Mitsubishi QD75M1 User Manual Download Page 772

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Appendix - 19

MELSEC-Q

APPENDICES

Appendix 3 Positioning data (No.1 to 600)

List of buffer memory addresses

(1) For axis 1

Command

speed

Positioning

address

Arc data

Command

speed

Positioning

address

Arc data

Data

No.

Posi-

tioning

identi-

fier

code

Dwell

time

Low-

order

High-
order

Low-

order

High-
order

Low-

order

High-
order

Data

No.

Posi-

tioning

identi-

fier

code

Dwell

time

Low-

order

High-
order

Low-

order

High-
order

Low-

order

High-
order

1
2
3
4
5

2000
2010
2020
2030
2040

2001
2011
2021
2031
2041

2002
2012
2022
2032
2042

2004
2014
2024
2034
2044

2005
2015
2025
2035
2045

2006
2016
2026
2036
2046

2007
2017
2027
2037
2047

2008
2018
2028
2038
2048

2009
2019
2029
2039
2049

51
52
53
54
55

2500
2510
2520
2530
2540

2501
2511
2521
2531
2541

2502
2512
2522
2532
2542

2504
2514
2524
2534
2544

2505
2515
2525
2535
2545

2506
2516
2526
2536
2546

2507
2517
2527
2537
2547

2508
2518
2528
2538
2548

2509
2519
2529

539

2549

6
7
8
9

2050
2060
2070
2080
2090

2051
2061
2071
2081
2091

2052
2062
2072
2082
2092

2054
2064
2074
2084
2094

2055
2065
2075
2085
2095

2056
2066
2076
2086
2096

2057
2067
2077
2087
2097

2058
2068
2078
2088
2098

2059
2069
2079
2089
2099

56
57
58
59
60

2550
2560
2570
2580
2590

2551
2561
2571
2581
2591

2552
2562
2572
2582
2592

2554
2564
2574
2584
2594

2555
2565
2575
2585
2595

2556
2566
2576
2586
2596

2557
2567
2577
2587
2597

2558
2568
2578
2588
2598

2559
2569
2579
2589
2599

2100

2110

2120

2130

2140

2101

2111

2121

2131

2141

2102

2112

2122

2132

2142

2104

2114

2124

2134

2144

2105

2115

2125

2135

2145

2106

2116

2126

2136

2146

2107

2117

2127

2137

2147

2108

2118

2128

2138

2148

2109

2119

2129

2139

2149

2600

2610

2620

2630

2640

2601

2611

2621

2631

2641

2602

2612

2622

2632

2642

2604

2614

2624

2634

2644

2605

2615

2625

2635

2645

2606

2616

2626

2636

2646

2607

2617

2627

2637

2647

2608

2618

2628

2638

2648

2609

2619

2629

2639

2649

2150

2160

2170

2180

2190

2151

2161

2171

2181

2191

2152

2162

2172

2182

2192

2154

2164

2174

2184

2194

2155

2165

2175

2185

2195

2156

2166

2176

2186

2196

2157

2167

2177

2187

2197

2158

2168

2178

2188

2198

2159

2169

2179

2189

2199

2650

2660

2670

2680

2690

2651

2661

2671

2681

2691

2652

2662

2672

2682

2692

2654

2664

2674

2684

2694

2655

2665

2675

2685

2695

2656

2666

2676

2686

2696

2657

2667

2677

2687

2697

2658

2668

2678

2688

2698

2659

2669

2679

2689

2699

2200

2210

2220

2230

2240

2201

2211

2221

2231

2241

2202

2212

2222

2232

2242

2204

2214

2224

2234

2244

2205

2215

2225

2235

2245

2206

2216

2226

2236

2246

2207

2217

2227

2237

2247

2208

2218

2228

2238

2248

2209

2219

2229

2239

2249

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

2250

2260

2270

2280

2290

2251

2261

2271

2281

2291

2252

2262

2272

2282

2292

2254

2264

2274

2284

2294

2255

2265

2275

2285

2295

2256

2266

2276

2286

2296

2257

2267

2277

2287

2297

2258

2268

2278

2288

2298

2259

2269

2279

2289

2299

2750

2760

2770

2780

2790

2751

2761

2771

2781

2791

2752

2762

2772

2782

2792

2754

2764

2774

2784

2794

2755

2765

2775

2785

2795

2756

2766

2776

2786

2796

2757

2767

2777

2787

2797

2758

2768

2778

2788

2798

2759

2769

2779

2789

2799

2300

2310

2320

2330

2340

2301

2311

2321

2331

2341

2302

2312

2322

2332

2342

2304

2314

2324

2334

2344

2305

2315

2325

2335

2345

2306

2316

2326

2336

2346

2307

2317

2327

2337

2347

2308

2318

2328

2338

2348

2309

2319

2329

2339

2349

2800

2810

2820

2830

2840

2801

2811

2821

2831

2841

2802

2812

2822

2832

2842

2804

2814

2824

2834

2844

2805

2815

2825

2835

2845

2806

2816

2826

2836

2846

2807

2817

2827

2837

2847

2808

2818

2828

2838

2848

2809

2819

2829

2839

2849

2350

2360

2370

2380

2390

2351

2361

2371

2381

2391

2352

2362

2372

2382

2392

2354

2364

2374

2384

2394

2355

2365

2375

2385

2395

2356

2366

2376

2386

2396

2357

2367

2377

2387

2397

2358

2368

2378

2388

2398

2359

2369

2379

2389

2399

2850

2860

2870

2880

2890

2851

2861

2871

2881

2891

2852

2862

2872

2882

2892

2854

2864

2874

2884

2894

2855

2865

2875

2885

2895

2856

2866

2876

2886

2896

2857

2867

2877

2887

2897

2858

2868

2878

2888

2898

2859

2869

2879

2889

2899

2400

2410

2420

2430

2440

2401

2411

2421

2431

2441

2402

2412

2422

2432

2442

2404

2414

2424

2434

2444

2405

2415

2425

2435

2445

2406

2416

2426

2436

2446

2407

2417

2427

2437

2447

2408

2418

2428

2438

2448

2409

2419

2429

2439

2449

2900

2910

2920

2930

2940

2901

2911

2921

2931

2941

2902

2912

2922

2932

2942

2904

2914

2924

2934

2944

2905

2915

2925

2935

2945

2906

2916

2926

2936

2946

2907

2917

2927

2937

2947

2908

2918

2928

2938

2948

2909

2919

2929

2939

2949

2450

2460

2470

2480

2490

2451

2461

2471

2481

2491

2452

2462

2472

2482

2492

2454

2464

2474

2484

2494

2455

2465

2475

2485

2495

2456

2466

2476

2486

2496

2457

2467

2477

2487

2497

2458

2468

2478

2488

2498

2459

2469

2479

2489

2499

100

2950

2960

2970

2980

2990

2951

2961

2971

2981

2991

2952

2962

2972

2982

2992

2954

2964

2974

2984

2994

2955

2965

2975

2985

2995

2956

2966

2976

2986

2996

2957

2967

2977

2987

2997

2958

2968

2978

2988

2998

2959

2969

2979

2989

2999

Summary of Contents for QD75M1

Page 1: ...IB NA 0300062 A 0212 MEE MODEL MODEL CODE QD75M U S E 1CT752 IB NA 0300062 A 0212 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry f...

Page 2: ...Please save this manual to make it accessible when required and always forward it to the end user Design Instructions DANGER Provide a safety circuit outside the programmable logic controller so that...

Page 3: ...crews Tighten the screws within the specified torque range Undertightening can cause a drop short circuit or malfunction Overtightening can cause a drop short circuit or malfunction due to damage to t...

Page 4: ...e or malfunctioning 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 Precauti...

Page 5: ...al Version IB 0300030 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 responsibl...

Page 6: ...1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning control 1 7 1 1 4 Overview of positioning control funct...

Page 7: ...autions for installation 4 7 4 3 Wiring 4 9 4 3 1 Precautions for wiring 4 9 4 4 Confirming the installation and wiring 4 14 4 4 1 Items to confirm when installation and wiring are completed 4 14 4 5...

Page 8: ...recautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 15 6 3 1 General configuration of program 6 15 6 3 2 Positioning control operation program 6 16 6 4 Positionin...

Page 9: ...polation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis linear control 9 27 9 2 3 2 axis linear interpolation control 9 2...

Page 10: ...itioning control 10 23 10 6 1 Starting high level positioning control 10 23 10 6 2 Example of a start program for high level positioning control 10 24 11 Manual Control 11 1 to 11 36 11 1 Outline of m...

Page 11: ...5 2 Override function 12 44 12 5 3 Acceleration deceleration time change function 12 47 12 5 4 Torque change function 12 51 12 6 Absolute position system 12 54 12 7 Other functions 12 56 12 7 1 Step...

Page 12: ...LED display functions 15 106 Appendices Appendix 1 to Appendix 112 Appendix 1 Functions Appendix 3 Appendix 1 1 Multiple CPU correspond function Appendix 3 Appendix 1 2 The combination of software pac...

Page 13: ...itioning terms Appendix 70 Appendix 8 Positioning control troubleshooting Appendix 94 Appendix 9 List of buffer memory addresses Appendix 100 Appendix 10 External dimension drawing Appendix 112 INDEX...

Page 14: ...Pr Symbol indicating positioning parameter and OPR parameter item Da Symbol indicating positioning data block start data and condition data item Md Symbol indicating monitor data item Cd Symbol indica...

Page 15: ...E or later Peripheral software package Generic term for QD75 software package and GX Developer software package Servo amplifier drive unit Abbreviation for SSCNET compatible servo amplifier drive unit...

Page 16: ...nce program required for positioning control 5 To understand the memory configuration and data transmission process Read Section 2 for details on each control Chapter 1 Product outline 1 1 to 1 28 Cha...

Page 17: ...MEMO...

Page 18: ...d the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning cont...

Page 19: ...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 an...

Page 20: ...l be no irregularity of startup timings between different axes 4 SSCNET makes the connection to the servo amplifier possible a The QD75 can be directly connected to the servo amplifier using the MELSE...

Page 21: ...s recently output offering more complete error and warning histories Refer to section 5 6 1 8 Support of intelligent function module dedicated instructions Dedicated instructions such as the positioni...

Page 22: ...nd the positioning pattern is changed Palletizer Servo amplifier PLC MELSEC Q Conveyor Servomotor with brakes Reduction gears Ball screw From QD75 Palletizer QD75 G Conveyor control Unloader control P...

Page 23: ...tor Servomotor Worm gears Index table Digital switch PLC MELSEC Q Servo amplifier QD75 The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder PLC MELSEC Q QD75 S...

Page 24: ...angeover signal to the QD75 GX Configurator QP QD75 positioning module External signal Manual pulse generator Issues commands by transmitting pulses Sets the parameters and positioning data for contro...

Page 25: ...The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000 2000 5000 8000 Positioning when the specified address is 2000 Start point...

Page 26: ...ng from the specified increment of travel from the start point address 2 The sign of the travel increment determines the direction of travel For positive travel increment Positioning in the positive d...

Page 27: ...point End point Reverse direction Forward direction b Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point a...

Page 28: ...timing Travel along axis 2 Reverse direction Stop position Movement direction for a positive movement amount Positioning direction Travel along axis 1 2 axis fixed feed control Forward direction Rever...

Page 29: ...ut of the QD75 speed position switching signal and perform positioning for the specified increment of travel V Speed control Position control Specified travel increment Dwell time t ON ON ON OFF OFF O...

Page 30: ...eration with one positioning data item or to perform continuous positioning operation with multiple positioning data items 1 Independent positioning control operation pattern 00 positioning terminated...

Page 31: ...number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers V Address direction Address d...

Page 32: ...tinues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed ON ON ON OFF OFF OFF OFF V Address dir...

Page 33: ...tart command from the QCPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start info...

Page 34: ...ssing method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Distance b S patt...

Page 35: ...ta Positioning control Speed control Current control Inverter Current feedback Speed feedback Position feedback Interface Servo motor M PLG FLS Upper limit signal RLS Lower limit signal CHG External c...

Page 36: ...l Operation monitor Parameter write read JOG operation inching operation Test Positioning operation Test Home position return operation Test Peripheral device Peripherral device interface Y9 YB YD YF...

Page 37: ...PLC CPU for details QD75 Peripheral device The QD75 and peripheral device communicate the following data via the PLC CPU Direction Communication QD75 Peripheral device Peripheral device QD75 Data rea...

Page 38: ...or axes 1 and 2 Direction Communication QD75 Manual pulse generator Manual pulse generator QD75 Pulse signal Manual pulse generator A phase Manual pulse generator B phase QD75 External signal The QD75...

Page 39: ...Setting of the Parameters Positioning data Block start data Condition data Servo parameter Creation of sequence program for operation Refer to Note 2 3 4 5 6 7 8 Writing of setting data Writing of pro...

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

Page 41: ...tart Simultaneous start Repeated start Machine OPR control Fast OPR control JOG operation Inching operation Manual pulse generator operation Installation and connection of module Setting of hardware S...

Page 42: ...n and the sub functions that need to be set beforehand When set with GX Configurator QP this does not need to be created Write Create sequence program for setting data Create sequence program for exec...

Page 43: ...Y OFF Servo amplifier power supply OFF Servo alarm Emergency stop to the servo amplifier Each axis No change During error Servo OFF or free run The operation stops with dynamic brake or electromagneti...

Page 44: ...oning to the end point of the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system 2 When Md 26 Axis operation status is not stopped the...

Page 45: ...nd the axis 2 movement amount is 600 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 positi...

Page 46: ...sing 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 Ge...

Page 47: ...on 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...

Page 48: ...ystem inputs switches SSCNET cable Upper lower stroke limit switch External command signal switching signal Stop signal Near point dog signal Peripheral device Personal computer 6 7 For details refer...

Page 49: ...e servo amplifier 9 Cable 1 For connecting between the QD75 and the external device Prepared by user Cables are needed to connect the QD75 with the external device Prepare them referring to the manual...

Page 50: ...of the I O slots 3 of a base unit When installing the QD75 always consider the power supply capacity since a shortage of the power supply capacity may occur depending on the combination with the othe...

Page 51: ...SERIAL 02751 SERIAL No The first five digits Function version 2 Method using the software Check the alphabet at the end of Product information displayed on System monitor Module s Detailed Information...

Page 52: ...2 3 2 List of functions 3 4 3 2 1 QD75 control functions 3 4 3 2 2 QD75 main functions 3 6 3 2 3 QD75 sub functions and common functions 3 8 3 2 4 Combination of QD75 main functions and sub functions...

Page 53: ...absolute system In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS In incremental system 214748364 8 to 214748364 7 m 21...

Page 54: ...ed AWG 30 single wire when A6CON3 is used Applicable connector for external device A6CON1 A6CON2 A6CON3 A6CON4 sold separately MR HBUS M Connection between MR H BN MR H BN4 and MR H BN MR H BN4 0 5m 1...

Page 55: ...ter 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 con...

Page 56: ...2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control 2 axis circular interpolation control 1 axis linear control 2 axis linear interpolation control 3...

Page 57: ...n the positioning data or to the position designated with the movement amount sub point or center point 9 2 10 9 2 11 Speed control Linear control 1 axis linear control 2 axis linear interpolation con...

Page 58: ...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 se...

Page 59: ...d speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range 12 4 1 Torque limit function If the torque generated b...

Page 60: ...tion 12 7 7 Continuous operation interrupt function This function interrupts continuous operation When this request is accepted the operation stops when the execution of the current positioning data i...

Page 61: ...ol 2 axis circular interpolation control Speed control 1 to 4 axis Only independent positioning control can be set Speed position switching control Continuous path control cannot be set Position speed...

