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9 - 4 9 - 4

MELSEC-Q

9 POSITIONING CONTROL

[2] Continuous positioning control

(1) The machine always automatically decelerates each time the positioning

control is completed. Acceleration is then carried out after the QD70

command speed reaches 0 to carry out the next positioning data operation.

When the dwell time has been specified for position control, acceleration is

started after specified time has elapsed.

(2) In operation by continuous positioning control (operation pattern "1"), the

next positioning data No. is automatically executed. Always set operation

pattern "0" in the last positioning data to terminate the positioning control.

If the operation pattern is set to continue ("1" or "2"), the operation will

continue until operation pattern "0" is found.

If the operation pattern "0" cannot be found, the operation may be carried

out until the positioning data No. 10. If the operation pattern of the

positioning data No. 10 is not terminated, the operation will be started again

from the positioning data No. 1.

Time

OFF

Continuous positioning

control (1)

Address (+) direction

Address (-) direction

Continuous positioning

control (1)

Positioning
termination (0)

Dwell time

Dwell time
not specified

Positioning start signal [Y8 to YF]

Start complete signal [X10 to X17]

BUSY signal [X8 to XF]

Positioning complete signal [X18 to X1F]

Fig. 9.2 Operation during continuous positioning control

POINT

The "Insufficient movement amount" warning (warning code: 41) occurs if the

movement amount of the currently executed positioning data is too small to reserve

the calculation processing time (approx. 2ms) of the next positioning data in the

operation pattern of "1: Continuous positioning control".

The execution of the next positioning data is started on completion of the

calculation. (The axis remains stopped until the calculation is completed. However,

the BUSY signal does not turn OFF.)

In this case, the warning can be avoided by adding 2ms to the setting value of

" Da. 7 Dwell time".

Содержание GX Configurator-PT

Страница 1: ...Type QD70 Positioning Module User s Manual U User s Manual Mitsubishi Programmable Logic Controller Type QD70 Positioning Module QD70P4 QD70P8 GX Configurator PT SW1D5C QPTU E...

Страница 2: ...ons of both levels because they are important to personal safety Please save this manual to make it accessible when required and always forward it to the end user DESIGN INSTRUCTION DANGER Provide a s...

Страница 3: ...ing holes securely to load the module Improper loading of the module can cause a malfunction failure or drop For use in vibratory environment tighten the module with screws Tighten the screws within t...

Страница 4: ...supply OFF externally before installing or removing the module Failure to turn all phases OFF could lead to module trouble or malfunctioning Before starting test operation set the parameter speed limi...

Страница 5: ...10 3 Appendix 8 Jul 2002 SH NA 080171 C Modifications CONTENS Section 1 1 1 Section 4 2 Section 11 3 Section 11 4 Section 11 5 Section 13 2 Appendix 2 Appendix 8 INDEX Japanese Manual Version SH 08013...

Страница 6: ...ommunicating signals between QD70 and each module 1 7 1 2 Positioning control 1 9 1 2 1 Outline of starting 1 9 1 2 2 Outline of stopping 1 10 2 SYSTEM CONFIGURATION 2 1 to 2 5 2 1 General image of sy...

Страница 7: ...tions 5 1 5 2 Procedures before operation 5 3 5 3 Part identification nomenclature 5 4 5 4 Wiring 5 7 5 4 1 Wiring precautions 5 7 5 5 Confirming the wiring 5 12 5 5 1 Confirmation items at completion...

Страница 8: ...opper 3 8 10 8 2 7 OPR method 5 Count 1 8 12 8 2 8 OPR method 6 Count 2 8 14 8 3 Fast OPR control 8 16 8 3 1 Outline of the fast OPR control operation 8 16 9 POSITIONING CONTROL 9 1 to 9 17 9 1 Outlin...

Страница 9: ...UBISHI Electric Corporation App 6 Appendix 3 1 Connection example of QD70P and MR H A App 6 Appendix 3 2 Connection example of QD70P and MR J2 J2S A App 7 Appendix 3 3 Connection example of QD70P and...

Страница 10: ...ntrol data item A serial No is inserted in the mark Numeric values used in this manual The buffer memory addresses error codes and warning codes are represented in decimal The X Y devices are represen...

Страница 11: ...70 positioning module GX Developer Abbreviation for GX Developer SW4D5C GPPW E or later Drive unit Abbreviation for open collector pulse input compatible drive unit servo amplifier or stepping motor D...

Страница 12: ...for positioning control 4 To create a sequence program required for positioning control Read Section 2 for details on each control CHAPTER 1 PRODUCT OUTLINE 1 1 to 1 10 CHAPTER 2 SYSTEM CONFIGURATION...

Страница 13: ...MEMO SECTION 1...

Страница 14: ...e pieces of positioning data b As the control method any of position control speed position switching control and current value changing may be specified in each positioning data c The following six d...

Страница 15: ...itioning start signal and axis stop signal following the stired program QD70 errors etc are detected PLC CPU Peripheral device GX Developer GX Configurator PT QD70 positioning module Drive unit Stores...

Страница 16: ...the movement amount per pulse This value is the min value for the workpiece to move and is also the electrical positioning control precision Speed control Though the above total No of pulses is an ele...

Страница 17: ...ion counter called pulse droop The analog DC current serves as the servo motor speed control signal 2 The servo motor rotation is controlled by the speed control signal from the drive unit As the serv...

