in the test mode to check the connection with the QD75 and external connection device and to confirm that the designated positioning operation is execute...

Page 41: ...1 17 MELSEC Q 1 PRODUCT OUTLINE MEMO ...

Page 42: ...e flag to 1 Set the manual pulse generator 1 pulse input magnification Input the start signal Method 2 Issue the Z PSTRT instruction from the CPU module Method 3 Turn the QD75 external start signal ON Operate the manual pulse generator Control start Control end Operation Stop Set the positioning parameters to Pr 1 Pr 42 Pr 150 to Da 1 Da 10 to Pr 43 Pr 57 to Da 11 Da 19 Cd 3 Cd 4 Cd 17 Cd 21 Cd 20...

Page 43: ...rite GX Developer Create sequence program for setting data When set with GX Configurator QP this does not need to be created CPU module Write Write Write Create sequence program for executing main function Operation sequence program CPU module Speed change Current value changing Torque limit Restart etc GX Developer Create sequence program for outputting control signals such as start signal to QD7...

Page 44: ...Manual pulse generator operation Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Deceleration stop Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change Error Deceleration stop sudden stop Select with Pr 37 Stop group 1 sudden stop selection Deceleration stop CPU module error occurrence No change PLC READY signal OFF T...

Page 45: ...or occurs the operation is immediately stopped after executing up to previous positioning data of the positioning data where an error occurred No command speed error code 503 Outside linear movement amount range error code 504 Large arc error deviation error code 506 Software stroke limit error code 507 Software stroke limit error code 508 Sub point setting error error code 525 End point setting e...

Page 46: ...al 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 positi...

Page 47: ...e axis to a stop at the designated address Section 9 2 17 Pre reading start function Function which shortens virtual start time Section 12 7 7 External I O signal monitor function Function which monitors the external I O signal monitor information in the module s detailed information which can be displayed on the system monitor of GX Developer 1 Section 13 5 Deceleration start flag function 2 Func...

Page 48: ...1 24 MELSEC Q 1 PRODUCT OUTLINE MEMO ...

Page 49: ...g QD75 the configuration devices applicable CPU and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning control system 2 1 General image of system 2 2 2 2 Configuration list 2 4 2 3 Applicable system 2 6 2 4 How to check the function version and SERIAL No 2 10 ...

Page 50: ...elow The Nos in the illustration refer to the No in Section 2 2 Component list CPU module 1 Positioning module I O module Extension system RS 232 cable 1 4 USB cable 5 Extension cable Main base unit 2 REMARK 1 Refer to Section 2 3 Applicable system for the CPU modules that can be used 2 Refer to the CPU module User s Manual for the base units that can be used ...

Page 51: ...ual pulse generator Machine system inputs switches Cable Near point dog Limit switch External command signal Stop signal Peripheral device Personal computer 6 8 7 For details refer to GX Configurator QP Operating Manual SWnD5C QD75P E 3 2 GX Configurator QP ...

Page 52: ...to GX Configurator QP Operating Manual for details 4 RS 232 cable QC30R2 Prepared by user An RS 232 cable is needed for connecting the CPU module with a personal computer For details refer to GX Configurator QP Operating Manual 5 USB cable Prepared by user A USB cable is needed for connecting the CPU module with a personal computer For details refer to GX Configurator QP Operating Manual 6 Drive u...

Page 53: ...put level H level power supply voltage 1 1V or more in no load L level 0 5V or less with maximum leading in Life time 100 revolutions at 200r min Radial load Max 19 6N Permitted axial loads Thrust load Max 9 8N Operation temperature 10 to 60 14 to 140 Weight 0 4 0 88 kg lb Number of max revolution Instantaneous Max 600r min normal 200r min Pulse signal status 2 signals A phase B phase 90 phase dif...

Page 54: ...is insufficient change the combination of the modules Applicable CPU module Base unit 2 CPU type CPU model No of modules 1 Main base unit Extension base unit Q00JCPU Up to 8 Q00CPU Basic model QCPU Q01CPU Up to 24 Q02CPU Q02HCPU Q06HCPU Q12HCPU High Performance model QCPU Q25HCPU Up to 64 Q12PHCPU Process CPU Q25PHCPU Up to 64 Q12PRHCPU Redundant CPU Q25PRHCPU Up to 53 Q00UJCPU Up to 8 Q00UCPU Q01...

Page 55: ... quantities for each network module model Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Pay attention to the power supply capacity before mounting modules and if the power supply capacity is insufficient change the combination of the modules Base unit 2 Applicable network module No of modules 1 Main base unit of remote I ...

Page 56: ...ersion 7 10L or later Version 2 13P or later Not available Single programmable controller system Q02U Q03UD Q04UDH Q06UDHCPU Multiple programmable controller system Version 8 48A or later Version 2 25B or later Single programmable controller system Q13UDH Q26UDH Q03UDE Q04UDEH Q06UDEH Q13UDE H Q26UDEHCPU Multiple programmable controller system Version 8 68W or later Version 2 29F or later Single p...

Page 57: ...le controller system Version 7 10L or later Version 2 13P or later Not available Single programmable controller system Q02U Q03UD Q04UDH Q06UDHCPU Multiple programmable controller system Version 8 48A or later Version 2 25B or later Single programmable controller system Q13UDH Q26UDH Q03UDE Q04UDEH Q06UDEH Q13UDE H Q26UDEHCPU Multiple programmable controller system Version 8 68W or later Version 2...

Page 58: ...ting plate The rating plate is situated on the side face of the QD75 100113 Serial number The first six digits Function version Relevant regulation standards 2 Checking on the front of the module The serial No on the rating plate is also indicated on the front of the module lower part 100113000000000 B Function version Serial No ...

Page 59: ...roduct number Production No display Since the QD75 does not support the production number display is displayed POINT The serial No on the rating plate may be different from the serial No displayed on the product information screen of GX Developer The serial No on the rating plate indicates the management information of the product The serial No displayed on the product information screen of GX Dev...

Page 60: ...2 12 MELSEC Q 2 SYSTEM CONFIGURATION MEMO ...

Page 61: ...3 2 1 QD75 control functions 3 6 3 2 2 QD75 main functions 3 8 3 2 3 QD75 sub functions and common functions 3 10 3 2 4 Combination of QD75 main functions and sub functions 3 14 3 3 Specifications of input output signals with CPU module 3 16 3 3 1 List of input output signals with CPU module 3 16 3 3 2 Details of input signals QD75 CPU module 3 17 3 3 3 Details of output signals CPU module QD75 3 ...

Page 62: ...8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching control INC mode position speed switching control 0 to 214748364 7 µm 0 to 21474 83647 inch 0 to 21474 83647 degree 0 ...

Page 63: ...ntinuous path control 0 3ms External wiring connection system 40 pin connector Applicable wire size 0 3mm2 22AWG for A6CON1 or A6CON4 0 088 to 0 24mm2 28 to 24AWG for A6CON2 Applicable connector for external device A6CON1 A6CON2 A6CON4 sold separately Max output pulse QD75P1N QD75P2N QD75P4N 200kpps QD75D1N QD75D2N QD75D4N 4Mpps Max connection distance between servos QD75P1N QD75P2N QD75P4N 2m QD7...

Page 64: ...m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching control INC mode position speed switching control 0 to 214748364 7 µm 0 to 21474 83647 inch 0 to 21474 83647 degree 0 to 2147483647 puls...

Page 65: ... 0 24mm2 28 to 24AWG for A6CON2 Applicable connector for external device A6CON1 A6CON2 A6CON4 sold separately Max output pulse QD75P1 QD75P2 QD75P4 200kpps QD75D1 QD75D2 QD75D4 1Mpps Max connection distance between servos QD75P1 QD75P2 QD75P4 2m QD75D1 QD75D2 QD75D4 10m Internal current consumption 5VDC QD75P1 0 40A QD75D1 0 52A QD75P2 0 46A QD75D2 0 56A QD75P4 0 58A QD75D4 0 82A Flash ROM write c...

Page 66: ...CHAPTER 9 MAJOR POSITIONING CONTROL 3 High level positioning control This control executes the positioning data stored in the QD75 using the block start data The following types of applied positioning control can be carried out Random blocks handling several continuing positioning data items as blocks can be executed in the designated order Condition judgment can be added to position control and s...

Page 67: ...r pass function Output timing selection of near pass control Major positioning control Control using Positioning data Control system Operation pattern 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 Multiple axes simultaneous start control Manual control ol with signals input...

Page 68: ...h to the address set 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 speed control 2 axis speed control 3 axis speed control 4 axis speed control Continuously outputs the pulses corresponding to the command speed set in the positioning data 9 2 12 9 2 13 9 2 14 9 2 15 Speed position switching...

Page 69: ...start control Starts the operation of multiple axes simultaneously according to the pulse output level Positioning start No 9004 same as the simultaneous start above 10 5 JOG operation Outputs a pulse to drive unit while the JOG start signal is ON 11 2 Inching operation Outputs pulses corresponding to minute movement amount by manual operation to drive unit Performs fine adjustment with the JOG st...

Page 70: ...in continuous path control in which the difference is output during the execution of the next positioning data 12 3 4 Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range 12 4 1 Torque limit function 2 If the torque generated by the servomotor exceeds Pr 17 Torque limit se...

Page 71: ...s function restores the absolute position of designated axis By this function the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started 12 6 3 An I O module or general purpose I O function of QCPU with arbitrary number of points and the drive unit capable of configuring an absolute position detection system which is a Mitsubishi General Purpose A...

Page 72: ...5 to reach the positioning stop position When the value is less than the set value the command in position flag is set to 1 When using another auxiliary work before ending the control use this function as a trigger for the sub work 12 7 5 Acceleration deceleration process function This function adjusts the control acceleration deceleration acceleration deceleration time and curve 12 7 6 Continuous...

Page 73: ...thod using sequence program 2 Method using GX Configurator QP 13 3 External I O signal logic switching function This function switches I O signal logic according to externally connected devices This function enables the use of the system that does not use b N C contact signals such as Drive unit READY or Upper lower limit signal by setting parameters to positive logic 13 4 External I O signal moni...

Page 74: ...ching control Continuous path control cannot be set Position speed switching control Only independent positioning control can be set Current value changing Continuous path control cannot be set NOP instruction JUMP instruction Major positioning control Other control LOOP to LEND JOG operation inching operation Manual control Manual pulse generator operation Always combine Combination possible Comb...

Page 75: ...orque limit function Software stroke limit function Hardware stroke limit function Speed change function Override function Acceleration deceleration time change function Torque change function Target position change function Step function Skip function M code output function Teaching function Command in position function Acceleration deceleration process function Pre reading start function Deceler...

Page 76: ...is 3 Y6 Axis 3 X7 Axis 4 M code ON Y7 Axis 4 Axis stop X8 Axis 1 Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4 Error detection YB Axis 2 Reverse run JOG start XC Axis 1 YC Axis 3 Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4 BUSY YF Axis 4 Reverse ru...

Page 77: ... If the operation is started while the M code is ON the error M CODE ON SIGNAL START error code 536 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 2 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 BUSY ON BUSY This ...

Page 78: ...p not requested ON Axis stop requested When the axis stop signal turns ON the OPR control positioning control JOG operation inching operation and manual pulse generator operation will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection Duri...

Page 79: ...or more 3VDC or less 0 2mA or less Approx 4 7kΩ 1ms or less 3 s or less 1ms or more 3 s or less ON OFF Zero signal PG05 PG024 Differential receiver equivalent to AM26LS32 ON OFF level ON 1 8V or more OFF 0 6V or less 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 2mA or more 1VDC or less 0 1mA or less Approx 1 1kΩ 1ms or less 1 Pulse width 4ms or more 2ms or more 2ms or more Duty ratio 50 2 Phase differenc...

Page 80: ...fferential driver equivalent to Am26C31 Select the CW CCW type PULSE SIGN type and A phase B phase type using the parameter Pr 5 Pulse output mode according to the drive unit specifications The relation of the pulse output with the Pr 5 Pulse output mode and Pr 23 Output signal logic selection is shown below Pr 23 Output signal logic selection bit 0 Positive logic Negative logic Pr 5 Pulse output ...

Page 81: ...DC or less 0 2mA or less Approx 4 7kΩ 1ms or less 3 s or less 1ms or more 3 s or less ON OFF Zero signal PG05 PG024 Differential receiver equivalent to AM26LS32 ON OFF level ON 1 8V or more OFF 0 6V or less 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 2mA or more 1VDC or less 0 1mA or less Approx 1 5kΩ 1ms or less 1 Pulse width 4ms or more 2ms or more 2ms or more Duty ratio 50 2 Phase difference Manual p...

Page 82: ...fferential driver equivalent to Am26C31 Select the CW CCW type PULSE SIGN type and A phase B phase type using the parameter Pr 5 Pulse output mode according to the drive unit specifications The relation of the pulse output with the Pr 5 Pulse output mode and Pr 23 Output signal logic selection is shown below Pr 23 Output signal logic selection bit 0 Positive logic Negative logic Pr 5 Pulse output ...

Page 83: ... 3 PULSE F PULSE F 1B15 3 PULSE F PULSE F 1A15 3 PULSE F PULSE F 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM 2B11 READY 2A11 READY 1B11 READY 1A11 READY 2B10 PG0COM 2A10 PG0COM 1B10 PG0COM 1A10 PG0COM 2B9 PG05 2A9 PG05 1B9 PG05 1A9 PG05 2B8 PG024 2A8 PG024 1B8 PG024 1A8 PG024 2B7 COM 2A7 COM 1B7 COM 1A7...

Page 84: ...is input from an external source The zero signal is detected at turning from OFF to ON Zero signal common PG0COM 1A10 1B10 2A10 2B10 Common for zero signal 5V and zero signal 24V Pulse output F PULSE F Pulse output F PULSE F 1A15 1A16 1B15 1B16 2A15 2A16 2B15 2B16 Pulse output R PULSE R Pulse output R PULSE R 1A17 1A18 1B17 1B18 2A17 2A18 2B17 2B18 Output the positioning pulses and pulse sign for ...

Page 85: ... drive unit READY signal and outputs the OPR request if the system is not in the READY state When the drive unit is inoperable such as if an error occurs in the drive unit s control power supply this signal will turn OFF If this signal is turned OFF during positioning the system will stop The system will not start even if this signal is turned ON again When this signal turns OFF the OPR complete s...

Page 86: ...p signal STOP 1A5 External command signal CHG 1A6 1A7 Common COM 1A19 PULSER A 1B19 Manual pulse generator A phase PULSER A 1A20 PULSER B 1B20 Manual pulse generator B phase PULSER B 1A11 Drive unit READY READY 1A12 Drive unit READY common RDY COM 1A8 PG024 1A9 Zero signal PG05 5VDC 5V 0V A B 24VDC When upper limit switch is not used When lower limit switch is not used Manual pulse generator MR HD...

Page 87: ...F 3 Set the logic setting using Pr 22 Input signal logic selection For details of the settings refer to Section 5 2 3 Detailed parameters 1 and Section 13 4 External I O signal logic switching function 4 When using the upper limit signal FLS or lower limit signal RLS always wire it as a b normally closed contact in the negative logic setting The signal will turn OFF to stop positioning b About log...

Page 88: ... Output For QD75D1N and QD75D1 External wiring Pin No Internal circuit Signal name Need for wiring 1 1A13 Deviation counter clear CLEAR 1A14 Common CLEAR COM 1A15 PULSE F 1A16 CW A phase PULSE PULSE F 1A17 PULSE R 1A18 CCW B phase SIGN PULSE R 2 5 to 24VDC Load 2 Differential driver common terminal PULSE COM 1 The symbols in Need for wiring column indicate the following meanings Wiring is necessar...

Page 89: ...ance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part 4 3 4 1 3 Handling precautions 4 5 4 2 Installation 4 7 4 2 1 Installation precautions 4 7 4 3 Wiring 4 8 4 3 1 Wiring precautions 4 8 4 3 2 Wiring of the differential driver common terminal 4 14 4 4 Checking the installa...

Page 90: ... assemble the connector Connect the cable to the module QD75 Wire and connect the manufactured cable to QD75 after reading the precautions for wiring Checking installation and wiring Servicing the module Check the connection Check the connection using GX Configurator QP Operation of the positioning system Carry out maintenance Carry out maintenance as necessary Dispose of the QD75 When the QD75 is...

Page 91: ... to the next page 3 External device connector Connector for connection with the drive unit mechanical system input or manual pulse generator 40 pin connector AX1 Axis 1 AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 For details refer to Section 3 4 2 Signal layout for external device connection connector 4 Differential driver common terminal Differential driver output system the QD75D N QD75D only Terminal conn...

Page 92: ... operation RUN ERR AX1 AX2 AX3 AX4 RUN illuminates ERR is OFF The module operates normally RUN ERR AX1 AX2 AX3 AX4 ERR flashes AX1 or other axis flashes An error occurs on the corresponding axis RUN ERR AX1 AX2 AX3 AX4 ERR illuminates System error RUN ERR AX1 AX2 AX3 AX4 All LEDs illuminate Hardware failure RUN ERR AX1 AX2 AX3 AX4 AX1 to AX4 are OFF The axes are stopped or on standby The symbols i...

Page 93: ...troller in an environment outside the range of the general specifications may cause electric shock fire malfunction and damage to or deterioration of the product Do not directly touch the conductive section and electronic parts of the module Failure to observe this could lead to module malfunctioning or trouble Make sure that foreign matter such as cutting chips or wire scraps do not enter the mod...

Page 94: ...ts on the cable Do not damage the cable sheath 3 Installation environment Do not install the module in the following type of environment Where the ambient temperature exceeds the 0 to 55 C range Where the ambient humidity exceeds the 5 to 95 RH range Where there is sudden temperature changes or where dew condenses Where there is corrosive gas or flammable gas Where there are high levels of dust co...

Page 95: ...imes after the first use of the product IEC 61131 2 compliant Failure to do so may cause the module to malfunction due to poor contact of connector Use the programmable controller in an environment that meets the general specifications contained in QCPU User s Manual Hardware Design Maintenance and Inspection to use Using this programmable controller in an environment outside the range of the gene...

Page 96: ... fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction 6 When disconnecting the cable from the QD75 or the drive unit do not pull the cable by the cable part Hold the connector part of the cable Pulling the cable connected to the QD75 or the drive unit may result in malfunction or damage to the module drive unit or cable 7 Do not ...

Page 97: ... 0 24mm 2 28 to 24AWG A6CON4 0 20 to 0 29N m 0 3mm 2 22AWG Stranded Copper 75 C or more Wiring example of shielded cable The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used Connector Connector A6CON1 To external devices for two drive units Shielded cable Drive unit To external device To drive unit Use the shortest possible length to ground the 2m...

Page 98: ...shielded cables Connect a cable with the FG wire and bind all shielded cables as shown below 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 ...

Page 99: ...4 11 MELSEC Q 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT Assembling of connector A6CON1 Wrap the coated parts with a heat contractile tube ...

Page 100: ...for the QD75 must be 30m or shorter except the one for pulse output Use shielded twisted pair cables and an AD75CK type cable clamp manufactured by Mitsubishi Electric to ground the cables to the control box Even when compliance with the EMC Directive is not required attaching an AD75CK type cable clamp to the cable connected to the QD75 may reduce the influence of external noise QD75 AD75CK 20cm ...

Page 101: ...rive units are placed near the noise source The connection cable between the QD75 and drive units is too long The QD75 and drive units are placed closely The connection cable between the QD75 and drive units is separately laid from the power line in this example the cable is outside of the duct and is as short as possible 11 The influence of noise may be reduced by installing ferrite cores to the ...

Page 102: ...minal of the QD75D N QD75D is not needed since a potential difference between commons does not exist For the drive unit specifications refer to the manual of the used drive unit Applicable connectors To wire the differential driver common terminal use the wire applied to the following table Wire diameter Type Material Temperature rating 0 24 to 2 5mm 2 24 to 12AWG Stranded wire single wire Copper ...

Page 103: ...t signals such as the near point dog signal and stop signal can be checked Refer to GX Configurator QP Operating Manual for details on Connection confirmation Note that GX Developer SW6D5C GPPW E or later 1 may also be used to confirm the connection between the QD75 and external device I O signals For details refer to Section 13 5 External I O signal monitor function and GX Developer Operating Man...

Page 104: ...nally before cleaning or tightening the screws Failure to turn all phases OFF could lead to electric shocks CAUTION Never disassemble or modify the module Failure to observe this could lead to trouble malfunctioning injuries or fires Completely turn off the externally supplied power used in the system before installing or removing the module Failure to turn all phases OFF could lead to module trou...

Page 105: ... for control 5 2 5 1 2 Setting items for positioning parameters 5 5 5 1 3 Setting items for OPR parameters 5 7 5 1 4 Setting items for positioning data 5 8 5 1 5 Setting items for block start data 5 10 5 1 6 Setting items for condition data 5 11 5 1 7 Types and roles of monitor data 5 12 5 1 8 Types and roles of control data 5 15 5 2 List of parameters 5 18 5 2 1 Basic parameters 1 5 18 5 2 2 Basi...

Page 106: ... the block start data for high level positioning 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 OPR parameters to Pr 43 Pr 57 to Da 1 Da 10 to Da 11 Da 19 to Da 15 Da 19 to Da 11 Da 14 Block start data Pr 150 The data is set with th...

Page 107: ...ored in the buffer memory and monitors as necessary Md 1 Md 48 to Md 50 Md 52 1 System monitor data Monitors the QD75 specifications and the operation history Md 1 Md 19 Axis monitor data Md 20 Md 48 Monitors the data related to the operating axis such as the current position and speed 1 to Md 50 Md 52 1 Md 50 to Md 52 are only for the QD75P N QD75D N The data is monitored with the sequence progra...

Page 108: ...from the factory Parameters related to axes that are not used are left at the default value 3 The setting data can be initialized with GX Configurator QP or the sequence program 4 It is recommended to set the setting data with GX Configurator QP When executed with the sequence program many sequence programs and devices must be used This will not only complicate the program but will also increase t...

Page 109: ...nt amount per rotation Al Pr 4 Unit magnification Am 12 3 2 Pr 5 Pulse output mode Pr 6 Rotation direction setting 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 6 Pr 11 Backlash compensation amount 12 3 1 Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value ...

Page 110: ...tio Pr 36 Sudden stop deceleration time 12 7 6 Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Detailed parameters 2 Pr 42 External command function selection 12 5 1 12 7 2 Always set Set as required Setting not required This is...

Page 111: ...on time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S S S S Pr 54 OPR torque limit value Pr 55 Deviation counter clear signal output time C C C C C Pr 56 Speed designation during OP shift S S S S S S OPR detailed parameters Pr 57 Dwell time during OPR retry R R R R R Always set Preset parameters are used for machine OPR control Setting not required This is an irreleva...

Page 112: ...uous path control Da 2 Control system Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 Forward run speed position Reverse run speed position Forward run positi...

Page 113: ... 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 114: ...s on each 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 Setting not required This is an irrelevant item so the setting value will be ignored If the valu...

Page 115: ...tems Refer to Section 5 5 List of condition data Major positioning 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...

Page 116: ... every 56 8ms Also Md 23 Valid M code is updated when the M code ON signal X4 X5 X6 X7 turns ON 1 Monitoring the system Monitoring the positioning system operation history Monitoring details Corresponding item Whether the system is in the test mode or not Md 1 In test mode flag Start information Md 3 Start information Start No Md 4 Start No Year month QD75P N QD75D N Md 50 Start Year month Day hou...

Page 117: ...ash ROM Md 19 No of write accesses to flash ROM 2 Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value Md 21 Machine feed value Monitor the current current feed value Md 20 Current feed value Monitor the current target value Md 32 Target value Monitoring the speed Monitor details Corresponding item During independent ...

Page 118: ... 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 M...

Page 119: ...ration Controlling the system data Performs write initialization etc of the QD75 setting data the system control data Cd 1 and Cd 2 Controlling the operation Setting operation parameters changing speed during operation interrupting or restarting operation the system control data Cd 41 and Cd 42 and the axis control data Cd 3 to Cd 40 1 Controlling the system data Setting and resetting the setting ...

Page 120: ...g data selection Specify data to be taught Cd 39 Teaching positioning data No Controlling operation per step Control details Corresponding item Stop positioning operation after each operation Cd 35 Step valid flag Set unit to carry out step Cd 34 Step mode Issue instruction to continue operation after a step is finished Cd 36 Step start information Controlling the speed Control details Correspondi...

Page 121: ...nge request flag Set new positioning address when changing target position during positioning Cd 27 Target position change value new address Set new speed when changing target position during positioning Cd 28 Target position change value new speed Set absolute ABS moving direction in degrees Cd 40 ABS direction in degrees Set manual pulse generator operation validity Cd 21 Manual pulse generator ...

Page 122: ... 2 152 302 452 1 1 fold 1 10 10 fold 10 100 100 fold 100 Movement amount per pulse Pr 4 Unit magnification Am 1000 1000 fold 1000 1 3 153 303 453 Pr 1 Unit setting Set the unit used for defining positioning operations Choose from the following units depending on the type of the control target mm inch degree or pulse Different units can be defined for different axes axis 1 to 4 Example Different un...

Page 123: ...nit and make setting so that the movement amount per pulse is 1 or greater Table 1 Pr 1 setting value Value set with peripheral device unit Value set with sequence program unit 0 mm 0 1 to 6553 5 μm 1 to 65535 10 1μm 1 inch 0 00001 to 0 65535 inch 1 to 65535 10 5 inch 2 degree 0 00001 to 0 65535 degree 1 to 65535 10 5 degree 3 pulse 1 to 65535 pulse 1 to 65535 pulse 1 to 32767 Set as a decimal 327...

Page 124: ...gnification Am 6000 0μm 1 time Example 2 When movement amount per rotation AL PB 1 n 60000 0μm 60mm Movement amount per rotation AL Movement amount per rotation Al Unit magnification Am 6000 0μm 10 times CPU module QD75 Workpiece M G Programmable controller Servo amplifier Servomotor Reduction gears 1 n Encoder Pf PB PB Pf Movement amount per pulse mm pulse 1 n PB Worm gear lead mm rev 1 n Deceler...