Page 62: ...ion deceleration time change function Torque change function Step function Skip function M code output function Teaching function Target position change function Command in position function Accelerat...

Page 63: ...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 detec...

Page 64: ...urns OFF the M code ON signal will also turn OFF If operation is started while the M code is ON an error will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection OFF No error ON Error occurr...

Page 65: ...ATIONS AND FUNCTIONS Important Positioning complete of the QD75 refers to the point when the pulse output from QD75 is completed Thus even if the QD75 s positioning complete signal turns ON the system...

Page 66: ...tion 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...

Page 67: ...r more 7VDC or less 1 0mA or less Approx 6 8k 4ms or less 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 1mA or more 1VDC or less 0 1mA or less Approx 1 2k 1ms or less 1 Pulse width 2ms or more 1ms or more 1ms...

Page 68: ...nect 1A15 No connect 2B14 No connect 2A14 No connect 1B14 No connect 1A14 No connect 2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect 2B12 No connect 2A12 No connect 1B12 No connect 1A1...

Page 69: ...the upper limit for finding the near point dog signal Lower limit signal 1A2 1B2 2A2 2B2 This signal is input from the limit switch installed at the lower limit position of the stroke Positioning will...

Page 70: ...A3 Near point dog signal DOG 1A4 Stop signal STOP 1A5 External command signal switching signal CHG 1A6 1A7 Common COM 1A19 PULSER A 1B19 Manual pulse generator A phase PULSER A 1A20 PULSER B 1B20 Manu...

Page 71: ...3 20 MELSEC Q 3 SPECIFICATIONS AND FUNCTIONS MEMO...

Page 72: ...ion wiring or maintenance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part...

Page 73: ...mble the connector Connect the cable to the module QD75 Wire and connect the manufactured cable to QD75 after reading the precautions for wiring Confirming the installation and wiring Servicing the mo...

Page 74: ...play LED 3 External device connector AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 Refer to Section 3 4 2 Signal layout for external device connection connector for details 4 SSCNET cable connector No Name Details...

Page 75: ...X3 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 illum...

Page 76: ...ire scraps do not enter the module Failure to observe this could lead to fires trouble or malfunctioning Never disassemble or modify the module Failure to observe this could lead to trouble malfunctio...

Page 77: ...s 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...

Page 78: ...stalling the QD75 are given below Refer to this section as well as 4 1 3 Handling precautions when carrying out the work 1 Precautions for SSCNET cable wiring If the duct is below the bottom of the mo...

Page 79: ...he PLC outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration Don t directly touch the conductive area or electronic com...

Page 80: ...e films to prevent foreign objects such as cable off cuts from entering the module when wiring Do not remove this film until the wiring is complete Before operating the system be sure to remove the fi...

Page 81: ...is being used and cables to connect to QD75 are separated from the power line duct use metal piping Ground the pipes securely after metal piping 4 If cables to connect to QD75 absolutely must be posit...

Page 82: ...FG wire and each shielded cable Coat the wire with insulaing tape Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Solder the shield of any one of the...

Page 83: ...Electric for grounding connected to the control box and the shielded cable the SSCNET cable QD75 20cm 7 88inch to 30cm 11 82inch Inside control box AD75CK How to ground shielded cable using AD75CK Sh...

Page 84: ...oise source Power system etc Relay Relay Relay PLC QD 75 Servo amplifier Servo amplifier The servo amplifiers are placed near the noise source The connection cable between the QD75 and servo amplifier...

Page 85: ...dress increment direction in the actual positioning work and whether the QD75 recognizes the external input output signals such as the near point dog signal and stop signal can be checked Refer to GX...

Page 86: ...externally before cleaning or tightening the screws Failure to turn all phases OFF could lead to electric shocks CAUTION Never disassemble or modify the module Failure to observe this could lead to t...

Page 87: ...4 16 MELSEC Q 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT MEMO...

Page 88: ...rameters 5 6 5 1 4 Setting items for servo parameters 5 7 5 1 5 Setting items for positioning data 5 9 5 1 6 Setting items for block start data 5 12 5 1 7 Setting items for condition data 5 13 5 1 8 T...

Page 89: ...ndition 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 P...

Page 90: ...ecifications and the operation history Axis monitor data Monitors the data related to the operating axis such as the current position and speed to Md 1 Md 47 to Md 1 Md 19 to Md 20 Md 47 to Md 101 Md...

Page 91: ...S Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM 12 3 2 Basic parameters 1 Pr 7 Bias speed at start Pr 8 Speed limit value 12 4 1 Pr 9 Acceleration time 0 Basic parameters 2 Pr 10 Dec...

Page 92: ...on time 12 7 7 Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning Complete signal output time Pr 41 Allowable...

Page 93: ...oint dog ON Pr 51 OPR acceleration time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S Pr 54 OPR torque limit value Pr 56 Speed designation during OP shift S S S OPR detai...

Page 94: ...o tuning Servo basic parameters Pr 109 Servo response Pr 112 Load inertia ratio Pr 113 Position loop gain 1 Pr 114 Speed loop gain 1 Pr 115 Position loop gain 2 Pr 116 Speed loop gain 2 Pr 117 Speed i...

Page 95: ...144 Slight vibration suppression control selection 2 Pr 145 Induction voltage compensation Pr 149 Gain changing selection Pr 150 Gain changing condition Pr 151 Gain changing time constant Pr 152 Rati...

Page 96: ...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 r...

Page 97: ...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 Conf...

Page 98: ...5 11 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 99: ...h 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 s...

Page 100: ...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 lo...

Page 101: ...toring details Corresponding item Whether the system is in the test mode or not Md 1 In test mode flag Start information Md 3 Start information Start No Md 4 Start No Hour Md 5 Start Hour Start Minute...

Page 102: ...toring the speed Monitor details Corresponding item During independent axis control Indicates the speed of each axis When 0 Composite speed is set for Pr 20 Interpolation speed designation method Indi...

Page 103: ...etitions special start Md 41 Special start repetition counter Monitor the remaining No of repetitions control system Md 42 Control system repetition counter Monitor the block No Md 45 Block No being e...

Page 104: ...5 17 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 105: ...tem data or machine operation Controlling the system data Setting and resetting QD75 setting data through the system control data Cd 1 and Cd 2 Controlling the operation Setting operation parameters c...

Page 106: ...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 St...

Page 107: ...g when target position is changed during positioning Cd 29 Target position change request flag Set new positioning address when changing target position during positioning Cd 27 Target position change...

Page 108: ...5 21 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 109: ...e Pr 4 Unit magnification AM 1000 1000 times 1000 1 1 151 301 451 Pr 7 Bias speed at start Not used 0 6 7 156 157 306 307 456 457 This buffer memory address in QD75M is different from QD75P Pr 1 Unit...

Page 110: ...ft If you are using the Mitsubishi servo amplifier MR H BN MR J2 B MR J2S B MR J2 03B5 set the value given as the resolution per servomotor rotation in the speed position detector specifications No of...

Page 111: ...is maximum value Movement amount per rotation AL PB 1 n Movement amount per rotation AL Unit magnification AM Note The unit magnification AM is a value of 1 10 100 or 1000 If the PB 1 n value exceeds...

Page 112: ...5 25 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 113: ...ult value Axis 1 Axis 2 Axis 3 Axis 4 Pr 8 Speed limit value The setting range differs depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 200000 10...

Page 114: ...kpiece movement speed Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Pr 9 Acceleration time 0 specifies the time for the speed to increase from zero to the speed limit value Pr 8 Pr 10 Deceleratio...

Page 115: ...troke 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...

Page 116: ...eral device unit Value set with sequence program unit 0 mm 0 to 6553 5 m 0 to 65535 10 1 m 1 inch 0 to 0 65535 inch 0 to 65535 10 5 inch 2 degree 0 to 0 65535 degree 0 to 65535 10 5 degree 3 PLS 0 to...

Page 117: ...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 d...

Page 118: ...e ON signal is turned ON when a positioning operation starts m1 m2 01 continuous 00 end Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning M code ON signal X4 X5 X6 X7 M code...

Page 119: ...value during speed control 2 Clear current feed value to zero 2 0 30 180 330 480 b0 Lower limit b1 Upper limit b2 Not used b3 Stop signal b4 External command b5 Not used b6 Near point signal b7 Not us...

Page 120: ...d 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 de...

Page 121: ...abling and disabling the update of Md 20 Current feed value depends on how the reference axis is set Note2 Set 2 to exercise speed position switching control ABS mode Pr 22 Input signal logic selectio...

Page 122: ...5 35 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 123: ...ers depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 20000 48 49 198 199 348 349 498 499 0 Pr 9 Acceleration time 0 0 1 Pr 25 Acceleration time 1...

Page 124: ...alue to less than Pr 8 Speed limit value If the speed limit value is exceeded the JOG speed limit value error error code 956 will occur Pr 32 JOG operation acceleration time selection Set which of acc...

Page 125: ...0 54 55 204 205 354 355 504 505 Pr 37 Stop group 1 sudden stop selection 56 206 356 506 0 Normal deceleration stop 0 Pr 38 Stop group 2 sudden stop selection 57 207 357 507 Pr 39 Stop group 3 sudden s...

Page 126: ...S pattern acceleration deceleration process The S pattern ratio indicates where to draw the acceleration deceleration curve using the Sin curve as shown below A B B 2 B 2 V t V t b a 0 7 b a sin curv...

Page 127: ...leration 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 tim...

Page 128: ...p 3 External stop signal Stop signal from PLC CPU Stop signal from peripheral device Error occurrence excludes errors in stop groups 1 and 2 includes only the software stroke limit errors during JOG o...

Page 129: ...quest 1 2 Speed position position speed switching request 2 Pr 42 External command function selection 3 Skip request 3 0 62 212 362 512 Pr 201 Restart allowable range when servo OFF to ON 0 1 to 16384...

Page 130: ...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...

Page 131: ...p request The external command signal input is used skip the current positioning operation POINT To enable the external command signal set the Cd 8 External command enable to 1 Pr 201 Restart allowabl...

Page 132: ...of the QD75 at the time the servo ON signal when from ON to OFF and the present value at the time the servo ON signal went from OFF to ON is greater than the value set in the buffer memory for the res...

Page 133: ...e or other force while the servo is OFF e Restart can only be executed while the operating status of the axis is stop Restart cannot be executed when the operation status of the axis is other than sto...

Page 134: ...5 47 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 135: ...unt method 2 After decelerating at the near point dog ON move the designated distance and complete the OPR 6 Data set method The position where the OPR has been made will be the OP Note Refer to 8 2 2...

Page 136: ...signal after moving the movement amount after near point dog ON Movement amount after near point dog ON Md 34 The near point dog must turn OFF at a sufficient distance away from the OP position 5 Cou...

Page 137: ...range is set Table 2 on right page 1 74 75 224 225 374 375 524 525 Pr 44 OPR direction Set the direction to start movement when starting machine OPR 0 Positive direction address increment direction Mo...

Page 138: ...h 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 PLS 1 to 10000000 PLS s 1 to 10000000 PLS s Pr 45 OP address Se...

Page 139: ...Here the value within the Table 1 range is set Table 1 on right page 1 76 77 226 227 376 377 526 527 0 Do not retry OPR with limit switch 0 Pr 48 OPR retry 1 Retry OPR with limit switch 1 0 78 228 378...

Page 140: ...point dog signal is detected 2 the axis will decelerate to a stop and then will move in the direction opposite the OPR direction 3 If it is detected that the near point dog signal has turned OFF whil...

Page 141: ...0 1 Pr 25 Acceleration time 1 1 2 Pr 26 Acceleration time 2 2 Pr 51 OPR acceleration time selection 3 Pr 27 Acceleration time 3 3 0 82 232 382 532 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration ti...

Page 142: ...value of Pr 50 Movement amount after near point dog is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Conversion to a speed based on distance per 1 ms Tb Vz Vp 0 01 Vz Vz 2000 300...

Page 143: ...ep 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 am...

Page 144: ...rvomotor torque after reaching the creep speed during OPR Refer to 12 4 2 Torque limit function for details on the torque limits Pr 56 Speed designation during OP shift Set the operation speed for whe...

Page 145: ...valid When used to the absolute position detection system 1 valid POINT When absolute position detection selection invalid is selected with incremental encoder a parameter error occurs Absolute positi...

Page 146: ...value Axis 1 Axis 2 Axis 3 Axis 4 0 to 4 3 30100 30200 30300 30400 0 to 1 0 30101 30201 30301 30401 3 3 3 3 Regenerative selection brake option 0 H Select the external dynamic brake 1 is used to set...

Page 147: ...100 5 Set up 5H Example 2 For used motor capacity is 22kW 22 kW 100 2200 Set up 2200H POINT Be sure to set up motor capacity Communication with servo amplifier isn t started by the initial value 0 in...

Page 148: ...2 Axis 3 Axis 4 Motor type selection 0 0 H 1 is used to set up the setting value Hexadecimal 80H 30103 30203 30303 30403 0000 to FFFF 0000H 30104 30204 30304 30404 1 to 3 1 30105 30205 30305 30405 0 F...

Page 149: ...n mode B Large friction mode C Large friction mode 1 Low response 15Hz 2 Low response 20Hz 3 Low response 25Hz 4 Low response 30Hz 5 Low response 35Hz 6 Low response 45Hz 7 Low response 55Hz 8 Middle...

Page 150: ...device Setting value buffer memory address Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis...

Page 151: ...flash ROM 0 to 300 0 times 4 to 1000 rad s Pr 113 Position loop gain 1 Used to set the gain of position loop 1 Increase the gain to improve trackability performance in response to the position comman...

Page 152: ...BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 1000 0 to 3000 70 30112 30212 30312 30412 4 to 1000 4 to 2000 35 30113 302...

Page 153: ...z 19 180 Hz 0A 450 Hz 1A 173 1 Hz 0B 409 1 Hz 1B 166 7 Hz 0C 375 Hz 1C 160 1 Hz 0D 346 2 Hz 1D 155 2 Hz 0E 321 4 Hz 1E 150 Hz Notch filter selection 0F 300 Hz 1F 145 2 Hz Pr 118 Machine resonance supp...

Page 154: ...dress Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 Notch filter selection...

Page 155: ...off 0 to 1000 ms 0 Speed output 1 Torque output 2 Speed output 3 Torque output 4 Current command output 5 Command speed output 6 Droop pulses 1 1 output 7 Droop pulses 1 4 output 8 Droop pulses 1 16 o...

Page 156: ...tting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 50000 100 30120 30220 30320 30420 0 to 10...

Page 157: ...put signal from analog monitor ch1 and ch2 of the servo amplifier B Bus voltage servo amplifier of 100V 200V 8V 400V servo amplifier of 400V 8V 800V Servo forced stop selection 0 Valid Use the forced...

Page 158: ...tor 2 output setting 0 0 Monitor 1 output setting 1 is used to set up the setting value Hexadecimal H 0001H 30122 30222 30322 30422 Servo forced stop selection 0 Serial encoder cable setting Low acous...

Page 159: ...occurs 3 Emergency stop input turn off Valid 1 Output is executed when status of 1 to 3 and rotation speed of the servomotor are less than Pr 130 Low pass filter selection 0 Valid Automatic adjustment...

Page 160: ...g Electromagnetic brake interlock output timing setting 0 Motor less operation selection 1 is used to set up the setting value Hexadecimal H 0000H 30124 30224 30224 30424 Low pass filter selection 0 A...

Page 161: ...77 ms 1 3 55 ms 2 7 11 ms 3 14 22 ms Pr 129 Pre alarm data selection Pre alarm data sampling time selection Used to set the pre alarm data selection 4 28 44 ms Pr 130 Zero speed Used to set the outpu...