Страница 18: ...ctual deceleration and stopping of the servo motor This difference called the stop settling time is required for gaining a stopping accuracy Speed V Pulse droop amount Pulse distribution Servomotor sp...

Страница 19: ...ead deceleration ratio and the No of pulse generator slites The movement amount therefore is given as follows Number of pulses output Movement amount per pulse L A R n mm pulse 2 Command pulse frequen...

Страница 20: ...start signal BUSY signal Drive unit Deviation counter clear Pulse train QD70 Y0 X0 PLC CPU Near point dog singal Monitor data Y18 to Y1F X10 to X17 Y10 to Y17 X1 Y8 to YF X18 to X1F X8 to XF X2 Axis...

Страница 21: ...ollowing communications Refer to Chapter 6 for details Direction Communication QCPU Peripheral device Peripheral device QCPU Data Initial setting Auto refresh setting Operation monitor Monitor data QD...

Страница 22: ...tion and connection of module Setting of hardware Position control Speed position switching control Current value changing Positioning control JOG operation Parameter Positioning data OPR data Control...

Страница 23: ...ror Deceleration stop 2 Axis stop signal from PLC CPU turned ON Axis by axis Stopped Deceleration stop 3 1 By making parameter setting you can set the software stroke limit valid invalid When the stro...

Страница 24: ...the next page Extension system 6 Drive unit Motor 4 5 RS 232 cable USB cable 1 Positioning module QD70P4 QD70P8 7 Connection cable Mechanical system inputs switches Near point dog signal Speed positio...

Страница 25: ...r to the GX Developer Operating Manual for details 4 RS 232 cable QC30R2 User prepared RS 232 cable for connection of the CPU module and DOS V personal computer Refer to the GX Developer Operating Man...

Страница 26: ...r depending on the combination with other installed modules and the number of modules used so always take into consideration the power supply capacity when installing modules 3 Limited to the range of...

Страница 27: ...0 a Method using the rated plate on the module side face Check the alphabet at the end of SERIAL 09021 SERIAL No The first five digits Function version b Method using the peripheral device Check the a...

Страница 28: ...ATION 2 How to check the software version of the GX Configurator PT Check the Product information displayed on Help of GX Developer Operation of GX Developer Choose Help Product information GX Develop...

Страница 29: ...bsolute system 2147483648 to 2147483647pulse Incremental system 2147483648 to 2147483647pulse Speed position switching control 0 to 2147483647pulse Speed command 0 to 200000pulse s Acceleration decele...

Страница 30: ...10 Speed limit function If the command speed exceeds Pr 5 Speed limit value during control this function limits the commanded speed to within the Pr 5 Speed limit value setting range Section 11 2 Spe...

Страница 31: ...ed positioning data will be executed and then the positioning control will end Continuous positioning control When continuous positioning control is set for the operation pattern of the started positi...

Страница 32: ...Axis warning occurrence Y2 X3 Y3 X4 Y4 X5 Y5 X6 Y6 X7 Use prohibited Y7 Use prohibited X8 Axis 1 Y8 Axis 1 X9 Axis 2 Y9 Axis 2 XA Axis 3 YA Axis 3 XB Axis 4 YB Axis 4 XC Axis 5 YC Axis 5 XD Axis 6 YD...

Страница 33: ...Axis 5 Axis 6 Axis 7 Axis 8 BUSY OFF Not BUSY ON BUSY This signal turns ON at the start of positioning control OPR control or JOG operation It turns OFF when the Da 7 Dwell time has passed after posit...

Страница 34: ...art not requested ON Positioning start requested OPR control and positioning control is started The positioning start signal is valid at the rising edge and the operation is started When the positioni...

Страница 35: ...Working load voltage range Max load current rush current Max voltage drop at ON Leakage current at OFF Response time Set the pulse output mode and pulse output logic selection in intelligent function...

Страница 36: ...407 53 09 1 544 0 7897 52 90 50 10 1 750 0 9833 52 05 1 819 0 9130 52 03 Load voltage V 4 75 Cable length m 1 2 Load current mA Pulse speed kpps tr Rising edge tf Falling edge Duty tr Rising edge tf F...

Страница 37: ...R7 B13 CLEAR1 A13 CLEAR3 B12 CHG6 A12 CHG8 B12 CHG2 A12 CHG4 B11 CHG5 A11 CHG7 B11 CHG1 A11 CHG3 B10 DOG6 A10 DOG8 B10 DOG2 A10 DOG4 B9 DOG5 A9 DOG7 B9 DOG1 A9 DOG3 B8 COM 5 6 3 A8 COM 7 8 3 B8 COM 1...

Страница 38: ...input 24V B1 COM1 24V These signals are used to input 24VDC power for driving the pulse output circuit Common to all axes Pulse output F A7 A4 B7 B4 PULSE F This signal is used to output command puls...

Страница 39: ...B9 Near point dog signal DOG1 B11 Speed position switching signal CHG1 B8 Common COM1 2 B17 Zero signal PG01 B18 Zero signal common PG01 COM A1 External power input 0V 24G Input 24VDC 24VDC B1 Externa...

Страница 40: ...nation QD70 buffer memory Set values required to exercise OPR control Storage destination QD70 buffer memory Set values required to perform JOG operation Storage destination QD70 buffer memory Set val...