Page 125: ...ulse output mode for positive and negative logic is shown below 1 PULSE SIGN mode Positive logic Negative logic Forward run and reverse run are controlled with the ON OFF of the direction sign SIGN The motor will forward run when the direction sign is HIGH The motor will reverse run when the direction sign is LOW Forward run and reverse run are controlled with the ON OFF of the direction sign SIGN...

Page 126: ...e run When B phase is 90 behind A phase When B phase is 90 ahead of A phase Forward run Command 1 pulse output Command 1 pulse output A phase A B phase B Example When the command 1 pulse output is 1 pulse s the pulse rises and falls by four times per second 2 For multiple of 4 setting Positive logic Negative logic A phase A B phase B Forward run Reverse run When B phase is 90 behind A phase When B...

Page 127: ...ection keep the current setting When workpiece W moves toward the address decrement direction set 1 in Pr 6 to change the rotation direction 3 Carry out forward run JOG operation again and if W moves toward the increment direction the setting is complete M W QD75 1 Forward run pulse Motor Address decre ment direction Address incre ment direction 2 Workpiece OP 3 POINT When Pr 6 has been changed fr...

Page 128: ...m that uses a stepping motor executing the S curve acceleration deceleration may cause step out Before using the S curve acceleration deceleration confirm that step out does not occur 2 In the system that uses a stepping motor the circular interpolation control cannot be carried out Although setting the bias speed at start is required by the characteristics of the stepping motor the setting of the...

Page 129: ...or QP Operating Manual Pr 8 Speed limit value Set the maximum speed during positioning and OPR operations If the specified speed exceeds speed limit value positioning will be limited at the speed limit value Set the speed limit value within the range of the following formula If the speed limit value exceeds the range the error Out of speed limit value range error code 910 will occur The command pu...

Page 130: ...e is set Table 2 on next page 2147483648 20 21 170 171 320 321 470 471 0 Apply software stroke limit on current feed value 0 Pr 14 Software stroke limit 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 Softwa...

Page 131: ... 65535 pulse 1 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set Table 2 Pr 1 setting value Value set with peripheral device unit Value set with sequence program unit 0 mm 214748364 8 to 214748364 7 μm 2147483648 to 2147483647 10 1μm 1 inch 21474 83648 to 21474 83647 inch 2147483648 to 2147483647 10 5 inch 2 degree 0 to 359 99999 degree 0 to 35999999 10 5 degree 3 pulse 214...

Page 132: ...g 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 sequence 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 Pr 1 Unit setting Here th...

Page 133: ...nch 0 00001 to 21474 83647 inch 1 to 2147483647 10 5 inch 2 degree 0 00001 to 21474 83647 degree 1 to 2147483647 10 5 degree 3 pulse 1 to 2147483647 pulse 1 to 2147483647 pulse Pr 18 M code ON signal output timing This parameter sets the M code ON signal output timing Choose either WITH mode or AFTER mode as the M code ON signal output timing WITH mode An M code is output and the M code ON signal ...

Page 134: ...te current feed value 1 Pr 21 Current feed value during speed control 2 Clear current feed value to zero 2 0 30 180 330 480 b0 Lower limit b1 Upper limit b2 Drive unit READY b3 Stop signal b4 External command b5 Zero signal 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 ...

Page 135: ...0 Composite speed The movement speed for the control target is designated and the speed for each axis is calculated by the QD75 1 Reference axis speed The axis speed set for the reference axis is designated and the speed for the other axis carrying out interpolation is calculated by the QD75 X axis Y axis Designate composite speed Calculated by QD75 When composite speed is designated Designate spe...

Page 136: ...ing the update of Md 20 Current feed value depends on how the reference axis is set Note2 Set 1 to exercise speed position switching control ABS mode Pr 22 Input signal logic selection Pr 23 Output signal logic selection Set the I O signal logic that matches the signaling specification of the connected external device Note1 A mismatch in the signal logic will disable normal operation Be careful of...

Page 137: ...5 33 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 138: ...e value within the Table 1 range is set Table 1 on next 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 Deceleration time 2 2 Pr 33 JOG operation decelerat...

Page 139: ... a sequence program or GX Works2 The setting ranges in GX Works2 are the same as those in sequence programs Refer to Appendix 1 2 Pr 31 JOG speed limit value Set the maximum speed for JOG operation Note Set the JOG speed limit value to less than Pr 8 Speed limit value If the speed limit value is exceeded the error JOG speed limit value error error code 956 will occur Pr 32 JOG operation accelerati...

Page 140: ...mal 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 trapezoid acceleration deceleration or S curve acceleration deceleration for the acceleration deceleration process Note Refer to Section 12 7 6 Acceleration deceleration process...

Page 141: ...the S curve acceleration deceleration process The S curve ratio indicates where to draw the acceleration deceleration curve using the sine curve as shown below A B B 2 B 2 V t V t b a 0 7 b a sine curve S curve ratio B A 100 Example Positioning speed Positioning speed When S curve ratio is 100 When S curve ratio is 70 ...

Page 142: ... stop cause occurs the deceleration 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 3...

Page 143: ...ignal Y0 OFF Fault in test mode Stop group 3 External stop signal Stop signal from CPU module Stop signal from peripheral device Error occurrence excludes errors in stop groups 1 and 2 includes only the software stroke limit errors during JOG operation speed control speed position switching control and position speed switching control The methods of stopping include 0 Normal deceleration stop and ...

Page 144: ...change request 1 2 Speed position position speed switching request 2 Pr 42 External command function selection 3 Skip request 3 0 62 212 362 512 Pr 40 Positioning complete signal output time Set the output time of the positioning complete signal X14 X15 X16 X17 output from the QD75 A positioning completes when the specified dwell time has passed after the QD75 had terminated the output For the int...

Page 145: ... be carried out to the set end point address while compensating the error with spiral interpolation The allowable circular interpolation error width is set in the following axis buffer memory addresses If axis 1 is the reference axis set in the axis 1 buffer memory address 60 61 If axis 2 is the reference axis set in the axis 2 buffer memory address 210 211 If axis 3 is the reference axis set in t...

Page 146: ...ion position speed switching request The external command signal input is used to switch from the speed control to the position control while in the speed position switching control mode or from the position control to the speed control while in the position speed switching control mode To enable the speed position switching control set the Cd 24 Speed position switching enable flag to 1 To enable...

Page 147: ...e zero signal 3 Stopper method 3 After starting with the creep speed stop with the stopper and complete the machine OPR with the zero signal 4 Count method 1 After decelerating at the near point dog ON move the designated distance and complete the machine OPR with the zero signal 5 Count method 2 After decelerating at the near point dog ON move the designated distance and complete the machine OPR ...

Page 148: ... start deceleration 3 Decelerate to Pr 47 Creep speed and move with the creep speed At this time Pr 54 OPR torque limit value is required If the torque is not limited the servomotor could be damaged in step 4 4 The axis contacts against the stopper at Pr 47 Creep speed and then stops 5 After stopping the pulse output from the QD75 stops with the zero signal signal that is output on detection of co...

Page 149: ...t the near point dog ON and start deceleration 3 Decelerate to Pr 47 Creep speed and move with the creep speed 4 After the near point dog turns ON and the movement amount set in Pr 50 Setting for the movement amount after near point dog ON has passed the pulse output from the QD75 stops with the first zero signal and the machine OPR is completed t V ON 1 2 3 4 Near point dog OFF Movement amount af...

Page 150: ...with peripheral device unit Value set with sequence program unit 0 mm 214748364 8 to 214748364 7 μm 2147483648 to 2147483647 10 1 μm 1 inch 21474 83648 to 21474 83647 inch 2147483648 to 2147483647 10 5 inch 2 degree 0 to 359 99999 degree 0 to 35999999 10 5 degree 3 pulse 2147483648 to 2147483647 pulse 2147483648 to 2147483647 pulse Table 2 Pr 1 setting value Value set with peripheral device unit V...

Page 151: ...imit value is exceeded the error Out of speed limit value range error code 910 occurs and OPR is not performed The OPR speed should be equal to or faster than the Pr 7 Bias speed at start and Pr 47 Creep speed Setting value setting range Setting value buffer memory address Item Value set with peripheral device Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 Pr 47 Creep sp...

Page 152: ...p speed Pr 47 Table 1 Pr 1 setting value Value set with peripheral device unit Value set with sequence program unit 0 mm 0 01 to 20000000 00 mm min 1 to 2000000000 10 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 to 2000000000 10 3 degree min 3 pulse 1 to 1000000 pulse s 1 QD75P N QD75D N 1 to 4000000 pulse s QD75P QD75D 1 to...

Page 153: ... the axis will decelerate to a stop 4 and will carry out machine OPR again 5 6 ON Start position Near point dog signal Limit signal 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 signal OFF is detected 3 After stopping at detection of the limit switch signal OFF the axis move...

Page 154: ...celeration 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 49 OPR dwell time When stopper method 1 is set for Pr 43 OPR method set the time for the machine OPR to complete after the near point dog signal turns ON The setting value must be longe...

Page 155: ...e minimum value 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 near point dog ON Pr 50 should be equal to or larger than 175 Pr 51 OPR acceleration time s...

Page 156: ...and set 11 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 co...

Page 157: ...Pr 55 Deviation counter clear signal output time Set the duration of the deviation counter clear signal output during a machine OPR operation using any of the following methods the near point dog method stopper methods 1 to 3 and count method 1 For details refer to your drive unit manual Pr 56 Speed designation during OP shift Set the operation speed for when a value other than 0 is set for Pr 53 ...

Page 158: ...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 Da ...

Page 159: ...999 Buffer memory address 2 3 600 599 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 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...

Page 160: ...lar 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...

Page 161: ...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 162: ...mand error code 521 will occur during the program execution This item does not need to be set in case 3 or 4 axis interpolation is selected Setting value setting range Setting value buffer memory address Item Value set with peripheral device Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 Da 6 Positioning address movement amount The setting value range differs according t...

Page 163: ...e μm Value set with sequence 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 164: ... movement amount needs to be set Da 2 setting value Value set with peripheral device degree Value set with sequence 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 165: ...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 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 S...

Page 166: ...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 167: ...hen 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 ad...

Page 168: ...t with sequence program 1 pulse 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 movement amount 2147483648 to 2147483647 1 Set an integer because the sequence program cannot han...

Page 169: ...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 next page 0 2001 8001 14001 20001 Da 8 Command speed Set the command speed for positioning 1 If the set command speed exceeds Pr 8 Speed limit value positioning will be carried out at the speed limit value 2 If 1 is set for the comm...

Page 170: ...lue set with peripheral device unit Value set with sequence 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 to 2000000000 10 3 degree min 3 pulse 1 to 1000000 pulse s 1 QD75P N QD75D N 1 to 4000000 pulse s QD75P QD75D 1 to 1000000 pulse s 1 In GX Configurator QP th...

Page 171: ...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 172: ...ial start instruction Da 14 Parameter Up to 50 block start data points can be set stored for each axis in the buffer memory addresses shown on the left Items in a single unit of block start data are shown included in a bold frame Each axis has five start blocks block Nos 0 to 4 For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix ...

Page 173: ...th point Axis 3 Start block 0 29049 29099 29001 29051 œ Ê u Œ ˆ ß Ž n ƒ f ƒ b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 29000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 29050 Setting item Buffer memory address Buffer memory address Buffer memory address Setting item Setting item 1st point 2nd point 50th point Axis 4 Start block 0 The pages that follow explain the block start dat...

Page 174: ...rt block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7002 Axis 4 Start block 2 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 1...

Page 175: ... data 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 ...

Page 176: ...ions are established execute the block start data If not established ignore that block start data and then execute the next point s block start data 02H Wait start Carry out the condition judgment set in condition data for the designated positioning data and when the conditions are established execute the block start data If not established stop the control wait until the conditions are establishe...

Page 177: ...o need to set Condition start Wait start Simultaneous start 1 to 10 Set the condition data No No of condition data set to perform condition judgment For details of the condition data refer to Section 5 5 Repeated start FOR loop 0 to 255 Set the No of repetitions Repeated start FOR condition 1 to 10 Set the condition data No No of condition data set to perform condition judgment For details of the ...

Page 178: ... Parameter 1 Each axis has five start blocks block Nos 0 to 4 Axis 1 start block 0 Up to 10 block start data points can be set stored for each block No in the buffer memory addresses shown on the left Items in a single unit of condition data are shown included in a bold frame For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 13...

Page 179: ...ddress Buffer memory address Open 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 Buffer...

Page 180: ...rt block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7002 Axis 4 Start block 2 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 1...

Page 181: ... Axes 1 2 and 3 selected 70H 80 Axis 4 selected 80H 90 Axes 1 and 4 selected 90H A0 Axes 2 and 4 selected A0H B0 Axes 1 2 and 4 selected B0H C0 Axes 3 and 4 selected C0H D0 Axes 1 3 and 4 selected D0H 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 ...

Page 182: ...04H P1 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 ...

Page 183: ...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 error Condition data error error code 533 will occur 07H DEV ON 08H DEV OFF 10H Axis 1 sel...

Page 184: ...ING 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 185: ...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 186: ...red 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 50 Start Year month The starting time year month is stored for the QD75P N QD75D N only Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 8 0 6 0 Buffer memory stored with BCD code Monitor value 8 0 0 6 0 to 9 0 to 9 0 to 1...

Page 187: ...5 83 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address common to axes 1 to 4 0000H 0000H 0000H 0000H 0000H ...

Page 188: ...D C B A Stored contents Storage value 0 1 Stored contents Storage value 0 1 Buffer memory Error flag OFF Error flag ON BUSY start warning OFF BUSY start warning ON Convert the hexadecimal value a B C D into a decimal value and match it with 15 3 List of errors Error flag BUSY start warning flag Error No Starting history Up to 16 records can be stored Md 8 Start history pointer Indicates a pointer ...

Page 189: ...5 85 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address common to axes 1 to 4 0000H 0 1292 ...

Page 190: ...1 1 0 Md 11 Axis error occurrence Day hour The following are stored QD75P N QD75D N the time day hour at which an axis error was detected QD75P QD75D the time hour at which an axis error was detected Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 Buffer memory stored with BCD code Monitor value 8 2 1 5 0 to 2 0 to 3 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 8 1 5 2 0 to 3 0 to 9 01 to...

Page 191: ...5 87 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address common to axes 1 to 4 0 0 0000H 0000H 0000H 0 1357 ...

Page 192: ...ime hour at which an axis warning was detected Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 Buffer memory stored with BCD code Monitor value 8 2 1 5 0 to 2 0 to 3 0 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 8 1 5 2 0 to 3 0 to 9 01 to 31 day 00 to 23 hour 1 00 not used is stored for QD75P QD75D 1 1 Md 17 Axis warning occurrence Minute second Stores the time minute second at which an a...

Page 193: ...5 89 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL Default value Storage buffer memory address common to axes 1 to 4 0 0 0000H 0000H 0000H 0 1422 0 1424 1425 ...

Page 194: ...mode the machine feed value is constantly updated always irrespective of the parameter setting The value will not be cleared to 0 at the beginning of fixed feed control Even if degree is selected as the unit the addresses will not have a ring structure for values between 0 and 359 99999 degrees Machine coordinates Characteristic coordinates determined with machine Update timing 0 9ms QD75P N QD75D...

Page 195: ...e 800 High order buffer memory Example 801 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 pulse n Unit n 2 mm min 3 inch min 3 degree min 0 pulse 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...

Page 196: ...ning data relating to the current operation Update timing turning ON of the M code ON signal When the PLC READY signal Y0 goes OFF the value is set to 0 Md 26 Axis operation status This area stores the axis operation status Md 27 Current speed Da 8 Command speed of the positioning data currently in execution is stored If Da 8 Command speed is set to 1 this area stores the command speed set by the ...

Page 197: ...eration status 2 Step standby 1 Error 0 Standby 1 Stopped 2 Interpolation 3 JOG operation 4 Manual pulse generator operation 5 Analyzing 6 Special start standby 7 OPR 8 Position control 9 Speed control 10 Speed control in speed position switching control 11 Position control in speed position switching control 12 Position control in position speed switching control 13 Speed control in position spee...

Page 198: ...t The movement amount for the position control to end after changing to position control with the speed position switching control INC mode is stored When the control method is Reverse run position speed the negative value is stored Md 30 External input output signal The ON OFF state of the external input output signal is stored The following items are stored Upper limit signal Lower limit signal ...

Page 199: ...nit 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 1 5 inch 5 degree 0 pulse n Unit m 0000H 814 815 914 915 1014 1015 1114 1115 Monitoring is carried out with a hexadecimal 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b15 b0 b4 b8 b12 Monitor...

Page 200: ... QD75P QD75D except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed position or position speed switching control While operations are performed with interpolation this signal comes ON only in respect of the starting axis This signal goes OFF in respect of all axes upon starting OPR request flag This signal comes ON when the power is ...

Page 201: ...items Default value 0 0 0 1 0 0 0 0 Meaning 0 OFF 1 ON b0 b1 b2 b3 b4 b5 b9 b10 0 0 0 8 Monitor value Buffer memory Not used In speed control flag Speed position switching latch flag Position speed switching latch flag Axis warning detection Speed change 0 flag 0008H 817 917 1017 1117 Monitoring is carried out with a decimal display R Monitor value Decimal integer value Unit conversion table Actua...

Page 202: ...he actual target speed considering the JOG speed limit value for the JOG speed is stored During manual pulse generator operation 0 is stored Md 34 Movement amount after near point dog ON 0 is stored when machine OPR starts After machine OPR starts the movement amount from the near point dog ON to the machine OPR completion is stored Movement amount Movement amount to machine OPR completion using n...

Page 203: ... memory Example 820 High order buffer memory Example 821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 pulse n Unit n 2 mm min 3 inch min 3 degree min 0 pulse 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 poin...

Page 204: ...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 205: ...ecimal 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 Monitor value Storage value 1 to 600 9001 to 9003 0 829 929 1029 1129 Monitoring is carried out with a decimal display Storage value Monitor value 0 Not i...

Page 206: ... This area stores a positioning data No attached to the positioning data currently being executed This area stores 0 when the JOG inching operation is executed Md 45 Block No being executed When the operation is controlled by block start data this area stores a block number 7000 to 7004 attached to the block currently being executed At other times this area stores 0 Md 46 Last executed positioning...

Page 207: ... value 7000 to 7004 0 836 936 1036 1136 Monitoring is carried out with a decimal display Monitor value Storage value 1 to 600 9001 to 9003 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 Da 9 Da 8 Da 6 Da 7 Positioning address Stored address Monitor value Reference Axis1 Axis2 Axis...

Page 208: ...Note After completing the initialization of setting data reset the CPU module or reboot the programmable controller power Initialized setting data Parameters Pr 1 to Pr 57 Pr 150 Positioning data No 1 to No 600 Block start data No 7000 to 7004 Cd 2 Parameter initialization request Cd 41 Deceleration start flag valid Set whether Md 48 Deceleration start flag is made valid or invalid Cd 42 Stop comm...

Page 209: ...1900 Set with a decimal Setting value K Parameter initialization request 1 Requests parameter initialization The QD75 resets the value to 0 automatically when the initialization completes This indicates the completion of parameter initialization 1 0 1901 Set with a decimal Setting value K Deceleration start flag valid 0 Deceleration start flag invalid 1 Deceleration start flag valid 0 1905 Set wit...

Page 210: ...g details Cd 43 Output timing selection of near pass control Select the timing to output the difference between the actual and the set positioning end addresses in continuous path control in which the difference is output during the execution of the next positioning data ...

Page 211: ...FOR POSITIONING CONTROL Setting value Default value Storage buffer memory address common to axes 1 to 4 Set with a decimal Setting value K Output timing selection of near pass control 0 At constant speed 1 At deceleration 0 1934 ...

Page 212: ...positioning Handled as 1 if the value of other than 1 to 50 is set Cd 5 Axis error reset Clears the axis error detection axis error No axis warning detection and axis warning No When the QD75 axis operation state is Error the error is cleared and the QD75 is returned to the Standing state Cd 6 Restart command When positioning is stopped for any reason when axis operation state is Stopped set 1 in ...

Page 213: ... 1801 Set with a decimal K 1 Error reset request Setting value After the axis error reset is completed 0 is stored by the QD75 automatically Indicates that the axis error reset is completed 1 Axis error is reset 0 1502 1602 1702 1802 Set with a decimal K 1 Restart command Setting value After restart acceptance is completed 0 is stored by the QD75 automatically Indicates that the restart acceptance...

Page 214: ...ignals When changing the current feed value using the start No 9003 use this data item to specify a new feed value Set a value within the following range Pr 1 Unit setting mm 10 1 µm inch 10 5 inch degree 10 5 degree pulse pulse Setting range 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 Cd 9 New current value ...

Page 215: ...cimal 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 pulse Unit R Setting value Decimal 0 1506 1507 1606 1607 1706 1707 1806 1807 ...

Page 216: ...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 217: ...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 218: ...um unit At this time the warning Less than minimum speed warning code 110 will occur When changing the speed use this data item to specify a new speed The operation halts if you specify 0 Set a value within the following range Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min pulse pulse s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 QD75P N QD75D N 0 to 4...

Page 219: ...value 10n Unit conversion table Cd 14 n 2 mm min 3 inch min 3 degree min 0 pulse s Unit R Setting value Decimal Example When the Cd 14 New speed value is set as 20000 00mm min the buffer memory stores 2000000 0 1514 1515 1614 1615 1714 1715 1814 1815 Set with a decimal Setting value Speed change request 1 Executes speed change K The QD75 resets the value to 0 automatically when the speed change re...

Page 220: ...to 65535 0 to 65535 Cd 16 Inching movement amount Use this data item to set the JOG speed Set a value within the following range Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min pulse pulse s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 QD75P N QD75D N 0 to 4000000 QD75P QD75D 0 to 1000000 Cd 17 JOG speed Cd 18 Continuous operation interrupt request To in...

Page 221: ...al Actual value Conversion into an integer value Cd 17 JOG speed 10n Unit conversion table Cd 17 n 2 mm min 3 inch min 3 degree min 0 pulse s Unit R Setting value Decimal Example When the Cd 17 JOG speed is set as 20000 00mm min the buffer memory stores 2000000 0 1518 1519 1618 1619 1718 1719 1818 1819 Set with a decimal Setting value K 1 1 Interrupts continuous operation control or continuous pat...

Page 222: ...tor by which the number of pulses from the manual pulse generator is magnified Value 1001 or higher read as 1000 QD75P N QD75D N Value 101 or higher read as 100 QD75P QD75D Cd 21 Manual pulse generator enable flag This data item enables or disables operations using a manual pulse generator Cd 22 New torque value When changing the Md 35 Torque limit stored value use this data item to specify a new ...

Page 223: ...etion of OPR request flag OFF request 1 0 1521 1621 1721 1821 Set with a decimal Manual pulse generator 1 pulse input magnification 1 to 1000 QD75P N QD75D N 1 to 100 QD75P QD75D Setting value K 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 1...

Page 224: ...itching control movement amount change register Cd 24 Speed position switching enable flag Set whether the external control signal external command signal CHG speed position position speed switching request is selected is enabled or not During the position control stage of the position speed switching control it is possible to change the specification of the speed during the speed control stage Fo...

Page 225: ... 1726 1727 1826 1827 Set with a decimal Setting value K Speed position switching enable flag 0 Speed control will not be taken over by position control even when the external command signal comes ON 1 Speed control will be taken over by position control when the external command signal comes ON 0 1528 1628 1728 1828 Set with a decimal 10n Actual value n 2 mm min 3 inch min 3 degree min 0 pulse s U...

Page 226: ...483647 0 to 35999999 2147483648 to 2147483647 INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Cd 27 Target position change value New address When changing the target position during a positioning operation use this data item to specify a new speed The speed will not change if 0 is set Set a value within the following range Pr 1 Unit setting m...

Page 227: ...ing value Decimal 10n n 1 m 5 inch 5 degree 0 pulse Unit n 2 mm min 3 inch min 3 degree min 0 pulse s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 Target position change value address Cd 28 Target position change value speed Example If Cd 28 Target position change value speed is set as 10000 00 mm min the buffer memory stores 1000000 0 1536 15...

Page 228: ...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 229: ...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 230: ...s the teaching result write destination Data are cleared to 0 when the teaching ends Cd 39 Teaching positioning data No This data item specifies data to be produced by teaching If a value between 1 and 600 is set a teaching operation is done The value is cleared to 0 when the QD75 is initialized when a teaching operation completes and when an illegal value 601 or higher is entered Cd 40 ABS direct...

Page 231: ...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 Setting va...

Page 232: ...5 128 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO ...

Page 233: ...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 PART 2 and to CHAPTER 5 DATA USED FOR POSITIONING CONTROL 6 1 Precautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 11 6 3 1 General co...

Page 234: ...e scan time When rewriting the positioning data during continuous path control or continuous positioning control rewrite the data four positioning data items before the actual execution If the positioning data is not rewritten before the positioning data four items earlier is executed the process will be carried out as if the data was not rewritten 2 Restrictions to speed change execution interval...

Page 235: ...tion with QD75 There are two methods for communication with QD75 using the sequence program a method using an intelligent function device and a method using a FROM TO instruction In the sequence program in this chapter and subsequent the program example using the intelligent function device is shown without using a FROM TO instruction for communication with QD75 When using the FROM TO instruction ...

Page 236: ...change the instruction to a FROM instruction and a COMPARISON instruction 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 instruction change the instruction to a FROM instruction and a WAND instruction H8 D0 M2 FROMP D101 M2 K817 H0 K1 0 0 G817 WANDP U0 H8 D0 D101 WANDP Data read out REMARK Refer to...

Page 237: ...nal Positioning completed Y0 PLC READY signal CPU module preparation completed Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG Inputs outputs of QD75 Out put Y10 Y11 Y12 Y13 Positioning start signal Requesting start X20 OPR request OFF command Commanding OPR request OFF ...

Page 238: ...eaching 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 Comma...

Page 239: ...equesting override M14 Acceleration deceleration time change command Requesting acceleration deceleration time change M16 Step operation command pulse Step operation commanded M17 Skip command pulse Skip commanded M18 Skip command storage Skip command held M19 Teaching command pulse Teaching commanded M20 Teaching command storage Teaching command held M21 Continuous operation interrupt command Req...