Page 162: ...arm data selection 1 Pre alarm data selection 2 0001H 30129 30229 30329 30429 0 to 10000 50 30130 30230 30330 30430 1 to 1000 80 30131 30231 30331 30431 PI PID control switch over selection H 0 0 Serv...

Page 163: ...34 PI PID control switch over position droop Used to select the position droop value Number of pulse which PI control is switched over to PID control The parameter Pr 132 becomes effective when a para...

Page 164: ...lse setting selection OPR set condition selection 1 is used to set up the setting value Hexadecimal H 0000H 30133 30233 30333 30433 0 to 50000 0 30134 30234 30334 30434 0 to 1000 980 30136 30236 30336...

Page 165: ...re than Command frequency KPPS 3 Effective in more than Droop pulse PLS 4 Effective in more than Model speed r min Pr 150 Gain changing condition Used to set the ratio of changing Pr 152 to Pr 155 whe...

Page 166: ...ed integral compensation shift value H 0111H 30143 30243 30343 30443 0 to 1000 20 30144 30244 30344 30444 0 to 100 50 30145 30245 30345 30445 0 2 to 4H 0000H 30149 30249 30349 30449 0 to 9999 10 30150...

Page 167: ...4500 Hz 11 264 7 Hz 02 2250 Hz 12 250 Hz 03 1500 Hz 13 236 8 Hz 04 1125 Hz 14 225 Hz 05 900 Hz 15 214 3 Hz 06 750 Hz 16 204 5 Hz 07 642 9 Hz 17 195 7 Hz 08 562 5 Hz 18 187 5 Hz 09 500 Hz 19 180 Hz 0A...

Page 168: ...55 30355 30455 0 Encoder output pulse direction selection H 0 0 1 is used to set up the setting value Hexadecimal 0000H 30160 30260 30360 30460 Notch filter frequency 0 Notch depth selection selection...

Page 169: ...997 7998 7999 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u f 600 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u f 599 u q Da 1 Da 4 P u A h X...

Page 170: ...99 Buffer memory address 2 3 600 599 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u q Da 1 Da 4 P u...

Page 171: ...ar 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...

Page 172: ...ntrol 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 ou...

Page 173: ...or will occur during the program execution error code 521 This item does not need to be set in case 3 or 4 axis interpolation is selected Setting value setting range Setting value buffer memory addres...

Page 174: ...e m Value set with sequence program 1 10 1 m 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 2...

Page 175: ...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...

Page 176: ...ar 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 21...

Page 177: ...ear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to...

Page 178: ...5 91 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 179: ...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 s...

Page 180: ...ress does not need to be set Da 2 setting value Value set with peripheral device PLS Value set with sequence program 1 PLS ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the add...

Page 181: ...tion data Da 10 M code condition data No of LOOP to LEND repetitions The setting value range differs according to the Da 2 Control method Here the value within the Table 3 range is set Table 3 on righ...

Page 182: ...ecify 0 error code 545 The condition data specifies the condition for the JUMP instruction to be executed A JUMP will take place when the condition is satisfied Table 1 Pr 1 setting value Value set wi...

Page 183: ...ation pattern ON V t V t V t 1 When Da 1 Operation pattern in 00 Positioning end Set the time from when the positioning ends to when the positioning complete signal turns ON as the dwell time Position...

Page 184: ...5 97 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 185: ...oint 50th point Axis 1 Start block 0 27049 27099 27001 27051 u n f b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 27000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 27050 Setting item Bu...

Page 186: ...h point Axis 3 Start block 0 29049 29099 29001 29051 u n f 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 mem...

Page 187: ...art 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...

Page 188: ...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 s...

Page 189: ...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 190: ...5 103 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 191: ...y address Axis 1 start block 0 Open Up to 10 block start data points can be set stored for each axis in the buffer memory addresses shown on the left Items in a single unit of condition data are shown...

Page 192: ...ddress Buffer memory address Open 10th point Setting item 2nd point 29190 29191 29192 29193 29194 29195 29196 29197 29198 29199 29110 29111 29112 29113 29114 29115 29116 29117 29118 29119 Setting item...

Page 193: ...art 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...

Page 194: ...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...

Page 195: ...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...

Page 196: ...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 Valu...

Page 197: ...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 no...

Page 198: ...onitor 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 Unles...

Page 199: ...3 3 2 9010 OPR 2 3 3 3 9011 Manual pulse generator 2 3 2 9 9001 High speed zero point return 2 3 2 A 9002 Current value changing 2 3 2 B 9003 b15 b12 b8 b4 b0 A B C D B A C D Buffer memory Monitor va...

Page 200: ...1216 Starting history Md 3 Start information Md 4 Start No 1292 Md 8 Pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to...

Page 201: ...Monitor value D C B A Error flag OFF Stored contents Storage value 0 1 Error flag ON Error flag Error No Convert the hexadecimal value a B C D into a decimal value and match it with 15 2 List of error...

Page 202: ...roy Md 3 Start information Md 4 Start No 1292 Md 8 Start history pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to the l...

Page 203: ...ected Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0 0 1 5 0 Buffer memory stored with BCD code 0 to 2 0 to 3 00 to 23 hour Monitor value 0 0 1 5...

Page 204: ...error No 1357 Md 13 Error history pointer Md 11 Axis error occurrence hour Md 12 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing error history records Eac...

Page 205: ...to 3 00 to 23 hour Monitor value 0 0 1 5 Not used Md 17 Axis warning occurrence Minute second Stores the time at which an axis warning was detected Monitoring is carried out with a hexadecimal display...

Page 206: ...o 1422 Md 18 Warning history pointer Md 16 Axis warning occurrence hour Md 17 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing warning history records Each...

Page 207: ...l 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 coor...

Page 208: ...e 800 High order buffer memory Example 801 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit con...

Page 209: ...tores an M code that is currently active i e set to the positioning data relating to the current operation Update timing turning ON of the M code ON signal When the PLC READY signal Y0 goes OFF the va...

Page 210: ...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 P...

Page 211: ...POINT Refer to Md 22 Feedrate Md 29 Speed position switching control positioning amount The value set as the movement amount for the position control to end after changing to position control with th...

Page 212: ...nit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Unit conversion table Md 29 Axis feedrate...

Page 213: ...trol P11 as the operation pattern The state of this signal is monitored every 3 5 ms except when the monitoring is canceled under the speed control or while the speed control is in effect during the s...

Page 214: ...memory Not used Default value Stored items Meaning Not used In speed control flag Speed position switching latch flag Command in position flag OPR request flag OPR complete flag Axis warning detectio...

Page 215: ...cceleration deceleration state inside each piece of data changes with the speed change because the target speed changes Md 34 Movement amount after near point dog ON 0 is stored when OPR starts After...

Page 216: ...memory Example 820 High order buffer memory Example 821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s...

Page 217: ...t 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 v...

Page 218: ...ith a decimal display Storage value Monitor value setting value Md 36 00 06 01 02 03 05 04 1 to 10 0 to 255 Stored contents Storage value None None Condition data No of repetitions 0 828 928 1028 1128...

Page 219: ...ing executed This area stores a point No 1 to 50 attached to the start data currently being executed This area stores 0 after completion of a positioning operation Md 44 Positioning data No being exec...

Page 220: ...Storage value 1 to 600 0 835 935 1035 1135 Monitoring is carried out with a decimal display Monitor value Storage value 1 to 50 0 836 936 1036 1136 Monitoring is carried out with a decimal display Mon...

Page 221: ...ifference between the feed present and the actual present value Buffer memory details PLS Md 103 Motor rotation speed This area stores the present rotation speed of the servomotor Buffer memory 0 1 rp...

Page 222: ...Md 100 OPR re travel value Md 101 Real current value Md 102 Divation counter value Md 103 Motor rotation speed Unit conversion table Md 103 n Unit n Unit 0 854 855 954 955 1054 1055 1154 1155 Monitori...

Page 223: ...ower than the servo parameter zero speed Torque being restricted Turns ON when the servo amplifier is having the torque restricted Servo alarm Turn ON during the servo alarm Servo warning Turn ON duri...

Page 224: ...Servo ON Zero point pass In position Zero speed Torque limit Servo alarm Servo warning Stored items Meaning POINT When the servo forced stop occurs the b13 servo alarm and the b14 servo warning is tur...

Page 225: ...riting to the flash ROM is completed 3 The number of writes to the flash ROM with the PLC program is 25 max while the power is turned ON Writing to the flash ROM beyond 25 times will cause an error er...

Page 226: ...te access to flash ROM The QD75 resets the value to 0 automatically when the write access completes This indicates the completion of write operation 0 1900 Set with a decimal Setting value K Parameter...

Page 227: ...ing 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 s...

Page 228: ...interrupted 1 to 50 0 1501 1601 1701 1801 Set with a decimal K 1 Error reset request Setting value After the axis error reset is completed 0 is stored by the QD75 automatically Indicates that the axis...

Page 229: ...ommand signals When changing the current feed value using the start No 9003 use this data item to specify a new feed value Set a value within the following range Pr 1 mm 10 1 m inch 10 5 inch degree 1...

Page 230: ...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...

Page 231: ...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 m...

Page 232: ...eleration 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 Set...

Page 233: ...ns below the minimum unit the speed is raised to make a complete unit and the warning No 110 is output When changing the speed use this data item to specify a new speed The operation halts if you spec...

Page 234: ...lue Override value 1 to 300 K 100 1513 1613 1713 1813 Set with a decimal 0 1514 1515 1614 1615 1714 1715 1814 1815 Set with a decimal Setting value Speed change request 1 Executes speed change K The Q...

Page 235: ...0 to 65535 0 to 65535 0 to 65535 Cd 16 Inching movement amount Use this data item to set the JOG speed Set a value within the following range Pr 1 mm 10 2 mm min inch 10 3 inch min degree 10 3 degree...

Page 236: ...Actual value Conversion into an integer value Cd 17 JOG speed 10n Unit conversion table Cd 17 n 2 mm min 3 inch min 3 degree min 0 PLS s Unit R Setting value Decimal Example When the Cd 17 JOG speed...

Page 237: ...tem determines the factor by which the number of pulses from the manual pulse generator is magnified Value 0 read as 1 Value 101 or less read as 100 Cd 21 Manual pulse generator enable flag This data...

Page 238: ...ned OFF This indicates the completion of OPR request flag OFF request 1 0 1521 1621 1721 1821 Set with a decimal Setting value K Manul pulse generator 1 pulse input magnification 1 to 100 1 1522 1523...

Page 239: ...3 Speed position switching control movement amount change register Cd 24 Speed position switching enable flag Set whether the external control signal external command signal CHG speed position positio...

Page 240: ...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...

Page 241: ...47483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Cd 27 Target position c...

Page 242: ...ting value Decimal 10n n 1 m 5 inch 5 degree 0 PLS Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 T...

Page 243: ...t 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...

Page 244: ...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 decelerati...

Page 245: ...tion This data item specifies the teaching result write destination Cd 39 Teaching positioning data No This data item specifies data to be produced by teaching If a value between 1 and 600 is set a te...

Page 246: ...0 automatically when processing of the skip request completes 1 Issues a skip request to have the machine decelerate stop and then start the next positioning operation 0 1547 1647 1747 1847 Set with...

Page 247: ...e beside 0 is set in the Cd 101 Torque output setting value the torque generated by the servomotor will be limited by that value The Pr 17 Torque limit setting value of the servo adjustment parameter...

Page 248: ...mal Setting value Servo OFF command 0 Servo ON 1 Servo OFF K When all axis servo ON is valid 0 1551 1651 1751 1851 Set with a decimal Setting value K Torque output setting 0 to 500 0 1552 1652 1752 18...

Page 249: ...5 162 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Page 250: ...created The first half of this chapter explains the program configuration of general control and the latter half explains the program details Create the required program while referring to the various...

Page 251: ...s 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 item...

Page 252: ...e two methods for communication with QD75 using the sequence program a method using an intelligent function device and a method using a FROM TO command In the sequence program in this chapter and subs...

Page 253: ...nd change the command to a FROM command and a COMPARISON command RST M0 M0 FROMP D102 M0 K1521 H0 K1 RST M0 G1521 K0 D102 K0 0 0 Data read out U0 d When the circuit uses the intelligent function devic...

Page 254: ...ation completed Y1 All axis servo ON signal All axis servo ON signal Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse...

Page 255: ...hing X3A Continuous operation interrupt command Commanding continuous operation interrupt command X3B Restart command Commanding restart X3C Parameter initialization command Commanding parameter initi...

Page 256: ...M14 Acceleration deceleration time change command Requesting acceleration deceleration time change M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation co...

Page 257: ...sters and timers Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage D0 OPR request flag Md 31 Status b3 D1 Speed low order 16 bits D2 Speed high order 16 bits Cd 25 Position...

Page 258: ...lag D21 Step mode Cd 34 Step mode D22 Step start information D23 Target position low order 16 bits D24 Target position high order 16 bits Cd 27 New target position value address D25 Target speed low o...

Page 259: ...pecial start instruction D75 Point 3 special start instruction D76 Point 4 special start instruction D77 Block start data Block 0 Point 5 special start instruction Da 11 Shape Da 12 Start data No Da 1...

Page 260: ...order 16 bits D125 Command speed high order 16 bits D126 Positioning address low order 16 bits D127 Positioning address high order 16 bits D128 Circular interpolation address low order 16 bits D129 Ci...

Page 261: ...nterpolation address Da 8 Command speed Da 9 Dwell time Da 10 M code D190 Positioning identifier D191 M code D192 Dwell time D193 Unused D194 Command speed low order 16 bits D195 Command speed high or...

Page 262: ...high order 16 bits D248 Circular interpolation address low order 16 bits D249 Circular interpolation address high order 16 bits Data No 15 Da 1 Operation pattern Da 2 Control system Da 3 Acceleration...

Page 263: ...1520 Interruption request during continuous operation Cd 18 Interruption request during continuous operation U0 G1521 OPR request flag OFF request Cd 19 OPR request flag OFF request U0 G1524 Manual pu...

Page 264: ...n of the positioning control operation program is shown below Parameter and data are Set using GX Configurator QP Set using the sequence program Initialization program Parameter and data setting progr...

Page 265: ...program that matches the positioning system Numbers are assigned to the following programs Configuring the program in the order of these numbers is recommended No 1 No 2 No 3 Start of program creation...

Page 266: ...9 Error reset program Yes Absolute system No Continued on next page Carried out OPR request OFF program External command function valid setting program PLC READY signal Y0 ON program Refer to section...

Page 267: ...section 6 5 3 Refer to section 11 2 4 Refer to section 11 4 4 Program to reset the start signal and turn the M code ON signal OFF Start details setting program Start program JOG operation program Manu...

Page 268: ...Refer to section 12 5 1 Refer to section 12 5 3 Refer to section 12 5 4 Refer to section 12 7 1 Refer to section 12 7 2 Refer to section 12 7 4 Refer to section 6 5 4 Refer to section 6 5 5 Refer to s...

Page 269: ...in this section No 1 to No 3 parameter and data setting program When setting the parameters or data with the sequence program set them in the QD75 using the TO command from the PLC CPU Carry out the...

Page 270: ...6 21 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 271: ...6 22 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

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Page 273: ...6 24 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 274: ...6 25 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 275: ...6 26 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 276: ...6 27 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 277: ...6 28 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 278: ...6 29 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 279: ...6 30 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 280: ...6 31 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 281: ...6 32 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 282: ...6 33 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 283: ...6 34 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 284: ...6 35 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 285: ...6 36 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 286: ...6 37 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 287: ...6 38 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 288: ...6 39 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 289: ...6 40 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 290: ...6 41 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 291: ...6 42 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 292: ...6 43 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 293: ...6 44 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 294: ...6 45 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 295: ...6 46 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 296: ...6 47 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 297: ...6 48 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 298: ...6 49 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 299: ...6 50 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 300: ...6 51 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 301: ...6 52 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Page 302: ...etails on the setting details Time chart for OPR OFF request OFF ON OFF 0 1 0 ON OFF 0 PLC READY signal Y0 QD75 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request...