Страница 41: ...et setting data Setting means Setting item Sequence program GX Configurator PT GX Developer Parameters initial setting OPR data initial setting JOG data Positioning data initial setting Intelligent fu...

Страница 42: ...t valid invalid setting Section 11 4 Pr 4 Current feed value during speed control Pr 5 Speed limit value Section 11 2 Pr 6 Bias speed at start Section 11 5 Pr 7 Positioning complete signal output time...

Страница 43: ...direction OPR 3 OP address OPR 4 OPR speed OPR 5 Creep speed OPR 6 ACC DEC time at OPR OPR 7 DEC STOP time at OPR OPR 8 Setting for the movement amount after near point dog ON OPR 9 OPR dwell time Dat...

Страница 44: ...the setting items JOG data JOG operation JOG 1 JOG speed JOG 2 JOG ACC time JOG 3 JOG DEC time JOG 4 JOG direction flag Always set Setting not required This is an irrelevant item so the setting value...

Страница 45: ...eration pattern Continuous path control Da 2 Control method 1 axis linear control ABS 1 axis linear control INC Speed Position Ctrl Forward Speed Position Ctrl Reverse Current value changing Da 3 ACC...

Страница 46: ...to Section 4 6 List of monitor data for details of the monitor data Monitor data Monitor details Md 1 Current feed value Monitor the current current feed value Md 2 Movement amount after near point do...

Страница 47: ...and warning code Md 6 Cd 2 OPR request flag OFF request Change OPR request flag from ON to OFF Cd 3 Start method Set which control will be executed start method Cd 4 Restart request Give a restart co...

Страница 48: ...plete signal output time 0 to 65535 ms 300 10 110 210 310 410 510 610 710 Pr 8 Deviation counter clear signal output time 1 to 32 ms 10 11 111 211 311 411 511 611 711 0 10 s 1 100 s 2 1ms Pr 9 PULSE S...

Страница 49: ...and no update The current feed will be set initially to zero and not updated The value be kept 0 Pr 5 Speed limit value Set the maximum speed for OPR control positioning control and JOG operation The...

Страница 50: ...ntrol the positioning complete signal is not output M Y8 to YF X18 to X1F PLC CPU PLC Positioning start signal Positioning complete signal Positioning control Positioning start signal Positioning star...

Страница 51: ...s selected in the pulse output mode to output inverted pulses 0 10 s 1 100 s 2 1ms 3 2ms The following is an example for negative logic PULSE SIGN Pr 9 Pr 9 Set in Set in Movement in direction Movemen...

Страница 52: ...start Da 4 stop time Deceleration Pr 6 Bias speed at start 0 Position match stop Axis stop signal input Continuous path control performed when axis stop signal is not input In a pattern where the pos...

Страница 53: ...ON 0 to 2147483647 pulse 0 30 31 130 131 230 231 330 331 430 431 530 531 630 631 730 731 OPR 9 OPR dwell time 0 to 65535 ms 0 32 132 232 332 432 532 632 732 When making setting in a sequence program s...

Страница 54: ...If there is no torque limit the motor may fail at 4 4 The axis contacts against the stopper at OPR 5 Creep speed and then stops 5 When the near point dog turns ON and the OPR 9 OPR dwell time is passe...

Страница 55: ...movement amount after near point dog ON has been travelled after near point dog ON the pulse output from the QD70 stops and OPR control is completed t V ON 4 3 2 1 OPR 4 OPR speed Pr 6 Bias speed at s...

Страница 56: ...n Address increment direction Upper limit Lower limit When th eOP is set st the upper limit side th eOPR diredtion is in direction of arrow 2 Set 0 for OPR 2 OPR 3 OP address Set the address used as t...

Страница 57: ...e than OPR 4 OPR speed If the OPR speed is exceeded the Setting range outside creep speed error error code 914 will occur Set the creep speed to a value not less than Pr 6 Bias speed at start If it is...

Страница 58: ...s turned ON 1 2 2000 Vz t t 1000 2000 10 10 320 80 3 2000 80ms t OFF ON Setting example of OPR 8 Setting for the movement amount after near point dog ON When 10kpulse s is set in OPR 4 OPR speed 2kpul...

Страница 59: ...JOG Set the JOG speed in the following range Pr 5 Speed limit value JOG 1 JOG speed Pr 6 Bias speed at start If the JOG speed is more than the speed limit value it is limited to Pr 5 Speed limit valu...

Страница 60: ...4 915 918 913 916 917 900 901 902 904 905 908 903 906 907 P 1099 10 P 1089 9 P 1029 3 P 1019 2 P 1009 1090 1091 1092 1094 1095 1098 1093 1096 1097 1080 1081 1082 1084 1085 1088 1083 1086 1087 1020 102...

Страница 61: ...7 1410 1411 1412 1414 1415 1418 1413 1416 1417 1400 1401 1402 1404 1405 1408 1403 1406 1407 Da 1 Operation pattern Da 2 Control method Positioning data No 1 Axis 1 Da 3 ACC DEC time Da 4 DEC STOP time...

Страница 62: ...08 1 0 to 2147483647 pulse when Da 2 Control method is 3 Speed Position Ctrl Forward or 4 Speed Position Ctrl Reverse 2 When making setting in a sequence program set 0 to 32767 in decimal as is and 32...