Page 240: ...ernal relay M51 OPR basic parameter setting complete device OPR basic parameter setting completed 2 Data resisters and timers Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage D0 OPR request flag Md 31 Status bit 3 D1 Speed low order 16 bits D2 Speed high order 16 bits Cd 25 Position speed switching control speed change resister D3 Movement amount low order 16 bits D4 M...

Page 241: ...on change value new address D25 Target speed low order 16 bits D26 Target speed high order 16 bits Cd 28 Target position change value new speed D27 Target position change request Cd 29 Target position change request flag D28 Unused D29 Unused D30 ZP PSTRT1 instruction control data D31 Completion status D32 Start number D33 ZP TEACH1 instruction control data D34 Completion status D35 Teaching data ...

Page 242: ...entifier Da 1 Operation pattern Da 2 Control system Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated D59 M code Da 10 M code D60 Dwell time Da 9 Dwell time D61 Dummy D62 Command speed low order 16 bits D63 Command speed high order 16 bits Da 8 Command speed D64 low order 16 bits D65 Positioning address movement amount high order 16 bits Da 6 Positioning address move...

Page 243: ...onfiguration of the positioning control operation program is shown below Start of program creation Set using the sequence program Parameter and data are Set using GX Configurator QP Parameter and data setting program Initialization program Start details setting program Start program JOG operation program Inching operation program Manual pulse generator operation program Sub program Stop program Co...

Page 244: ...he program in the order of these numbers is recommended Not carried out No 6 Start of program creation Parameter and data are Set using the program TO instruction Set using GX Configurator QP No 1 No 2 No 3 Parameter setting program Positioning data setting program Block start data setting program When not carrying out OPR control the OPR parameters do not need to be set Parameter and data setting...

Page 245: ...d turn the M code ON signal OFF M code OFF program JOG operation program No 10 No 12 JOG operation program Refer to Section 11 2 4 Inching operation program No 11 No 12 Inching operation program Refer to Section 11 3 4 Manual pulse generator operation program No 13 Manual pulse generator operation program Refer to Section 11 4 4 Continued on next page Program required to carry out OPR control Majo...

Page 246: ...program Refer to Section 12 7 4 No 21 Continuous operation interrupt program Refer to Section 6 5 4 Target position change program Refer to Section 12 5 5 No 23 Absolute position restoration program Refer to Section 14 3 No 24 Restart program Refer to Section 6 5 5 No 25 Parameter initialization program Refer to Section 13 2 No 26 Flash ROM write program Refer to Section 13 3 Error reset program P...

Page 247: ...trol ABS mode is not executed Setting of unit setting 2 degree Setting of basic parameters 1 to QD75 Basic parameter 1 setting completion Software stroke limit upper limit 0 Software stroke limit lower limit 0 Current feed value during speed control 1 Speed position function selection ABS mode Setting of unit setting 0 mm Setting of No of pulses per rotation Setting of movement amount per rotation...

Page 248: ...address 412 6 m setting Setting of arc address 0 0 m Setting of positioning data No 1 to QD75 Block start data of start block 0 axis 1 No 3 Block start data setting program For setting of points 1 to 5 Shape Continued at points 1 to 4 ended at point 5 Special start instruction Normal start at all of points 1 to 5 Positioning data are already preset Conditions Setting of shape and start data No Set...

Page 249: ...d storage OFF OPR request OFF write OPR request OFF command OFF No 4 OPR request OFF program No 5 External command function valid setting program External command valid write External command invalid write No 6 PLC READY signal Y0 ON program M50 contact not required for synchronous mode PLC READY signal ON OFF No 7 Positioning start No setting program 1 Machine OPR Machine OPR 9001 write 2 Fast OP...

Page 250: ...04 is not needed When JOG operation inching operation is not performed contact of M7 is not needed When manual pulse generator operation is not performed contact of M9 is not needed 287 295 301 307 313 320 326 338 345 359 372 384 332 Positioning data No 2 setting Speed position switching signal enable setting Speed position switching signal prohibit setting New movement amount write Positioning da...

Page 251: ...tioning start execution Positioning start command storage OFF Positioning start signal OFF No 10 JOG operation setting program M code OFF request write No 11 Inching operation setting program JOG operation speed 100 00 mm min setting Setting of 0 for inching movement amount JOG operation speed write No 12 JOG operation inching operation execution program Inching movement amount 1 0 m setting Inchi...

Page 252: ...6 20 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL ...

Page 253: ...6 21 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL ...

Page 254: ...command hold PLC READY output to QD75 standby Parameter initialization execution Parameter initialization command storage OFF 796 788 802 823 850 857 864 878 885 889 896 No 22 Absolute position restoration program 1 Absolute position restoration command acceptance 3 ABS data setting and ABRST1 instruction execution No 23 Restart program No 24 Parameter initialization program 2 Setting of transmit ...

Page 255: ...put to QD75 standby Flash ROM write execution Flash ROM write command storage OFF Error code read Error reset command pulse Error reset execution Stop command pulse Stop execution Axis stop signal OFF due to axis stop No 25 Flash ROM write program No 26 Error reset program No 27 Stop program 911 918 922 926 944 953 957 964 971 975 979 ...

Page 256: ...ils on the setting details Time chart for OPR request OFF OFF ON OFF 0 1 0 ON OFF PLC READY signal Y0 QD75 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request ON Fig 6 1 Time chart for OPR request OFF 2 External command function valid setting program This program is used to validate the external command signal beforehand when using the external command functions...

Page 257: ...or details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning starting point No Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 4 Positioning starting point No 1 to 50 Point No of block start data 1501 1601 1701 1801 Refer to Section 5 7 List of control data fo...

Page 258: ...ing 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 cont...

Page 259: ... data No 1 When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is started after Y10 is turned OFF and X10 is turned OFF Buffer memory Drive unit Input output signal CPU module ON 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 In...

Page 260: ... stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal OFF No error is present X8 X9 XA XB BUSY signal OFF BUSY signal is OFF XC XD XE XF Interface signal Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 Drive unit READY signal ON Drive unit preparation completed Stop signal OFF Stop signal is OFF Upper limit FLS ON Wit...

Page 261: ... positioning is completed the BUSY signal will turn OFF and the positioning complete signal will turn ON However when using speed control or when the positioning complete signal ON time is 0 the signal will not turn ON When the positioning complete signal ON time is passed the positioning complete signal will turn OFF b When next positioning is to be carried out If a dwell time is set the system w...

Page 262: ...ine 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 Y10 PLC READY signal Y0 X0 X10 XC X8 OPR complete flag Md 31 Status b4 Zero signal ON OFF Fig 6 4 Time chart for starting machine OPR ...

Page 263: ...t for starting fast OPR OFF OFF ON ON ON ON OFF OFF OFF 9002 V t ON OFF Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Y10 Y0 X0 X10 XC X8 Fig 6 5 Time chart for starting fast OPR ...

Page 264: ...XC X14 X8 Fig 6 6 Time chart for starting major positioning control 4 Time chart for starting speed position switching control V t Dwell time Operation pattern 00 Speed control Speed position switching signal Position control 0 1 1 Positioning data No 1 Positioning start signal PLC READY signal QD75 READY signal Start complete signal BUSY signal Error detection signal Positioning complete signal C...

Page 265: ... Start complete signal BUSY signal Positioning complete signal V t Error detection signal Operation pattern 00 Positioning data No 1 Position control Speed control 0 1 Cd 3 Positioning start No Cd 26 Position speed switching enable flag 1 Y10 Y0 X0 X10 XC X14 X8 Stop command Position speed switching signal external Fig 6 8 Time chart for starting position speed switching control ...

Page 266: ... 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 Model t1 t2 t3 t4 QD75P N QD75D N 0 2 to 1 1ms 0 4 to 1 3ms 0 to 0 9ms 0 to 0 9ms QD75P QD75D 1 0 to 1 4ms 2 7 to 4 4ms 0 to 1 8ms 0 to 1 8ms The t1 timing time could be delayed de...

Page 267: ...e X4 X5 X6 X7 X14 X15 X16 X17 Positioning complete signal OPR complete flag Status b4 Cd 7 Md 26 Cd 7 Md 31 Fig 6 10 Position control operation timing and process time When the positioning start signal turns ON if all signals marked with an asterisk are already ON the signals marked with an asterisk will turn OFF when the positioning start signal turns ON Normal timing time Model t1 t2 t3 t4 t5 t6...

Page 268: ...o execute positioning start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the External command function valid setting program program No 5 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 Exte...

Page 269: ...interrupt request Stop process when stop command turns ON Fig 6 12 Operation during continuous operation interruption 2 Restrictions 1 When the continuous operation interrupt request is executed the positioning will end Thus after stopping the operation cannot be restarted When Cd 6 Restart command is issued a warning Restart not possible warning code 104 will occur 2 Even if the stop command is t...

Page 270: ...ig data No 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 I...

Page 271: ...Positioning with positioning data No 11 Positioning with positioning data No 10 Positioning with positioning data No 12 Fig 6 13 Restart operation 2 Restrictions 1 Restarting can be executed only when the Md 26 Axis operation status is Stopped the deceleration stop by stop command is completed If the axis operation is not stopped restarting is not possible In this case a warning Restart not possib...

Page 272: ...peration interrupt request the operation cannot be restarted If restart is requested a warning Restart not possible warning code 104 will occur 6 When stopped with interpolation operation write 1 Restarts into Cd 6 Restart command for the reference axis and then restart 7 If any of reference partner axes executes the positioning operation once a warning Restart not possible warning code 104 will o...

Page 273: ...ion completed Y0 QD75 READY signal ON QD75 preparation completed X0 Synchronization flag ON QD75 buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal OFF No error is present X8 X9 XA XB BUSY signal OFF BUSY signal is OFF XC XD XE XF Interface signal Start complete signal OFF Start comple...

Page 274: ...1 Dwell time 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 Fig 6 14 Time chart for restarting ...

Page 275: ...tatus Md 26 after stopping Machine OPR control Fast OPR control Major positioning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Deceleration stop Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change Error Deceleration stop ...

Page 276: ...ediate stop The operation does not decelerate The QD75 immediately stops the pulse output but the operation will coast for the droop pulses accumulated in the drive unit s deviation counter Actual deceleration time Set deceleration time Positioning speed Actual sudden stop deceleration time Pr 36 Sudden stop deceleration time Coast for the droop pulses accumulated in the drive unit s deviation cou...

Page 277: ...n The current deceleration curve is continued after stop cause occurrence For details refer to Section 12 7 9 Stop command processing for deceleration stop function 2 If the stop signal ON or stop cause specified for a sudden stop occurs during deceleration sudden stop process will start at that point However if the sudden stop deceleration time is longer than the deceleration time the deceleratio...

Page 278: ...6 46 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MEMO ...

Page 279: ...es the QD75 internal data transmission process such as when the power is turned ON or when the PLC READY signal changes from OFF to ON can be easily understood This also allows the transmission process to be carried out correctly when saving or changing the data 7 1 Configuration and roles of QD75 memory 7 2 7 1 1 Configuration and roles of QD75 memory 7 2 7 1 2 Buffer memory area configuration 7 ...

Page 280: ...a area Control data area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Backup Buffer memory Area that can be directly accessed with sequence program from CPU module 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 storage ar...

Page 281: ... the QD75P N QD75D N only Control data area Area where data for operating and controlling positioning system is set and stored Set the items indicated with Cd 1 to Cd 42 Positioning data area No 1 to 600 Area where positioning data No 1 to 600 is set and stored Set the items indicated with Da 1 to Da 10 for each positioning data Block start data area No 7000 to 7004 Area where information required...

Page 282: ...ng data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area QD75 Flash ROM Data is backed up here Buffer memory User accesses here Parameter area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Copy ...

Page 283: ...ck 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 to 29399 26400 to 26449 27400 to 27449 28400 to 28...

Page 284: ...meter area a Parameter area b Monitor data area Control data area Buffer memory ROM Parameter area a Parameter area b 2 TO instruction 4 FROM instruction QD75 Pr 1 to Pr 24 to to Parameter area b to Pr 25 to Pr 150 CPU module Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area 1 Power supply ON CPU module reset Flash ROM Positioning data area No 1 to 600 Block...

Page 285: ... Pr 42 3 Validate parameters when PLC READY signal Y0 changes from OFF to ON When the PLC READY signal Y0 changes from OFF to ON the data stored in the buffer memory s parameter area a 2 is validated For Pr 5 however only the data obtained first after the PLC READY signal Y0 changes from OFF to ON when the power is turned ON or CPU module is reset becomes validate Refer to Section 5 2 List of para...

Page 286: ... write request Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area 5 Flash ROM write 6 Flash ROM write request Parameter area a Pr 1 to Pr 24 to to Parameter area b to Pr 25 to Pr 150 Pr 7 Pr 11 Pr 43 Pr 57 Pr 8 Pr 10 Pr 42 Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Cd 1 5 Flash ROM write Set 1 in ...

Page 287: ...ripheral device 1 The parameters positioning data No 1 to 600 and block start data No 7000 to 7004 in the buffer memory area are transmitted to the flash ROM Note This transmission process is the same as 5 above IMPORTANT 1 Do not turn the power OFF or reset the CPU module while writing to the flash ROM If the power is turned OFF or the CPU module is reset to forcibly end the process the data back...

Page 288: ... b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Parameter area a 7 QD75 read monitor 8 QD75 write 7 QD75 read monitor 8 QD75 write Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area PLC CPU memo area Pr 1 Pr 24 Pr 25 Pr 150 Pr 7 Pr 11 Pr 43 Pr 57 Pr 8 Pr 10 Pr 42 to to to to to ...

Page 289: ...out with the monitor from the peripheral device 2 The monitor data in the buffer memory area is transmitted to the peripheral device via the CPU module 8 Writing data from peripheral device to buffer memory The following transmission processes are carried out with the Write to module from the peripheral device 1 The parameters positioning data No 1 to 600 and block start data No 7000 to 7004 in th...

Page 290: ...is shown below Ex Setting the positioning data The following methods can be used to set the positioning data From peripheral device Using sequence program Completion User work Write positioning data into buffer memory using TO instruction Set the data according to the peripheral device menu QD75 state Write the data set with the peripheral device into the buffer memory ...

Page 291: ...ng to CHAPTER 5 DATA USED FOR POSITIONING CONTROL Also refer to CHAPTER 6 SEQUENCE PROGRAMS USED FOR POSITIONING CONTROL when creating the programs required in each control and consider the entire control program configuration when creating each program CHAPTER 8 OPR CONTROL 8 1 to 8 24 CHAPTER 9 MAJOR POSITIONING CONTROL 9 1 to 9 120 CHAPTER 10 HIGH LEVEL POSITIONING CONTROL 10 1 to 10 28 CHAPTER...

Page 292: ...MEMO ...

Page 293: ...his chapter Refer to GX Configurator QP Operating Manual for details on OPR using the peripheral device 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR control 8 2 8 2 Machine OPR 8 4 8 2 1 Outline of the machine OPR operation 8 4 8 2 2 Machine OPR method 8 5 8 2 3 OPR method 1 Near point dog method 8 7 8 2 4 OPR method 2 Stopper method 1 8 9 8 2 5 OPR method 3 Stopper method 2 8 12 8 2 6 OP...

Page 294: ... positioning start signal The ZP PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control For details refer to CHAPTER 14 DEDICATED INSTRUCTIONS 1 Establish a positioning control OP Machine OPR positioning start No 9001 2 Carry out positioning toward the OP Fast OPR positioning start No 9002 The machine OPR in 1 above must always be carried out be...

Page 295: ... 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 296: ...he OP to be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following shows the operation when starting a machine OPR 1 The machine OPR is started 2 The operation starts according to the speed and direction set in the OPR parameters Pr 43 to Pr 57 3 The OP is established by the method set in P...

Page 297: ... is regarded as completed on completion of the deviation counter clear output provided after the zero signal is detected after stoppage Stopper method 3 The stopper position is regarded as the OP The machine starts at the Pr 47 Creep speed from the beginning then presses against the stopper at the Pr 47 Creep speed and stops The machine OPR is regarded as completed on completion of the deviation c...

Page 298: ... clear output Torque limit Near point dog mechod Stopper method 1 Stopper method 2 Stopper method 3 Count method 1 Count method 2 Necessary Necessary as required Unnecessary REMARK Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds To improve the machine s stopping accuracy its must change over to a slow speed before stopping This speed is set in the Pr 47 C...

Page 299: ...ter a deviation counter clear signal is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF OPR speed Deceleration at the near point dog ON Creep speed ON OFF OFF ON Standby OPR Standby Inconsistent 0 Movement amount after near point dog ON Inconsistent Value of the machine moved is stored OP add...

Page 300: ...oint dog is turned OFF before it has decelerated to the creep speed thus causing an error Dog detection timing fault error code 203 t OPR speed Creep speed V ON OFF ON OFF OFF Standby OPR Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored Current feed value Near point dog ON OFF Error Address at stop OPR request flag Status b3 OPR complete flag St...

Page 301: ... to the drive unit A deviation counter clear signal output time is set in the Pr 55 6 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF Range in which the servomotor rotation is forcibly stopped by the stopper Standby OPR Standby Inconsistent 0 Inconsistent Valu...

Page 302: ...inue decelerating and stop if the Pr 49 OPR dwell time elapses during deceleration from the Pr 46 OPR speed thus causing an error Dwell time fault error code 205 t OPR speed Creep speed V ON OFF ON OFF OPR request flag OFF OPR complete flag Standby OPR Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored Current feed value Error Address at stop Pr 4...

Page 303: ... 21 Pr 46 Md 26 Pr 55 Stopper Machine feed value Dwell time measurement Time out of dwell time Machine OPR start Positioning start signal Y10 Y11 Y12 Y13 Status b3 Status b4 Axis operation status Deviation counter clear signal output time Fig 8 6 Operation when the dwell time elapses before the stop at the stopper 4 The near point dog must be turned ON until it presses against the stopper If any r...

Page 304: ...ing the deviation counter clear output to the drive unit A deviation counter clear signal output time is set in the Pr 55 6 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF OPR speed Creep speed Valid torque limit range Torque limit ON OFF OFF ON Stand...

Page 305: ...p if a zero signal is input before deceleration to the Pr 47 Creep speed An error OP detection timing fault error code 204 will occur after the machine stops t OPR speed Creep speed V Zero signal ON OFF ON OFF OPR request flag OFF OPR complete flag Standby OPR Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored Current feed value Near point dog ON ...

Page 306: ...ue Md 35 Md 20 Md 21 Pr 46 Pr 47 Stopper Machine feed value Machine OPR start Positioning start signal Y10 Y11 Y12 Y13 Status b3 Status b4 Axis operation status Deviation counter clear signal output time Fig 8 9 Operation when the zero signal is input before the stop at the stopper 3 The near point dog must be turned ON until it presses against the stopper If any range that the near point is turne...

Page 307: ...l after the machine stops outputting the deviation counter clear output to the drive unit A deviation counter clear signal output time is set in the Pr 55 4 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF ON OFF OPR request flag OFF OPR complete flag ...

Page 308: ...st flag OFF OPR complete flag ON V Valid torque limit range Torque limit Zero signal Deviation counter clear output Standby OPR Standby Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored OP address Inconsistent OPR torque limit value Current feed value Md 34 Torque limit stored value Md 35 Md 20 Md 21 Pr 47 Md 31 Md 31 Md 26 Pr 55 Machine feed val...

Page 309: ... 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 1 2 3 4 5 OFF OPR speed OFF OFF ON Standby OPR Standby Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored OP address Current feed value V Zero signal Value of 1 Deviation counter clear output Movement amount after near point dog ON Near po...

Page 310: ...rror Count method movement amount fault error code 206 occurs and the Machine OPR is stopped 3 The following shows the operation when a machine OPR is started while the near point dog is ON ON 1 5 4 3 2 Zero signal Near point dog OFF Pr 50 Setting for the movement amount after near point dog ON Operation when a machine OPR is started at the near point dog ON position 1 A machine OPR is started 2 T...

Page 311: ...If machine OPRs are performed consecutively after the near point dog is turned OFF at the time of machine OPR completion operation will be performed at the OPR speed until the hardware stroke limit upper lower limit is reached If a sufficient distance cannot be kept consider the use of the OPR retry function 5 When a machine OPR is stopped with the stop signal perform a machine OPR again If the re...

Page 312: ...n the near point dog ON is detected 3 The machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed 4 The pulse output from the QD75 will stop and the machine OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the movement amount after near point dog ON from the near point dog ON position t OPR speed V Movement amount after near point ...

Page 313: ...r the movement amount after near point dog ON ON 1 5 4 3 2 Near point dog OFF Operation when a machine OPR is started at the near point dog ON position 1 A machine OPR is started 2 The machine moves at the OPR speed in the opposite direction of an OPR 3 Deceleration processing is carried out by Pr 39 Stop group 3 sudden stop selection when the near point dog OFF is detected 4 After the machine sto...

Page 314: ...OPR CONTROL 5 When a machine OPR is stopped with the stop signal perform a machine OPR again If the restart command is turned ON after a stop with the stop signal an error OPR restart not possible error code 209 occurs ...

Page 315: ...al The following shows the operation during a fast OPR start 1 The fast OPR is started 2 Positioning control to the OP position established by a machine OPR begins at the speed set in the OPR parameters Pr 43 to Pr 57 3 The fast OPR is completed OPR speed Machine OP OP position Axis operation status Standby Position control Standby Pr 46 M OP Positioning to the OP Md 26 Fast OPR start Positioning ...

Page 316: ... 4 4ms 0 to 1 8ms The t1 timing time could be delayed by the operation state of other axes Operating restrictions 1 The fast OPR can only be executed after the OP position is established by executing the Machine OPR If not the error OPR request ON error code 207 will occur OPR request flag Md 31 Status b3 must be turned OFF 2 If the fraction pulse is cleared to zero using current value changing or...

Page 317: ...value 9 17 9 1 5 Control unit degree handling 9 19 9 1 6 Interpolation control 9 22 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26 9 2 2 1 axis linear control 9 28 9 2 3 2 axis linear interpolation control 9 30 9 2 4 3 axis linear interpolation control 9 34 9 2 5 4 axis linear interpolation control 9 40 9 2 6 1 axis fixed feed control 9 44 9 2 7...

Page 318: ...fixed feed control Fixed feed 1 Positioning of a designated 1 axis is carried out from the start address current stop position The Md 20 Current feed value is set to 0 at the start 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 fixe...

Page 319: ...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 320: ... or center point address during circular interpolation control Da 8 Command speed Set the speed during the control execution Da 9 Dwell time The time between the command pulse output is completed to the positioning completed signal is turned ON Set it for absorbing the delay of the mechanical system to the instruction such as the delay of the servo system deviation Positioning data No 1 Da 10 M co...

Page 321: ...d out to an addresses designated in one direction Speed 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 next positioning Positioning is terminated No 6 Control stop No 1 Start 11 11 01 01 00 Time Da 1 Op...

Page 322: ...esignated 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 Time Start complete signal OFF ON Dwell time X10 X11 X12 X13 OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Positioning complete 00 Y10 Y11 Y12 Y13 Positioning start signal XC XD XE XF X14 X15 X16 X17 V Fig 9 1 ...

Page 323: ...e positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not completed the operation will be started again from the positioning data No 1 Time O...

Page 324: ...set to 1 c Dwell time will be ignored even if set d The next positioning No is executed automatically in operations by continuous path control operation pattern 11 Always complete the positioning by setting operation pattern 00 in the last positioning data If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operati...

Page 325: ...cution time 1 If this causes a control problem take one of the following measures 1 Use the function output timing selection of near pass control By selecting At deceleration as an output timing the positioning execution time of the next positioning data remains the same as it was set Refer to Section 12 3 4 Output timing selection of near pass control 2 Use the speed change function Change speed ...

Page 326: ...d 0 in the following cases a to c a When the operation pattern of the positioning data currently being executed is continuous path control 11 and the movement direction of the positioning data currently being executed differs from that of the next positioning data Only for 1 axis positioning control Refer to the Point in the next page V Positioning data No 2 Operation pattern 00 Speed becomes 0 Po...

Page 327: ...ioning data No 2 2 When the interpolation axis reveres direction suddenly the command pulses from QD75 are output as shown in the figure below Reverse run command t1 t2 Forward run command The t1 and t2 are calculated using the following expressions where a command frequency is f pps t1 1 2 f s t2 1 f s A time of t1 must be maintained by the drive unit for a specified period T s T depends on the d...

Page 328: ...nd speed of the first positioning data at start Relation between the command speed and current speed 2000 1000 3000 3000 Command speed Current speed 1000 1000 1 3000 1 3000 1 3000 P1 P2 P3 P4 P5 Speed 3000 Da 8 Md 27 2000 1000 3000 3000 Command speed Current speed 1000 1000 1 3000 1 3000 1 3000 P1 P2 P3 P4 P5 Speed 3000 Da 8 Md 27 The current speed is changed even if the command speed is not reach...

Page 329: ...ing data to carry out the next operation are those of the positioning data to carry out acceleration deceleration Speed switching will not be carried out if the command speeds are the same 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...

Page 330: ...ration 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 ...

Page 331: ... exceeded when automatic deceleration is required Ex Operation patterns 00 01 the machine will immediately stop at the designated positioning address and a warning Insufficient movement distance warning code 513 will occur When the speed cannot change over to the P2 speed in P1 When the relation of the speeds is P1 P4 P2 P3 P1 P2 When the movement amount is small during automatic deceleration The ...

Page 332: ...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 333: ...ated every 0 9ms QD75P N QD75D N or 1 8ms QD75P QD75D 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 0 9ms QD75P N QD75D N or 56 8ms QD75P QD75D The current feed value and machine feed v...

Page 334: ...oring the current value The current feed value and machine feed value are stored in the following buffer memory addresses and can be read using a DFRO P instruction or DMOV P instruction from the CPU module Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4 Md 20 Current feed value 800 801 900 901 1000 1001 1100 1101 Md 21 Machine feed value 802 803 902 903 1002 1003 1102 1103 1 The following sho...

Page 335: ...idate 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 00000º Software stroke limit upper limit value 90 00000º 2 To set the movement range ...

