Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 1 Product Outline
1.1 Positioning control
1.1.1 Features of QD77MS
The QD77MS has the following features.
(1) High-speed start time
High-speed start time "0.88ms" (QD77MS4 use) during positioning control is
achieved.
(2) Wide variety of positioning control functions
The main functions (such as OPR control, positioning control and manual
control) which are required for any positioning system and the sub functions
which limit and add functions to those controls are supported.
(a) Enhanced OPR control
1) Additional features of OPR control
Five machine OPR methods are provided: one near-point dog method,
two count methods, one data set method and one scale origin signal
detection method. Select an applicable method according to the
system.
2) OPR retry function
The OPR retry function is provided so that the machine OPR control
can be performed from any position, regardless of the machine stop
position when the system is powered on.
(b) Wide variety of control methods
Positioning controls, such as position control, speed control, speed-position
switching control, position-speed switching control, and other controls, are
provided.
1) Independent control of each axis
Controls, such as position control and speed control, can be performed
independently for each axis at any given timing.
2) Interpolation control
Interpolation controls using multiple axes can be performed.
(2- to 4-axis linear interpolation control, 2-axis circular interpolation
control, 2- to 4-axis speed control, etc.)
3) Speed-torque control
Speed control and torque control not including position loop can be
performed.
(c) Large amount of data
Up to 600 positioning data (combinations of data, such as control system,
positioning address, and command speed) per axis can be set.