Страница 63: ...rol method error error code 506 Da 3 ACC DEC time Da 4 DEC STOP time Set the acceleration deceleration time for positioning control Da 1 Operation pattern is 0 Positioning termination or 1 Continuous...

Страница 64: ...4 Da 5 Command speed Set the speed for positioning control If the set command speed exceeds Pr 5 Speed limit value positioning control will be carried out at the speed limit value If the set command s...

Страница 65: ...peed Speed control Position control Movement amount setting Time Speed position switching command Da 7 Dwell time When the dwell time is set the setting details of the dwell time will be as follows ac...

Страница 66: ...value is always 0 Range 0 to 2147483647 pulse 0 72 73 172 173 272 273 372 373 472 473 572 573 672 673 772 773 Md 3 Current speed The current speed is stored The fraction is ignored 0 may be displayed...

Страница 67: ...ng control or JOG operation start 0 speed Refer to Section 11 3 for details This flag turns on when JOG operation or speed control of speed position switching control is started with the speed set to...

Страница 68: ...b8 b12 0 OFF 1 ON Not used Storage item Meaning Axis 1 error Axis 2 error Axis 3 error Axis 4 error Axis 5 error Axis 6 error Axis 7 error Axis 8 error For the QD70P4 b4 to b7 are 0 fixed 0000H 1600...

Страница 69: ...matically changes to 0 after the OPR request flag turns OFF 0 51 151 251 351 451 551 651 751 Cd 3 Start method Set this data when starting the corresponding control 0 Positioning control starting from...

Страница 70: ...e new speed for JOG operation or speed control of speed position switching control Set the value not more than Pr 5 Speed limit value Set the value not less than Pr 6 Bias speed at start Setting range...

Страница 71: ...d to electric shocks CAUTION Use the PLC within the general specifications environment given in this manual Using the PLC outside the general specification range environment could lead to electric sho...

Страница 72: ...ufficient tightening may lead to dropping short circuit or malfunctioning Excessive tightening may damage the screw or module leading to dropping short circuit or malfunctioning 1 Main body The main b...

Страница 73: ...on using GX Developer or GX Configurator PT Refer to Section 5 5 Drive unit operation confirmation Make confirmation with a simple program in the factory set status Refer to Section 5 7 Do you use GX...

Страница 74: ...indicator LED ERR indicator LED 2 Axis display LED 3 External device connection connector 40 pins For details refer to Section 3 4 2 Signal layout for external device connection connector No Name Det...

Страница 75: ...tandby RUN AX5 AX1 RUN AX5 AX1 AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3 ERR AX8 AX4 RUN illuminates ERR is OFF The module operates normally ERR AX8 AX4 AX1 or other axis illuminates The corresponding axis is i...

Страница 76: ...A INC 250E Caribbean Drive Sunnyvale CA 94089 U S A Tel 1 408 745 4900 FUJITSU EUROPE B V Jupiterstaat 13 15 our 2132 Hoofddorp The Netherland Tel 31 23 5560910 FUJITSU EUROPE B V Zweiniederlassung De...

Страница 77: ...d Before starting the system however be sure to remove the label to ensure heat radiation 5 Securely mount the exterd device connection connector to the connector on the QD70 with two screws 6 Do not...

Страница 78: ...rtest posible ingth to graound the 2mm or more FG wire The shield must be grounded on the QD70 side The length between the connector and the shielded cable chould be the shortest possible To QD70 To e...

Страница 79: ...5 9 5 9 MELSEC Q 5 SETUP AND PROCEDURES BEFORE OPERATION Assembling of connector A6CON1 A6CON2 Wrap the coated parts with a heat contractile tube...

Страница 80: ...Low Voltage Directive always ground the QD70 to the control box using the shielded cables and AD75CK cable clamping Mitsubishi Electric make QD70 20cm 7 88 inch to 30cm 11 82 inch Inside control box A...

Страница 81: ...ed Wiring duct Wiring duct Control box Control panel The QD70 and drive units are placed closely The connection cable between the QD70 and drive units is separately laid from teh power line in this ex...

Страница 82: ...onitor function Buffer memory batch and check the read values Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Md 8 External I O signal 80 180 280 380 480 580 680 780 Bit...

Страница 83: ...QD70 is faulty or does not recognize necessary signals such as the near point dog and speed position switching signals an unexpected accident e g the axis collides with the stopper without deceleratin...

Страница 84: ...15 b8 b7 b0 1 to 8 indicate the axis Nos 0 Negative logic 1 Positive logic Pulse output logic selection Deviation counter clear output logic selection 0000 Zero signal input logic selection Switch 3 R...

Страница 85: ...reverse run are controlled with the ON OFF of the direction sign SIGN The motor will forward run when the direction sign is HIGH The motor will reverse run when the direction sign is LOW Forward run...

Страница 86: ...workpiece W is moving toward the address increment direction the current setting is O K When the workpiece W is moving toward the address decrement direction set 1 3 Carry out forward run JOG operatio...

Страница 87: ...Enter the start I O signal for the QD70 b Switch setting for I O and intelligent function module Click on Switch setting on the I O assignment setting screen to display the screen at left and set swi...

Страница 88: ...241 340 341 440 441 540 541 640 641 740 741 JOG 2 JOG ACC time 1000ms Set the acceleration time for JOG operation 42 142 242 342 442 542 642 742 JOG 3 JOG DEC time 1000ms Set the deceleration time for...