Page 336: ...itioning in the designated direction This function can be performed when the software stroke limit is invalid When the software stroke limit is valid an error Illegal setting of ABS direction in unit of degree error code 546 occurs and positioning is not started To designate the movement direction for the ABS control write 1 or 2 to the Cd 40 ABS direction in degrees of the buffer memory The initi...

Page 337: ...OINT Positioning addresses are within a range of 0 to 359 99999 Use the incremental system to carry out positioning of one rotation or more 2 Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning The movement direction is determined by the sign of the movement amount For a positive movement di...

Page 338: ...s the reference axis following the positioning data set in the reference axis and controls the interpolation axis corresponding to the reference axis control so that a linear or arc path is drawn The following table shows the reference axis and interpolation axis combinations Axis definition Axis set to interpolation control in Da 2 Control system Reference axis Interpolation axis 2 axis linear in...

Page 339: ...eed 2 3 and 4 Reverse run speed 2 3 and 4 not required Forward run speed 2 3 and 4 Reverse run speed 2 3 and 4 not required Da 7 Arc address Only during circular sub circular right and circular left Only during circular sub circular right and circular left Da 8 Command speed Only during forward run speed 2 3 4 and reverse run speed 2 3 4 Da 9 Dwell time Same positioning data Nos Da 10 M code Setti...

Page 340: ...of the interpolation axes and axes to be interpolated is carried out Speed during interpolation control Either the composite speed or reference axis speed can be designated as the speed during interpolation control Pr 20 Interpolation speed designation method Only the Reference axis speed can be designated in the following interpolation control When a composite speed is set and positioning is star...

Page 341: ...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 342: ...ntrol 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 speed 1 Forward...

Page 343: ... 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 data...

Page 344: ...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 the value set in Pr 10 ...

Page 345: ... 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 time at start Da 4 Deceleration time No ...

Page 346: ...the current stop position start point address to the address set in the Da 6 Positioning address movement amount end point address 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 End point address X...

Page 347: ...S linear 2 Set absolute system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axi...

Page 348: ...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 current stop position Stop addres...

Page 349: ...trol system INC linear 2 Set incremental system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axi...

Page 350: ...d point address set in 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 axis movement amount Reverse dir...

Page 351: ...plete 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 ...

Page 352: ...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 353: ...xis 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 is 5000 and the axis 3 movement amount is 60...

Page 354: ...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 355: ...linear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value 2 Refer to Section 9 1 6 Interpolation control for the reference axis and interpolation axis combinations ...

Page 356: ...rying out interpolation for the axis directions set in each axis Refer to Section 9 1 6 Interpolation control for details on interpolation control 1 4 axis linear interpolation control ABS linear 4 In absolute system 4 axis linear interpolation control 4 axes are used Linear interpolation positioning is carried out from the current stop position start point address to the address end point address...

Page 357: ... 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 end point address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value will be ignored Da 8 Command speed 6000 00 mm mi...

Page 358: ...remental system 4 axis linear interpolation control designated 4 axes are used Linear interpolation positioning of movement amount set in Da 6 Positioning address movement amount is carried out from the current stop position start point address The movement direction is determined by the sign of the movement amount ...

Page 359: ...ation 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 speed ...

Page 360: ...e 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 not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 O...

Page 361: ...feed 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 Fixed feed 1 Set 1 axis fixed feed control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da ...

Page 362: ...ment amount 0 0 0 0 0 0 X axis Y axis Md 20 Current feed value of each axis is set to 0 at the positioning start Restrictions 1 An axis error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path control cannot be set in fixed feed control 2 If the movement amount of each axis exceed...

Page 363: ...Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 μm 6000 0 μm Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting...

Page 364: ...d to zero at start Accumulation cutoff for fractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to output pulses 2 5 m 1 0 2 5 pulses 2 5 m 2 5 m INC line1 Fixed feed 1 2 pulses 3 pulses 2 5 0 5 2 pulses 2 pulses Movement amount Output pulses 0 5 pulse hold by the QD75 is carried to next positioning 0 5 pulse hold by the QD75 is cleared ...

Page 365: ... fixed feed control in a linear path while carrying out interpolation for the axis directions set in each axis In fixed feed control any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses Refer to Section 9 1 6 Interpolation control for details on interpolation control ...

Page 366: ...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 0 0 0 0 0 0 0 0 0 X axis Y axis Z axis Designated movement amount Md 20 Current feed value of each axis is set to 0 at the positioning start ...

Page 367: ...dress movement amount is 1073741824 2 30 3 Fixed feed cannot be set in Da 2 Control system in the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior positioning data For example if the operation pattern of positioning data No 1 is continuous path control fixed feed control cannot be set in positioning data No 2 An axis error Continuous pat...

Page 368: ...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 and 3 Da 6 Positioning 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 ...

Page 369: ... pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to output pulses 2 5 m 1 0 2 5 pulses 2 5 m 2 5 m INC line1 Fixed feed 1 2 pulses 3 pulses 2 5 0 5 2 pulses 2 pulses Movement amount Output pulses 0 5 pulse hold by the QD75 is carried to next positioning 0 5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning 2 W...

Page 370: ...6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Restrictions 1 An axis error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path control cannot be set in fixed feed control 2 For 4 axis fixed feed control set 1 Reference...

Page 371: ...ion 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 0 μm ...

Page 372: ...lses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to output pulses 2 5 m 1 0 2 5 pulses 2 5 m 2 5 m INC line1 Fixed feed 1 2 pulses 3 pulses 2 5 0 5 2 pulses 2 pulses Movement amount Output pulses 0 5 pulse hold by the QD75 is carried to next positioning 0 5 pulse hold by the QD75 is cleared to 0 at start and not carried to next positioning 2 For ...

Page 373: ...rol with sub point designation positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount in an arc path that passes through the sub point address set in Da 7 Arc address The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line be...

Page 374: ...ch 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 An error Sub point setting error error code 525 will occur at positioning start When the start point address is the same as the end point address An error End point set...

Page 375: ...as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 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...

Page 376: ...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 377: ...int address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 An error Sub point setting error error code 525 will occur When the end point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 An error End point setting error error code 526 will occur When the auxiliary point address center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 An err...

Page 378: ...n time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 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 ...

Page 379: ...s Refer to Section 9 1 6 Interpolation control for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for the different control systems Control system Rotation direction Arc center angle that can be controlled Positioning path ABS circular right INC circular right Clockwise Positioning path 0 360 Center ...

Page 380: ...on is carried out at a command speed on the arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated f...

Page 381: ... 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 can be carried out by setting the end ...

Page 382: ... is reached Restrictions 1 2 axis circular interpolation control cannot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting are different for the reference axis and interpolation axis mm and inch combinations are possible When reference axis speed is set in Pr 20 Interpolation speed designation method 2 An error will occur and the positioni...

Page 383: ...esignate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 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 addr...

Page 384: ... 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 of a complete round with a radius of t...

Page 385: ...e set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting are different for the reference axis and interpolation axis mm and inch combinations are possible When reference axis speed is set in Pr 20 Interpolation speed designation method 2 An error will occur and the positioning start will not be possible in the following cases The machine will imm...

Page 386: ...esignate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 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 cen...

Page 387: ...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 388: ...urrent feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed 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 Operatio...

Page 389: ...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 390: ...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 391: ...h control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuous path control is set Continuous positioning control and continuous path control cannot be set in speed control 2 Set the WITH mode in Pr 18 M code ON signal output timing when using an M code The M code will not be output and the M code ON signal will not turn ON if the AF...

Page 392: ...ing complete is not possible in speed control Da 2 Control system Forward run speed 2 Set 2 axis speed control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to ...

Page 393: ... 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 394: ...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 Speed In speed control In speed control Speed 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 ...

Page 395: ...s shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Axis 3 2000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Note Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit In addition when a bias...

Page 396: ...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 397: ... 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 398: ...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 399: ...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 Speed In speed control In speed control Speed 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 ...

Page 400: ...tion speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 3 2000 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 4 750 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Note Operation runs at speed 1 when a reference axis speed i...

Page 401: ... 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 402: ...s other than 0 and 2 it is regarded as 0 and operation is performed in the INC mode For details of the setting refer to Section 5 2 List of parameters Switching over from speed control to position control 1 The control is switched over from speed control to position control by executing the external command signal set in speed position switching signal 2 Besides setting the positioning data the Cd...

Page 403: ...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 Section 5 2 List of parameters and Section 5 7 List of control data for information on the set...

Page 404: ...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 405: ...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 406: ...17 M code ON signal X4 X5 X6 X7 AFTER mode M code OFF request Md 31 Status b4 OPR complete flag Md 31 Status b1 Speed position switching latch flag Speed control carried out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Speed control Position control Fig 9 14 Operation timing and processing...

Page 407: ...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 Speed t Position control Maintained Updated Speed control Speed Position control Speed control Speed Position control Speed control Updated a Current feed value not...

Page 408: ...egister 2 The movement amount is stored in the Md 29 Speed position switching control positioning amount of the axis monitor area from the point where the control changes to position control by the input of a speed position switching signal from an external source t Movement amount Speed position switching signal ON OFF Speed control Position control Position control start Speed position switching...

Page 409: ...atisfied a When Pr 21 Current feed value during speed control is 1 Update current feed value If the movement amount exceeds the software stroke limit range during speed control in cases of settings other than the one above the error Software stroke limit error code 507 or Software stroke limit error code 508 will occur as soon as speed control is changed to position control and the axis will decel...

Page 410: ...esignate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0μm INC mode Pr 150 0 Set the movement amount after the switching to position control Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address Setting not required Setting valu...

Page 411: ... starts the axis in the reverse run direction Speed position switching control ABS mode is valid only when Pr 1 Unit setting is 2 degree Pr 1 Unit setting Speed position function selection mm inch degree pulse INC mode ABS mode Setting allowed Setting disallowed If setting is made the error Speed position function selection error error code 935 will occur when the PLC READY Y0 turns ON Use the det...

Page 412: ...l be carried out when the Cd 24 Speed position switching enable flag and speed position switching signal are ON at the operation start Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 24 Speed position switching enable flag 1 Set 1 Switch from speed control to position control when the external command signal CHG turns ON 1528 1628 1728 1828 Speed pos...

Page 413: ...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 414: ... 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 415: ...ed 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 Standby XC XD XE XF X10 X11 X12 X13 X14 X15 X16 X17 X4 X5 X6 X7 Fig 9 17 Operation timing and processing time during speed position switching control ABS mode Normal timing time Model ...

Page 416: ...trol Only 1 Update current value is valid for the setting of Pr 21 Current feed value during speed control in speed position switching control ABS mode The error Speed position function selection error error code 935 will occur if the Pr 21 Current feed value during speed control setting is other than 1 t Speed Position control Speed control Updated Current feed value updated Switching time from s...

Page 417: ...ching control ABS mode the following conditions must be satisfied a Pr 1 Unit setting is 2 degree b The software stroke limit function is invalid upper limit value lower limit value c Pr 21 Current feed value during speed control is 1 Update current feed value d The setting range of Da 6 Positioning address movement amount is within 0 to 359 99999 degree If the value is outside of the range the er...

Page 418: ...signate 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 150 2 Set the address after the switching to position control Assuming that the Pr 1 Unit setting is set to degree Da 7 Arc address Setting not required Setting va...

Page 419: ...m position control to speed control If the Cd 26 Position speed switching enable flag turns ON after the position speed switching signal turns ON the control will continue as position control without switching over to speed control The control will be switched over from position control to speed control when the position speed switching signal turns from OFF to ON again Only speed control will be ...

Page 420: ... 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 421: ...ode M code OFF request OPR complete flag Status b4 Stop signal STOP Speed control command speed is from the input position of the external position speed switching signal Position control carried out until position speed switching signal turns ON Speed control Position control Position control Speed control Cd 7 Md 31 Md 26 Cd 7 Position speed switching latch flag Status b5 Md 31 Fig 9 19 Operatio...

Page 422: ...rent feed value is updated during position control and speed control 2 Zero clear current feed value The current feed value is updated during positioning control and the current feed value is cleared to 0 as soon as position control is switched to speed control b Current feed value updated Speed t c Current feed value zero cleared 0 Speed t Speed t Position control Speed control Updated Maintained...

Page 423: ...d in Cd 25 Position speed switching control speed change register by the sequence program during position control This value then becomes the speed control command speed when the position speed switching signal turns ON Stop signal t Speed change enable Position speed switching signal ON OFF Position control Speed control Position control start Position speed switching control start 0 V2 OFF Posit...

Page 424: ...rry out a deceleration stop if this type of setting is carried out 3 The software stroke limit range is only checked during speed control if the 1 Update current feed value is set in Pr 21 Current feed value during speed control The software stroke limit range is not checked when the control unit is set to degree 4 The error Software stroke limit or Software stroke limit error code 507 or 508 will...

Page 425: ...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 426: ...rrent 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 cont...

Page 427: ...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 not required Setting value is ignored Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 P...

Page 428: ... when the positioning address is 0 Y10 Y11 Y12 Y13 Restrictions 1 An axis error Outside new current value range error code 514 will occur if the designated value is outside the setting range when degree is set in Unit setting 2 An error Software stroke limit or Software stroke limit error code 507 or 508 will occur if the designated value is outside the software stroke limit range 3 The current va...

Page 429: ... Set 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 Position...

Page 430: ...ogram and write it to the CPU module á Example 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 ...

Page 431: ... 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 432: ...ion execution conditions When block positioning data No 7000 to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When the execution conditions set in Da 10 M code of the JUMP instruction have been established the JUMP instruction is executed to jump the operation to the positioning data No set in Da 9 Dwell time Whe...

Page 433: ...ystem 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 address Setting not required Setting ...

Page 434: ...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 435: ...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 436: ...9 120 MELSEC Q 9 MAJOR POSITIONING CONTROL MEMO ...

Page 437: ...1 2 Block start data and condition data configuration 10 4 10 2 High level positioning control execution procedure 10 6 10 3 Setting the block start data 10 7 10 3 1 Relation between various controls and block start data 10 7 10 3 2 Block start normal start 10 8 10 3 3 Condition start 10 10 10 3 4 Wait start 10 11 10 3 5 Simultaneous start 10 12 10 3 6 Repeated start FOR loop 10 14 10 3 7 Repeated...

Page 438: ...Repeats the program from the block start data set with the FOR loop to the block start data set in NEXT for the designated No of times Repeated start FOR condition Repeats the program from the block start data set with the FOR condition to the block start data set in NEXT until the conditions set in the condition data are established High level positioning control sub functions High level position...

Page 439: ...on data stored in the QD75 Setting item Setting details Da 11 Shape Set whether to end the control after executing only the block start data of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by which the positioning data set in Da 12 will be started Block...

Page 440: ...ing item 26110 26111 26112 26113 26114 26115 26116 26117 26118 26119 Setting item b15 b0 b7 b8 Shape 26000 b15 b0 b7 b8 Parameter 26050 Da 13 Da 11 Da 14 Da 12 Buffer memory address Condition identifier No 1 Setting item 26100 Address Blank Blank b15 b0 b7 b8 b11 b12 Condition operator Condition target 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da 16 Da 17 Da 18 Da 19 Da 15 7000 50th po...

Page 441: ...26307 26308 26309 Da 16 Da 17 Da 18 Da 19 Da 15 Setting item 26849 26899 Setting item 26801 26851 No 10 Setting item 26990 26991 26992 26993 26994 26995 26996 26997 26998 26999 Condition identifier No 2 Setting item 26910 26911 26912 26913 26914 26915 26916 26917 26918 26919 Setting item b15 b0 b7 b8 Shape 26800 b15 b0 b7 b8 Parameter 26850 Da 13 Da 11 Da 14 Da 12 Condition identifier No 1 Setting...

Page 442: ... to be started High level positioning control executes each control major positioning control set in the positioning data with the designated conditions so first carry out preparations so that major positioning control can be executed The 50 block start data points from 1 to 50 points can be set Set the condition data for designation with the block start data Up to 10 condition data items can be s...

Page 443: ...High 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...

Page 444: ...lock 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 Positio...

Page 445: ...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 446: ...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 447: ...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 448: ...imultaneous start 4 It is assumed that the axis 2 positioning data for simultaneous starting is set in the condition data designated with Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 2 Control examples The following shows the control executed whe...

Page 449: ...8 Parameter 1 Da 19 Parameter 2 but the setting value of start axis the axis which carries out positioning start should be 0 If the setting value is set to other than 0 the positioning data set in Da 18 Parameter 1 Da 19 Parameter 2 is given priority to be executed rather than Da 12 Start data No For details refer to section 5 5 List of condition data ...

Page 450: ...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 451: ...12 Start data No Da 13 Special 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 Posit...

Page 452: ...t possible between 4 FOR loop and 6 NEXT start or between 5 FOR condition and 6 NEXT start A warning FOR to NEXT nest construction warning code 506 will occur if nesting is attempted Operating examples without nesting structure Operating examples with nesting structure Da 13 FOR NEXT FOR NEXT Da 13 FOR FOR NEXT NEXT Start block data 1st point 2nd point 3rd point 4th point 5th point 6th point 7th p...

Page 453: ...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 1 02 Device Y 1 03 Buffer memory 1 word 04 Buff...

Page 454: ... 30H Axis 1 and axis 2 designation 40H Axis 3 designation 50H Axis 1 and axis 3 designation 60H Axis 2 and axis 3 designation 70H Axis 1 axis 2 and axis 3 designation 80H Axis 4 designation 90H Axis 1 and axis 4 designation A0H Axis 2 and axis 4 designation B0H Axis 1 axis 2 and axis 4 designation C0H Axis 3 and axis 4 designation D0H Axis 1 axis 3 and axis 4 designation E0H Axis 2 axis 3 and axis...

Page 455: ...he QD75 Thus in the judgment on the data such as current feed value which varies continuously the operator may not be detected If this occurs use a range operator REMARK The PLC CPU memory area can be designated as the buffer memory address to be designated in Da 17 Refer to Section 7 1 1 Configuration and roles of QD75 memory Address 30000 30001 30099 QD75 buffer memory ...

Page 456: ... 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 axis 2 positioning data No 3 Da 15 Conditi...

Page 457: ...ltaneously started axis start data No is not set to the axis control data on the start axis or set outside the setting range 2 The error Error before simultaneous start error code 501 will occur and all simultaneously started axes will not start if either of the simultaneously started axes is BUSY 3 The error Error before simultaneous start error code 501 will occur and all simultaneously started ...

Page 458: ...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 459: ...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 460: ...tput signal Drive unit Buffer memory Control by designated positioning data 1 3 2 4 This establishes that the control as high level positioning control using block start data 2 Set the point No of the block start data to be started In this case 1 3 Turn ON the start signal When carrying out a positioning start with the next scan after a positioning operation is completed input signal X10 as an int...

Page 461: ... data for details on the setting details Start conditions The following conditions must be fulfilled when starting the control The required conditions must also be integrated into the sequence program and configured so the control does not start unless the conditions are fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparation completed Y0 QD...

Page 462: ...Da 1 Operation pattern 1 11 Continuous path control 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 3 Start time chart 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 ...

Page 463: ...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 464: ...10 28 MELSEC Q 10 HIGH LEVEL POSITIONING CONTROL MEMO ...

Page 465: ...11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start programs for JOG operation 11 10 11 2 5 JOG operation example 11 13 11 3 Inching operation 11 16 11 3 1 Outline of inching operation 11 16 11 3 2 Inching operation execution procedure 11 19 11 3 3 Setting the required parameters...

Page 466: ...nal is ON when the operation is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address Refer to Section 12 7 4 Teaching function 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 pulse...

Page 467: ...o Section 3 2 4 Combination of QD75 major functions and sub functions for details on sub functions that can be combined with manual control Also refer to CHAPTER 12 CONTROL SUB FUNCTIONS for details on each sub function Carrying out manual control from peripheral devices JOG operation Inching operation and enabling disabling of the manual pulse generator operation can be executed from GX Configura...

Page 468: ...cceleration 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 c...

Page 469: ...e workpiece will move at the Pr 31 JOG speed limit value and the warning JOG speed limit value warning code 301 will occur in the QD75 5 The JOG operation can be continued even if an Axis warning has occurred 6 Set a 0 in Cd 16 Inching movement amount If a value other than 0 is set the operation will become an inching operation Refer to Section 11 3 Inching operation Operations when stroke limit e...

Page 470: ... operation t1 t3 t4 Pulse output to an external source PULSE Positioning operation Positioning complete signal X14 X15 X16 X17 Axis operation status ON ON OFF OFF OFF OFF Standby Md 26 Fig 11 5 JOG operation timing and processing times Normal timing times Model t1 t2 t3 t4 QD75P N QD75D N 1 0 to 3 0ms 0 to 0 9ms 1 3 to 2 2ms 0 to 0 9ms QD75P QD75D 1 0 to 3 0ms 0 to 1 8ms 2 7 to 4 4ms 0 to 1 8ms De...

Page 471: ...n stop to Pr 1 Pr 39 Control data setting YE YF Axis 4 Set a 0 in Cd 16 Inching movement amount Create a sequence program in which the JOG start signal is turned ON by a JOG operation start command One of the following two methods can be used Directly set write the parameters in the QD75 using GX Configurator QP Set write the parameters from the CPU module to the QD75 using the sequence program TO...

Page 472: ...ed at start Unit pulse s 0 Pr 8 Speed limit value Unit pulse s 200000 Pr 9 Acceleration time 0 Unit ms 1000 Pr 10 Deceleration time 0 Unit ms 1000 Pr 11 Backlash compensation amount Unit pulse 0 Pr 12 Software stroke limit upper limit value Unit pulse 2147483647 Pr 13 Software stroke limit lower limit value Unit pulse 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Soft...

Page 473: ...peration acceleration 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 curve ratio 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 ...

Page 474: ...ing The required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 Synchronization flag ON QD75 buffer memory The...

Page 475: ...orward run JOG 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 Fig 11 6 JOG operation start time chart ...

Page 476: ...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 477: ...r if JOG start signal is turned ON while the stop signal is ON The operation can be started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again 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 ...

Page 478: ...d when the QD75 BUSY signal is turned OFF If the forward run JOG operation is stopped due to stop or axis error by a stop signal the reverse run JOG operation will not be executed even if the reverse run JOG start signal turns ON OFF ON OFF ON BUSY signal XC XD XE XF OFF ON Forward run JOG operation t The reverse run JOG start signal is ignored Reverse run JOG operation Forward run JOG start signa...

Page 479: ...E 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 flag ON t OFF ON OFF Forward run JOG start signal Y8 YA YC YE JOG operation not possible b...

Page 480: ... 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 481: ... code 301 will occur in the following cases Cd 16 Inching movement amount x A Pr 31 JOG speed limit value Where A is as follows When the unit is pulse 562 5 When the unit is other than pulse 337 5 2 Set a value other than a 0 in Cd 16 Inching movement amount If a 0 is set the operation will become JOG operation Refer to Section 11 2 JOG operation Operations when stroke limit error occurs When the ...

Page 482: ...nal Y8 YA YC YE Reverse run JOG start signal Y9 YB YD YF BUSY signal XC XD XE XF Md 26 Pulse output to external source PULSE Positioning complete signal X14 X15 X16 X17 JOG operation Fig 11 12 Inching operation timing and processing times Normal timing times Model t1 t2 t3 t4 QD75P N QD75D N 1 0 to 3 0ms 1 3 to 2 2ms 0 to 0 9ms QD75P QD75D 1 0 to 3 0ms 2 7 to 4 4ms 0 to 1 8ms Depending on paramete...

Page 483: ...ion STEP 6 Turn OFF the JOG operation start signal that is ON Monitor the inching operation status Forward run JOG start signal Axis 1 Y8 Y9 YA YB YC YD Refer to CHAPTER 6 Axis 3 Axis 2 Inching operation start Inching operation stop to Pr 1 Pr 31 Set the Cd 16 inching movement amount Control data setting YE YF Axis 4 End the inching operation after moving a workpiece by an inching movement amount ...

Page 484: ...0 current value increases by forward run pulse output Pr 11 Backlash compensation amount Unit pulse 0 Pr 12 Software stroke limit upper limit value Unit pulse 2147483647 Pr 13 Software stroke limit lower limit value Unit pulse 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invalid setting 0 valid Pr 17 Torque limit setting value Unit 300 Pr ...

Page 485: ...required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 Synchronization flag ON Accessible to QD75 buffer memo...

Page 486: ...un inching operation Reverse run inching operation ON ON ON ON ON ON Y8 Y9 Y0 X0 XC X8 X14 Forward run JOG start signal Reverse run JOG start signal PLC READY signal QD75 READY signal BUSY signal Error detection signal Positioning complete signal Fig 11 13 Inching operation start time chart ...

Page 487: ...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 488: ...n be re started when the stop signal is turned OFF and the JOG start signal is turned OFF and then turned ON OFF ON OFF ON OFF ON ON OFF OFF ON PLC READY signal Y0 QD75 READY signal X0 Forward run JOG start signal Y8 YA YC YE Axis stop signal Y4 Y5 Y6 Y7 BUSY signal XC XD XE XF If a JOG start signal is turned OFF and then ON while the axis stop signal is ON an error Stop signal ON at start will oc...

Page 489: ...start signal will be ignored and inching operation will not be carried out ON t OFF ON OFF Inching operation not possible because JOG start signal does not rise Forward run inching operation executed Forward run JOG start signal Y8 YA YC YE In test mode flag Md 1 JOG operation not possible because the operation is in the test mode Fig 11 15 Operation when JOG start signal is turned ON in test mode...

Page 490: ...generator operation 1 When the Cd 21 Manual pulse generator enable flag is set to 1 the BUSY signal turns ON and the manual pulse generator operation is enabled 2 The workpiece is moved corresponding to the No of pulses input from the manual pulse generator 3 The workpiece movement stops when no more pulses are input from the manual pulse generator 4 When the Cd 21 Manual pulse generator enable fl...

Page 491: ...ime the Cd 21 Manual pulse generator enable flag will be left ON but manual pulse generator operation will not be possible To carry out manual pulse generator operation again measures must be carried out to eliminate the stop factor Once eliminated the operation can be carried out again by turning the Cd 21 Manual pulse generator enable flag ON OFF ON Note that this excludes when hardware software...