Page 303: ...for details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning start point No Buffer memory address Setting...

Page 304: ...ng 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...

Page 305: ...nal 1 1 ON 2 Y10 Servo amplifier Control with positioning data No 1 3 When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is star...

Page 306: ...servo is ON Y1 Synchronization flag 1 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 detec...

Page 307: ...a When next positioning is not to be carried out If a dwell time is set the system will wait for the set time to pass and then positioning will be completed When positioning is completed the BUSY sig...

Page 308: ...Positioning start complete signal BUSY signal Error detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON 1 ON 1 OFF 0 OFF 0 Near point dog V t OPR request flag Md 31 Status b3 Cd 3 Positioning st...

Page 309: ...No Y10 Y0 X0 X10 XC X8 OFF ON All axis servo ON Y1 Fig 6 5 Time chart for starting fast OPR 3 Time chart for starting major positioning control 1 V t Positioning data No Dwell time 2 00 Operation pat...

Page 310: ...lag Y10 Y0 X0 X10 XC X14 X8 external All axis servo ON Y1 Fig 6 7 Time chart for starting speed position switching control 5 Time chart for starting position speed switching control Positioning start...

Page 311: ...ion status OPR request flag Md 31 Status b3 Positioning start signal Y10 Y11 Y12 Y13 XC XD XE XF Start complete signal X10 X11 X12 X13 OPR complete flag Md 31 Status b4 Fig 6 9 Machine OPR operation t...

Page 312: ...e signal X10 X11 X12 X13 M code ON signal AFTER mode X4 X5 X6 X7 X14 X15 X16 X17 Positioning complete signal OPR complete flag Md 31 Status b4 Fig 6 10 Position control operation timing and process ti...

Page 313: ...ng start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the external command signal validity setting program program No 5 Buffer memory a...

Page 314: ...en stop command turns ON Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process at continuous operation interrupt request Cd 18 is set 1 ON Stop command ON For Sto...

Page 315: ...top process when operation cannot stop at positioning data No 10 Positioninig data No 10 Positioning data No 11 Positioning data No 12 Continuous operation interrupt request Even when the continuous o...

Page 316: ...ed while stopped an error Stop signal ON at start error code 106 will occur and the Md 26 Axis operation status will change to error occurring Thus even if the error is reset the operation cannot be r...

Page 317: ...tate Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 All axis servo ON ON All axis s...

Page 318: ...1 8 0 0 0 Positioning start signal Axis stop signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd 6 Positioning start No Positioning complete signal PLC READY signal M...

Page 319: ...topping Machine OPR control Fast OPR control Major positioning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop Servo READY OFF Servo amplifier...

Page 320: ...s with dynamic brake or electromagnetic brake The operation does not decelerate The QD75 immediately stops the command but the operation will coast for the droop pulses accumulated in the servo amplif...

Page 321: ...n stop process Positioning speed Deceleration stop process Stop Sudden stop cause Sudden stop deceleration process Deceleration stop process continues Process for sudden stop Positioning speed Deceler...

Page 322: ...s 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...

Page 323: ...trol data area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Servo parameter area Backup Buffer memory Area that can be directly accessed with sequence prog...

Page 324: ...t the items indicated with Cd 1 to Cd 40 Cd 100 to Cd 102 Positioning data area No 1 to 600 Area where positioning data No 1 to 600 is set and stored Set the items indicated with Da 1 to Da 10 for eac...

Page 325: ...t data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Flash ROM Buffer memory Parameter area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Copy Da...

Page 326: ...27050 to 27099 28050 to 28099 29050 to 29099 Block start data area No 7000 Condition data area 26100 to 26199 27100 to 27199 28100 to 28199 29100 to 29199 26200 to 26249 27200 to 27249 28200 to 28249...

Page 327: ...o 30311 30400 to 30411 Servo adjustment parameter area 30112 to 30126 30212 to 30226 30312 to 30326 30412 to 30426 Servo expansion parameter area 30127 to 30149 30227 to 30249 30327 to 30349 30427 to...

Page 328: ...7 7 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO...

Page 329: ...Pr 24 Pr 43 Pr 57 Pr 200 Pr 201 2 Valid upon execution of the TO instruction For PLC READY signal ON Valid Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No...

Page 330: ...O command it is simultaneously valid 1 Parameter area b Parameters validated simultaneously with the writing to the buffer memory with the TO command Pr 8 to Pr 10 Pr 25 to Pr 42 POINT When a value ot...

Page 331: ...other than 0 is set to Pr 104 in the above step 2 the servo parameter data is transmitted to the servo amplifier POINT The setting values of the parameters that correspond to parameter area b are vali...

Page 332: ...7 11 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO...

Page 333: ...data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory 7 Flash ROM request Write QD75 PLC CPU Servo parameter area No 30100 to...

Page 334: ...peripheral device 1 The parameters positioning data No 1 to 600 block start data No 7000 to 7004 and servo parameter in the buffer memory area are transmitted to the flash ROM Note This transmission...

Page 335: ...ea b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory QD75 PLC CPU Servo parameter area No 30100 to 30499 Par...

Page 336: ...ith the monitor from the peripheral device 2 The monitor data in the buffer memory area is transmitted to the peripheral device via the PLC CPU 9 Writing data from peripheral device to buffer memory T...

Page 337: ...ess is shown below Ex Setting the positioning data The following methods can be used to set the positioning data From peripheral device Using sequense program Set the data according to the peripheral...

Page 338: ...le referring to Chapter 5 Data used for positioning Also refer to Chapter 6 Sequence programs used in positioning control when creating the sequence programs required in each control and consider the...

Page 339: ...MEMO...

Page 340: ...ams from the PLC CPU are explained in this chapter Refer to GX Configurator QP Operating Manual for details on OPR using the peripheral device 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR con...

Page 341: ...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...

Page 342: ...y 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...

Page 343: ...R is regarded as the OP to be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following shows...

Page 344: ...the near point dog and the machine moves at the Pr 47 Creep speed The machine stops once after moving the distance set in the Pr 50 Setting for the movement amount after near point dog ON from the OF...

Page 345: ...ive 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 OPR start ON OFF OPR speed Deceleration at the near point dog ON Cre...

Page 346: ...al stops the OPR the error OPR restart impossible error code 209 will occur The workpiece will continue decelerating and stop if the near point dog is turned OFF before it has decelerated to the creep...

Page 347: ...N and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF ON 1 OFF 0 OFF 0 ON 1 0 V ON Pr 47 Creep speed Pr 46 OPR speed Pr 50 Setting for the movement amount after near point dog ON Md...

Page 348: ...error OPR restart impossible error code 209 will occur 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 an OPR is started at th...

Page 349: ...the Pr 47 Creep speed and subsequently moves at that speed 4 The command from the QD75 will stop and the OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the...

Page 350: ...rted while the near point dog is ON 3 When the stop signal stops the OPR carry out the OPR again When restart request is turned ON after the stop signal stops the OPR the error OPR restart impossible...

Page 351: ...sing the zero point even once the OPR restart zero point not passed error will occur When the OPR restart zero point not passed error occurs perform the JOG or similar operation so that the servomotor...

Page 352: ...he following shows the operation during a basic fast OPR start 1 The fast OPR is started 2 Positioning control begins to the Md 21 Machine feed value following the direction and speed set in the OPR p...

Page 353: ...lete signal Positioning operation Md 26 Axis operation status Y10 Y11 Y12 Y13 X10 X11 X12 X13 XC XD XE XF Fig 8 18 Operation timing and processing time of fast OPR Normal timing time Unit ms t1 t2 t3...

Page 354: ...value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis lin...

Page 355: ...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 interpola...

Page 356: ...s 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 changi...

Page 357: ...Arc address Set the sub point or center point address during circular interpolation control Da 8 Command speed Set the speed during the control execution Da 9 Dwell time Set the time the machine waits...

Page 358: ...ich axis 1 addresses increase 1 axis linear control One motor is driven and positioning is carried out to an addresses designated in one direction Speed Positioning data No 1 0 Operation pattern 11 Co...

Page 359: ...signated 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...

Page 360: ...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 m...

Page 361: ...the positioning data No 600 If the operation pattern of the positioning data No 600 is not terminated the operation will be started again from the positioning data No 1 e The speed switching patterns...

Page 362: ...when the positioning data No is switched Refer to section 12 3 3 Near pass function 2 Deceleration stop conditions during continuous path control Deceleration stops are basically not carried out in co...

Page 363: ...ce axis operation Interpolation axis operation Interpola tion axis Positioning data No 1 Reference axis Positioning data No 2 Positioning data No 1 Continuous path control V Positioning data No 1 t Po...

Page 364: ...ot be started if 1 is set in the command speed of the first positioning data at start Relation between the command speed and current speed The current speed is changed even if the new speed is not rea...

Page 365: ...n 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 Da 1 Operation pattern Start complete signal BUSY signal Position...

Page 366: ...n 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...

Page 367: ...n automatic deceleration is required Ex Operation patterns 00 01 etc the machine will immediately stop at the designated positioning address and a insufficient movement distance warning warning code 5...

Page 368: ...nt 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 positio...

Page 369: ...lue to a new value This value is updated every 3 5ms Machine feed value This is the value stored in Md 21 Machine feed value This value always has an address established with a machine OPR as a refere...

Page 370: ...itioning address movement amount of the positioning data if the movement amount per pulse is not set to 1 Monitoring the current value The current feed value and machine feed value are stored in the f...

Page 371: ...ate 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 0000...

Page 372: ...rried out by the Cd 40 ABS direction in degrees This function can perform only when the stroke limit is invalid When the stroke limit is to designate the movement direction in the ABS control a 1 or 2...

Page 373: ...upper limit value is 345 POINT Positioning addresses are within a range of 0 to 359 99999 Use the incremental system to carry out positioning of one rotation or more 2 Incremental system Positioning...

Page 374: ...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 f...

Page 375: ...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 dur...

Page 376: ...tion control is set Speed during interpolation control Either the composite speed or reference axis speed can be designated as the speed during interpolation control Set in Pr 20 Interpolation speed d...

Page 377: ...fer 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...

Page 378: ...4 axis Speed control Speed position switching control Position speed switching control Independent positioning control Termination Continuous positioning control Da 1 Operation pattern Continuous path...

Page 379: ...ning control Da 1 Operation pattern Continuous path control Da 2 Control system NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Da 3 Acceleration time No Da 4...

Page 380: ...No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Termination Set Termination assuming the next positioning data will not be executed Da 2 Control system ABS linear 1...

Page 381: ...l INC linear 1 is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Termination Set Termination assuming the next positioning data will not be...

Page 382: ...is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axi...

Page 383: ...ear 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 1...

Page 384: ...he movement direction is determined by the sign of the movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolatio...

Page 385: ...ystem 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 v...

Page 386: ...ddress to the address end point address set in the Da 6 Positioning address movement amount End point address X2 Y2 Z2 Positioning address Movement by linear interpolation of the X axis Y axis and Z a...

Page 387: ...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 Acceler...

Page 388: ...inear 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 Re...

Page 389: ...movement amount Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop position Forward direction Forward direction Forward direction Movement b...

Page 390: ...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...

Page 391: ...inear 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 Re...

Page 392: ...ddress established by a machine OPR in the 4 axis coordinate space a linear interpolation positioning is carried out from the current stop position start point address to the address end point address...

Page 393: ...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 m 800...

Page 394: ...vement amount set in the Da 6 Positioning address movement amount The movement direction depends on the sign or of the movement amount Restrictions An error will occur and the positioning will not sta...

Page 395: ...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 amou...

Page 396: ...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 p...

Page 397: ...Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored Da 6 Positioning address movement amount 8000 0 m Set the p...

Page 398: ...ion is determined by the sign of the movement amount Md 20 Current feed value of each axis is set to 0 at the positioning start 0 0 0 0 0 0 X axis Y axis Designated movement amount Designated movement...

Page 399: ...s to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m Set the positioning address A...

Page 400: ...rpolation 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...

Page 401: ...terpolation 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 t...

Page 402: ...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...

Page 403: ...address movement amount 10000 0 m 5000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value will be ignored Da 8 Comman...

Page 404: ...ent amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Restrictions 1 An axis error Continuous path control not possible err...

Page 405: ...nterpolated 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 m 8000...

Page 406: ...s established by a machine OPR on a 2 axis coordinate plane are used Positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Position...

Page 407: ...maximum radius for which circular interpolation control is possible is 536870912 2 29 An Outside radius range error error code 544 will occur at positioning start When the center point address is outs...

Page 408: ...the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount...

Page 409: ...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...

Page 410: ...maximum radius for which circular interpolation control is possible is 536870912 2 29 An Outside radius range error error code 544 will occur at positioning start When the center point address is outs...

Page 411: ...e 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement a...

Page 412: ...efer to section 9 1 6 Interpolation control for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for th...

Page 413: ...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 deviate...

Page 414: ...path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start poi...

Page 415: ...s 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...

Page 416: ...ate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error wil...

Page 417: ...tioning address movement amount in an arc path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reve...

Page 418: ...faster as end point address is reached Restrictions 1 2 axis circular interpolation control cannot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Uni...

Page 419: ...te the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will...

Page 420: ...ard 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 th...

Page 421: ...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 termination in Da 1 Operation patte...

Page 422: ...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 will be ignored Da 6 Positioning address mo...

Page 423: ...on 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 contro...

Page 424: ...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 con...

Page 425: ...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 Decel...

Page 426: ...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 referenc...

Page 427: ...art is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed Rest...

Page 428: ...m min Da 8 Command speed 8000 00mm min 6000 00mm min 4000 00mm min With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis...

Page 429: ...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...

Page 430: ...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 cont...

Page 431: ...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...

Page 432: ...art is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed Rest...

Page 433: ...n 6000 00mm min 4000 00mm min 1500 00mm min With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed...

Page 434: ...leration 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 ax...

Page 435: ...uffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 200 Speed position function selection 0 Speed position switching control INC mode 34 184 334 484 If the s...

Page 436: ...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 M...

Page 437: ...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...

Page 438: ...out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed p...

Page 439: ...urrent 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 pos...

Page 440: ...unless issued during the speed control section of the speed position switching control INC mode 2 The new movement amount is stored in Cd 23 Speed position switching control movement amount change reg...

Page 441: ...n the following a and b are satisfied a Pr 21 Current feed value during speed control is 1 Update current feed value If the movement amount exceeds the software stroke limit range during speed control...

Page 442: ...he 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 1...

Page 443: ...signal Y0 turns ON Use the detailed parameter 1 Pr 200 Speed position function selection to choose speed position switching control ABS mode Buffer memory address Setting item Setting value Setting d...

Page 444: ...trol 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 fl...

Page 445: ...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 v...

Page 446: ...out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed p...

Page 447: ...ol and position control Only 1 Update current value is valid for the setting of Pr 21 Current feed value during speed control in speed position switching control ABS mode An error error code 935 will...

Page 448: ...ls 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 reques...

Page 449: ...de 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 spee...

Page 450: ...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...

Page 451: ...Forward run position speed in which the control starts in the forward run direction and Reverse run position speed in which control starts in the reverse run direction Switching over from position co...

Page 452: ...osition 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 spee...

Page 453: ...X14 X15 X16 X17 In speed control Position control Speed control External position speed switching command t6 Speed control command speed is from the input position of the external position speed swit...

Page 454: ...feed value is updated during position control and speed control 2 Zero clear current feed value The current feed value is updated from 0 at a control start and the current feed value is cleared to 0...