Страница 89: ...19 MELSEC Q 5 SETUP AND PROCEDURES BEFORE OPERATION JOG speed 5000pulse s JOG ACC DEC time 1000ms X28 Forward run JOG command X29 Reverse run JOG command Reciprocating operation program using JOG ope...

Страница 90: ...274 275 374 375 474 475 574 575 674 675 774 775 Md 4 Axis operation status Monitor the operation status 2 JOG Operation of the axis 76 176 276 376 476 576 676 776 Md 5 Axis error code Monitor the err...

Страница 91: ...d initial setting Setting items Parameters OPR data Positioning data The initially set data are registered to the PLC CPU parameters and when the PLC CPU is placed in the RUN status they are written t...

Страница 92: ...utility is being used due to a lack of system resources If this occurs close the intelligent function module utility first and then close GX Developer program comments etc and other applications Next...

Страница 93: ...gurator so that the number of parameter settings of all the intelligent function modules does not exceed the maximum number of parameter settings The total number of parameter settings is calculated s...

Страница 94: ...Microsoft Windows NT Workstation4 0 Operating System 6 Microsoft Windows 2000 Professional Operating System 1 Install the GX Configurator PT in GX Developer Version 4 or later in the same language GX...

Страница 95: ...positioned Moves the cursor Page Up Moves the cursor one page up Page Down Moves the cursor one page down Enter Confirms the value entered in the cell 2 Data to be created with the utility package Th...

Страница 96: ...ed by performing the initial setting or auto refresh setting or selecting Make text file on the monitor test screen Text files can be utilized to create user documents b Text files can be saved to any...

Страница 97: ...utility Start Intelligent function module parameter setting module select Enter Start I O No then select Package name and Module model neme Refer to Section 6 3 3 Initial setting screen Refer to Secti...

Страница 98: ...Q 6 UTILITY PACKAGE GX Configurator PT Online Monitor test Select monitor test module screen Monitor Test screen Refer to Section 6 6 Enter Start I O No then select Package name and Module model neme...

Страница 99: ...is screen Startup procedure Tools Intelligent function utility Start Setting screen Explanation of items 1 How to start each screen a Starting the initial setting Start I O No Package name Module mode...

Страница 100: ...files Since these files cannot be saved using the GX Developer s project save operation save the files using the intelligent module parameter setting module selection screen mentioned above 2 Reading...

Страница 101: ...data Positioning data This initial setting makes sequence program setting unnecessary For more information on the setting details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Startup procedure...

Страница 102: ...uts the screen display in a text file format End setup Confirms the entry of set data and ends the operation Cancel Cancels the set data and ends the operation POINT Initial settings are stored in the...

Страница 103: ...ems as the auto refresh setting parameters Common to all axes Error status Warning status Axis by axis Current feed value Current speed Axis operation status Axis error code Axis warning code Executin...

Страница 104: ...vice Enter the device at the CPU module to be automatically refreshed The devices that can be used include X Y M L B T C ST D W R and ZR When using bit devices X Y M L or B set a number that can be di...

Страница 105: ...for details of monitor data Startup procedure Select monitor test module screen Start I O No Package name Module model name Monitor test Enter the start I O No in hexadecimal The screen can also be st...

Страница 106: ...o Axis n Error Status Axis 1 Warning Status to Axis n Warning Status Axis 1 Monitor test Axis 1 OPR Monitor to Axis n Monitor test Axis n OPR Monitor X Y Monitor n indicates the axis No QD70P4 1 to 4...

Страница 107: ...Make text file Makes a file consisting of the displayed screen contents in a text file format Start monitor Stop monitor Selects whether or not to monitor the current values Execute test Tests the sel...

Страница 108: ...using the sequence program a method using an intelligent function device and a method using a FROM TO command When using the FROM TO command for communication with QD70 change the circuit incorporatin...

Страница 109: ...RST K0 D102 Data read out d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND command M2 0 0 D101 K1 H0 FROMP K79 M2 Data read o...

Страница 110: ...mand Positioning control start being commanded X24 Speed position switching control command Speed position switching control being commanded X25 Speed position switching enable command Speed position...

Страница 111: ...direction 0 Forward direction D16 D17 OPR 3 OP address 0pulse D18 D19 OPR 4 OPR speed 20000pulse s D20 D21 OPR 5 Creep speed 1000pulse s D22 OPR 6 ACC DEC time at OPR 1000ms D23 OPR 7 DEC STOP time a...

Страница 112: ...fer to Section 4 6 List of monitor data for monitor items 7 3 1 General configuration of program The general configuration of the positioning control operation program is shown below Parameter and dat...

Страница 113: ...g control system The following programs are numbered It is recommended to comprise the programs in order of these numbers Set using the GX Configurator PT Set using sequence program TO command No 1 No...

Страница 114: ...setting program y W End of program creation No 8 JOG operation program JOG operation program Program needed to perform JOG operation Sub program No 9 Speed change program No 10 Restart program No 11 E...

Страница 115: ...o No 3 parameter and data setting program When setting the parameters or data with the sequence program set them in the QD70 using the TO command from the PLC CPU Carry out the settings while the PLC...

Страница 116: ...n GX Configurator PT is used to make initial setting of parameters OPR data and positioning data No 5 OPR request OFF program No 3 Positioning data setting program For positioning data No Axis 1 No 6...