Page 492: ...er lower limit signal Manual pulse generator operation possible Manual pulse generator operation not possible V Manual pulse generator operation ON OFF Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time Manual pulse generator input pulses BUSY signal XC XD XE XF Start complete signal X10...

Page 493: ... pulse generator the current feed value is as follows 100 2 0 1 20 µm 200 Current feed value The number of pulses output actually to the drive unit is Manual pulse generator 1 pulse movement amount movement amount per pulse For example when Pr 1 Unit setting is mm and the movement amount per pulse is 1 µm 0 1 1 1 10 i e the output to the drive unit per pulse from the manual pulse generator is 1 10...

Page 494: ...or using GX Configurator QP Method 2 Monitoring of the manual pulse generator operation Set Cd 20 Manual pulse generator 1 pulse input to Pr 1 Pr 24 Create a sequence program in which the enable disable is Cd 21 Manual pulse generator enable flag setting STEP 4 STEP 5 STEP 6 magnification control data setting set for the manual pulse generator operation generator One of the following two methods c...

Page 495: ...pulse 0 Pr 12 Software stroke limit upper limit value Unit pulse 2147483647 Pr 13 Software stroke limit lower limit value Unit pulse 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invalid setting 0 valid Pr 17 Torque limit setting value Unit 300 Pr 22 Input signal logic selection 0 Manual pulse generator input is negative logic Pr 23 Output ...

Page 496: ...ol data for details on the setting details Start conditions The following conditions must be fulfilled when starting The required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON CPU module preparati...

Page 497: ...un Reverse run 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 Fig 11 18 Manual pulse generator operation start time chart ...

Page 498: ...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 499: ...ensation function 12 12 12 3 2 Electronic gear function 12 14 12 3 3 Near pass function 12 20 12 3 4 Output timing selection of near pass control 12 22 12 4 Functions to limit the control 12 26 12 4 1 Speed limit function 12 26 12 4 2 Torque limit function 12 28 12 4 3 Software stroke limit function 12 32 12 4 4 Hardware stroke limit function 12 38 12 5 Functions to change the control details 12 4...

Page 500: ...put the difference between the actual and the set positioning end addresses in continuous path control in which the difference is output during the execution of the next positioning data Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range Torque limit function 2 If the to...

Page 501: ... Da 6 Positioning address movement amount having the designated positioning data No Command in position function At each automatic deceleration this function calculates the remaining distance for the QD75 to reach the positioning stop position and when the value is less than the set value sets the command in position flag to 1 When using another sub work before ending the control use this function...

Page 502: ...tion The details shown below explain about the OPR retry function 1 Control details 2 Control Precautions 3 Setting method 1 Control details The following drawing shows the operation of the OPR retry function 1 OPR retry point return retry operation when the workpiece is within the range between the upper lower limits 1 The movement starts in the Pr 44 OPR direction by a machine OPR start 2 The op...

Page 503: ...arries out a machine OPR in the direction set in Pr 44 OPR direction Pr 44 OPR direction Near point dog Upper limit Lower limit Movement range Machine OPR start OP Zero signal Note The above figures in a and b are examples where Pr 44 OPR direction is set to 0 Positive direction When 0 Positive direction is set in Pr 44 check that the limit switch placed in the OPR direction acts as the upper limi...

Page 504: ... executed after the near point dog is turned OFF to stop the operation Pr 57 Dwell time during OPR is validated when the operation stops at the A and B positions in the following drawing The dwell time is the same value at both positions A and B Machine OPR executed again Stop by near point dog OFF Stop by limit signal detection Reverse run operation after limit signal detection B OP Pr 44 OPR dir...

Page 505: ...it signal is detected 3 Do not configure a system so that the drive unit power turns OFF by the upper lower limit switches connected to the QD75 If the drive unit power is turned OFF the OPR retry cannot be carried out 3 Setting method To use the OPR retry function set the required details in the parameters shown in the following table and write them to the QD75 When the parameters are set the OPR...

Page 506: ...tion can be used without relation to Pr 43 OPR method The details shown below explain about the OP shift function 1 Control details 2 Setting range for the OP shift amount 3 Movement speed during OP shift 4 Control Precautions 5 Setting method 1 Control details The following drawing shows the operation of the OP shift function Machine OPR start Pr 53 OP shift amount Speed selected by the Pr 56 Spe...

Page 507: ...shift When using the OP shift function the movement speed during the OP shift is set in Pr 56 Speed designation during OP shift The movement speed during the OP shift is selected from either the Pr 46 OPR speed or the Pr 47 Creep speed The following drawings show the movement speed during the OP shift when a mechanical OPR is carried out by the near point dog method 1 OP shift operation at the Pr ...

Page 508: ...ering near point dog ON as 0 is stored For the stopper method 1 2 3 the movement amount is not changed from 0 3 When using the OP shift function with the stopper method 1 2 3 selected for the OPR method configure the OP shift operation in the opposite direction of the OPR direction It cannot shift to the OPR direction due to a mechanical stopper in the OPR direction 5 Setting method To use the OP ...

Page 509: ...meters are set for each axis It is recommended that the parameters be set whenever possible with GX Configurator QP Execution by sequence program uses many sequence programs and devices The execution becomes complicated and the scan times will increase ...

Page 510: ...n function The backlash compensation function compensates the backlash amount in the mechanical system When the backlash compensation amount is set an extra amount of pulses equivalent to the set backlash amount is output every time the movement direction changes The details shown below explain about the backlash compensation function 1 Control details 2 Control Precautions 3 Setting method 1 Cont...

Page 511: ...ce Backlash compensation amount 0 Movement amount per pulse 255 Omit values after the decimal point 4 Backlash compensation which includes the movement amount and Pr 11 Backlash compensation amount is output the moment at the moving direction changes 5 Backlash compensation cannot be made when the stepping motor is used 3 Setting method To use the backlash compensation function set the backlash co...

Page 512: ...e total incremented value reached one pulse or more C When machine OPR is completed current value changing is completed speed control is started except when current feed value change is present or fixed feed control is started the function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in...

Page 513: ...llows QD75D N 4Mpulse s QD75D 1Mpulse s QD75P N QD75P 200kpulse s 2 For a drive unit without electronic gear function or when not using electronic gear function this value is 1 single Consider a system with the motor connected to a ball screw such as the figure above 1 is set to the electronic gear of the drive unit The movement amount of the machine is in mm or inch unit Set the command value in ...

Page 514: ... the position accuracy command resolution for the command 1 pulse from the QD75 decreases Consider to decrease the command speed when the position accuracy is required 1 Setting range of Ap Al Am Determined setting ranges are available for Ap Al and Am The following shows the setting ranges Setting item Setting range Pr 2 No of pulses per rotation Ap 1 to 65535 10 1 m 10 5 inch 10 5 degree Pr 3 Mo...

Page 515: ...ment amount L The QD75 movement amount per pulse is calculated with the following equation Movement amount per pulse is A Pr 2 No of pulses per rotation is Ap Pr 3 Movement amount per rotation is Al and Pr 4 Unit magnification is Am Al A Ap Am 2 Procedure a Set the command movement amount L and carry out positioning Set the movement amount per pulse A according to Section 5 2 List of parameters b ...

Page 516: ...1 Set in Pr 3 Set in Pr 2 Set in Pr 4 e Set the post compensation Pr 2 No of pulses per rotation Ap Pr 3 Movement amount per rotation Al and Pr 4 Unit magnification Am in the parameters and write them to the QD75 The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Setting item Setting value Setting details Pre compensation value Pr 2 No of pulses per rotation Ap Set ...

Page 517: ...ndicated below Movement amount per pulse A 1 500 If the mechanical system oscillates also use the electronic gear function of the drive unit and the movement amount per pulse greater 3 Set the movement amount per pulse so that the pulse output frequency for the drive unit becomes a value in the following table QD75P N QD75P QD75D N QD75D Pulse output frequency for drive unit 200kpulse s or less 4M...

Page 518: ...s not carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the operation is controlled on a path that passes near the position set in Da 6 Positioning address movement amount The details shown below explain about the near pass function 1 Control details 2 Control Precautions 1 C...

Page 519: ...e when the reference axis movement direction changes To prevent the sudden output reversal assign not the continuous path control 11 but the continuous positioning control 01 to the positioning data of the passing point Positioning by interpolation Operation of reference axis Positioning data No 1 Positioning data No 2 Positioning data No 1 Continuous path control Partner axis Reference axis Posit...

Page 520: ... for an output timing of near pass control At constant speed and At deceleration At constant speed The distance is output when the next positioning data is executed in constant speed At deceleration The distance is output when the next positioning speed decelerates from V1 to V2 When At constant speed is selected in a condition where the specified speed of positioning data No 1 and No 2 in the fig...

Page 521: ... selected T21 T1 V2 The speed in case a work moves the distance in 0 9ms QD75P N QD75D N or 1 8ms QD75P QD75D Positioning execution time when At deceleration is selected T22 T1 Distance l Distance l Distance l Actual acceleration and deceleration through the near pass function l QD75P N QD75D N Less than 0 9ms QD75P QD75D Less than 1 8ms QD75P N QD75D N 0 9ms or more QD75P QD75D 1 8ms or more QD75...

Page 522: ...V2 V1 V1 V1 V1 V2 V2 Time Time Time Time Positioning data No 1 Positioning data No 1 Positioning data No 1 Positioning data No 1 Positioning data No 2 Positioning data No 2 Positioning data No 2 Positioning data No 2 2 When Speed value converted from distance V2 V1 l QD75P N QD75D N Less than 0 9ms QD75P QD75D Less than 1 8ms QD75P N QD75D N 0 9ms QD75P QD75D 1 8ms QD75P N QD75D N 0 9ms QD75P QD75...

Page 523: ...DY signal Y0 Setting item Setting value Setting details Buffer memory address Cd 43 Output timing selection of near pass control Select the timing to output the difference between the actual and the set positioning end addresses in continuous path control in which the difference is output during the execution of the next positioning data 0 At constant speed 1 At deceleration 1934 Refer to Section ...

Page 524: ...n 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 axis linear interpolation control 1 axis fixed feed control 2 to 4 axis fixed feed control interpolation Position control 2 axis circular interpolation control...

Page 525: ...imit function set the speed limit value in the parameters shown in the following table and write them to the QD75 The set details are validated after they are written to the QD75 Setting item Setting value Setting details Factory set initial value Pr 8 Speed limit value Set the speed limit value max speed during control 200000 Pr 31 JOG speed limit value Set the speed limit value during JOG operat...

Page 526: ...ying out the torque limit 2 Relation between the torque limit function and various controls 3 Control details 4 Control precautions 5 Setting method 1 System configuration for carrying out the torque limit Carry out the torque limit in the configuration in the figure below The following modules are required D A converter module Drive unit capable of torque limit control by analog voltage input CPU...

Page 527: ...p 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 axis linear interpolation control 1 axis fixed feed control 2 to 4 axis fixed feed control interpolation Position control 2 axis circular interpolation control 1 to 4 axis Speed control Speed position switching control Position speed switching control Pr 17 Torque limit ...

Page 528: ...t Cd 22 New torque value is set to 0 If this parameter is set to a value besides 0 the Cd 22 New torque value will be validated and the torque will be limited at that value Refer to Section 12 5 4 Torque change function for details about the new torque value 2 When Pr 54 OPR shift amount exceeds Pr 17 Torque limit setting value the error OPR torque limit value error error code 995 will occur 3 Whe...

Page 529: ...a percentage 300 Refer to Section 5 2 List of parameters for setting details The following table shows the Md 35 Torque limit stored value of the buffer memory address Buffer memory address Monitor item Monitor value Storage details Axis 1 Axis 2 Axis 3 Axis 4 Md 35 Torque limit stored value The torque limit value valid at that time is stored Pr 17 Pr 54 or Cd 22 826 926 1026 1126 Refer to Section...

Page 530: ...its of the moveable range of the workpiece are set in Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value The details shown below explain about the software stroke limit function 1 Differences in the moveable range when current feed value and machine feed value are selected 2 Software stroke limit check details 3 Relation between the software stroke limit fu...

Page 531: ...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 532: ...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 533: ...xceeded 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 ...

Page 534: ... validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to Section 5 2 List of parameters for setting details 6 Invalidating the software stroke limit To invalidate the software stroke limit set the following parameters as shown and write them to the QD75 Set the value within the setting range Pr 12 Software stroke limit upper ...

Page 535: ...g 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 315º Set in a clockwise direction Upper limit Lower limit 90º Section B a Set the movement range of section A as follows Software stroke limit lower limit value 315 00000 Software stroke limit upper limit value...

Page 536: ...normally installed inside the stroke limit stroke end on the drive unit side and the control is stopped before the stroke limit stoke end on the drive unit side is reached The details shown below explain about the hardware stroke limit function 1 Control details 2 Wiring the hardware stroke limit 3 Control Precautions 4 When the hardware stroke limit is not used 1 Control details The following dra...

Page 537: ...or positioning control and high level positioning control cannot start To carry out these types of control again return the workpiece to the QD75 control range by a JOG operation inching operation or manual pulse generator operation 2 When Pr 22 Input signal logic selection is set to the initial value the QD75 cannot carry out the positioning control if FLS upper limit signal is separated from COM...

Page 538: ...n The new speed is set as a percent of the command speed 12 5 1 Speed change function The Speed change function is used to change the speed during control to a newly designated speed at any time The new speed is directly set in the buffer memory and the speed is changed by a speed change command Cd 15 Speed change request or external command signal During the machine OPR a speed change to the cree...

Page 539: ...tion current speed is provided b When a speed designation is provided Fig 12 25 Speed change during continuous path control 2 When changing the speed during continuous path control the speed change will be ignored if there is not enough distance remaining to carry out the change 3 When the stop command was given to make a stop after a speed change that had been made during position control the res...

Page 540: ... A warning Deceleration stop speed change warning code 500 occurs and the speed cannot be changed in the following cases During deceleration by a stop command During automatic deceleration during positioning control 6 A warning Speed limit value over warning code 501 occurs and the speed is controlled at the Pr 8 Speed limit value when the value set in Cd 14 New speed value exceeds the Pr 8 Speed ...

Page 541: ...Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 14 New speed value 2000 Set the new speed 1514 1515 1614 1615 1714 1715 1814 1815 Cd 15 Speed change request 1 Set 1 Change the speed 1516 1616 1716 1816 Refer to Section 5 7 List of control data for details on the setting details 2 The following shows the speed change time chart Cd 15 Speed change request Cd 14 New speed value In speed change process...

Page 542: ... program to the control program and write it to the CPU module á Example No 14 Speed change program Pulsate speed change command Hold speed change command Set speed change value 20 00mm min Set speed change request Write speed change Turn OFF speed change command memory ...

Page 543: ...s 2 Axis 3 Axis 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 chan...

Page 544: ... DTOP K1 K1 K1505 H0 TOP K1 K1 K62 H0 TOP QD75 starts speed change processing Speed change processing Write the new speed Input the external command signal Write 1000000 to D108 and D109 Example External command valid signal Set the external command function selection to external speed change request Set the external command signal input to valid ...

Page 545: ...s the warning Less than minimum speed warning code 110 is generated and control will be carried out at speed unit 1 at the time Feedrate becomes a value of 1 or less 4 If there is not enough remaining distance to change the speed by the override function during the position control or position control by the speed position switching control or position speed switching control the operation will be...

Page 546: ...100ms or more If the interval between speed changes is short the QD75 will not be able to track and it may become impossible to carry out commands correctly 5 When a machine OPR is performed the speed change by the override function cannot be carried out after a deceleration start to the creep speed following the detection of near point dog ON In this case a request for speed change is ignored 6 W...

Page 547: ...ction signal PLC READY signal Positioning start signal Positioning complete signal QD75 READY signal Start complete signal Y10 Y0 X0 X10 XC X14 X8 Fig 12 31 Time chart for changing the speed using the override function 3 Add the following sequence program to the control program and write it to the CPU module á Example No 15 Override program Pulsate override command Set override value 200 Write ove...

Page 548: ...o Pr 30 values is set in the positioning parameter data items Da 3 and Da 4 and control is carried out with that acceleration deceleration time However by setting the new acceleration deceleration time Cd 10 Cd 11 in the control data and issuing an acceleration deceleration time change enable command Cd 12 Acceleration deceleration time change during speed change enable disable selection to change...

Page 549: ...shows the operation during an acceleration deceleration time change For an acceleration deceleration time change disable setting Cd 12 Acceleration deceleration time change during speed change enable disable selection Cd 15 Speed change request t V Operation with the acceleration deceleration time set in Da 3 and Da 4 Disabled For an acceleration deceleration time change enable setting Cd 12 Accel...

Page 550: ... 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 decelerat...

Page 551: ...eleration deceleration time remains valid until the changeover to the next positioning data The automatic deceleration processing at the completion of the positioning will also be controlled by the new acceleration deceleration time 3 Setting method To use the acceleration deceleration time change function write the data shown in the following table to the QD75 using the sequence program The set d...

Page 552: ...e program Pulsate acceleration deceleration time change command Set 2000ms for acceleration time Set 0 not change for deceleration time Acceleration deceleration time change enable setting Write acceleration deceleration time change enable Write acceleration deceleration time change disable ...

Page 553: ...ntrol data can be changed at all times The torque can be limited with a new torque value from the time the new torque value has been written to the QD75 a torque change is made only during operation The toque limiting is not carried out from the time the power supply is turned ON to the time the PLC READY signal Y0 is turned ON The torque setting range is from 0 to Pr 17 Torque limit setting value...

Page 554: ... If the setting value is outside the setting range an axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed 4 If the time to hold the new torque value is not more than 100ms a torque change may not be executed 3 Setting method To use the torque change function write the data shown in the following table to the QD75 using the sequence program The...

Page 555: ... of the target position change function 1 Control details 2 Control precautions 3 Setting method 1 Control details The following charts show the details of control of the target position change function a When the address after change is positioned away from the start point more than the positioning address Target position change request Positioning address Address after change b When the speed is...

Page 556: ...current speed in the continuous positioning the next positioning operation is carried out at the new speed value When the speed is set with the next positioning data that speed becomes the current speed and the operation is carried out at the current speed 5 When a target position change request is given during automatic deceleration in position control positioning control to a new position is exe...

Page 557: ...00 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position change 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 following shows the time chart for target position...

Page 558: ...to the CPU module Hold target position change command Set target position change request Set target speed 10000 00mm min Write speed change Turn OFF speed change request memory Pulsate target position change command Set target position change value 300 0 m address Example No 21 Target position change program ...

Page 559: ...ncy stop is not required and the restoration operation at site can be carried out easily The details of the absolute position restoration function are described below 1 Configuration and preparation of absolute position detection system 2 Outline of absolute position detection data communication 3 Absolute position signal transmission procedure 4 Control precautions 1 Configuration and preparation...

Page 560: ...amplifier manual for details 2 Servomotor Use a servomotor with absolute position detector Refer to the servomotor manual for details 3 Detector cable Add a battery power connection cable BAT LG signal for wiring the incremental detector cable Refer to the cable operation manual for details 4 Programmable controller system Carry out the transmission and receiving of the absolute position detection...

Page 561: ...ot required even when the power is later turned ON The restoration can be carried out easily when an instantaneous power interruption or emergency stop occurs In addition because the absolute position data is backed up by a super condenser built in the detector the absolute position data will be stored for a specified time even if the cable is disconnected or broken I O module Programmable control...

Page 562: ...3 will occur b If the transmission data causes a sum error an error ABS transmission SUM error code 214 will occur Refer to Section 15 3 List of errors for the remedial method to be taken when an error occurs CPU module Dedicated instruction Z ABRST1 Z ABRST2 Z ABRST3 Z ABRST4 Servo amplifier I O module Servo ON signal ABS transmission mode ABS request Transmission data preparation completed Curre...

Page 563: ...18 The ABSR is turned ON when ABS data is requested in the ABS transfer mode ABS transmission data bit 0 ABSB0 22 This indicates the lower order bit among 2 bits of ABS data to be transferred from the servo amplifier to the programmable controller system in the ABS transfer mode The ABSB0 turns ON when this signal occurs ABS transmission data bit 1 ABSB1 23 This indicates the upper order bit among...

Page 564: ...0 the phase numbers of absolute position restoration is stored after the process starts 1 Approx 60ms scan time Fig 12 39 Signal state during the absolute position detection 1 The BUSY signal is turned ON and the axis operation status is set to Analyzing by the dedicated instruction ABRST At this time the signal is controlled to turn OFF the servo amplifier The servo is powered OFF in 60ms scan ti...

Page 565: ...lower 2bits of ABS and turns OFF the ABS request ABSR 6 The servo amplifier turns ON the ABS transmission data ready ABST and prepares for the next transmission After that procedures 3 to 6 are repeated until the data corresponding to 32bits and the checksum corresponding to 6bits are sent 7 After the sum check the QD75 turns OFF the ABS transfer mode ABSM If the ABS transfer mode ABSM is turned O...

Page 566: ...m the OP in an absolute position detection system In the absolute position detection system pulses within the range of the following expression can be output to the servo amplifier 32768 number of feedback pulses number of output pulses 32768 number of feedback pulses 1 b Pulses are positive in the address increasing direction from the OP and negative in the address decreasing direction from the O...

Page 567: ... be specified from the output pulse count using range in Condition 1 and the positioning address calculation expression Expression 1 Lower limit value of positioning address the number of negative pulses in Condition 1 is used for calculation Positioning address Movement amount per pulse number of output pulses OP address 0 1 268435456 0 0 26843545 6 μm Upper limit value of positioning address the...

Page 568: ...96454 4 μm to 214748364 7 μm Positioning in excess of 187896454 4 μm cannot be used in the absolute position detection system Unit μm OP 214748364 8 214748364 7 Setting disallowed Usable range in absolute position detection system Unusable range in absolute position detection system Positioning address specifying range 241583545 5 214740000 0 187896454 4 Example 3 1 There are the following conditi...

Page 569: ...e OPR was made When the OP position is not 0 the range is also 0 to 359 99999 For positioning in the same direction control from maximum to minimum for address increase 359 99999 to 0 for address decrease 0 to 359 99999 cannot be exercised See below 0 0 359 99999 359 99999 OP Unusable in absolute position detection system Current value cannot be restored properly at power supply on or resetting Us...

Page 570: ...ils shown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Control precautions 7 Setting method 1 Relation between the step function and various controls The following table shows the relation between the step function and various controls Control type Step function St...

Page 571: ... in continuous path control an automatic deceleration and stop will be forcibly carried out 3 Step start information Control stopped by a step operation can be continued by setting step continue to continue the control in the step start information The step start information is set in the control data Cd 36 Step start information The following table shows the results of starts using the step start...

Page 572: ...tart positioning Positioning stoped by an error One step of positioning is completed Restart positioning All positioning is completed Continue the step operation Turn OFF the step valid flag End Set in Cd 34 Step mode Write 0 carry out no step operation in Cd 35 Step valid flag Write 1 restart to Cd 6 Restart command and check whether the positioning data operates normally Write 1 step continue to...

Page 573: ...r carrying out automatic deceleration Dwell time Fig 12 40 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step Positioning Positioning data No Operation pattern No 10 11 No 11 01 00H 01H 00H OFF ON OFF OFF ON ON ON OFF t V Cd 35 Step valid flag Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positionin...

Page 574: ... 7 Setting method To use the step function write the data shown in the following table to the QD75 using the sequence program Refer to section 4 Using the step operation for the timing of the settings The set details are validated when written to the QD75 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 34 Step mode Set 0 Deceleration unit step or 1 D...

Page 575: ...ntrol precautions 1 If the skip signal is turned ON at the last of an operation a deceleration stop will occur and the operation will be terminated 2 When a control is skipped when the skip signal is turned ON during a control the positioning complete signals X14 X15 X16 X17 will not turn ON 3 When the skip signal is turned ON during the dwell time the remaining dwell time will be ignored and the ...

Page 576: ...ry address 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 sequence program to the control program and write it to the CPU module 1 When the skip command is input the value 1 skip request set in Cd 37 Skip command is wri...

Page 577: ...ence 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 sequence pro...

Page 578: ... the M code output function 1 M code ON signal output timing 2 M code OFF request 3 Control precautions 4 Setting method 5 Reading M codes 1 M code ON signal output timing The timing for outputting storing the M codes can be set in the M code output function The M code is stored in Md 25 Valid M code when the M code ON signal is turned ON The following shows the two types of timing for outputting ...

Page 579: ... 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 The processing differs accord...

Page 580: ...he M code will not be output and the previously output value will be held in Md 25 Valid M code 3 If the M code ON signal is ON at the positioning start an error M code ON signal start error code 536 will occur and the positioning will not start 4 If the PLC READY signal Y0 is turned OFF the M code ON signal will turn OFF and 0 will be stored in Md 25 Valid M code 5 If the positioning operation ti...

Page 581: ...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 Refer to Secti...

Page 582: ...ot BUSY even when an error or warning has occurred 2 Addresses for which teaching is possible The addresses for which teaching is possible are current feed values Md 20 Current feed value having the OP as a reference The settings of the movement amount used in incremental system positioning cannot be used In the teaching function these current feed values are set in the Da 6 Positioning address mo...

Page 583: ...ible assured value is up to 100 000 times If the error Flash ROM write number error error code 805 occurs when writing to the flash ROM has been completed check whether or not the program is created so as to write continuously to the flash ROM 3 Data used in teaching The following control data is used in teaching Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3...

Page 584: ...ng address movement amount in teaching data selection Set the positioning data No for which the teaching will be carried out End teaching Turn OFF the PLC READY signal Y0 Carry out a writing request to the flash ROM End Confirm completion of writing Using a JOG operation inching operation or manual pulse generator Set the positioning data No in buffer memory address 1549 Set 0 in buffer memory add...

Page 585: ...tioning data No in buffer memory address 1549 Confirm completion of the teaching Confirm 0 in buffer memory address 1549 Teach arc sub point address of axis 2 Entering teaching data to buffer memory address 1648 and 1649 in the same fashion as for axis 1 Move the workpiece to the circular interpolation end point using a manual operation 2 Using a JOG operation inching operation or manual pulse gen...