Page 455: ...control 1 The speed control command speed can be changed during the position control of position speed switching control A command speed change request will be ignored unless issued during the positi...

Page 456: ...e will carry out a deceleration stop if this type of setting is carried out 3 The software stroke limit range is only checked during speed control if the 1 Update current feed value is set in Pr 21 Cu...

Page 457: ...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 0 m Set...

Page 458: ...rent 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 valu...

Page 459: ...ous 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...

Page 460: ...y The above chart shows an example when the positioning address is 0 Y10 Y11 Y12 Y13 Restrictions 1 An axis error Outside new current value range error code 514 will occur if the designated value is o...

Page 461: ...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...

Page 462: ...program and write it to the PLC CPU Current value changing Store new current feed value in D106 and D107 Pulsate current value changing command Write current value changing to the QD75 Write the curre...

Page 463: ...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...

Page 464: ...on execution conditions When block positioning data No 7000 to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When...

Page 465: ...tting value is ignored Da 2 Control system JUMP instruction Set the JUMP instruction Da 3 Acceleration time No Setting not required Setting value is ignored Da 4 Deceleration time No Setting not requi...

Page 466: ...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 i...

Page 467: ...rns 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 Se...

Page 468: ...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 a...

Page 469: ...peats 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 sta...

Page 470: ...a stored in the QD75 Setting item Setting details Da 11 Shape Set whether to terminate the control after executing only the block start data of the shape itself or continue executing the block start d...

Page 471: ...7 26118 26119 Low order buffer memory High order buffer memory Condition identifier 1st item 26100 b15 b0 b7 b8 b11 b12 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da 16 Condition operator D...

Page 472: ...6305 26306 26307 26308 26309 Da16 Da17 Da18 Da19 Da15 Buffer memory address Buffer memory address Buffer memory address Axis 1 block start data Buffer memory address Buffer memory address Buffer memor...

Page 473: ...et in the Cd 3 Positioning start No Control data setting STEP 5 Refer to Chapter 6 Write the sequence program created in STEP 4 to the PLC CPU using GX Developer Same procedure as for the major positi...

Page 474: ...tioning 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 Termination Da...

Page 475: ...1 Continue 1 0 Block 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 Termination 15 0 Block start 2 Positioning data s...

Page 476: ...sitioning 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 ON Operati...

Page 477: ...point 0 Termination 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Da 1 Axis 1 position ing data No Operation pattern 1 01 Continuous posi...

Page 478: ...point 1 Continue 10 0 Block start 3rd point 0 Termination 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Da 1 Axis 1 position ing data No O...

Page 479: ...01 Continuous positioning control 3 00 Termination 10 11 Continuous path control 11 11 Continuous path control 12 00 Termination 50 00 Termination 2 Control examples The following shows the control e...

Page 480: ...13 Da 14 Axis 1 block start data Shape Start data No Special start instruction Parameter 1st point 1 Continue 1 4 FOR loop 2 2nd point 1 Continue 10 0 Block start 3rd point 0 Termination 50 6 NEXT sta...

Page 481: ...tart data No Special start instruction Parameter 1st point 1 Continue 1 5 FOR condition 5 2nd point 1 Continue 10 0 Block start 3rd point 0 Termination 50 6 NEXT start The condition data Nos have been...

Page 482: ...ot be carried out if there is no 6 NEXT start instruction after the 4 FOR loop or 5 FOR condition instruction Note that an error will not occur 3 Nesting is not possible between 4 FOR loop and 6 NEXT...

Page 483: ...the condition data Da 15 Condition target corresponding to the different types of control The condition data settings in this chapter are assumed to be carried out using GX Configurator QP High level...

Page 484: ...xis 2 designation 30H Axis 1 and axis 2 designation 40H Axis 3 designation 50H Axis 1 and axis 3 designation 60H Axis 2 and axis 3 designation 70H Axis 1 axis 2 and axis 3 designation 80H Axis 4 desig...

Page 485: ...POSITIONING CONTROL REMARK The PLC CPU memo area can be designated as the buffer memory address to be designated in Da 17 Refer to section 7 1 1 Configuration and roles of QD75 memory Address 30000 30...

Page 486: ...memory as a condition Condition The value stored in buffer memory addresses 800 801 Md 20 Current feed value is 1000 or larger Da 15 Da 16 Da 17 Da 18 Da 19 Condition target Condition operator Addres...

Page 487: ...ctions 1 An error will occur and all simultaneously started axes will not start error code 501 if the simultaneously started axis start data No is not set to the axis control data on the start axis or...

Page 488: ...ata 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...

Page 489: ...start data 2 The setting of the multiple axis simultaneous start control is easier than that of the simultaneous start using the block start data Setting items for simultaneous start using block star...

Page 490: ...signal Servo amplifier Buffer memory Control by designated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input signal X10 as an i...

Page 491: ...f control data for details on the setting details Start conditions The following conditions must be fulfilled when starting the control The required conditions must also be integrated into the sequenc...

Page 492: ...ta No Operation pattern 1 11 Continuous path control 2 00 Termination2 10 11 Continuous path control 11 11 Continuous path control 12 00 Termination 3 Start time chart Y10 PLC READY signal QD75 READY...

Page 493: ...e 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 bef...

Page 494: ...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...

Page 495: ...tion is stopped by turning the limit switch OFF to confirm the positioning system connection and obtain the positioning data address refer to section 12 7 4 Teaching function M Movement continues whil...

Page 496: ...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...

Page 497: ...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 t...

Page 498: ...orkpiece will move at the Pr 31 JOG speed limit value and an Axis warning will occur in the QD75 warning code 301 5 The JOG operation can be continued even if an Axis warning has occurred 6 A JOG star...

Page 499: ...Forward run JOG start signal Y8 YA YC YE t2 Standing by In JOG operation t1 t3 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 Axis operation status ON ON OFF OFF OFF OFF St...

Page 500: ...sequence program in which the JOG start signal is turned ON by a JOG operation start command Using GX Developer set the control data and create a sequence program for executing the JOG operation Set t...

Page 501: ...8 Speed limit value Unit PLS s 20000 Pr 9 Acceleration time 0 Unit PLS s 1000 Pr 10 Deceleration time 0 Unit PLS s 1000 Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper...

Page 502: ...celeration 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 decel...

Page 503: ...ence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation...

Page 504: ...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...

Page 505: ...ogram 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 inchi...

Page 506: ...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 ignore...

Page 507: ...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 r...

Page 508: ...YC YE Fig 11 9 Operation when the JOG start signal is turned ON during deceleration When the JOG start signal is turned ON during a peripheral device test mode When the JOG start signal is turned ON d...

Page 509: ...e stop signal OFF within 100ms it will be ignored and the JOG operation will not be carried out ON Axis stop signal Y4 Y5 Y6 Y7 OFF ON OFF ON 100ms A JOG start signal OFF ON while the stop signal is O...

Page 510: ...ion 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...

Page 511: ...OG speed is ignored even if it is set An error will occur in the following cases error code 301 Cd 16 Inching movement amount x A Pr 31 JOG speed limit value Where A is as follows When the unit is PLS...

Page 512: ...n JOG start signal Y8 YA YC YE ON Standing by Inching operation Axis operation status t1 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 ON ON OFF OFF OFF OFF t3 Standing by...

Page 513: ...OG start signal is turned ON by an inching operation start command Using GX Developer set the control data and create a sequence program for executing the inching operation Set the control data in the...

Page 514: ...it magnification AM 1 1 times Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 214...

Page 515: ...st be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD...

Page 516: ...D75 READY signal X0 t Reverse run JOG start signal Y9 Reverse run inching operation Forward run inching operation BUSY signal XC Error detection signal X8 OFF OFF OFF OFF OFF ON ON ON ON ON OFF OFF ON...

Page 517: ...g 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 inchin...

Page 518: ...n can be re started when the stop signal is turned OFF and then re turned ON PLC READY signal Y0 OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be ign...

Page 519: ...ching operation not possible because JOG start signal does not rise Fig 11 16 Operation when JOG start signal is turned ON in test mode When JOG start signal is turned ON immediately after stop signal...

Page 520: ...nerator operation 1 When the Cd 21 Manual pulse generator enable flag is set to 1 the BUSY signal turns ON and the manual pulse generator operation is enabled 2 The workpiece is moved corresponding to...

Page 521: ...alculated value is input into the positioning module using the manual pulse generator the servo error 2035 data error detection of the alarm 35 command frequency error at the servo amplifier may occur...

Page 522: ...generator operation not possible V Manual pulse generator operation Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator opera...

Page 523: ...amount Pr 1 Unit setting mm inch degree PLS Manual pulse generator 1 pulse movement amount 0 1 m 0 00001inch 0 00001degree 1PLS For example when Pr 1 Unit setting is mm and Cd 20 Manual pulse generat...

Page 524: ...input from the manual pulse generator and issue a command to disable the manual pulse Manual pulse generator operation stop STEP 6 Monitor the manual pulse generator operation Preparation Refer to Cha...

Page 525: ...r 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Soft...

Page 526: ...led 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...

Page 527: ...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...

Page 528: ...ration 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 Pulsat...

Page 529: ...11 36 MELSEC Q 11 MANUAL CONTROL MEMO...

Page 530: ...12 11 12 3 1 Backlash compensation function 12 11 12 3 2 Electronic gear function 12 13 12 3 3 Near pass function 12 20 12 4 Functions to limit the control 12 23 12 4 1 Speed limit function 12 23 12...

Page 531: ...s path control in the interpolation control Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed li...

Page 532: ...etc according to the code No 0 to 65535 set for each positioning data Teaching function This function stores the address positioned with manual control into the positioning address Da 6 Positioning ad...

Page 533: ...details shown below explain about the OPR retry function 1 Control details 2 Precautions during control 3 Setting the OPR retry function 1 Control details The following drawing shows the operation of...

Page 534: ...limit switch Movement range OPR start OP Zero signal Near point dog 2 When the direction from the workpiece to the OP is the opposite direction from the Pr 44 OPR direction the operation carries out...

Page 535: ...ecuted 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 i...

Page 536: ...cannot be carried out 5 The operation decelerates upon detection of the H W limit and the movement starts in the opposite direction In this case however an error 104 105 is not produced 3 Setting the...

Page 537: ...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 P...

Page 538: ...during OP shift When using the OP shift function the movement speed during the OP shift is set in Pr 56 Speed designation during OP shift The movement speed during the OP shift is selected from either...

Page 539: ...shift 5 Setting the OP shift function To use the OP shift function set the required details in the parameters shown in the following table and write them to the QD75 When the parameters are set the OP...

Page 540: ...ion compensates the backlash amount in the mechanical system When the backlash compensation amount is set an extra amount of command equivalent to the set backlash amount is output every time the move...

Page 541: ...at the moving direction changes 3 Setting the backlash compensation function To use the backlash compensation function set the backlash compensation amount in the parameter shown in the following tabl...

Page 542: ...the function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in the feed machine value Co...

Page 543: ...ntrol unit QD75 Machine Reduction retio The basic concept of the electronic gear is represented by the following expression Pr 2 No of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4...

Page 544: ...ne travel value per motor revolution Ball screw pitch Reduction ratio 10 mm 9 44 10000 0 m 9 44 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 9 44 r...

Page 545: ...ry axis When the rotary axis is used the motor is HC SF 16384PLS rev and the reduction ratio of the reduction gear is 3 11 Reduction ratio 3 11 M First find how many degrees the load machine will trav...

Page 546: ...reduction gear is 7 53 Reduction ratio 7 53 M Belt conver Pulley ratio 1 3 135mm As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millime...

Page 547: ...P AP 2605056 2605056 AP S AL AM 2968805 0 2968805 0 AL 1 AM Thus AP AL and AM to be set are as follows AP 2605056 Pr 2 AL 2968805 0 Pr 3 AM 1 Pr 4 This setting will produce an error for the true machi...

Page 548: ...AL AM L L PLS Servo amplifier QD75 AP AL AM QD75 Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration Calculation ex...

Page 549: ...unit Alignment is not carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the...

Page 550: ...positioning data No currently being executed to the next positioning data No If the sudden output reversal affects the mechanical system carry out control with continuous positioning control Path dur...

Page 551: ...oning address pass Positioning data No 2 Positioning data No 1 Positioning data No 2 starting point address during the near pass Path of near pass Fig 12 12 Arc error during the near pass 4 When a cir...

Page 552: ...it function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit function Speed limit value Machine OPR control OPR con...

Page 553: ...the speed limit function set the speed limit value in the parameters shown in the following table and write them to the QD75 The set details are validated after they are written to the QD75 Setting i...

Page 554: ...value Machine OPR control Pr 17 Torque limit setting value or Cd 101 Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 OPR torque limit value OPR control...

Page 555: ...0 at the start signal Y10 rising edge Each operations PLC READY signal Y0 All axis servo ON Y1 Start signal Y10 Torque limit setting value 26 Torque output setting value 1552 New toruque value 1525 To...

Page 556: ...to section 5 2 List of parameters for setting details Torque limit value Will be an upper limit value of the torque change value Even if a larger value has been mistakenly input for the torque change...

Page 557: ...value The torque limit value valid at that time is stored Pr 17 Pr 54 Cd 22 or Cd 101 826 926 1026 1126 Refer to section 5 6 List of monitor data for information on the setting details REMARK Paramet...

Page 558: ...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 f...

Page 559: ...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...

Page 560: ...ks 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 immediat...

Page 561: ...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...

Page 562: ...d Set whether the software stroke limit is validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to section 5 2 List of paramete...

Page 563: ...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 315 Set in...

Page 564: ...per lower limit of the physical moveable range is reached The details shown below explain about the hardware stroke limit function 1 Control details 2 Wiring the hardware stroke limit 3 Precautions du...

Page 565: ...on 2 When Pr 22 Input signal logic selection is set to the initial value the QD75 cannot carry out the positioning control if FLS limit switch for upper limit is separated from COM or RLS limit switch...

Page 566: ...erride function The speed is changed for all control to be executed Note that this excludes manual pulse generator operation The new speed is set as a percent of the command speed POINT The override f...

Page 567: ...next positioning data The next positioning data is controlled at the Cd 14 New speed value b When a speed designation is provided in the next positioning data The next positioning data is controlled...

Page 568: ...ge 0 flag Md 31 Status b10 turns ON During interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY...

Page 569: ...d it may become impossible to carry out commands correctly 9 When a speed change is requested simultaneously for multiple axes change the speed in the ascending axis number order 10 Speed change canno...

Page 570: ...PLC READY signal Positioning start signal Positioning complete signal Y10 Y0 X0 X10 XC X14 X8 Md 40 All axis servo ON Y1 Fig 12 26 Time chart for changing the speed from the PLC CPU 3 Add the followi...

Page 571: ...xis 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 spe...

Page 572: ...alid signal QD75 starts speed change processing Speed change processing Write the new speed K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP Set the external command signal input to valid K1 K1 K62 H0 TOP Inp...

Page 573: ...1 or less When Md 22 becomes 0 the warning Less than minimum speed warning code 110 is generated and the axis is controlled in the then speed unit of 1 4 If there is not enough remaining distance to...

Page 574: ...ttings and sequence program example for setting the override value of axis 1 to 200 1 Set the following data Use the start time chart shown in section 2 below as a reference and set using the sequence...

Page 575: ...12 CONTROL SUB FUNCTIONS 3 Add the following sequence program to the control program and write it to the PLC CPU Example No 15 Override program Pulsate override command Set override value 200 Write o...

Page 576: ...to change the speed when the acceleration deceleration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 10 Cd 11 The details shown below explain about t...

Page 577: ...out with the previously set acceleration deceleration time at the changeover to the next positioning data even if the acceleration deceleration time is changed to the new acceleration deceleration tim...