Страница 117: ...ol command and fast OPR control command storage Not needed when fast OPR control is not used No 7 Positioning control start program M4 and M5 contacts are not needed when fast OPR control is not carri...

Страница 118: ...7 11 7 11 MELSEC Q 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 9 Speed change program No 10 Restart program No 11 Error reset program No 12 Stop program...

Страница 119: ...c Data requiring setting Set the following data to use the OPR request flag OFF request Buffer memory address Setting item Setting details Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Cd 2...

Страница 120: ...xis 6 Axis 7 Axis 8 Cd 5 Speed position switching request 1 The speed position switching signal is made valid enabled 54 154 254 354 454 554 654 754 Refer to Section 4 7 List of control data for more...

Страница 121: ...t complete signal also turns OFF If the positioning start signal is ON even after OPR control positioning control is completed the start complete signal will remain ON 3 If the positioning start signa...

Страница 122: ...itioning start signal Y8 to YF PLC READY signal Y0 Module READY signal X0 Start complete signal X10 to X17 BUSY signal X8 to XF Axis error occurrence signal X1 OFF OFF ON ON ON ON OFF OFF Start method...

Страница 123: ...9001 V t ON OFF OFF Start method Cd 3 Fig 7 5 Fast OPR starting timing chart 3 Positioning control starting timing chart V t Positioning data No Dwell time 2 0 Operation pattern 1 2 0 Module READY sig...

Страница 124: ...USY signal X8 to XF OFF Positioning complete signal X18 to X1F OFF Axis error occurrence signal X1 Speed position switching signal CHG OFF ON ON ON OFF ON ON ON ON Cd 3 Speed position switching reques...

Страница 125: ...item Setting value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Cd 6 Speed change request 1 With speed change 55 155 255 355 455 555 655 755 Cd 7 New speed value 2000pulse s 56 57 156 157...

Страница 126: ...following conditions satisfied Necessary conditions are included in the sequence program as interlocks Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 PLC READY...

Страница 127: ...7 20 7 20 MELSEC Q 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MEMO...

Страница 128: ...ing by a sequence program etc Carry out these settings while referring to CHAPTER 4 DATA USED FOR POSITIONING Also refer to CHAPTER 7 SEQUENCE PROGRAMS USED IN POSITIONING CONTROL the sequence program...

Страница 129: ...MEMO SECTION 2...

Страница 130: ...rt method 9000 2 Carry out position control toward the OP Fast OPR control Start method 9001 The machine OPR control in 1 above must always be carried out before executing the fast OPR control in 2 Wh...

Страница 131: ...top signal Refer to Section 4 3 List of OPR data for details Make setting with full consideration given to the influence on the machine Machine OPR operation In a machine OPR control a near point dog...

Страница 132: ...deviation counter clear output OPR control is completed Stopper 3 The stopper position is defined as the OP The axis starts at OPR 5 Creep speed from the beginning and is brought into contact with the...

Страница 133: ...gnal is output to the drive unit the OPR complete flag Md 7 Status b1 turns from OFF to ON and the OPR request flag Md 7status b0 turns from ON to OFF t OPR control start Positioning start signal Y8 t...

Страница 134: ...Standby During OPR Standby Unfixed 0 Unfixed Traveled value is stored OP address V Zero signal Value marked Deceleration started when near point dog turns ON Near point dog ON OFF One motor revolution...

Страница 135: ...unter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 6 After a deviation counter clear output is output to the drive unit the OPR complete flag...

Страница 136: ...OPR 4 Deceleration started when near point dog turns ON t Creep speed OPR 5 Stopper Dwell time out during deceleration Torque limit OPR dwell time out Near point dog ON OFF OPR dwell time counting OP...

Страница 137: ...om the QD70 stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 6 After a deviation counter clear output...

Страница 138: ...ent amount after near point dog ON Traveled value is stored OP address Current feed value V Near point dog ON OFF Stopper Zero signal Deviation counter clear output OPR request flag Status b0 Md 7 Md...

Страница 139: ...ection of the zero signal after the stop the pulse output from the QD70 stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output t...

Страница 140: ...ll become the OP OPR control start Positioning start signal Y8 to YF Creep speed t ON OFF ON OFF OFF ON V Torque limit Zero signal Standby Standby 0 OP address OPR 5 Deviation counter clear signal out...

Страница 141: ...turns from ON to OFF t OPR control start Positioning start signal Y8 to YF ON OFF OPR speed ON OFF OFF ON Standby During OPR Standby Axis operation status Unfixed 0 Movement amount after near point do...

Страница 142: ...ON is less than the deceleration distance from OPR 4 OPR speed to OPR 5 Creep speed OPR control is completed normally 2 When the near point dog is ON starting the axis will cause the Start during near...

Страница 143: ...at OPR and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 5 After a deviation counter clear output is output to the drive...

Страница 144: ...ed OPR control is completed normally 2 When the near point dog is ON starting the axis will cause the Start during near point dog ON error error code 201 Perform JOG operation to move the axis to the...

Страница 145: ...1 Current feed value according to the OPR data OPR 1 to OPR 9 defined when machine OPR control was carried out 3 Fast OPR control is completed OPR 4 OPR speed Position set up by machine OPR control OP...

Страница 146: ...alue changing The current feed value Md 1 is changed to the address set to the positioning address 9 1 1 Data required for positioning control The following table shows an outline of the positioning d...