Page 586: ... data to buffer memory address 1648 and 1649 in the same fashion as for axis 1 Set 1 in buffer memory address 1900 Confirm 0 in buffer memory address 1900 2 1 Motion path OP Reverse direction Forward direction Axis 1 Arc center point Movement by circular interpolation Axis 2 Forward direction 2 End point address arc address positioning address Start point address current stop position Reverse dire...

Page 587: ...signal is OFF 2 Program example The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction ZP TEACH 1 1 Move the workpiece to the target position using a JOG operation or an inching operation a manual pulse generator operation Forward run JOG start signal PLC READY signal QD75 READY signal BUSY signal Error detection signal Y8 Y0 X0 XC X8 n1 Teaching is ...

Page 588: ... Set teaching data Set positioning data No Execute teaching Turn OFF teaching command memory POINT 1 Confirm the teaching function and teaching procedure before setting the positioning data 2 The positioning addresses that are written are absolute address ABS values 3 If the positioning operation is correctly completed with the written positioning data it is recommended that the positioning data b...

Page 589: ...ng method 4 Confirming the command in position flag 1 Control details The following shows control details of the command in position function 1 When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to or less than the value set in Pr 16 Command in position width 1 is stored in the command in position flag Md 31 Status b2 Command in ...

Page 590: ...ig 12 47 Command in position width check 2 The command in position flag will be turned OFF in the following cases 0 will be stored in Md 31 Status b2 At the positioning control start At the speed control start At the speed position switching control position speed switching control start At the OPR control start At the JOG operation start At the inching operation start When the manual pulse genera...

Page 591: ...fer 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 monitor data for in...

Page 592: ...l details and setting In the QD75 four types each of acceleration time and deceleration time can be set By using separate acceleration deceleration times control can be carried out with different acceleration deceleration times for positioning control JOG operation OPR etc Set the required values for the acceleration deceleration time in the parameters shown in the following table and write them t...

Page 593: ...acceleration deceleration processing method 2 S curve acceleration deceleration processing method In this method the motor burden is reduced during starting and stopping This is a method in which acceleration deceleration is carried out gradually based on the acceleration time deceleration time speed limit value and Pr 35 S curve ratio 1 to 100 set by the user When the stepping motor is used the a...

Page 594: ...le and write them to the QD75 The set details are validated when written to the QD75 Setting item Setting value Setting details Factory set initial value Pr 34 Acceleration deceleration process selection Set the acceleration deceleration method 0 Trapezoidal acceleration deceleration processing 1 S curve acceleration deceleration processing 0 Pr 35 S curve ratio Set the acceleration deceleration c...

Page 595: ...ls The pre reading start function is performed by turning ON the positioning start signal Y10 Y11 Y12 Y13 with the execution prohibition flag Y14 Y15 Y16 Y17 ON or by executing the dedicated instruction ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 However if positioning is started with the execution prohibition flag ON the positioning data is analyzed but pulse output is not provided While the executio...

Page 596: ... Cutter shaft Feed shaft Stock Fig 12 52 System example using pre reading start function Fig 12 52 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 53 ...

Page 597: ...eives a start request until it outputs pulses The system s tact time can be reduced by the shortening of this delay with the Pre reading start function In Fig 12 51 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 598: ...h the pre reading start function are No 1 to 600 only Performing the pre reading start function at the setting of No 7000 to 7004 or 9001 to 9004 will result in an error Outside start No range error code 543 5 Always turn ON the execution prohibition flag at the same time or before turning ON the positioning start signal Pre reading may not be started if the execution prohibition flag is turned ON...

Page 599: ...ction 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 600: ...erform preparatory operation etc for the next position control For the deceleration start flag function the following will be explained 1 Control details 2 Control precautions 3 Setting method 4 Checking of deceleration start flag 1 Control details When deceleration for a stop is started in the position control whose operation pattern is Positioning complete 1 is stored into Md 48 Deceleration sta...

Page 601: ... 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 Posit...

Page 602: ...on 5 If a target position change is made while the deceleration start 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 P...

Page 603: ... is made 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 Decelera...

Page 604: ...red This section explains the stop command processing for deceleration stop function as follows 1 Control details 2 Control precautions 3 Setting method 1 Control details The operation of stop command processing for deceleration stop function is explained below 1 Deceleration curve re processing A deceleration curve is re processed starting from the speed at stop cause occurrence to stop according...

Page 605: ...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 ch...

Page 606: ...s 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 Co...

Page 607: ...parameter initialization and execution data backup Read the setting and execution procedures for each common function indicated in this chapter thoroughly and execute the appropriate function where required 13 1 Outline of common functions 13 2 13 2 Parameter initialization function 13 3 13 3 Execution data backup function 13 5 13 4 External I O signal logic switching function 13 7 13 5 External I...

Page 608: ...tion data currently being used for control to the flash ROM External I O signal logic switching function This function switches I O signal logic according to the equipment connected to the QD75 For the system in which drive unit READY with b contact upper limit switch and lower limit switch are not used the parameter logic setting can be controlled without wiring if it is changed to a positive log...

Page 609: ...flash ROM setting data Setting data Basic parameters Pr 1 to Pr 10 Detailed parameters Pr 11 to Pr 42 Pr 150 OPR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 49 to Pr 57 Positioning data No 1 to No 600 Block start data No 7000 to No 7004 3 Control Precautions 1 Parameter initialization is only executed when the positioning control is not carried out when the PLC READY signal Y0 is OF...

Page 610: ...ICATED INSTRUCTIONS for details 2 Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO instruction intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 ...

Page 611: ...ng 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 150 Parameters Pr 1 to Pr 57 Pr 150 Positioning data No 1 to No 600 Positioning data No 1 to No 600 Block start data No 7000 to 7004 Block start data No 7000 to 7004 3 Control Precautions 1 Parameter initialization is only executed when the positioning...

Page 612: ...t by the writing of the data shown in the table below to the QD75 buffer memory using the TO instruction intelligent function device The writing to the flash ROM is executed at the time point the data is written to the QD75 buffer memory 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 Ref...

Page 613: ...n of logic of signals input from external source to QD75 b0 Lower limit b1 Upper limit b2 Drive unit READY b3 Stop signal b4 External command signal b5 Zero signal b6 Near point dog signal 0 Negative logic 1 Positive logic b7 Unused Set 0 b8 Manual pulse generator input 0 Negative logic 1 Positive logic Pr 22 Input signal logic selection b9 to b15 Unused Set 0 0 31 181 331 481 Selection of logic o...

Page 614: ...lowing external I O signals Set the logic of the external I O signals in Pr 22 Input signal logic selection and Pr 23 Output signal logic selection Indicates that Drive unit ready of axis 1 is ON 0 OFF 1 ON Axis by axis external I O signals and module RUN ERR LEDs 1 For the QD75P QD75D this function is available in GX Developer SW6D5C GPPW E or later For details refer to GX Developer Operating Man...

Page 615: ...ing the dedicated instructions the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal 14 1 List of dedicated instructions 14 2 14 2 Interlock during dedicated instruction is executed 14 2 14 3 Z ABRST1 Z ABRST2 Z ABRST3 Z ABRST4 14 3 14 4 ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 14 8 14 5 ZP TEACH1 ZP TEACH2 ZP TEACH3 ZP TEACH4 14 12 14 6 ZP PF...

Page 616: ...ction 14 5 Writing to flash ROM ZP PFWRT This function writes the buffer memory parameters positioning data and block start data to the flash ROM Section 14 6 Parameter initialization ZP PINIT This function initializes the buffer memory and flash ROM setting data to the factory set data initial values Section 14 7 14 2 Interlock during dedicated instruction is executed The absolute position restor...

Page 617: ... Z ABRST1 Z ABRST2 Z ABRST3 and Z ABRST4 are common to each other they are designated as Z ABRST Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a device in which control data is stored Device name D Head number of a bit device which turns ON the opera...

Page 618: ...cation completed Set by user at communication start Other than 0 During communication System stores 0 User system S 5 to S 7 System area 1 The data on the setting side is as follows User Data before the execution of dedicated instructions is stored by user System Data after the execution of dedicated instruction is stored by CPU module 2 Refer to Section 15 3 for error codes at abnormal completion...

Page 619: ...is completed and turned OFF by the next END processing b Complete state display device D 1 This device is turned ON and OFF according to the state in which Z ABRST instruction is completed When completed normally Kept unchanged at OFF When completed abnormally This device is turned ON by the END processing of the scan for which Z ABRST instruction is completed and turned OFF by the next END proces...

Page 620: ...he PLC READY signal Y0 is OFF 3 The restoration of the absolute position Z ABRST instruction execution can also be carried out when the servo amplifier is turned ON If this is carried out however the servo ON signal is turned OFF for approx 60ms scan time servo OFF and the motor may move When carrying out the absolute position restoration during servo OFF install an electromagnetic brake and outpu...

Page 621: ... Program examples Program to restore the absolute position of axis 1 The X47 to X49 and Y50 to Y52 are used for communication with the servo amplifier X47 ABS data bit 0 X48 ABS data bit 1 X49 Transmission data READY flag Y50 Servo ON signal Y51 ABS transfer mode Y52 ABS request flag D42 to D45 reset Error code transmission to D49 ABS data bit 0 ON OFF ABS data bit 1 ON OFF Transmission data prepa...

Page 622: ... When ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 and ZP PSTRT4 are common to each other they are designated as ZP PSTRT Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a device in which control data is stored Device name D Head number of a bit device which turns ON...

Page 623: ...rmal completion Functions 1 The positioning start of the axes to be processed See below is carried out ZP PSTRT1 Axis 1 ZP PSTRT2 Axis 2 ZP PSTRT3 Axis 3 ZP PSTRT4 Axis 4 2 The block start OPR start current value changing and multiple axes simultaneous start can be carried out by the setting of start number 7000 to 7004 9001 to 9004 in S 2 3 The ZP PSTRT instruction completion can be confirmed usi...

Page 624: ...o confirm that positioning control is being executed use the ZP PSTRT start command or BUSY signals XC to XF 2 If after positioning has been started by the ZP PSTRT instruction a stop command is input before positioning is complete the complete device D turns ON one scan and the execution of the ZP PSTRT instruction is completed 3 The following dedicated instructions cannot be executed simultaneou...

Page 625: ...fied when the QD75P1 is used 7 When the multiple axes simultaneous start is executed by ZP PSTRT instruction the completion device D will turn ON when the positioning of the axes executed by ZP PSTRT instructions is completed When the instructions is ZP PSTRT1 the axis will be axis 1 Program examples The following program executes the positioning start of positioning data No 1 when X100 turns ON U...

Page 626: ... TEACH2 ZP TEACH3 and ZP TEACH4 are common to each other they are designated as ZP TEACH Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a device in which control data is stored Device name D Head number of a bit device which turns ON the operation by ...

Page 627: ... address or arc address The positioning data other than the positioning addresses and arc addresses are set by peripheral device or using a sequence program ZP TEACH1 Axis 1 ZP TEACH2 Axis 2 ZP TEACH3 Axis 3 ZP TEACH4 Axis 4 2 Teaching can be carried out for the positioning data No 1 to 600 3 The movement of the machine to the address position set in the positioning address arc address of the posi...

Page 628: ...ACH1 to ZP TEACH4 2 The ZP TEACH instruction can only be executed when the BUSY signal XC XD XE XF is turned OFF When the BUSY signal is turned ON the ZP TEACH instruction will not be executed not processed Before executing the ZP TEACH instruction make sure that the BUSY signal for the axis to be processed is turned OFF 3 When the remote I O station Q Corresponding MELSECNET H network remote I O ...

Page 629: ... operation Teaching command pulse Teaching command hold Teaching data setting Positioning data No setting Teaching execution Teaching command storage OFF 2 Teaching program when the dedicated instruction is not used Positioning is carried out for a target position by manual operation Teaching command pulse Teaching command hold Teaching positioning address Sets teaching positioning data No to 1 Tu...

Page 630: ...stored Device name 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 1 The data on the setting side is as follows User Data before the executi...

Page 631: ...eted abnormally This device is turned ON by the END processing of the scan for which ZP PFWRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device OFF OFF OFF ON ON ON When completed abnormally When completed normally Program Complete device ZP PFWRT instruction Complete state display device END processing END processing END processing END pro...

Page 632: ...fter the power ON and CPU module reset operation writing to the flash ROM using a sequence program is limited to up to 25 times Not limited to up to 25 times when writing to the flash ROM is carried out by peripheral device If the 26th or more writing is requested after the power ON CPU module reset operation an error flash ROM write number error error code 805 will occur and the writing will be d...

Page 633: ... command pulse Flash ROM write command hold PLC READY output to QD75 standby Flash ROM write execution Flash ROM write command storage OFF Program example for use when dedicated instruction is not used 2 Flash ROM write program when the dedicated instruction is not used Flash ROM write command pulse Flash ROM write command hold PLC READY output to QD75 standby Flash ROM write execution Flash ROM w...

Page 634: ...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 1 The data on the setting side is as follows User Data before the execution of dedicated instructions is stor...

Page 635: ...cessing 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 ZP PINIT instruction execution completion Sequence program ZP PINIT instruction Complete device Complete state display device Errors 1 When a dedicated instruction is completed abnormally the error complete signal...

Page 636: ... limited to up to 25 times Not limited to up to 25 times when writing to the flash ROM is carried out by peripheral device If the 26th or more writing is requested after the power ON CPU module reset operation an error flash ROM write number error error code 805 will occur and the writing will be disabled If a flash ROM write error occurs by one writing to the flash ROM check and correct the flash...

Page 637: ...pulse Parameter initialization command hold PLC READY output to QD75 standby Parameter initialization execution Parameter initialization command storage OFF 2 Parameter initialization program when the dedicated instruction is not used Parameter initialization command pulse Parameter initialization command hold PLC READY output to QD75 standby Parameter initialization execution Parameter initializa...

Page 638: ...14 24 MELSEC Q 14 DEDICATED INSTRUCTIONS MEMO ...

Page 639: ...s chapter Errors can be confirmed with the QD75 LED display and peripheral devices When an error or warning is detected confirm the detection details and carry out the required measures 15 1 Troubleshooting 15 2 15 2 Error and warning details 15 6 15 3 List of errors 15 10 15 4 List of warnings 15 40 ...

Page 640: ...o problem on the above check items a watchdog timer error may have occurred Reset the CPU module and check that the RUN LED turns on If not the possible cause is a hardware failure Please consult your local Mitsubishi service center or representative explaining a detailed description of the problem b When the ERR LED turns on Check item Action Is there a system error An error may have occurred in ...

Page 641: ...n Is the wiring between the QD75 and drive unit correct Check the wiring between the QD75 and drive unit and correct it Is the wiring between the drive unit and motor correct Check the wiring between the drive unit and motor and correct it Is the value in Md 20 Current feed value changed after positioning control is performed Review the start program Is the number of the input pulses for monitorin...

Page 642: ...n No 1A15 to 18 is correctly wired or not disconnected Does the pulse output mode setting meet the specifications of the drive unit Set the value in Pr 5 Pulse output mode so that it satisfies the specifications of the drive unit b When a motor rotates in the opposite direction Check item Action Is the wiring correct Check that the signal line of the pulse output for axis 1 connector pin No 1A15 t...

Page 643: ...the value in Pr 31 JOG speed limit value In the JOG operation check that Forward Reverse run JOG start signals Y8 to YF do not repeatedly turn ON and OFF d When the set position is not reached Check item Action When Md 20 Current feed value reaches the set position Check that the values in Pr 2 No of pulses per rotation Pr 3 Movement amount per rotation and Pr 4 Unit magnification meet the system ...

Page 644: ...rameters unrelated to interpolation control If the error occurred at the simultaneous start of a positioning operation the axis error storage details will differ depending on whether the error occurred before or after the simultaneous start If the error occurred before the simultaneous start illegal axis No other axis BUSY etc an error Error before simultaneous start error code 501 will occur If t...

Page 645: ...tem warnings are shown below System control data setting warnings An axis warning for axis 1 will occur Positioning data setting warnings An axis warning for each axis will occur Note that a warning will occur for the reference axis when an interpolation designation or axis setting warning occurs 2 Axis warnings occur due to setting warnings from operations such as positioning operations JOG opera...

Page 646: ...he error How to clear errors or warnings An error or warning state is canceled after the following processing has been carried out by setting a 1 in the address 1502 for axis 1 1602 for axis 2 1702 for axis 3 and 1802 for axis 4 of the buffer memory for axis error resetting Cd 5 Axis error reset Axis error detection signal turned OFF Md 23 Axis error No cleared Md 24 Axis warning No cleared Changi...

Page 647: ...15 9 MELSEC Q 15 TROUBLESHOOTING MEMO ...

Page 648: ...The system stops immediately 102 Drive unit READY OFF The start of an operation is requested when the drive unit READY signal is OFF The system does not start 103 Test mode faults during operation The personal computer cannot communicate with the CPU unit The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the dec...

Page 649: ... is used wire the system so that the drive unit READY signal input of the QD75 is always ON Check that there is no error on the personal computer side I F to which a cable is connected After making an axis error reset refer to 3 in Section 15 2 perform manual control operation refer to CHAPTER 11 to move the axis to the other position in order that the upper limit signal FLS will not turn OFF Chec...

Page 650: ...etry invalid is set the near point dog machine OPR is started with the OPR complete flag turned ON The machine OPR is not started 203 Dog detection timing fault The near point dog signal is turned OFF during the deceleration from an OPR speed to a creep speed by the near point dog machine OPR 204 OP detection timing fault The zero signal is turned OFF during the deceleration from an OPR speed to a...

Page 651: ...ent position on OP using the manual control operation refer to CHAPTER 11 then carry out a machine OPR again 74 75 224 225 374 375 524 525 Lower the OPR speed Increase the dog signal input time Refer to Section 8 2 3 74 75 224 225 374 375 524 525 Lower the OPR speed Input external zero signals during the movement at a creep speed Refer to Section 8 2 5 74 75 224 225 374 375 524 525 OPR speed QD75P...

Page 652: ... carried out with the servo amplifier using an absolute position restoration instruction The absolute position restoration is not carried out 300 Outside JOG speed range At the time of JOG starting the JOG speed comes out of a specified range The JOG operation is not carried out when the JOG speed is outside the setting range at the time of JOG start JOG inching 301 Inching movement amount error T...

Page 653: ...o Section 8 2 Review the wiring Refer to Section 12 6 Review the sequence program Review the wiring Refer to Section 12 6 Review the sequence program Review the dedicated instruction parameters Refer to Section 14 3 1518 1519 1618 1619 1718 1719 1818 1819 JOG speed QD75P N QD75D N 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm mi...

Page 654: ...rt axis is 0 or is outside the setting range The Simultaneous start axis start data No of those axes other than the start axis is outside the setting range At start The system will not operate During operation The system stops immediately 502 Illegal data No The positioning data No tried to be executed is outside the ranges of 1 to 600 7000 to 7004 and 9001 to 9004 The designation of a JUMP destin...

Page 655: ...ta No 1541 1641 1741 1841 Axis 2 start data No 1542 1642 1742 1842 Axis 3 start data No 1543 1643 1743 1843 Axis 4 start data No Simultaneous start axis start data No 0 to 600 Normalize the simultaneous start axis start data No Refer to Section 10 5 1500 1600 1700 1800 Positioning start No 1 to 600 7000 to 7004 9001 to 9004 JUMP destination 1 to 600 Normalize the positioning start No positioning s...

Page 656: ...ction where the control 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 506 Large arc error deviation When an arc is interpolated by the designation of the center point a difference between a radius of start point center point an...

Page 657: ...lse inch 2147483648 to 2147483647 Unit degree 0 to 35999999 INC When software stroke limits are valid Unit degree 35999999 to 35999999 Unit mm pulse inch 2147483648 to 2147483647 When software stroke limits are invalid 2147483648 to 2147483647 Speed position switching INC mode 0 to 2147483647 ABS mode 0 to 35999999 Position speed switching 0 to 2147483647 Arc address 2147483648 to 2147483647 Cente...

Page 658: ...r limit In the circular interpolation by the designation of the sub points the sub points exceed the software stroke limit lower limit At start The system will not operate In the analysis of new current value Current value is not changed During operation The system stops immediately when the positioning address during position control including position control in speed position switching control ...

Page 659: ... stroke upper and lower limits mm inch pulse 2147483648 to 2147483647 degree 0 to 35999999 At start Bring the current feed value into the software stroke limit using the manual control operation Refer to CHAPTER 11 Correct the positioning address Also check the arc address in circular interpolation with sub points designated New current value Bring the new current value into the software stroke li...

Page 660: ...hange The previous data such as those on speed control speed position switching control position speed switching control fixed feed and current value change shows a continuous path control The continuous positioning control is designated for speed control or position speed switching control At start the system will not operate 518 Outside operation pattern range The operation pattern set value is ...

Page 661: ...attern 00 01 11 01 Continuous positioning control 11 Continuous path control Do not designate a speed control fixed feed speed position switching control position speed switching control and current value change using the positioning data following the continuous path control data Do not carry out the fixed feed speed control speed position switching control position speed switching control and cu...

Page 662: ...he axis to be interpolated differs from the previous data when the operation is continuously performed by setting the continuous positioning control or continuous path control Machine OPR fast OPR or speed position or position speed switching control was performed in the wiring less mode The NOP instruction was set to the control system of positioning data No 600 Any value other than 0 was set at ...

Page 663: ...9 179 329 479 Interpolation speed designation method 0 Composite speed 1 Reference axis speed Set the Interpolation speed designation method correctly Refer to Section 9 1 6 Same as error codes 515 to 516 Correct the control system axis to be interpolated or parameter Refer to Section 9 1 6 9 2 20 Do not make setting at buffer memory address 1906 use prohibited area Refer to Section 5 3 List of po...

Page 664: ...tside the range of 0 to 359 99999 degrees 532 Simultaneous start not possible Among the axes to be started simultaneously there is an axis on which an error other than this error occurs At start The system will not operate During operation The system stops immediately with the setting deceleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceler...

Page 665: ...orrect the positioning address Refer to Section 9 2 16 9 2 17 9 2 18 Refer to Section 5 3 List of positioning data and Section 5 4 Block start data In the error history check the axis where the error other than this error occurred and remove the error factor Correct the block start data and positioning data Normalize the block start data Refer to Section 5 4 Block start data Special start instruct...

Page 666: ...mber of repetitions of the control system LOOP The operation is terminated Positioning operation 546 Illegal setting of ABS direction in unit of degree The setting value of ABS direction in the unit of degree is as follows Set outside the setting range A figure other than 0 is set when the software stroke limit is valid At start The system will not operate During operation The system decelerates t...

Page 667: ...r of repetitions of the LOOP Refer to Section 9 2 22 ABS setting direction in the unit of degree 1550 1650 1750 1850 0 Shortcut 1 ABS clockwise 2 ABS counterclockwise Set the ABS setting direction in the unit of degree within the setting range Set 0 when the software stroke limits are valid Refer to Section 9 1 5 Software stroke limit upper limit 18 19 168 169 318 319 468 469 Software stroke limit...

Page 668: ...Z ABRST instruction is changed during absolute position restoration during communication with the servo amplifier The ZP PSTRT instruction is executed with the start No set to other than 1 to 600 7000 to 7004 and 9001 to 9004 The ZP TEACH instruction is executed with the teaching data selection set to other than 0 and 1 The ZP TEACH instruction is executed with the positioning data No set to other...

Page 669: ...hange the status during absolute position restoration by the Z ABRST instruction When executing the ZP PSTRT instruction set the start No to within the setting range refer to Section 14 4 When executing the ZP TEACH instruction set the teaching data selection and positioning data No to within the setting range refer to Section 14 5 Do not specify the instruction of a non existent axis by the Z ABR...

Page 670: ...e QD75 READY signal X0 is not turned ON 910 Outside speed limit value range The set value of the basic parameter 2 Speed limit value is outside the setting range The value obtained by the conversion of the speed limit value with respect to the frequency exceeds the maximum output frequency of the unit The speed limit value is smaller than the OPR speed 911 Outside acceleration time 0 range The set...

Page 671: ... to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others The value converted into the frequency should not exceed the maximum output frequency of the module Set a value which is not less than the OPR speed With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 12 13 162 163 312 313 462 463 ...

Page 672: ... set value of the detailed parameter 1 Interpolation speed designation method is outside the setting range 930 Current value update request error The set value of the detailed parameter 1 Current feed value during speed control is outside the setting range 932 Manual pulse generator input mode error The set value of the detailed parameter 1 Manual pulse generator input selection is outside the set...

Page 673: ... 178 328 478 0 1 29 179 329 479 0 1 30 180 330 480 0 1 2 33 0 1 2 3 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 34 184 334 484 0 2 Speed position switching control ABS mode should satisfy the conditions 1 to 3 given on the left When speed position switching control ABS mode is not to be exercised set 0 to speed position function selection and turn th...

Page 674: ...ve ratio is outside the setting range 961 Illegal sudden stop deceleration time The set value of the detailed parameter 2 Sudden stop deceleration time is outside the setting range 962 Stop group 1 sudden stop selection error The set value of the detailed parameter 2 Stop group 1 sudden stop selection is outside the setting range 963 Stop group 2 sudden stop selection error The set value of the de...

Page 675: ... mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Bring the setting into the speed limit value or below 50 200 350 500 0 1 2 3 51 201 351 501 0 1 2 3 52 202 352 502 0 1 53 203 353 503 1 to 100 54 55 204 205 354 355 504 505 1 to 8388608 56 206 356 506 0 1 57 207 357 507...

Page 676: ... 991 Setting for the movement amount after near point dog ON error The set value of the OPR detailed parameter Setting for the movement amount after near point dog ON is outside the setting range 992 OPR acceleration time selection error The set value of the OPR detailed parameter OPR acceleration time selection is outside the setting range 993 OPR deceleration time selection error The set value o...

Page 677: ...t start or higher Refer to Section 5 2 5 76 77 226 227 376 377 526 527 QD75P N QD75D N 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others Bring the setting into the setting range Set the speed to that below the OPR speed Set the value to the bias speed at start or higher Refer to Section 5 2 5 78 228 378 528 0 1 80 81 2...