Page 578: ...ta being executed The new acceleration deceleration time remains valid until the changeover to the next positioning data The automatic deceleration processing at the completion of the positioning will...

Page 579: ...e change program Pulsate acceleration deceleration time change command Set 2000ms for acceleration time Set 0 not change for deceleration time Write acceleration deceleration time Write acceleration d...

Page 580: ...etting value that was previously set in the parameters However by setting the new torque limit value in the axis control data Cd 22 New torque value and writing it to the QD75 the torque generated by...

Page 581: ...e 1552 New toruque value 1525 Torque limit stored value 826 Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 150 1 2 2 2 3 3 4 4 4 4 4 3 6 5 1 The tor...

Page 582: ...ON 3 If the setting value is outside the setting range an axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed 4 If the time to hold the new torq...

Page 583: ...ctor Back up Return of the present value Battery Position command Control command Servo parameter Monitor data Fig 12 32 Configuration of absolute position detection system 1 Setting for absolute posi...

Page 584: ...01 OPR destignation Cd 3 Positioning start No Positioning start Y10 to Y13 Movement range for the machine Moved to this position by manual operation Fig 12 33 Operation of the OPR execution POINT The...

Page 585: ...hown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Precautions dur...

Page 586: ...e 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 informat...

Page 587: ...by a stop signal Take appropriate measures go to step 5 c An error occurred and the control stopped Take appropriate measures go to step 3 5 Write 1 restart to Cd 6 Restart command and check that the...

Page 588: ...nal Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Fig 12 35 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step Cd 36 Step...

Page 589: ...7 Step function settings 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...

Page 590: ...gnal is input during positioning control 2 Precautions during control 1 If the skip signal is turned ON at the last of an operation a deceleration stop will occur and the operation will be terminated...

Page 591: ...ory 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...

Page 592: ...uence 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 21...

Page 593: ...put function 1 M code ON signal output timing 2 M code OFF request 3 Precautions during control 4 Setting the M code output function 5 Reading M codes 1 M code ON signal output timing The timing for o...

Page 594: ...gnal set 1 turn OFF the M code signal in Cd 7 M code OFF request Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 7 M code OFF request 1 Set 1 Turn OFF t...

Page 595: ...ON 2 The M code ON signal will not turn ON if 0 is set in Da 10 M code The M code will not be output and the previously output value will be held in Md 25 Valid M code 3 If the M code ON signal is ON...

Page 596: ...WITH mode 1 AFTER mode 27 177 327 477 Refer to section 5 2 List of parameters for setting details 5 Reading M codes M codes are stored in the following buffer memory when the M code ON signal turns O...

Page 597: ...as the axis is not BUSY even when an error or warning has occurred 2 Addresses for which teaching is possible The addresses for which teaching is possible are current feed values Md 20 Current feed va...

Page 598: ...may become impossible assured value is up to 100 000 times If an error error code 805 occurs when writing to the flash ROM has been completed check whether or not the program is created so as to write...

Page 599: ...he completion of the writing Move the workpiece to the target position using a manual operation Set the positioning data No for which the teaching will be carried out Turn OFF the PLC READY signal Y0...

Page 600: ...nd point position using a manual operation Set the current feed value in the arc sub point by teaching data selection Set the positioning data No in the buffer memory address 1549 Set 1 in the buffer...

Page 601: ...write it when the BUSY signal is OFF 2 Program example The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction TEACH 1 1 Move the workpiece to the target...

Page 602: ...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 posit...

Page 603: ...on 1 Details of control 2 Precaution during operation 3 Method of setting target position change function from PLC CPU 1 Details of control The following charts show the details of control of the targ...

Page 604: ...ntinuous path control 4 When a command speed is changed the current speed is also changed When the next positioning speed uses the current speed in the continuous positioning the next positioning oper...

Page 605: ...2 Axis 3 Axis 4 Cd 27 Target position value new address 3000 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position value new speed 1000000 Set the new speed 1536 1537 1636...

Page 606: ...program and written to the PLC CPU Example No 22 Target position change program Pulsate target position change command Hold target position change command Set target position change value 300 0 m add...

Page 607: ...Setting the command in position function 4 Confirming the command in position flag 1 Control details The following shows control details of the command in position function 1 When the remaining dista...

Page 608: ...position width setting value V Execution of the command in position width check OFF OFF ON Command in position width setting value Execution of the command in position width check Fig 12 44 Command in...

Page 609: ...ntrol 100 Refer to section 5 2 List of parameters for setting details 4 Confirming the command in position flag The command in position flag is stored in the following buffer memory Buffer memory addr...

Page 610: ...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 decel...

Page 611: ...s is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Distance Fig 12 45 Automatic trap...

Page 612: ...e 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 deceler...

Page 613: ...art function is performed by turning ON the positioning start signal Y10 Y11 Y12 Y13 with the execution prohibition flag Y14 Y15 Y16 Y17 ON or by executing the dedicated instruction PSTRT1 PSTRT2 PSTR...

Page 614: ...Cutter shaft Feed shaft Stock Fig 12 49 System example using pre reading start function Fig 12 49 shows a system example which repeats 1 Feeding a stock with a feed shaft and 2 Cutting it with a cutte...

Page 615: ...es a start request until it servo start The system s tact time can be reduced by the shortening of this delay with the Pre reading start function In Fig 12 50 the feed shaft stands by during the stop...

Page 616: ...ith the pre reading start function are No 1 to 600 only Performing the pre reading start function at the setting of No 7000 to 7004 or 9001 to 9004 will result in an outside start No range error Error...

Page 617: ...ion 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 p...

Page 618: ...1851 3 Turn ON all axis servo ON command Y1 Now the servo amplifier turns ON the servo servo operation enabled state The servo LED indicates d 2 Servo OFF The following shows the procedure for servo O...

Page 619: ...oop pulses the next time the servo turns ON but positioning can be performed from the stop position 2 Execution follow up Follow up function is executed continually during the servo OFF status OFF Fol...

Page 620: ...ters set the only DRU parameters Don t set change IFU parameters from QD75 The IFU parameters set change the unit operation section pushbutton switches of the MR J2M B interface unit or setup software...

Page 621: ...12 92 MELSEC Q 12 CONTROL SUB FUNCTIONS MEMO...

Page 622: ...arameter 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 req...

Page 623: ...to the factory set initial value Execution data backup This function writes the execution data currently being used for control to the flash ROM External I O signal logic switching This function swit...

Page 624: ...OPR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 49 to Pr 57 Servo parameters Pr 100 to Pr 161 Positioning data No 1 to 600 Block start data No 7000 to 7004 3 Precautions during control...

Page 625: ...ing the TO command intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory Buffer memory address Setting item Settin...

Page 626: ...hows the data that can be written to the flash ROM using the execution data backup function Buffer memory Flash ROM Parameters Pr 1 to Pr 57 Pr 200 Pr 201 Parameters Pr 1 to Pr 57 Pr 200 Pr 201 Positi...

Page 627: ...ut by the writing of the data shown in the table below to the QD75 buffer memory using the TO command intelligent function device The writing to the flash ROM is executed at the time point the data is...

Page 628: ...ddress Setting item Setting details Factory set initial value Axis 1 Axis 2 Axis 3 Axis 4 Selection of logic of signals input from external source to QD75 b0 Lower limit b1 Upper limit 0 Negative logi...

Page 629: ...nformation 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 In...

Page 630: ...of the intelligent function module Using the dedicated instructions the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal 14 1 List of dedicate...

Page 631: ...s the buffer memory parameters positioning data and block start data to the flash ROM Section 14 6 Parameter initialization PINIT This function initializes the buffer memory and flash ROM setting data...

Page 632: ...S D When PSTRT1 PSTRT2 PSTRT3 and PSTRT4 are common to each other they are designated as PSTRT Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High...

Page 633: ...at abnormal completion Functions 1 The positioning start of the axes to be processed See below is carried out PSTRT1 Axis 1 PSTRT2 Axis 2 PSTRT3 Axis 3 PSTRT4 Axis 4 2 The block start OPR start curre...

Page 634: ...is input before completion of the positioning which has been started by the PSTRT instruction the completion device D turns the 1 scan ON to complete execution of the PSTRT instruction 3 The following...

Page 635: ...letion devices Positioning start program Positioning start command pulse Positioning start No 1 setting Positioning start command hold Positioning start execution Positioning start command storage OFF...

Page 636: ...TEACH1 TEACH2 TEACH3 and TEACH4 are common to each other they are designated as TEACH Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High order two...

Page 637: ...sitioning 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 TEACH1 Axis 1 TEACH2 Axis 2 TEACH3...

Page 638: ...dedicated instructions cannot be executed simultaneously for the same axis Can be executed simultaneously for different axes Positioning start instructions PSTRT1 to PSTRT4 Teaching instructions TEAC...

Page 639: ...data No setting Teaching execution Teaching command storage OFF No 20 Teaching program Positioned manually to target position Program example for use when dedicated instruction is not used Teaching c...

Page 640: ...data is stored Device D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be t...

Page 641: ...d ON by the END processing of the scan for which PFWRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device END processing END processing END pro...

Page 642: ...3 After the power ON and PLC CPU 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...

Page 643: ...rite 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...

Page 644: ...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 No...

Page 645: ...D processing b Complete state display device D 1 This device is turned ON and OFF according to the state in which PINIT instruction is completed When completed normally Kept unchanged at OFF When comp...

Page 646: ...MELSECNET H Network System Reference Manual Remote I O Network Program example The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON No 25 Parameter initia...

Page 647: ...14 18 MELSEC Q 14 DEDICATED INSTRUCTIONS MEMO...

Page 648: ...f errors 15 6 15 2 1 QD75 detection error 15 6 15 2 2 MR H BN detection error 15 34 15 2 3 MR J2 B detection error 15 46 15 2 4 MR J2S B detection error 15 56 15 2 5 MR J2 Jr detection error 15 66 15...

Page 649: ...the reference axis during analysis of the positioning data set in each point of the positioning start data table a When the interpolation axis is BUSY b When the error occurred in positioning data or...

Page 650: ...tection signal Buffer memory address 1 X8 806 2 X9 906 3 XA 1006 4 XB 1106 A new error code is stored in the buffer memory address Md 23 Axis error No for axis error storage every time an error occurs...

Page 651: ...fier Warning storage 1 When an axis warning occurs the warning code corresponding to the warning details is stored in the following buffer memory Md 24 Axis warning No for axis warning No storage Axis...

Page 652: ...stop during axis stop Axis sudden stop during axis stop Axis stop before axis operation Axis sudden stop before axis operation Writing to the buffer memory monitoring area 5 Confirming the error and...

Page 653: ...e CPU unit The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the deceleration stop only occurs during the manual...

Page 654: ...5 2 9 Pr 133 Moving the system to a position where an upper limit signal is not input using the manual control operation refer to chapter 11 after the axis error reset Refer to section 15 1 3 Moving...

Page 655: ...ration 206 Count method movement amount fault In the count method 1 and 2 OPR a parameter Setting of movement amount after near point dog ON is smaller than a distance necessary for deceleration stop...

Page 656: ...near point dog ON 0 to 2147483647 74 75 224 225 374 375 524 525 OPR speed 1 to 10000000 PLS s 1 to 2000000000 mm min Calculate the movement distance using a speed limit OPR speed and deceleration time...

Page 657: ...rtner axis for simultaneous start is BUSY 501 Error before simultaneous start When multiple axes are started and controlled simultaneously The partner axis for simultaneous start is BUSY The Simultane...

Page 658: ...ion operators Axis designation 10H 20H 30H 40H 50H 60H 70H 80H 90H A0H B0H C0H D0H E0H Normalize the condition operators Refer to section 5 5 Da 16 1540 1640 1740 1840 Axis 1 start data No 1541 1641 1...

Page 659: ...n 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 s...

Page 660: ...e stroke limits are valid Unit degree 35999999 to 35999999 Unit mm PLS inch 2147483648 to 2147483647 When software stroke limits are invalid 2147483648 to 2147483647 Speed position switching INC mode...

Page 661: ...ing normal deceleration stop only of sudden stop selection stop group 3 in the detailed parameter 2 when the current feed value or machine feed value during speed control including speed control in sp...

Page 662: ...ing the new current value into the setting range Refer to section 9 2 19 Do not designate a current value changing using the positioning data following the continuous path control Do not designate a c...

Page 663: ...t present in the unit In 2 axis interpolation the axis to be interpolated is the self axis or an axis not present 522 Command speed setting error The command speed is outside the setting range Linear...

Page 664: ...it setting of the axis to be interpolated Refer to section 9 1 6 Same as error codes 515 to 516 Correct the control system Refer to Section 5 3 Da 2 Correct the axis to be interpolated Refer to sectio...

Page 665: ...2147483647 526 End point setting error Start point is equal to end point in the circular interpolation with sub points designated End point address is outside the range of 2147483648 to 2147483647 At...

Page 666: ...ch 2147483648 to 2147483647 Unit degree cannot be set Arc address 2147483648 to 2147483647 Correct the end address positioning address Refer to section 9 2 10 Same as in error codes 525 to 526 Correct...

Page 667: ...s in the unit of degree The operation is terminated 536 M code ON signal start The positioning start is carried out when an M code ON signal X4 to X7 is turned ON 537 PLC READY OFF start The positioni...

Page 668: ...equest 1 M code signal is turned OFF After turning OFF the M code ON signal start the system Refer to section 12 7 3 Check the sequence program which turns ON OFF the PLC READY signal Y0 and turn ON t...

Page 669: ...eleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 801 Flash ROM write er...

Page 670: ...the software stroke limit lower limit value Refer to section 9 1 5 Clear the setting of the PLC CPU module parameter Output at error stop Refer to QCPU User s Manual The flash ROM is expected to be a...

Page 671: ...tside 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 th...

Page 672: ...0000 PLS s 1 to 2000000000 mm min or others 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 3...

Page 673: ...he detailed parameter 1 Interpolation speed designation method is outside the setting range 930 Current value update request error The set range of the detailed parameter 1 Current feed value during s...

Page 674: ...78 328 478 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 switchin...

Page 675: ...eter 2 Sudden stop deceleration time is outside the setting range 962 Stop group 1 sudden stop selection error The set range of the detailed parameter 2 Stop group 1 sudden stop selection is outside t...

Page 676: ...000 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...

Page 677: ...de the setting range 990 OPR error The set range of the OPR detailed parameter OPR is outside the setting range 991 Setting for the movement amount after near point dog ON error The set range of the O...

Page 678: ...ng the setting into the setting range Set the speed to the bias speed at start or higher Refer to section 5 2 5 76 77 226 227 376 377 526 527 1 to 10000000 PLS s 1 to 2000000000 mm min or others Bring...

Page 679: ...ing operation is shown below Change amount of the encoder current value 3 5 ms Motor 180 Check any time both servo ON OFF after the servo amplifier is turned ON Encoder errors 1204 Encoder error 2 The...

Page 680: ...ffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set range Setting with sequence program Remedy Execute the OPR Check the servomotor and encoder cable Take measures against noise Check the servomotor a...

Page 681: ...Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communica...

Page 682: ...A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the servo amplifier Connect correctly Change the servomotor Repair or ch...

Page 683: ...ected High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded Power supply voltage is abnormal 260VAC or more...

Page 684: ...e brake option The regenerative brake option has overheated abnormally The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option Change the servo amp...

Page 685: ...regenerative brake resistor or regenerative brake option is open or disconnected Though the regenerative brake option is used the DRU parameter Pr 102 Regenerative brake resistor setting value is 0 00...

Page 686: ...ower cables Change the servo amplifier Correct the U V W phase wiring of the servo amplifier Take noise suppression measures Change lead Connect correctly Regenerative brake option 30102 30202 30302 3...