Страница 147: ...es designated in one direction Speed Positioning data No 1 0 Operation pattern 2 Continuous path control Positioning control to address A at command speed a No 2 No 3 No 4 No 5 Address a b NO 1 No 2 N...

Страница 148: ...well time has been specified for position control position control is completed after the specified time has elapsed Time Positioning start signal Y8 to YF OFF ON Dwell time Start complete signal X10...

Страница 149: ...of the positioning data No 10 is not terminated the operation will be started again from the positioning data No 1 Time OFF ON OFF ON OFF ON OFF Continuous positioning control 1 Address direction Add...

Страница 150: ...nate the positioning control If the operation pattern is continuation 1 or 2 operation will continue until the operation pattern 0 is found If the operation pattern 0 is not found operation is perform...

Страница 151: ...lation for continuous path control error error code 512 POINT In the positioning data whose operation pattern is 2 Continuous path control set Da 5 Command speed and Da 6 Positioning address movement...

Страница 152: ...y axis is up to 10 pieces perform continuous operation of more than 10 pieces of data in the following procedure 1 Initial setting Set 1 Continuous positioning control or 2 Continuous path control in...

Страница 153: ...in the stroke limit range Address 150 Address 100 Address 100 Address 150 OP Reference point Start point End point Fig 9 5 Absolute system positioning control Incremental system The position where the...

Страница 154: ...rol an error of 1ms for the QD70P4 or 2ms for the QD70P8 is produced at the update timing of the current value 2 The current feed value is controlled by a signed numerical value Range 2147483648 to 21...

Страница 155: ...changing Positioning termination Continuous positioning control Da 1 Operation pattern Continuous path control Da 2 Control method 1 axis linear control ABS 1 axis linear control INC Speed Position Ct...

Страница 156: ...ive direction for a movement amount of 7000 8000 1000 Positioning data setting example The following table shows setting examples when 1 axis linear control ABS is set in positioning data No 1 of axis...

Страница 157: ...d the movement amount is 7000 position control is carried out to the 2000 position Positioning data setting example The following table shows setting examples when 1 axis linear control INC is set in...

Страница 158: ...1 The control is switched over from speed control to position control by the external signal speed position switching signal CHG 2 To switch from speed control to position control Cd 5 Speed position...

Страница 159: ...urrent feed value is cleared set to 0 at control start and updated from the switching to position control t 0 Updated from 0 t Speed t Position control Maintained Updated Speed control Speed Position...

Страница 160: ...speed status 7 If 0 has been set in Pr 6 Bias speed at start starting operation at the setting of 0 in Da 5 Command speed for speed control of speed position switching control will result in the follo...

Страница 161: ...set in positioning data No 2 If such setting has been made the New current change not possible error error code 502 occurs resulting in a deceleration stop 3 If the value set in Da 6 Positioning addr...

Страница 162: ...within the same scan during positioning control Precautions 1 The speed limit function is valid on an axis basis 2 To perform stop processing the stop command axis stop signal ON must be given to the...

Страница 163: ...G direction flag The following is an example of JOG operation 1 Turning ON the JOG start signal starts acceleration in the direction set in JOG 4 JOG direction flag at the acceleration time set in JOG...

Страница 164: ...on starts at Pr 6 Bias speed at start and the Outside speed warning warning code 20 occurs If Pr 6 Bias speed at start is 0 starting JOG operation with the setting of 0 in JOG 1 JOG speed results in t...

Страница 165: ...is ON Monitor the JOG operation status Write the sequence program created in STEP 1 to the PLC CPU using GX Developer Turn ON the JOG start signal Axis 1 JOG start signal Axis 2 Axis 3 Axis 4 Axis 5...

Страница 166: ...or code 102 and does not start JOG It can be started by resetting the axis error then turning OFF the axis stop signal and turning the JOG start signal from OFF to ON again OFF ON OFF ON OFF ON OFF ON...

Страница 167: ...JOG operation is not performed if JOG 4 JOG direction flag is changed to the reverse run JOG command OFF ON OFF ON t JOG 4 JOG direction flag Forward run JOG operation Reserve 4ms or more Reverse run...

Страница 168: ...l is turned ON during deceleration 4 When axis stop signal is turned OFF after a stop made by turning ON axis stop signal with JOG start signal ON JOG operation is not performed when the axis stop sig...

Страница 169: ...t function This function resumes positioning control from where it had stopped while the axis is at a stop 11 2 Speed limit function The speed limit function limits the command speed to a value within...

Страница 170: ...nge at any point during speed control of speed position switching control or during JOG operation Set a new speed in Cd 7 New speed value and make a speed change using Cd 6 Speed change request The ac...

Страница 171: ...top from the target speed and not the time required to make a stop from the current speed If axis stop signal ON or JOG start signal OFF occurs before the target speed is reached the time required to...

Страница 172: ...ng control 0 speed Status b2 Positioning start signal Cd 6 Md 7 Fig 11 3 Speed change at new speed value 0 during speed control of speed position switching control 3 A speed change cannot be made duri...

Страница 173: ...rrent feed value and Da 6 Positioning address movement amount New current value The software stroke limit function is made valid at an operation start and during operation The upper and lower limits o...

Страница 174: ...ecelerates to a stop when it exceeds the software stroke limit range For speed control Checks 1 and 2 in the previous section 2 are carried out At operation start The axis does not start if the softwa...