Page 678: ...n BUSY The teaching request is issued while the axis is BUSY The warning is issued for the axis designated at the time of the teaching request 110 Less than minimum speed The overridden speed becomes 0 The system is controlled with the currently executing unit of 1 111 In PLC READY The request for writing to the flash ROM is issued when the PLC READY is turned ON The warning for axis 1 is issued 1...

Page 679: ...uest 1 Flash ROM write request Parameter initialization request 1 Parameter initialization request Issue a write request when PLC READY signal Y0 is OFF 1513 1613 1713 1813 Positioning operation speed override 1 to 300 Set a value within the setting range 1525 1625 1725 1825 New torque value 1 to Torque limit set value 26 176 326 476 Torque limit set value 1 to 500 Set a value smaller than the tor...

Page 680: ... is changed during operation When the speed exceeds the JOG speed limit the JOG operation is carried out with the JOG speed limit value While the speed is limited by the JOG speed limit value the Speed limiting flag is turned ON Manual pulse generator 401 Outside manual pulse generator input magnification range The manual pulse generator 1 pulse input magnification is set as follows 0 or 1001 or h...

Page 681: ...pulse s 0 to 2000000000 10 2 mm min or others QD75P QD75D 0 to 1000000 pulse s 0 to 2000000000 10 2 mm min or others JOG speed limit value 48 49 198 199 348 349 498 499 QD75P N QD75D N 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others Bring the set value into the setting range 1522 1523 1622 1623 1722 1723 1822 1823 Ma...

Page 682: ...of the positioning start data is set to CONTINUE The operation is terminated 506 FOR to NEXT nest construction 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 Positioning operation 509 Insufficient remaining distance At a continuous operati...

Page 683: ...P N QD75D N 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others Set the new speed value to a range of 0 to speed limit value 1504 1604 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 d...

Page 684: ...led at the speed limit value The speed limiting flag turns ON 516 Illegal teaching data No The positioning data No is set outside the setting range Teaching is not carried out when the set value is 0 or 601 or more A 0 is canceled by the QD75 automatically even when a 0 or 601 or more is set 517 Illegal teaching data selection The teaching data selection set value is outside the setting range Teac...

Page 685: ...60 461 QD75P N QD75D N 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or others QD75P QD75D 1 to 1000000 pulse s 1 to 2000000000 10 2 mm min or others Set the command speed to within the setting range 1549 1649 1749 1849 Teaching positioning data No 1 to 600 Set the positioning data No to within the setting range 1548 1648 1748 1848 Teaching data selection 0 1 Set the teaching data selection set...

Page 686: ...15 48 MELSEC Q 15 TROUBLESHOOTING MEMO ...

Page 687: ...ifferential driver Appendix 44 Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co Ltd Appendix 45 Appendix 7 1 Connection example of QD75D N and PYO series Differential driver Appendix 45 Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 46 Appendix 8 1 Connection example of QD75D N and series Differential dr...

Page 688: ...ble Not available 1 For the QD75P N QD75D N external I O signals can not be monitored on GX Developer Use the system monitor of GX Works2 2 Usable on GX Developer of SW6D5C GPPW E or later 3 Compatible with QCPU of function version B 4 Supported by the module whose first five digits of SERIAL No are 03042 or later 5 Supported by the module whose first five digits of SERIAL No are 05072 or later 6 ...

Page 689: ...on 6 5ms Current feed value 0 9ms 1 8ms Monitor data refreshing cycle Other axis monitors except external I O signals 0 9ms 56 8ms Manual pulse generator 1 pulse input magnification 1 to 1000 1 to 100 ON voltage current of external input External command signal 19VDC or more 2 7mA or more 17 5VDC or more 3 5mA or more OFF voltage current of external input External command signal 7VDC or less 0 8mA...

Page 690: ... be transferred to the QD75P N QD75D N in the following procedure a Saving the set data of the QD75P QD75D from Save the Positioning Module Data 1 In the project view select the QD75P QD75D from where the set data is transferred 2 Go to Project Intelligent Function Module Save the Positioning Module Data 3 Input the file name and save the set data b Reading the set data to the QD75P N QD75D N from...

Page 691: ...ng items when Pulse is set in Unit setting To set a value outside a setting range in GX Configurator QP set it through a sequence program or GX Works2 of the version 1 64S or later Setting item Setting range in GX Configurator QP Setting range in GX Works2 and sequence programs Bias speed at start 0 to 1000000 pulse s 0 to 4000000 pulse s Speed limit value JOG speed limit value QD75P N 1 to 200000...

Page 692: ...Appendix 6 MELSEC Q APPENDICES Appendix 2 Format sheets Appendix 2 1 Positioning Module operation chart Axis address mm inch degree pulse Axis address mm inch degree pulse ...

Page 693: ...Appendix 7 MELSEC Q APPENDICES Axis address mm inch degree pulse Axis address mm inch degree pulse ...

Page 694: ...8608ms Pr 11 Backlash compensation amount 0 to 65535 10 1μm 0 to 65535 10 5 inch 0 to 65535 10 5 degree 0 to 65535 pulse Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value 2147483648 to 2147483647 10 1μm 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 pulse Pr 14 Software stroke limit selection 0 Apply software stroke l...

Page 695: ...Appendix 9 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 3 20000 20000 1 1 0 0 20000 1000 1000 0 2147483647 2147483648 0 0 100 300 0 0 0 0 ...

Page 696: ...Deceleration time 2 Pr 30 Deceleration time 3 1 to 8388608ms Pr 31 JOG speed limit value 1 to 2000000000 10 2 mm min 1 to 2000000000 10 3 inch min 1 to 2000000000 10 3 degree min QD75P N QD75D N 1 to 4000000 pulse s QD75P QD75D 1 to 1000000 pulse s Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection 0 to 3 Pr 34 Acceleration deceleration process selectio...

Page 697: ...Appendix 11 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 ...

Page 698: ...0000 10 3 degree min QD75P N QD75D N 1 to 4000000 pulse s QD75P QD75D 1 to 1000000 pulse s OPR basic parameters Pr 48 OPR retry 0 Do not retry OPR with upper lower limit switch 1 Retry OPR with upper lower limit switch Pr 49 OPR dwell time 0 to 65535ms Pr 50 Setting for the movement amount after near point dog ON 0 to 2147483647 10 1μm 0 to 2147483647 10 5 inch 0 to 2147483647 10 5 degree 0 to 214...

Page 699: ...Appendix 13 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 1 1 0 0 0 0 0 0 300 11 0 0 ...

Page 700: ...ion pattern Da 2 Control system Da 3 Accelera tion time No Da 4 Decelera tion time No Da 5 Axis to be interpola ted Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 ...

Page 701: ...7 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 229...

Page 702: ... 3238 3248 3209 3219 3229 3239 3249 171 172 173 174 175 3700 3710 3720 3730 3740 3701 3711 3721 3731 3741 3702 3712 3722 3732 3742 3704 3714 3724 3734 3744 3705 3715 3725 3735 3745 3706 3716 3726 3736 3746 3707 3717 3727 3737 3747 3708 3718 3728 3738 3748 3709 3719 3729 3739 3749 126 127 128 129 130 3250 3260 3270 3280 3290 3251 3261 3271 3281 3291 3252 3262 3272 3282 3292 3254 3264 3274 3284 3294...

Page 703: ... 4238 4248 4209 4219 4229 4239 4249 271 272 273 274 275 4700 4710 4720 4730 4740 4701 4711 4721 4731 4741 4702 4712 4722 4732 4742 4704 4714 4724 4734 4744 4705 4715 4725 4735 4745 4706 4716 4726 4736 4746 4707 4717 4727 4737 4747 4708 4718 4728 4738 4748 4709 4719 4729 4739 4749 226 227 228 229 230 4250 4260 4270 4280 4290 4251 4261 4271 4281 4291 4252 4262 4272 4282 4292 4254 4264 4274 4284 4294...

Page 704: ... 5238 5248 5209 5219 5229 5239 5249 371 372 373 374 375 5700 5710 5720 5730 5740 5701 5711 5721 5731 5741 5702 5712 5722 5732 5742 5704 5714 5724 5734 5744 5705 5715 5725 5735 5745 5706 5716 5726 5736 5746 5707 5717 5727 5737 5747 5708 5718 5728 5738 5748 5709 5719 5729 5739 5749 326 327 328 329 330 5250 5260 5270 5280 5290 5251 5261 5271 5281 5291 5252 5262 5272 5282 5292 5254 5264 5274 5284 5294...

Page 705: ... 6238 6248 6209 6219 6229 6239 6249 471 472 473 474 475 6700 6710 6720 6730 6740 6701 6711 6721 6731 6741 6702 6712 6722 6732 6742 6704 6714 6724 6734 6744 6705 6715 6725 6735 6745 6706 6716 6726 6736 6746 6707 6717 6727 6737 6747 6708 6718 6728 6738 6748 6709 6719 6729 6739 6749 426 427 428 429 430 6250 6260 6270 6280 6290 6251 6261 6271 6281 6291 6252 6262 6272 6282 6292 6254 6264 6274 6284 6294...

Page 706: ... 7238 7248 7209 7219 7229 7239 7249 571 572 573 574 575 7700 7710 7720 7730 7740 7701 7711 7721 7731 7741 7702 7712 7722 7732 7742 7704 7714 7724 7734 7744 7705 7715 7725 7735 7745 7706 7716 7726 7736 7746 7707 7717 7727 7737 7747 7708 7718 7728 7738 7748 7709 7719 7729 7739 7749 526 527 528 529 530 7250 7260 7270 7280 7290 7251 7261 7271 7281 7291 7252 7262 7272 7282 7292 7254 7264 7274 7284 7294...

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Page 725: ... Lower limit Manual pulse generator MR HDP01 Within 10m 4 1 CN1 15 PP 10 PG 11 16 17 NP 35 NG 36 18 13 CR 41 14 DO COM 46 DI COM 20 RD 49 OPC 12 9 LZ 8 10 LZR 9 SD Plate 24V power supply 24VDC 0 3A 11 12 3 1 2 4 5 A19 B19 A20 B20 6 7 24VDC When connecting an open collector make connection as shown below PP 10 PG 11 NP 35 NG 36 DO COM 46 47 DI COM 20 21 OPC 12 PULSE F 15 PULSE COM 16 PULSE R 17 PUL...

Page 726: ...tector Within 2m MO2 Differential driver common terminal Analog torque limit 10V max current Analog torque limit 10V max current Within 2m When connecting an open collector make connection as shown below QD75P N Manual pulse generator MR HDP01 Within 50m Within 10m 5 REMARK 1 It is recommended to make differential driver connection since differential driver connection is more excellent than open c...

Page 727: ...t 10V max current B1 B2 24VDC Electromagnetic brake Cutoff when a servo ON signal turns OFF and an alarm signal turns ON EMG Monitor output Zero center ammeter max 1mA 10k 10k Configure a sequence to turn OFF the MC at alarms and emergency stops Within 10m 4 Within 2m HC MF HA FF series motor Personal computer When connecting an open collector make connection as shown below QD75P N Detector Positi...

Page 728: ...signal turns OFF and an alarm signal turns ON HC PQ series motor MR C A or MR C A1 Manual pulse generator MR HDP01 24V 0 2A or higher 24V power supply When connecting an open collector make connection as shown below QD75P N Detector REMARK 1 It is recommended to make differential driver connection since differential driver connection is more excellent than open collector connection in max output p...

Page 729: ...V Manual pulse generator MR HDP01 Connect when required Within 2m 5 REMARK 1 1 The logic for each I O terminal can be changed with Pr 22 Input signal logic selection and Pr 23 Output signal logic selection in detailed parameters 1 Negative logic is used for all terminals in the example above 2 2 The QD75P N upper limit FLS and lower limit RLS are used in the OPR retry function 3 3 Refer to the man...

Page 730: ...ower limit Within 2m 5 QD75D N 5V Manual pulse generator MR HDP01 OZ OZ REMARK 1 1 The logic for each I O terminal can be changed with Pr 22 Input signal logic selection and Pr 23 Output signal logic selection in detailed parameters 1 Negative logic is used for all terminals in the example above 2 2 The QD75D N upper limit FLS and lower limit RLS are used in the OPR retry function Set these signal...

Page 731: ...er limit Within 2m 5 QD75D N Differential driver common terminal Manual pulse generator MR HDP01 REMARK 1 1 The logic for each I O terminal can be changed with Pr 22 Input signal logic selection and Pr 23 Output signal logic selection in detailed parameters 1 Negative logic is used for all terminals in the example above 2 2 The QD75D N upper limit FLS and lower limit RLS are used in the OPR retry ...

Page 732: ...mand 2 2 Near point dog Lower limit 5V Manual pulse generator MR HDP01 Within 2m 5 REMARK 1 1 The logic of each I O terminal can be changed with Pr 22 Input signal logic selection and Pr 23 Output signal logic selection in detailed parameters 1 Negative logic is used for all terminals in the example above 2 2 The QD75D N upper limit FLS and lower limit RLS are used in the OPR retry function Set th...

Page 733: ...NC mode Positioning systems Position speed switching control Machine OPR function OPR method 6 types 3 types JOG operation Inching operation Manual pulse generator function Trapezoidal acceleration deceleration Acceleration deceleration processing S curve acceleration deceleration Acceleration deceleration time Acceleration time and deceleration time setting possible 4 patterns each Acceleration d...

Page 734: ... 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse Incremental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse Speed position or position speed switching controls 0 to 214748364 7 m 0 to 21474 83647 inch 0 to 21474 83647 degree 0 to 359 99999 degree 3 0 to 214748364...

Page 735: ...ckup A6CON1 Soldering type sold separately 10136 3000VE Soldering type supplied A6CON2 Crimp type sold separately Connection connector A6CON4 Soldering type usable for straight out and diagonal out sold separately 10136 6000EL Crimp type sold separately A6CON1 A6CON4 0 3mm2 22AWG 10136 3000VE Approx 0 05 to 0 24mm2 30 to 24AWG Applicable wire size A6CON2 0 088 to 0 24mm2 28 to 24AWG 10136 6000EL A...

Page 736: ...se input magnification 6 The near pass function is valid only during the continuous path control A1SD75 Selected with parameters QD75 Standard function 2 Function comparisons Functions added to those of A1SD75P1 S3 A1SD75P2 S3 A1SD75P3 S3 Added functions Remarks External I O signal logic switching function Refer to Section 13 4 Inching operation Refer to Section 11 3 Target position change functio...

Page 737: ...hen a center point is designated 2 The software stroke limit check during speed control is carried out in the following cases When the software stroke limit is applied to the current feed value with Pr 14 and the current feed value is updated with Pr 21 When the software stroke limit is applied to the machine feed value 3 If an attempt is made to change the current value but the designated address...

Page 738: ...l for position speed switching control and In absolute position restoration are added Continuous path control A1SD75 If the reference axis operates in reverse direction the control is internally changed into the continuous positioning control restart after deceleration stop QD75 Even if the reference axis operates in reverse direction with interpolation the control remains as the continuous path c...

Page 739: ... Y0 turns from OFF to ON A1SD75 QD75 0 Factory setting Software stroke limits invalid for manual operation Software stroke limits valid for manual operation Detailed parameters Pr 15 Software stroke limit valid invalid setting 1 Software stroke limits valid for manual operation Software stroke limits invalid for manual operation Error code comparisons Error code Error name A1SD75 QD75 Outside bias...

Page 740: ...BUSY X05 X0D Axis 3 Stop Y1C Y06 Axis 3 BUSY X06 X0E Axis 4 Stop Y07 Axis 4 BUSY X0F Axis 1 Forward run JOG start Y16 Y08 Axis 1 Positioning complete X07 X14 Axis 1 Reverse run JOG start Y17 Y09 Axis 2 Positioning complete X08 X15 Axis 2 Forward run JOG start Y18 Y0A Axis 3 Positioning complete X09 X16 Axis 2 Reverse run JOG start Y19 Y0B Axis 4 Positioning complete X17 Axis 3 Forward run JOG star...

Page 741: ...tepping motor mode selection amount 14 164 314 Pr 12 Backlash compensation amount 15 165 315 17 167 317 Pr 13 Software stroke limit upper limit value 16 17 166 167 316 317 18 19 168 169 318 319 Pr 14 Software stroke limit lower limit value 18 19 168 169 318 319 20 21 170 171 320 321 Pr 15 Software stroke limit selection 20 170 320 22 172 322 Pr 16 Software stroke limit valid invalid setting 21 171...

Page 742: ...selection 58 208 358 58 208 358 Pr 41 Positioning complete signal output time 59 209 359 59 209 359 Pr 42 Allowable circular interpolation error width 60 61 210 211 360 361 60 61 210 211 360 361 Pr 43 External start function selection QD75 Pr 42 External command function selection 62 212 362 62 212 362 Pr 44 Near pass mode selection for path control 66 216 366 Pr 45 OPR method 70 220 370 70 220 37...

Page 743: ...d 465 to 540 1215 to 1290 Md 11 Error judgment 466 to 541 1216 to 1291 Md 12 Start history pointer Start history 542 1292 Pointer number 0 to 15 Md 13 Start axis 543 to 618 Md 14 Operation type 544 to 619 Md 15 Start Hour minute 545 to 620 Md 16 Start Second 100ms 546 to 621 Md 17 Error judgment 547 to 622 Md 18 Start history storage during error Start history during errors 623 Pointer number 0 to...

Page 744: ... the warning occurred 689 to 749 1358 to 1418 Md 25 Axis warning No 690 to 750 1359 to 1419 Md 26 Axis warning occurrence Hour minute QD75 Md 16 Axis warning occurrence Day Hour 691 to 751 1360 to 1420 Md 27 Axis warning occurrence Second 100ms QD75 Md 17 Axis warning occurrence Minute second 692 to 752 1361 to 1421 Md 28 Warning history pointer Warning history 753 1422 ...

Page 745: ...018 1019 818 819 918 919 1018 1019 Md 42 Target speed 820 821 920 921 1020 1021 820 821 920 921 1020 1021 Md 43 OP absolute position 822 823 922 923 1022 1023 Md 44 Movement amount after near point dog ON 824 825 924 925 1024 1025 824 825 924 925 1024 1025 Md 45 Torque limit stored value 826 926 1026 826 926 1026 Md 46 Special start data instruction code setting value 827 927 1027 827 927 1027 Md ...

Page 746: ...159 1209 1259 1513 1613 1713 Cd 19 JOG speed 1160 1161 1210 1211 1260 1261 1518 1519 1618 1619 1718 1719 Cd 20 Speed position switching enable flag 1163 1213 1263 1528 1628 1728 Cd 21 Speed position switching control movement amount change register 1164 1165 1214 1215 1264 1265 1526 1527 1626 1627 1726 1727 Cd 22 Manual pulse generator enable flag 1167 1217 1267 1524 1624 1724 Cd 23 Manual pulse g...

Page 747: ...ositioning data No 1302 2302 3302 2002 8002 14002 Da 7 Command speed 1304 1305 2304 2305 3306 3307 2004 2005 8004 8005 14004 14005 Da 5 Positioning address movement amount 1306 1307 2306 2307 3306 3307 2006 2007 8006 8007 14006 14007 Da 6 Arc address No 1 1308 1309 2308 2309 3308 3309 2008 2009 8008 8009 14008 14009 No 2 1310 to 1319 2320 to 2329 3310 to 3319 2010 to 2019 8010 to 8019 14010 to 140...

Page 748: ...56 4657 4906 4907 26106 26107 27106 27107 28106 28107 No 2 4410 to 4419 4660 to 4669 4910 to 4919 26110 to 26119 27110 to 27119 28110 to 28119 No 3 4420 to 4429 4670 to 4679 4920 to 4929 26120 to 26129 27120 to 27129 28120 to 28129 to to to to to to to Positioning start information 2 Condition data No 10 4490 to 4499 4740 to 4749 4990 to 4999 26190 to 26199 27190 to 27199 28190 to 28199 Start No 8...

Page 749: ...klash compensation amount Pr 12 Pr 11 Software stroke limit upper limit value Pr 13 Pr 12 Software stroke limit lower limit value Pr 14 Pr 13 Software stroke limit selection Pr 15 Pr 14 Software stroke limit valid invalid setting Pr 16 Pr 15 Command in position width Pr 17 Pr 16 Torque limit setting value Pr 18 Pr 17 M code ON signal output timing Pr 19 Pr 18 Speed switching mode Pr 20 Pr 19 Inter...

Page 750: ...omplete signal output time Pr 41 Pr 40 Allowable circular interpolation error width Pr 42 Pr 41 External start function selection QD75 Pr 42 External command function selection Pr 43 Pr 42 Near pass mode selection for path control Pr 44 OPR method Pr 45 Pr 43 OPR direction Pr 46 Pr 44 OP address Pr 47 Pr 45 OPR speed Pr 48 Pr 46 Creep speed Pr 49 Pr 47 OPR retry Pr 50 Pr 48 OPR dwell time Pr 51 Pr...

Page 751: ...our minute Md 15 Start Second 100ms Md 16 Error judgment Md 17 Start history storage during error Start history during errors Md 18 Axis in which the error occurred Md 19 Md 9 Axis error No Md 20 Md 10 Axis error occurrence Hour minute QD75 Md 11 Axis error occurrence Hour Md 21 Md 11 Axis error occurrence Second 100ms QD75 Md 12 Axis error occurrence Minute second Md 22 Md 12 Pointer Error histor...

Page 752: ...osition Md 43 Movement amount after near point dog ON Md 44 Md 34 Torque limit stored value Md 45 Md 35 Special start data instruction code setting value Md 46 Md 36 Special start data instruction parameter setting value Md 47 Md 37 Start positioning data No setting value Md 48 Md 38 In speed control flag Md 49 Md 39 In speed change processing flag Md 50 Md 40 Start data pointer being executed Md ...

Page 753: ...ange request Cd 17 Cd 15 Positioning operation speed override Cd 18 Cd 13 JOG speed Cd 19 Cd 17 Inching movement amount Cd 16 Speed position switching enable flag Cd 20 Cd 24 Speed position switching control movement amount change register Cd 21 Cd 23 Position speed switching enable flag Cd 26 Position speed switching control speed change register Cd 25 Target position change request flag Cd 29 Ta...

Page 754: ...o Cd 30 Simultaneous starting axis start data No Axis 2 start data No Cd 31 Simultaneous starting axis start data No Axis 3 start data No Cd 32 Simultaneous starting axis start data No Axis 4 start data No Cd 33 Teaching data selection Cd 38 Teaching positioning data No Cd 39 New acceleration time value Cd 33 Cd 10 New deceleration time value Cd 34 Cd 11 Acceleration deceleration time change durin...

Page 755: ...ess Da 6 Da 7 Command speed Da 7 Da 8 Dwell time JUMP destination positioning data No Da 8 Da 9 Positioning data M code condition data Da 9 Da 10 Shape Da 10 Da 11 Start data No Da 11 Da 12 Special start instruction Da 12 Da 13 Start block data Parameter Da 13 Da 14 Condition target Da 14 Da 15 Condition operator Da 15 Da 16 Address Da 16 Da 17 Parameter 1 Da 17 Da 18 Positioning start information...

Page 756: ...witching signal 2 Negative logic Not possible Negative logic Possible Output signal comparisons A1SD75 QD75 Name Logic initial status Logic switch with parameters Logic initial status Logic switch with parameters Command pulse 3 Positive logic CW CCW mode Possible Negative logic CW CCW mode Possible Deviation counter clear Negative logic Not possible Negative logic Possible 1 Comparisons about man...

Page 757: ...sh Configure each setting with GX Works2 Programming and debugging Create and debug a program Creating programs for parameters and data Create programs to set parameters and data Writing data to flash ROM Write data to the flash ROM Testing and tracing Test operation and trace waveform and location of positioning Monitoring Monitor the operating status of the QD75 Appendix 10 9 Execution data back...

Page 758: ...gure settings Set the following items Item Contents Module Type Select QD75 Type Positioning Module Module Selection Module Name Select the model name of the module to be connected Mounted Slot No Select the number of the slot where the module is mounted Mount Position Specify start X Y address The start I O number hexadecimal of the module to be mounted on the slot set in Mounted Slot No is displ...

Page 759: ...settings Double click the setting target item and select or enter a value Items with a pull down list Double click the item and select an item in the displayed pull down list Items without a pull down list Double click the item and enter a value For details on the setting items refer to the following Parameter Reference Basic parameters 1 Section 5 2 1 Basic parameters 2 Section 5 2 2 Detailed par...

Page 760: ...ist Double click the item and select an item in the displayed pull down list Items without a pull down list Double click the item and enter a value POINT In the default status the data displayed on Positioning_Axis_ _Data are only No 1 to No 100 of positioning data To display the data No 101 and later change the display range under Display Specification of Positioning data Tool Options Intelligent...

Page 761: ...fline Simulation The locus and waveform of configured positioning data can be checked Automatic Command Speed Calculation Constant speed is automatically calculated by setting the time for positioning from the starting position to the target position ...

Page 762: ...for two positioning data interpolation is automatically created by selecting two positioning data and setting the radius M Code Comment Edit Set and display M code comments of the positioning module For details on each function refer to the GX Works2 Version1 Operating Manual Intelligent Function Module ...

Page 763: ...Starting_Axis_ _Block_Data 2 Configure settings Double click the setting target item and select or enter a value Items with a pull down list Double click the item and select an item in the displayed pull down list Items without a pull down list Double click the item and enter a value For details on the setting items refer to Section 5 4 List of block start data ...

Page 764: ...esh reading by sequence program is not needed 1 Operating procedure 1 Open the Auto_Refresh window Project window Intelligent Function Module Module name Auto_Refresh 2 Enter devices Click the text box of the item to be set and enter the auto refresh target device POINT To validate the auto refresh data after writing them into the CPU module power off and then on or reset the CPU module ...

Page 765: ...nual pulse generator operation can be monitored Error History 16 error history logs can be monitored Warning History 16 warning history logs can be monitored Module Information List Signals and flag ON OFF status of each axis can be monitored Axis Monitor 1 Operating procedure 1 Starting the Positioning Monitor window Display the Positioning Monitor window Tool Intelligent Function Module Tool QD7...