Page 687: ...otor encoder signal is abnormal The motor encoder fault Air cooling fan of servo amplifier stops The power supply was turned on and off continuously by overloaded status 2045 45 Main circuit device ov...

Page 688: ...temperature Review operation method Change the servo amplifier or cooling fan Review environment so that ambient temperature is 0 to 40 C Reduce load Review operation pattern Use servomotor that provi...

Page 689: ...se The servo system is unstable causing hunting The bus voltage of the unit has decreased 2051 51 Overload 2 Machine collision or the like caused max output current to flow successively for several se...

Page 690: ...e servo amplifier When the servomotor shaft is rotated with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or returns midway the enc...

Page 691: ...motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the parameter Pr 131 The bus voltage of the unit...

Page 692: ...Torque output setting value 1552 1652 1752 1852 When torque is limited increase the limit value Reduce load Use servomotor that provides larger output Input signal logic selection 31 181 331 481 Revi...

Page 693: ...amplifier The encoder connecter CN2 is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communication error occurred between encoder and servo amplif...

Page 694: ...vo amplifier Connect correctly Change the servomotor Repair or change the cable Use correct combination Alarm A 17 A 18 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 conn...

Page 695: ...ative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regenera...

Page 696: ...er or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 48...

Page 697: ...t Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC error SSCNET cable communication fault The same No exists in the servo amplifier side axis setting Command given...

Page 698: ...brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly R...

Page 699: ...c of servo amplifier Load ratio 300 2 5s or more Load ratio 200 100s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase don t mach m...

Page 700: ...ncoder if faulty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 3010...

Page 701: ...force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value of the parameter Pr 131 Servo motor miswiring s...

Page 702: ...ue When torque is limited increase the limit value Use servomotor that provides larger output Positioning gain 1 30113 30113 30113 30113 Torque limit value 26 176 326 476 OPR torque limit value 86 236...

Page 703: ...between encoder and servo amplifier Encoder cable fault Wire breakage or shot 2017 17 Board error 2 CPU or parts of the circuit fault 2019 19 Memory error 3 ROM memory error Faulty parts in the servo...

Page 704: ...e the servo amplifier Connect correctly Change the servomotor Repair or change the cable Alarm A 17 A 19 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 connector Change th...

Page 705: ...rative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regener...

Page 706: ...er or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 48...

Page 707: ...erter bus voltage exceeded 400VDC Power supply voltage high The SSCNET cable is disconnected SSCNET cable fault Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC er...

Page 708: ...rvo amplifier For wire breakage of regenerative brake option change regenerative brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SS...

Page 709: ...he continuous output current of the servo amplifier The servo system is unstable causing hunting Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach moto...

Page 710: ...justment manually Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly When the servomotor shaft is rotated with the servo off the cumulative f...

Page 711: ...xternal force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the paramete...

Page 712: ...86 236 386 536 Torque output setting value 1552 1652 1752 1852 Increase the torque limit value Review the power supply capacity Use servomotor which provides larger output Positioning gain 1 30113 302...

Page 713: ...error 2013 13 Clock error Printed circuit board fault 2015 15 Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter CNP2 is disconnected Fault in the encoder 2016 16 E...

Page 714: ...to 15 occurs if power is switched on after disconnection of CN1A CN1B CNP2 and CNP3 connector Change the servo amplifier Connect correctly Change the servo amplifier Repair or change the cable Alarm...

Page 715: ...2031 31 Overspeed Speed has exceeded the instantaneous permissible speed Fault in the encoder Output phases U V W phase of the servo amplifier were connected with each other Transistor of the servo a...

Page 716: ...ime 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497 Reset servo gain to proper value If servo gain cannot be set to proper value...

Page 717: ...me No exists in the servo amplifier side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 35 Command pulse frequency error Input f...

Page 718: ...y Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change QD75M Connect the connector of the SSCNET cab...

Page 719: ...cteristic of servo amplifier Load ratio 200 85s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach motor terminals U V W...

Page 720: ...ty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309...

Page 721: ...or encoder fault Servo motor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded set...

Page 722: ...ositioning gain 1 30113 30213 30313 30413 Increase set value and adjust to ensure proper operation Torque limit value 26 176 326 476 OPR torque limit value 86 236 386 536 Torque output setting value 1...

Page 723: ...s of the circuit fault 2015 FA 15 Memory error 2 EEP ROM error Faulty parts in interface unit 2012 A 12 Memory error 1 ROM or RAM memory error 2013 A 13 Clock error Printed circuit board fault 2014 A...

Page 724: ...ircuit power supply cables Change the interface unit Alarm any of A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the dri...

Page 725: ...se unit after initialization Faulty parts in servo amplifier The encoder connecter is disconnected Encoder fault 2020 A 20 Encoder error 2 Communication error occurred between encoder and drive unit E...

Page 726: ...unit properly Change the base unit Alarm A 1E occurs if power is switched on after disconnection of the U V W phase power cables Change the drive unit Connect correctly Change the servomotor Repair o...

Page 727: ...tive brake resistor or regenerative brake option is exceeded Regenerative brake option faulty 2030 FA 30 Regenerative error Regenerative transistor fault Regenerative transistor faulty Small accelerat...

Page 728: ...nit Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 487 38 39 188 189 338 389 488...

Page 729: ...CNET cable communication fault The same No exists in the interface unit side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 A 35...

Page 730: ...ge regenerative brake option Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measur...

Page 731: ...ain circuit device overheat Main circuit device overheat Drive unit faulty Servo motor ambient temperature exceeded the operating value of 40 C Servomotor overloaded 2046 A 46 Servomotor heated Servo...

Page 732: ...rovides larger output Change the servomotor Reduce load Review operation pattern Use servomotor that provides larger output Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 R...

Page 733: ...2051 A 51 Overload 2 Machine collision or the like caused max output current to flow successively for several seconds Servomotor locked 0 3s The motor encoder fault Acceleration deceleration time con...

Page 734: ...servomotor Acceleration time 12 13 162 163 312 313 482 483 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42...

Page 735: ...le and power cable U V W phase coming out of one drive unit are connected to the incorrect servomotor 2054 FA 54 Drive unit alarm Alarm occurred in one or more axes of drive units installed to the bas...

Page 736: ...rn Use a servomotor whose output is large Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo...

Page 737: ...hen the PLC READY is turned ON at the time of teaching request The warning for axis 1 is issued 112 Illegal override value A value other than 1 to 300 is set for the override value Controlled at a set...

Page 738: ...1613 1713 1813 Positioning operation speed override 1 to 300 1525 1625 1725 1825 New torque value 1 to Torque limit set value 26 176 326 476 Torque limit set value 1 to 500 Set a value within the sett...

Page 739: ...R 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 cont...

Page 740: ...OFF request 1 M code ON signal is turned OFF Normalize the ON and OFF timings of the M code OFF request Refer to section 12 7 3 Refer to section 5 3 List of positioning data Operation pattern 00 Posit...

Page 741: ...ore A 0 is canceled by the QD75M automatically even when a 0 or 601 or more is set 517 Illegal teaching data selection The teaching data selection set value is outside the setting range Teaching is no...

Page 742: ...hing positioning data No 1 to 600 Set the positioning data No to within the setting range 1548 1648 1748 1848 Teaching data selection 0 1 Set the teaching data selection set value to within the settin...

Page 743: ...Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that...

Page 744: ...battery Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050...

Page 745: ...egenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error c...

Page 746: ...and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to section 15 2 3 Re...

Page 747: ...le regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 m...

Page 748: ...display and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to section 1...

Page 749: ...side setting range Parameter value set from QD75M controller is outside setting range 2146 E6 Servo emergency stop warning EMG1 SG is open Emergency stop was made valid EMG1 SG was opened EMG 6 pin or...

Page 750: ...r to section 15 2 3 Refer to error code 2050 2051 Refer to section 15 2 3 Refer to section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emergency stop selection 30123 30223 3032...

Page 751: ...ake option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 A E1 Over load warning There is a poss...

Page 752: ...uce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050 2051 Refer...

Page 753: ...LED System error An operation condition setting error or installation PLC CPU type error occurs The setting and PLC CPU type are outside the specification range Set the PLC CPU type to a one containe...

Page 754: ...ioning data No 1 to 600 List of buffer memory addresses Appendix 19 Appendix 4 Connection with servo amplifiers Appendix 43 Appendix 4 1 Connection of SSCNET cables Appendix 43 Appendix 4 2 Wiring of...

Page 755: ...Appendix 2 MELSEC Q APPENDICES MEMO...

Page 756: ...dix 1 1 Multiple CPU correspond function Refer to the QCPU Q Mode User s Manual Function Explanation Program Fundamentals SH 080038 Appendix 1 2 The combination of software package for QD75 and QCPU R...

Page 757: ...Appendix 4 MELSEC Q APPENDICES Appendix 2 Format sheets Appendix 2 1 Positioning Module operation chart Axis address mm inch degree PLS Axis address mm inch degree PLS...

Page 758: ...Appendix 5 MELSEC Q APPENDICES Axis address mm inch degree PLS Axis address mm inch degree PLS...

Page 759: ...e 2147483648 to 2147483647 10 1 m 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 PLS Pr 14 Software stroke limit selection 0 Apply software stroke limit on curre...

Page 760: ...Appendix 7 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 3 20000 20000 1 0 200000 1000 1000 0 2147483647 2147483648 0 0 100 300 0 0 0 0...

Page 761: ...00 10 2 mm min 1 to 2000000000 10 3 inch min 1 to 2000000000 10 3 degree min 1 to 10000000 PLS Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection 0 to 3 Pr...

Page 762: ...Appendix 9 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 0...

Page 763: ...000000 10 3 degree min 1 to 10000000 PLS s OPR basic parameters Pr 48 OPR retry 0 Don t retry OPR with upper lower limit switch 1 Retry OPR with upper lower limit switch Pr 49 OPR dwell time 0 to 6553...

Page 764: ...Appendix 11 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 0 0...

Page 765: ...F 80 Automatic setting Pr 103 Motor type 05 HA MH 0C HA LF 400V Class Pr 104 Motor capacity Use to select 100 times of the output capacity kW of the motor by the number of hexadecimal Round off the fi...

Page 766: ...Appendix 13 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 3 0 0H 0H 80H 0000H 1 255 0 1 5H...

Page 767: ...o 1000 Pr 122 Analog monitor output 0 to 0A0AH MR H BN MR J2 B MR J2 Jr or 0 to 0B0BH MR J2S B MR J2M B Pr 123 Optional function 1 0 to 0130H MR H BN MR H BN4 or 0 to 0101H MR J2 B MR J2S B MR J2 Jr M...

Page 768: ...Appendix 15 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 70 35 177 35 817 20 0000H 0 100 0 0001H 0000H 0000H 0000H 0 0 0001H 50 80 0000H 0000H 0 980 4000...

Page 769: ...or r min 0 to 9999 MR J2S B MR J2M B Pr 151 Gain changing time constant ms 0 to 100 MR J2S B MR J2M B Pr 152 Ratio of load inertia moment to servomotor inertia moment 2 0 1 times 0 to 3000 MR J2S B M...

Page 770: ...Appendix 17 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0111H 20 50 0 10 1 70 100 100 100 0000H 0000H...

Page 771: ...on 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 Dwe...

Page 772: ...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...

Page 773: ...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...

Page 774: ...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...

Page 775: ...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...

Page 776: ...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...

Page 777: ...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...

Page 778: ...8238 8248 8209 8219 8229 8239 8249 71 72 73 74 75 8700 8710 8720 8730 8740 8701 8711 8721 8731 8741 8702 8712 8722 8732 8742 8704 8714 8724 8734 8744 8705 8715 8725 8735 8745 8706 8716 8726 8736 8746...

Page 779: ...9688 9698 9659 9669 9679 9689 9699 126 127 128 129 130 9250 9260 9270 9280 9290 9251 9261 9271 9281 9291 9252 9262 9272 9282 9292 9254 9264 9274 9284 9294 9255 9265 9275 9285 9295 9256 9266 9276 9286...

Page 780: ...3 274 275 10700 10710 10720 10730 10740 10701 10711 10721 10731 10741 10702 10712 10722 10732 10742 10704 10714 10724 10734 10744 10705 10715 10725 10735 10745 10706 10716 10726 10736 10746 10707 1071...

Page 781: ...3 374 375 11700 11710 11720 11730 11740 11701 11711 11721 11731 11741 11702 11712 11722 11732 11742 11704 11714 11724 11734 11744 11705 11715 11725 11735 11745 11706 11716 11726 11736 11746 11707 1171...

Page 782: ...3 474 475 12700 12710 12720 12730 12740 12701 12711 12721 12731 12741 12702 12712 12722 12732 12742 12704 12714 12724 12734 12744 12705 12715 12725 12735 12745 12706 12716 12726 12736 12746 12707 1271...

Page 783: ...3 574 575 13700 13710 13720 13730 13740 13701 13711 13721 13731 13741 13702 13712 13722 13732 13742 13704 13714 13724 13734 13744 13705 13715 13725 13735 13745 13706 13716 13726 13736 13746 13707 1371...

Page 784: ...4 75 14700 14710 14720 14730 14740 14701 14711 14721 14731 14741 14702 14712 14722 14732 14742 14704 14714 14724 14734 14744 14705 14715 14725 14735 14745 14706 14716 14726 14736 14746 14707 14717 147...

Page 785: ...3 174 175 15700 15710 15720 15730 15740 15701 15711 15721 15731 15741 15702 15712 15722 15732 15742 15704 15714 15724 15734 15744 15705 15715 15725 15735 15745 15706 15716 15726 15736 15746 15707 1571...

Page 786: ...3 274 275 16700 16710 16720 16730 16740 16701 16711 16721 16731 16741 16702 16712 16722 16732 16742 16704 16714 16724 16734 16744 16705 16715 16725 16735 16745 16706 16716 16726 16736 16746 16707 1671...

Page 787: ...3 374 375 17700 17710 17720 17730 17740 17701 17711 17721 17731 17741 17702 17712 17722 17732 17742 17704 17714 17724 17734 17744 17705 17715 17725 17735 17745 17706 17716 17726 17736 17746 17707 1771...

Page 788: ...3 474 475 18700 18710 18720 18730 18740 18701 18711 18721 18731 18741 18702 18712 18722 18732 18742 18704 18714 18724 18734 18744 18705 18715 18725 18735 18745 18706 18716 18726 18736 18746 18707 1871...

Page 789: ...3 574 575 19700 19710 19720 19730 19740 19701 19711 19721 19731 19741 19702 19712 19722 19732 19742 19704 19714 19724 19734 19744 19705 19715 19725 19735 19745 19706 19716 19726 19736 19746 19707 1971...

Page 790: ...4 75 20700 20710 20720 20730 20740 20701 20711 20721 20731 20741 20702 20712 20722 20732 20742 20704 20714 20724 20734 20744 20705 20715 20725 20735 20745 20706 20716 20726 20736 20746 20707 20717 207...

Page 791: ...3 174 175 21700 21710 21720 21730 21740 21701 21711 21721 21731 21741 21702 21712 21722 21732 21742 21704 21714 21724 21734 21744 21705 21715 21725 21735 21745 21706 21716 21726 21736 21746 21707 2171...

Page 792: ...3 274 275 22700 22710 22720 22730 22740 22701 22711 22721 22731 22741 22702 22712 22722 22732 22742 22704 22714 22724 22734 22744 22705 22715 22725 22735 22745 22706 22716 22726 22736 22746 22707 2271...

Page 793: ...3 374 375 23700 23710 23720 23730 23740 23701 23711 23721 23731 23741 23702 23712 23722 23732 23742 23704 23714 23724 23734 23744 23705 23715 23725 23735 23745 23706 23716 23726 23736 23746 23707 2371...