Page 766: ...s to the Axis Monitor window 3 Selecting the monitor type Select the monitor type from the pull down menu of Monitor type Operation monitor Operation monitor Axis control Operation monitor Speed position switching control Operation monitor Position speed switching control Operation monitor OPR monitor Operation monitor JOG manual pulse ...

Page 767: ... Monitor item Symbol of reference buffer memory Reference Current feed value Md 20 Axis feed speed Md 28 Axis operation status Md 26 Positioning data No being executed Md 44 Positioning data being executed running pattern Positioning data being executed control method Positioning data being executed axis to be interpolated Positioning data being executed acceleration time No Positioning data being...

Page 768: ... operation status Md 26 Target speed Md 33 Feedrate Md 22 Current speed Md 27 Positioning amount of speed and position switch control Md 29 Section 5 6 2 Speed position switching control movement amount change register Cd 23 Section 5 7 2 Status speed and position change latch flag Md 31 Section 5 6 2 Speed position switching enable flag Cd 24 Section 5 7 2 Status speed controlling flag Md 31 Sect...

Page 769: ... 5 6 2 For Operation monitor JOG manual pulse Symbol of reference buffer memory or device No of the output signal Monitor item Axis 1 Axis 2 Axis 3 Axis 4 Reference Current feed value Md 20 Axis feed speed Md 28 Axis operation status Md 26 Section 5 6 2 Forward JOG start Y8 YA YC YE Reverse JOG start Y9 YB YD YF Section 3 3 3 JOG speed Cd 17 Section 5 7 2 JOG speed limit value Pr 31 JOG accelerati...

Page 770: ...ng Monitor 2 Switching to the Starting History window Click the Starting History button on the toolbar The display switches to the Starting History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 starting histories can be monitored all the time Also the error details can be confirmed by clicking the error number For details on the starting h...

Page 771: ... LD75 Positioning Module Positioning Monitor 2 Switching to the Error History window Click the Error History button on the toolbar The display switches to the Error History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 error histories can be monitored all the time Also the error details can be confirmed by clicking the axis error No ...

Page 772: ...5 Positioning Module Positioning Monitor 2 Switching to the Warning History window Click the Warning History button on the toolbar The display switches to the Warning History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 warning histories can be monitored all the time Also the error details can be confirmed by clicking the axis warning No ...

Page 773: ...e Information List 1 Operating procedure 1 Starting the Positioning Monitor window Display the Positioning Monitor window Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Monitor Module Information List window ...

Page 774: ...signal upper limit External I O signal drive unit ready External I O signal stop signal External I O signal external command External I O signal zero signal External I O signal near point dog signal External I O signal deviation counter clear Md 30 Section 5 6 2 External command valid Cd 8 Section 5 7 2 Status speed controlling flag Status speed and position change latch flag Status command in pos...

Page 775: ...ange test Current value change test Positioning start test Test operation is performed by specifying the positioning data No or point No of the block start data 1 Operating procedure 1 Open the Positioning Test dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test Monitor current values such as the current feed value and feedrate Test each function while ch...

Page 776: ...data according to the setting for Start Type Positioning Start Signal Set the positioning data No Block Start Set the block No and point No Multiple Axes Simultaneous Start Set the multiple axes simultaneous start data No Set Step and External Command as needed Step To perform test operation by step start check the Start step checkbox select a step mode from the pull down list and click the Contin...

Page 777: ...on Measurement of backlash compensation amount for forward reverse rotation Accurate address check and movement amount measurement In addition the OP is established and the OPR basic and detailed parameters are corrected by the OPR test 1 Operating procedure 1 Open the Positioning Test dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test Monitor current va...

Page 778: ...eration Set JOG speed to 1 or more Inching Movement Amount to 0 and click the Forward RUN or Reverse RUN button Manual Pulse Generator operation Set Manual pulse generator 1 pulse input magnification select Manual pulse generator enable flag and use the manual pulse generator OPR operation Select the OPR method from Machine OPR and Fast OPR and click the OPR button ...

Page 779: ...test or JOG operation test is performed 1 Operating procedure 1 Open the Positioning Test dialog box Display the Positioning Test window Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test Monitor current values such as the current feed value and feedrate Test each function while checking current values with the monitor 2 Select the test target axis Select the test ...

Page 780: ...peed Enter the new speed value during the startup of positioning start test or OPR test and click the New Speed button Override Enter the speed override value and click the Speed Override Change button Acceleration Deceleration Time Change Check the Acceleration deceleration time change enable checkbox set the acceleration time and deceleration time values and click the New Speed button ...

Page 781: ...e 1 Open the Positioning Test dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test Monitor current values such as the current feed value and feedrate Test each function while checking current values with the monitor 2 Select the test target axis Select the test target axis from the pull down menu of Target Axis ...

Page 782: ...Appendix 96 MELSEC Q APPENDICES 3 Select the function Select Current Value Changing from the pull down menu of Select Function 1 Enter the new current value and click the Current Value Changing button ...

Page 783: ...10 6 Wave trace This function displays the speed command axis speed in positioning operation in waveform data 1 Operating procedure 1 Open the Wave Trace dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Wave Trace ...

Page 784: ...t the module Click the Module Selection button Select the positioning module to trace waves and click the OK button 3 Set conditions Click the Condition Setting button Read the displayed description set each condition and click the OK button ...

Page 785: ... Trace button to start trace The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace even if the trace completion conditions are not met When the completion conditions are met and the trace is completed the trace result is displayed ...

Page 786: ...ocation trace This function displays 2 axis interpolation control and simultaneous start 2 axes in locus data 1 Operating procedure 1 Open the Location Trace dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Location Trace ...

Page 787: ...the module Click the Module Selection button Select the positioning module to trace locations and click the OK button 3 Set conditions Click the Condition Setting button Read the displayed description set each condition and click the OK button ...

Page 788: ... Trace button to start trace The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace even if the trace completion conditions are not met When the completion conditions are met and the trace is completed the trace result is displayed ...

Page 789: ...tailed parameters Pr 49 to Pr 57 Positioning data No 1 to No 600 Block start data No 7000 to No 7004 3 Control Precautions 1 Parameter initialization is only executed when the positioning control is not carried out when the PLC READY signal Y0 is OFF The warning In PLC READY warning code 111 will occur if executed when the PLC READY Y0 is ON 2 Writing to the flash ROM can be executed up to 100 000...

Page 790: ...ing the TO instruction intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory 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...

Page 791: ... the execution data backup function Buffer memory Flash ROM Parameters Pr 1 to Pr 57 Pr 150 Parameters Pr 1 to Pr 57 Pr 150 Positioning data No 1 to No 600 Positioning data No 1 to No 600 Block start data No 7000 to 7004 Block start data No 7000 to 7004 3 Control Precautions 1 Parameter initialization is only executed when the positioning control is not carried out when the PLC READY signal Y0 is ...

Page 792: ...ut by the writing of the data shown in the table below to the QD75 buffer memory using the TO instruction intelligent function device The writing to the flash ROM is executed at the time point the data is written to the QD75 buffer memory 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 Re...

Page 793: ...ction of logic of signals input from external source to QD75 b0 Lower limit b1 Upper limit b2 Drive unit READY b3 Stop signal b4 External command signal b5 Zero signal b6 Near point dog signal 0 Negative logic 1 Positive logic b7 Unused Set 0 b8 Manual pulse generator input 0 Negative logic 1 Positive logic Pr 22 Input signal logic selection b9 to b15 Unused Set 0 0 31 181 331 481 Selection of log...

Page 794: ...information that can be monitored are the module s information same as the QD75 front RUN ERR LED indicators and the following external I O signals Set the logic of the external I O signals in Pr 22 Input signal logic selection and Pr 23 Output signal logic selection Axis by axis external I O signals and module RUN ERR LEDs indicates that drive unit ready of axis 1 is ON 0 OFF 1 ON Refer to the fo...

Page 795: ...on can be monitored When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time This function allows users to check the operation sequence whether the operations have been started in a predetermined sequence at system start up To monitor the starting history register the QD75 to the Intelligent Function Module Monitor Window ...

Page 796: ...eeds 16 the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time To monitor the error history and warning history register the QD75 to the Intelligent Function Module Monitor Window For details on the registration method and monitoring method refer to the following GX Works2 Version1 Operating Manual Intelligent Function Module ...

Page 797: ...P N QD75D N only 1 Checking errors on the Module s Detailed Information screen Select Diagnostics System Monitor on GX Works2 Select QD75 for Main Base and click the Detailed Information button The Module s Detailed Information screen for the QD75 appears and the error code error details and corrective actions can be checked Displays the latest error code Displays error history Displays descriptio...

Page 798: ...ayed in a list together with the error logs of other modules The logs can be output to a CSV format file The error codes and the time of error occurrence can be checked even after the CPU module is powered off and then on or reset Select Diagnostics System Monitor System Error History button on GX Works2 a b c a Error History List Module error logs are displayed in a list ...

Page 799: ...YF The status of output signals Y0 to YF at the time of error is stored in hexadecimal Output signals with PLC CPU Y10 Y1F The status of output signals Y10 to Y1F at the time of error is stored in hexadecimal Axis 1 drive unit READY signal Axis 1 upper limit signal Axis 1 lower limit signal Axis 1 stop signal Axis 1 external command signal Axis 1 near point dog signal Axis 1 zero signal The status...

Page 800: ...ed in the Error Code column Display example If HST LOSS is frequently displayed set a larger value for the number of errors collected per scan in the PLC RAS tab of the PLC Parameter dialog box For the setting refer to the QnUCPU User s Manual Function Explanation Program Fundamentals 2 If the error occurred at the simultaneous start the axis No in which the error is detected is stored in the Star...

Page 801: ...dard phase difference is a 90ø electrical angle If the B phase were to lag behind the A phase in a forward run B phase turns ON after the A phase the A phase would lag behind the B phase in a reverse run A phase turns ON after the B phase In this way the forward and reverse run addition and subtraction can be automatically carried out 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 90 A phase B phase Pulse...

Page 802: ... motor with an absolute position detector and a servo amplifier and positioning module compatible with an absolute position detection system ABSOLUTE SYSTEM This is one system for expressing a positioning address Absolute address system This system uses 0 as a reference and expresses the address as the distance from 0 The direction is automatically determined even when it is not designated The oth...

Page 803: ...h amount Backlash Forward run 1m 3 28feet right feed Machine does not move Backlash 1m 3 28feet left feed Left feed amount BACKUP FUNCTION Backup functions consist of the following 1 Functions for storing the sequence program and device statuses stored in the RAM memory of the CPU module so that they are not lost during power failures etc 2 Functions for storing the current value in absolute posit...

Page 804: ...well time CCW Counterclockwise Rotation in the counterclockwise direction In the motor this is determined looking from the shaft end side Also refer to CW CHANGE signal The CHANGE signal is an external signal used to switch the speed position control from the speed control being executed to position control CIRCULAR INTERPOLATION Automatic operation in which the machine path makes a circle when po...

Page 805: ...ing from the motor shaft end side D A CONVERTER Digital to Analog converter A device having a function to convert the digital value expressing the No of pulses to an analog value expressing the voltage or current No of pulses 0 to 80 000 pulses second D A Voltage 0 to 10V DATA NO To carry out positioning to 2 or more addresses each position is assigned a sequence No such as No 1 No 2 No 3 etc The ...

Page 806: ...ng module and the servo amplifier CPUs are connected This has enabled the construction of higher accuracy higher speed systems The MELSEC A70D AD774M A171SCPU A273UCPU etc models employ this digital bus connection DOG SIGNAL The near point dog of the OPR DRIVE UNIT The commands output from the positioning module are low voltage low current commands with insufficient energy to run the motor The dri...

Page 807: ... Thus the positioning speed and movement amount can be controlled by the electronic gear ratio magnification EMERGENCY STOP Emergency stops cannot be carried out by the QD75 so a method of shutting OFF the servo side power supply from outside the programmable controller etc must be considered ENCODER This device turns the input data into a binary code of 1 ON and 0 OFF A type of pulse generator A ...

Page 808: ... screw in mechanisms that position using screw rotation Ball screws are often used to reduce backlash and dimension error 1 rotation by the motor Positioning feed screw Lead feedrate per screw rotation FEEDBACK PULSE This is a method of using a returning pulse train to confirm whether the machine faithfully operated according to the commands issued in automatic control If the machine did not faith...

Page 809: ...ith I r2 dmGD2 is given by 4gI with g being gravitational acceleration INCREMENTAL ENCODER A device that simply outputs ON OFF pulses by the rotation of the axis 1 phase types output only A pulses and do not indicate the axis rotation direction 2 phase types output both A and B pulse trains and can judge the rotation direction The direction is judged to be forward if the B pulse train turns ON whe...

Page 810: ...hanging 50Hz or 60Hz of commercial frequency to direct current once then changing it again to a 5 to 120Hz alternating current and controlling the motor speed JOG Jog This refers to moving the tool little by little Inching Parameter setting is required to carry out JOG operation kPPS This is the abbreviation for kilopulses per second 80kPPS equals 80 000 pulses per second LIMIT SWITCH This is a sw...

Page 811: ...d by a machine having the OP address as a reference Even if the current value is changed this value will not change MANUAL PULSE GENERATOR The handle of this device is manually rotated to generate pulses This device is used when manually carrying out accurate positioning Made by Mitsubishi Electric Corp model MR HDP01 MASTER AXIS When carrying out interpolation operations this is the side on which...

Page 812: ...imit in fixed feed etc rewrite the current value to 0 after the fixed feed The current value can be changed during a positioning stop OP This is the reference position for positioning Positioning cannot start without a reference point The OP is normally set to the upper or lower stroke limit OP This point is the reference OP SHIFT FUNCTION The OP position can be shifted in the positive or negative...

Page 813: ...or both forward run and reverse run Start Deviation counter clear The terminal Nos are determined for each axis The output No Yn is not directly related to the program so it is not used OVERRIDE FUNCTION With this function the speed during positioning operations current speed can be varied between 1 and 300 The speed can also be changed by the same variable rate for continuous positioning with dif...

Page 814: ... mode for carrying out speed control and the torque loop mode for carrying out torque control current control M PLG Servo amplifier Servomotor Pulse train Droop pulses Posi tion control Speed control Cur rent control Inverter Current feedback Speed feedback Position feedback Interface POSITIONING Accurately moving the machine from a point to a determined point The distance direction speed etc for ...

Page 815: ... devices installed on the motor shaft that create pulses when the shaft rotates and digital devices 1 phase types output one pulse train 2 phase types output two pulse trains with a phase difference From 600 to 1 000 000 pulses can be output per shaft rotation Generators with a ZERO signal function to output 1 or 2 pulses per shaft rotation Abbreviated as PLG Refer to the term ENCODER PULSE OUTPUT...

Page 816: ...d deceleration follow a sine curve and the movement is smooth The S curve ratio can be set from 1 to 100 Acceleration Deceleration SERVO AMPLIFIER Refer to the term DRIVE UNIT SERVO LOCK In positioning using a servomotor stepping motor etc working power is required to hold the machine at the stop position The position will be lost if the machine is moved by external power This kind of state is cal...

Page 817: ...arge This compensation is set in ms units SPEED LIMIT VALUE This is the max speed for positioning Even if other data is mistakenly set to a higher speed than this the positioning will be carried out at this speed limit value when it is set in the parameters The acceleration time becomes the time to accelerate from a stopped state to the speed limit value and the deceleration time becomes the time ...

Page 818: ...placed by one with a larger torque Step out causes the positioning error to increase Motor Motor torque Load STEPPING MOTOR A motor that rotates a given angle example 0 15ø when 1 pulse is generated For that reason a rotation proportional to the No of pulses can be obtained 2 phase to 5 phase stepping motors are available In the 3 phase type the rotor rotates in order from A to C when a voltage is...

Page 819: ...itch should be established and an emergency stop circuit outside the programmable controller should be created Refer to the term LIMIT SWITCH Lower limit 0 Upper limit Limit switch for emergency stop Positioning possible in a 3m 9 84feet range 3m 9 84feet SUDDEN STOP A stop carried out in a shorter time than the deceleration time designated in the parameters Full speed Sudden stop Time Deceleratio...

Page 820: ... in when an abnormality is detected that is not serious enough to require cancellation or stoppage of the positioning operation Warnings are handled differently than errors WINDOW These are the selection menus that appear on the screen when the QD75 is started Menu selection window Mode function selection window Sub function selection window Execution setting selection window WITH MODE This is the...

Page 821: ...s smaller 4 Hardware 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 th...

Page 822: ...ss function 13 Acceleration decelerat ion time The machine starts and stops suddenly when carrying out JOG operations and positioning operations Using an MR J2S servo amplifier Review the parameter settings for acceleration deceleration time speed limit value JOG speed limit value JOG acceleration deceleration time etc 14 Simplified absolute position detection system Are simplified absolute positi...

Page 823: ...thod 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 carried out with t...

Page 824: ...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 en...

Page 825: ...0 M code ON signal Is there any problem with setting an M code ON signal OFF request in the next scan after the M code ON signal ON The QD75 checks the M code ON signal OFF request every 0 9ms QD75P N QD75D N or 1 8ms QD75P QD75D so there is a possibility that the M code ON signal OFF may be delayed by a maximum of 0 9ms QD75P N QD75D N or 1 8ms QD75P QD75D after the M code ON signal ON even if an...

Page 826: ...s that positioning is still being executed immediately after the stop signal ON Even if the start signal is turned ON at that time the start request will be ignored and a warning Start during operation warning code 100 will occur 51 Error warning Does a warning Deceleration stop speed change warning code 500 occur only during stop deceleration and automatically deceleration Is there any problem if...

Page 827: ...arameters 2 17 167 317 467 Pr 11 Backlash compensation amount 18 19 168 169 318 319 468 469 Pr 12 Software stroke limit upper limit value 20 21 170 171 320 321 470 471 Pr 13 Software stroke limit lower limit value 22 172 322 472 Pr 14 Software stroke limit selection 23 173 323 473 Pr 15 Software stroke limit valid invalid setting 24 25 174 175 324 325 474 475 Pr 16 Command in position width 26 176...

Page 828: ...n 59 209 359 509 Pr 40 Positioning complete signal output time 60 61 210 211 360 361 510 511 Pr 41 Allowable circular interpolation error width 62 212 362 512 Pr 42 External command function selection Detailed parameters 2 Positioning parameters 70 220 370 520 Pr 43 OPR method 71 221 371 521 Pr 44 OPR direction 72 73 222 223 372 373 522 523 Pr 45 OP address 74 75 224 225 374 375 524 525 Pr 46 OPR ...

Page 829: ...1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354 Md 10 Axis error No 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 Md 51 Axis error occurrence Year month QD75P N QD75D N 1295 1299 1303 1307 1311 1315 1319 1323 1327 1331 1335 1339 1343 1347 1351 1355 Md 11 Axis error occurrence Day hour 1296 1300 1304 1308 1312 1316 1320 1324 1328 1332 1336 1340 134...

Page 830: ...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 parameter setting value 829 929 1029 1129 Md 38 Start positioning data No setting value 830 930...

Page 831: ...19 1718 1719 1818 1819 Cd 17 JOG speed 1520 1620 1720 1820 Cd 18 Continuous operation interrupt request 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 ...

Page 832: ...4 Step mode 1545 1645 1745 1845 Cd 35 Step valid 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 Axis control data 1900 Cd 1 Flash ROM write request 1901 Cd 2 Parameter initialization request 1905 Cd...

Page 833: ...002 20002 Da 9 Dwell time JUMP destination positioning data No 2003 8003 14003 20003 Not used 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 14020...

Page 834: ...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 835: ...pendix 149 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 memory area Positioning data ...

Page 836: ...Appendix 150 MELSEC Q APPENDICES Appendix 14 External dimension drawing 1 QD75P1N Unit mm 23 4 27 4 98 90 46 ...

Page 837: ...Appendix 151 MELSEC Q APPENDICES 2 QD75P2N Unit mm 23 27 4 90 4 98 46 3 QD75P4N 23 27 4 90 4 98 46 Unit mm ...

Page 838: ...Appendix 152 MELSEC Q APPENDICES 4 QD75D1N 12 90 23 27 4 Unit mm 98 4 46 5 QD75D2N 90 23 27 4 12 98 4 46 Unit mm ...

Page 839: ...Appendix 153 MELSEC Q APPENDICES 6 QD75D4N 90 23 27 4 12 98 4 46 Unit mm ...

Page 840: ...Appendix 154 MELSEC Q APPENDICES 7 QD75P1 QD75P2 QD75P4 27 4 23 98 90 4 46 unit mm ...

Page 841: ...Appendix 155 MELSEC Q APPENDICES 8 QD75D1 QD75D2 QD75D4 27 4 23 90 12 98 4 46 unit mm ...

Page 842: ...Appendix 156 MELSEC Q APPENDICES MEMO ...

Page 843: ...37 3 axis speed control 9 77 4 axis fixed feed control interpolation 9 54 4 axis linear interpolation control ABS linear 4 9 40 4 axis linear interpolation control INC linear 4 9 42 4 axis speed control 9 81 A A phase B phase mode 5 22 ABS direction in degrees Cd 40 5 128 Absolute encoder Explanation of positioning terms Appendix 116 Absolute position detection system Explanation of positioning te...

Page 844: ...nstant current system Explanation of positioning terms Appendix 118 Block 10 2 Block No being executed Md 45 5 102 Block start Normal start 10 8 Block start data 10 7 Block start data area No 7000 to 7004 7 3 Buffer memory 7 2 Buffer memory Explanation of positioning terms Appendix 118 Buffer memory area configuration 7 5 BUSY Explanation of positioning terms Appendix 118 BUSY signal 3 17 C Cable ...

Page 845: ...eleration curve re processing 12 106 Deceleration ratio Explanation of positioning terms Appendix 119 Deceleration start flag Md 48 5 102 Deceleration start flag valid Cd 41 5 104 Deceleration stop 6 44 Deceleration time Explanation of positioning terms Appendix 119 Deceleration time 0 Pr 10 5 25 Deceleration time 1 Pr 28 5 34 Deceleration time 2 Pr 29 5 34 Deceleration time 3 Pr 30 5 34 Decelerat...

Page 846: ...generative brake resistor Explanation of positioning terms Appendix 122 F F Explanation of positioning terms Appendix 122 Fast OPR 8 23 Fast OPR Explanation of positioning terms Appendix 122 Fatal stop 6 43 Features of QD75 1 2 Feed pulse Explanation of positioning terms Appendix 122 Feed screw Explanation of positioning terms Appendix 122 Feedback pulse Explanation of positioning terms Appendix 1...

Page 847: ...24 Interpolation speed designation method Pr 20 5 31 Inverter Explanation of positioning terms Appendix 124 J JOG Explanation of positioning terms Appendix 124 JOG operation 11 4 JOG operation acceleration time selection Pr 32 5 35 JOG operation deceleration time selection Pr 33 5 35 JOG operation start time chart 11 11 JOG operation timing and processing times 11 6 JOG speed Cd 17 5 116 JOG speed...

Page 848: ...echanism of positioning control 1 7 Module s detailed information Appendix 108 Monitor data area 7 3 Movement amount after near point dog ON Md 34 5 98 Movement amount per pulse Pr 2 to Pr 4 5 19 Movement amount per pulse Explanation of positioning terms Appendix 125 Movement amount per rotation Pr 3 5 19 Multi phase pulse Explanation of positioning terms Appendix 125 Multiple axes simultaneous st...

Page 849: ... positioning terms Appendix 127 OPR request flag 5 96 OPR request flag OFF request Cd 19 5 120 OPR request OFF program 6 24 OPR retry Pr 48 5 49 OPR retry function 12 4 OPR speed Pr 46 5 47 OPR torque limit value Pr 54 5 53 Order of priority for stop process 6 45 Outline design of positioning system 1 9 Outline of installation wiring and maintenance 4 2 Outline of OPR control 8 2 Outline of restar...

Page 850: ...m 6 17 Positioning start program 6 18 Positioning start signal 3 18 Positioning start test Appendix 89 Positioning starting point No Cd 4 5 108 Positioning test Appendix 89 Pre reading start function 12 97 Precautions Disposal precautions 4 16 Handling precautions 4 5 Precautions for creating program 6 2 Precautions for installation 4 7 Precautions for maintenance 4 16 Precautions for using steppi...

Page 851: ... 43 Repeated start FOR condition 10 15 Repeated start FOR loop 10 14 Resolver Explanation of positioning terms Appendix 130 Restart command Cd 6 5 108 Restart operation 6 39 Restart program 6 39 RLS signal Explanation of positioning terms Appendix 130 Rotary table Appendix 130 Rotation direction setting Pr 6 5 23 S S curve acceleration deceleration Appendix 130 S curve acceleration deceleration pr...

Page 852: ...ls 3 16 Speed change 0 flag 5 96 Speed change function 12 40 Speed change request Cd 15 5 114 Speed change test Appendix 93 Speed control Explanation of positioning terms Appendix 131 Speed designation during OP shift Pr 56 5 53 Speed integral compensation Explanation of positioning terms Appendix 131 Speed limit function 12 26 Speed limit value Pr 8 5 25 Speed limit value Explanation of positioni...

Page 853: ...Stop with stopper Explanation of positioning terms Appendix 133 Stopper method 1 machine OPR 8 9 Stopper method 2 machine OPR 8 12 Stopper method 3 machine OPR 8 15 Stroke Explanation of positioning terms Appendix 133 Stroke limit Explanation of positioning terms Appendix 133 Sub functions 12 2 Sub functions specifically for machine OPR 12 4 Sudden stop 6 44 Sudden stop Explanation of positioning ...

Page 854: ...and roles of control data 5 15 Types and roles of monitor data 5 12 Types of data 5 2 Types of errors 15 6 Types of stop processes 6 44 Types of warnings 15 7 U Unconditional JUMP 9 116 Unit magnification Pr 4 5 19 Unit setting Pr 1 5 18 Unit setting Explanation of positioning terms Appendix 134 Upper limit signal 3 24 V Valid M code Md 25 5 92 W Wait start 10 11 Warning Explanation of positioning...

Page 855: ...e been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as f...

Page 856: ...dows Vista 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 SH NA 080058 O ...

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