Page 794: ...3 474 475 24700 24710 24720 24730 24740 24701 24711 24721 24731 24741 24702 24712 24722 24732 24742 24704 24714 24724 24734 24744 24705 24715 24725 24735 24745 24706 24716 24726 24736 24746 24707 2471...

Page 795: ...3 574 575 25700 25710 25720 25730 25740 25701 25711 25721 25731 25741 25702 25712 25722 25732 25742 25704 25714 25724 25734 25744 25705 25715 25725 25735 25745 25706 25716 25726 25736 25746 25707 2571...

Page 796: ...name Model name Depiction in connection example Description MR HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR H BN MR H BN4 and MR H BN MR H BN4 MR J2HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16...

Page 797: ...tery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR J2 B MR J2 B 3 MR J2 B MR H BN MR H BN4 configuration Battery MR BAT A6BAT Termination connector Battery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR...

Page 798: ...d separately MR J2HBUS M A Connection between QD75M MR J2 B MR J2S B MR J2 Jr MR J2M B and MR H BN MR H BN4 MR J2CN1 A connector set sold separately Use the following or equivalent twisted pair cables...

Page 799: ...ed wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft LG LG RD RD TD TD EMG EMG SD BT LG...

Page 800: ...ng a cable use the recommended wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft 10120 6...

Page 801: ...on diagram When fabricating a cable use the recommended wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same...

Page 802: ...Caribbean Drive Sunnyvale CA 94089 U S A Tel 1 408 745 4900 FUJITSU TAKAMISAWA EUROPE B V Jupiterstaat 13 15 our 2132 Hoofddorp The Netherland Tel 31 23 5560910 FUJITSU TAKAMISAWA EUROPE B V Schatzbo...

Page 803: ...operation Manual pulse generator function Automatic trapezoidal acceleration deceleration Acceleration deceleration processing S pattern acceleration deceleration Acceleration deceleration time Accele...

Page 804: ...emental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 PLS Speed position or position speed switching controls 0 to 2147...

Page 805: ...388608ms selectable Compensation Electronic gears backlash compensation near pass 3 Electronic gears backlash compensation near pass 3 Error display Error LED 17 segment LED History data storage Start...

Page 806: ...75M3 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 function Refer to section 12 7 5 Multiple...

Page 807: ...arried out only when a sub point is designated It is not carried out when a center point is designated 2 The software stroke limit check during speed control is carried out in the following cases When...

Page 808: ...eed control for position speed switching control are added Continuous path control A1SD75 If the reference axis operates in reverse direction the control is internally changed into the continuous posi...

Page 809: ...n 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 inv...

Page 810: ...Y05 Axis 2 BUSY X05 X0D Axis 3 Stop Y1C Y06 Axis 3 BUSY X06 X0E Axis 4 Stop Y07 Axis 4 BUSY X0F All axis servo ON Y15 Y01 Axis 1 Positioning complete X07 X14 Axis 1 Forward run JOG Y16 Y08 Axis 2 Posi...

Page 811: ...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 Sof...

Page 812: ...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 selectio...

Page 813: ...o 112 262 412 30112 30262 30412 Pr 113 Position loop gain 1 113 263 413 30113 30263 30413 Pr 114 Speed loop gain 1 114 264 414 30114 30264 30414 Pr 115 Position loop gain 2 115 265 415 30115 30265 304...

Page 814: ...vibration suppression control selection 2 30144 30244 30344 Pr 145 Induction voltage compensation 30145 30245 30345 Pr 146 Maker setting 30146 30246 30346 Pr 147 Maker setting 30147 30247 30347 Pr 148...

Page 815: ...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...

Page 816: ...the warning occurred 689 to 749 1358 to 1418 Md 25 Axis warning No 690 to 750 1359 to 1419 Md 26 Axis warning occurrence Hour minute QD75 Md 16 Axis warning occurrence Hour 691 to 751 1360 to 1420 Md...

Page 817: ...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...

Page 818: ...op gain 1 860 960 1060 Md 105 Position loop gain 2 861 961 1061 Md 105 Speed loop gain 2 862 962 162 Md 105 Speed integral compensation 863 963 1063 Md 106 Servo amplifier S W No 864 865 866 867 868 8...

Page 819: ...59 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 sw...

Page 820: ...ta 1301 2301 3301 2001 8001 14001 Da 8 Dwell time JUMP destination positioning data No 1302 2302 3302 2002 8002 14002 Da 7 Command speed 1304 1305 2304 2305 3306 3307 2004 2005 8004 8005 14004 14005 D...

Page 821: ...4907 26106 26107 27106 27107 28106 28107 2nd item 4410 to 4419 4660 to 4669 4910 to 4919 26110 to 26119 27110 to 27119 28110 to 28119 3rd item 4420 to 4429 4670 to 4679 4920 to 4929 26120 to 26129 27...

Page 822: ...e logic Possible Upper limit Negative logic Not possible Negative logic Possible Lower limit Negative logic Not possible Negative logic Possible External start 2 Negative logic Not possible Negative l...

Page 823: ...phase difference is a 90 electrical angle If the B phase were to lag behind the A phase in a forward run B phase turns ON after the A phase the A phase would lag behind the B phase in a reverse run A...

Page 824: ...otor 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 positioni...

Page 825: ...ied out after a right feed of 1m 3 28feet will not be sufficient to return the machine to its original position The machine cannot be positioned to its original position without an extra feed equivale...

Page 826: ...S SPEED AT START A large amount of torque is required when the machine starts moving but the torque may be unstable at speed 0 with stepping motors Therefore movement can be smoothly carried out by st...

Page 827: ...evice is doing some other work It is in a positioning operation or in dwell time CCW Counterclockwise Rotation in the counterclockwise direction In the motor this is determined looking from the shaft...

Page 828: ...p mode Refer to the section of position loop mode CURRENT VALUE This is the current address position when stopped or during positioning CW Clockwise Rotation in the clockwise direction Rotation in the...

Page 829: ...d signal transfer such as inputting and outputting of pulse trains In general the transmission side is called the driver the reception side is called the receiver and a dedicated IC is used Command de...

Page 830: ...ch a large brake torque can be obtained Because electromagnetic brakes have no holding power they are used in combination with mechanical brakes to prevent dropping of the vertical axis ELECTROMAGNETI...

Page 831: ...l capacity of the regeneration system during stopping It is used when carrying out highly repetitive acceleration deceleration F In the QD75 F is a status where the module itself has a fault HOLD FAST...

Page 832: ...b contact turns OFF non continuity status FORMATTING The initialization of a disk An operation to write rules contents etc to a disk In the above case the disk memory capacity will only decrease by t...

Page 833: ...between 100 and 10 000 pulses per axis rotation Refer to ENCODER A B A Z B 1 4 A signal slit B signal slit Slit disk Light emitting diode Phototransistor Zero signal slit Rotating axis 1 pitch pitch...

Page 834: ...tion are available The circular interpolation uses two motors INVERTER This refers to a device to change a direct current DC to an alternating current AC The device actually changes the motor speed by...

Page 835: ...lay various data etc Either of two modes can be entered when the machine code turns ON AFTER or WITH The machine does not move to the next positioning when the machine code is ON M codes are turned OF...

Page 836: ...ule The NC language consists of EIA codes EIA language ISO codes ISO standards and JIS codes JIS standards NEAR POINT DOG This is a limit switch placed before the OP When this switch turns ON the feed...

Page 837: ...ly the speed will be automatically changed and the next data No will be executed OPR METHOD The OPR methods are shown below The method used depends on the machine structure stopping accuracy etc OPR c...

Page 838: ...current speed can be varied between 1 and 300 The speed can also be changed by the same variable rate for continuous positioning with differing designated speeds P RATE Pulse Rate A coefficient that...

Page 839: ...unstable If the position loop gain is lowered too far the machine will stop more smoothly but the stopping error will increase POSITION LOOP MODE This is one servo control mode used in positioning It...

Page 840: ...random locations on the path Movement only to a given target positioning is requested Path control is not required during movement from a given point to the next value PULSE The turning ON and OFF of...

Page 841: ...oltage analog voltage and output Movement distance for one resolver rotation Toothed gear Motor Position detection value Resolver addresses 0 to 4095 converted to digital RLS SIGNAL Reverse Limit Swit...

Page 842: ...t to be used is designated as mm inch degree or pulse SFC Sequential Function Chart A sequential function chart is a programming method optimally structured for running a machine s automatic control i...

Page 843: ...eration may become unstable If this happens the operation can be improved by raising this setting value The overshoot will become larger if the speed loop gain is raised too far and motor vibration no...

Page 844: ...ted by a pulse 2 When the B phase is then excited the force works in the direction shown by the arrows 3 The nearest tooth to the B phase is attracted and the rotation stops A A C C B B N S C C A A N...

Page 845: ...ng address is uncertain or gauging is required this function is used by the user to search for and teach the position to the machine For example complex addresses such as drawings can be taught by tra...

Page 846: ...ection 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...

Page 847: ...ller 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 operati...

Page 848: ...eleration deceleration process function 13 Acceleration decelerat ion time The machine starts and stops suddenly when carrying out JOG operations and positioning operations Using an MR J2S servo ampli...

Page 849: ...ion and it will pass over the OP and continue moving 19 In the near point dog method machine OPR the stop positions are not uniform Carry out the following measures 1 Separate the near point dog signa...

Page 850: ...ntinued 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 interpolatio...

Page 851: ...nal to check whether the current value changing has been executed 39 QD75 READY signal The QD75 READY signal does not turn ON even when the PLC READY signal Y0 is turned ON A parameter error has occur...

Page 852: ...stop signal ON Even if the start signal is turned ON at that time the start request will be ignored and warning 100 will occur 51 Error warning Does warning 500 deceleration and stop speed change occ...

Page 853: ...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 17...

Page 854: ...9 359 509 Pr 40 Positioning complete signal output time 60 61 210 211 360 361 510 511 Pr 41 Allowable circular interpolation error width 62 212 362 512 Pr 42 External command function selection 64 65...

Page 855: ...1325 1329 1333 1337 1341 1345 1349 1353 Md 9 Axis in which the error occurred 1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354 Md 10 Axis error No 1295 1299 1303 1307 13...

Page 856: ...get value 820 821 920 921 1020 1021 1120 1121 Md 33 Target speed 824 825 924 925 1024 1025 1124 1125 Md 34 Movement amount after near point dog ON 826 926 1026 1126 Md 35 Torque limit stored value 827...

Page 857: ...p gain 2 862 962 1062 1162 Md 105 Speed loop gain 2 863 963 1063 1163 Md 105 Speed integral compensation 864 865 866 867 868 869 964 965 966 967 968 969 1064 1065 1066 1067 1068 1069 1164 1165 1166 11...

Page 858: ...1818 1819 Cd 17 JOG speed 1520 1620 1720 1820 Cd 18 Interrupt request during continuous operation 1521 1621 1721 1821 Cd 19 OPR request flag OFF request 1522 1523 1622 1623 1722 1723 1822 1823 Cd 20...

Page 859: ...Cd 34 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 154...

Page 860: ...0002 Da 9 Dwell time JUMP destination positioning data No 2003 8003 14003 20003 Maker setting 2004 2005 8004 8005 14004 14005 20004 20005 Da 8 Command speed 2006 2007 8006 8007 14006 14007 20006 20007...

Page 861: ...27119 28110 to 28119 29110 to 29119 2nd item 26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129 3rd item to to to to to 26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199 10th item C...

Page 862: ...pendix 109 MELSEC Q APPENDICES Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Item Memory area 30000 to 30099 Condition judgement target data of the condition data PLC CPU memo area Positioning dat...

Page 863: ...resonance suppression filter 30119 30219 30319 30419 Pr 119 Feed forward gain 30120 30220 30320 30420 Pr 120 In position range 30121 30221 30321 30421 Pr 121 Electromagnetic brake sequence output 301...

Page 864: ...0351 30451 Pr 151 Gain changing time constant 30152 30252 30352 30452 Pr 152 Ratio of load inertia moment to servo motor inertia moment 2 30153 30253 30353 30453 Pr 153 Position loop gain 2 changing r...

Page 865: ...x 10 External dimension drawing 1 QD75M1 QD75M2 QD75M4 98 3 86 27 4 1 08 Unit mm inch QD75M1 QD75M2 AX1 AX2 AX1 RUN ERR AX2 AX1 RUN ERR AX1 QD75M1 QD75M2 QD75M4 AX1 AX2 AX3 AX4 RUN ERR AX4 AX3 AX2 AX1...

Page 866: ...33 3 axis linear interpolation control INC linear 3 9 36 3 axis speed control 9 73 4 axis fixed feed control interpolation 9 51 4 axis linear interpolation control ABS linear 4 9 39 4 axis linear inte...

Page 867: ...nction Explanation of positioning terms Appendix 71 Ball screw Explanation of positioning terms Appendix 71 Basic parameters 1 5 22 Basic parameters 2 5 26 BCD Explanation of positioning terms Appendi...

Page 868: ...tioning terms Appendix 74 CW Explanation of positioning terms Appendix 74 D D A converter Explanation of positioning terms Appendix 74 Data No Explanation of positioning terms Appendix 74 Data set met...

Page 869: ...External device connector 4 3 External dimension drawing Appendix 111 External input output signal Md 30 5 124 External I O signal logic switching function 13 7 External I O signal monitor function 1...

Page 870: ...time chart 11 23 Inching operation timing and processing times 11 19 Inching operation 11 17 Incremental encoder Explanation of positioning terms Appendix 79 Incremental system 9 15 Incremental syste...

Page 871: ...ode ON signal 3 13 M code ON signal output timing 12 64 M code ON signal output timing Pr 18 5 30 M code output function 12 64 Machine feed value 9 16 Machine feed value Md 21 5 120 Machine feed value...

Page 872: ...ation of positioning terms Appendix 83 OP address Pr 45 5 50 OP shift amount Pr 53 5 56 OP shift function 12 8 OP shift function Explanation of positioning terms Appendix 83 Operating principle 1 7 Op...

Page 873: ...ntrol Explanation of positioning terms Appendix 85 Position detection module Explanation of positioning terms Appendix 85 Position loop gain Explanation of positioning terms Appendix 85 Position loop...

Page 874: ...rol operation timing and process time 6 63 Program details 6 53 Program examples Acceleration deceleration time change program 6 45 Continuous operation interrupt program 6 48 Error reset program 6 51...

Page 875: ...ON Explanation of positioning terms Appendix 88 Servo ON OFF 12 89 Servo parameter Md 105 5 134 Servo response Pr 109 5 62 Servo series Pr 100 5 58 Servo status Md 108 5 136 Servomotor Explanation of...

Page 876: ...ndix 89 Speed integral compensation changing ratio Pr 155 5 78 Speed limit function 12 23 Speed limit value Pr 8 5 26 Speed limit value Explanation of positioning terms Appendix 89 Speed loop gain 1 P...

Page 877: ...ation of positioning terms Appendix 91 Sub functions 12 2 Sub functions specifically for machine OPR 12 4 Sudden stop 6 43 Sudden stop Explanation of positioning terms Appendix 91 Sudden stop decelera...

Page 878: ...f control data 5 18 Types and roles of monitor data 5 14 Types of data 5 2 Types of errors 15 2 Types of stop processes 6 71 Types of warnings 15 3 U Unconditional JUMP 9 111 Unit magnification Pr 4 5...

Page 879: ...Index 14 MEMO...

Page 880: ...ction 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bull...

Page 881: ...d Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of the...

Page 882: ...IB NA 0300062 A 0212 MEE MODEL MODEL CODE QD75M U S E 1CT752 IB NA 0300062 A 0212 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry f...

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