Страница 175: ...control Operation pattern Continuous path control Operation pattern Continuous path control Operation pattern Continuous positioning control 5 Setting the software stroke limit function To use the so...

Страница 176: ...n 0 The set acceleration deceleration time is the actual acceleration deceleration time and Pr 5 Speed limit value does not influence the acceleration deceleration time The acceleration deceleration t...

Страница 177: ...peed change under speed control of speed position switching control positioning data No 1 Refer to Section 11 3 for speed change during JOG operation V t1 V2 V1 t2 t Cd 7 Da 5 Pr 6 Da 3 Cd 8 Da 6 Cd 9...

Страница 178: ...stopper 2 and count 1 V t OPR 6 Pr 6 OPR 5 OPR 4 OPR 6 Near point dog ON OPR control complete When OPR method is stopper 3 V t OPR 6 OPR control complete Pr 6 OPR 5 When OPR method is count 2 V t Pr...

Страница 179: ...view the setting details 3 If operation is performed with 0 set as the bias speed at start in the control method of 1 axis linear control ABS or 1 axis linear control INC positioning control an error...

Страница 180: ...and a restart request is executed after the axis stop signal turns OFF 0 100 300 700 0 100 300 700 Stop position at axis stop Starting point address Specified end point position Axis 1 Restart Stop p...

Страница 181: ...uest is set in Cd 4 Restart request when the axis stop signal Y10 to Y17 is ON the Stop signal ON at start error error code 102 occurs and a restart is not made 3 If the positioning data is changed af...

Страница 182: ...n which can be displayed on the system monitor of GX Developer 12 2 External I O signal switching function This function switches the signal logic according to the equipment connected to the QD70 The...

Страница 183: ...0 LED off 1 LED on flicker DOG5 Near point dog signal of Axis 5 ZERO1 Zero signal of Axis 1 DOG6 Near point dog signal of Axis 6 ZERO2 Zero signal of Axis 2 DOG7 Near point dog signal of Axis 7 ZERO3...

Страница 184: ...itch 1 PLS OUT Pulse output logic selection 8 lower bits DCC CLR Deviation counter clear output signal logic selection Switch 2 8 upper bits ZERO SIG Zero signal input logic selection 8 lower bits ROT...

Страница 185: ...ion start or during operation when the OPR control positioning control or JOG operation is used If an error occurs on any axis at a start that axis does not start and Md 4 Axis operation status change...

Страница 186: ...data for the setting details The latest error code is always stored 3 Resetting errors and warnings Setting 1 in Cd 1 Axis error reset performs the following processing and then cancels the error warn...

Страница 187: ...At current value changing analysis Current value changing is not made During operation During speed control including speed control of speed position switching control or JOG operation the axis decele...

Страница 188: ...itioning address movement amount Refer to Section 4 5 2147483648 to 2147483647 pulse At start Perform JOG operation Refer to Chapter 10 to change Md 1 Current feed value to within the software stroke...

Страница 189: ...C time and Cd 8 ACC DEC time at speed change setting values is outside the setting range 508 Setting range outside DEC STOP time Any of the OPR 7 DEC STOP time at OPR JOG 3 JOG DEC time Da 4 DEC STOP...

Страница 190: ...4 4 List of JOG data Refer to Section 4 5 List of positioning data Refer to Section 4 7 List of control data OPR 6 ACC DEC time at OPR 0 to 32767 ms OPR 7 DEC STOP time at OPR 0 to 32767 ms JOG 2 JOG...

Страница 191: ...error Upper limit value lower limit value in the software stroke limit upper lower limit values 902 Setting range outside PULSE SIGN method selection setup hold time The setting value of Pr 9 PULSE S...

Страница 192: ...Pr 2 Software stroke limit lower limit value 2 3 102 103 202 203 302 303 402 403 502 503 602 603 702 703 2147483648 to 2147483647 pulse Make setting to satisfy upper limit value lower limit value Ref...

Страница 193: ...of OPR 5 Creep speed is outside the setting range The setting value of OPR 5 Creep speed is higher than OPR 4 OPR speed The setting value of OPR 5 Creep speed is lower than Pr 6 Bias speed at start 9...

Страница 194: ...ias speed at start and turn the PLC READY signal Y0 from OFF to ON 26 27 126 127 226 227 326 327 426 427 526 527 626 627 726 727 OPR 4 OPR speed OPR 5 Creep speed 1 to 200000 pulse s Change the settin...

Страница 195: ...ed The set speed or Cd 7 New speed value is lower than Pr 6 Bias speed at start or higher than Pr 5 Speed limit value The speed is controlled at Pr 6 Bias speed at start or Pr 5 Speed limit value 22 S...

Страница 196: ...8 109 208 209 308 309 408 409 508 509 608 609 708 709 0 to 200000 pulse s Change the set speed or Cd 7 New speed value to not less than Pr 6 Bias speed at start and to not more than Pr 5 Speed limit v...

Страница 197: ...is normal RUN AX5 AX1 AX6 AX2 AX7 AX3 ERR AX8 AX4 Lighting of ERR LED System error An operation condition setting error or installation PLC CPU type error occurs The setting and PLC CPU type are outsi...

Страница 198: ...Detailed Information 2 Confirmation of error code The error code stored in Md 5 Axis error code appears in the latest error code field Any of axes 1 to 8 By pressing the Error History button the error...

Страница 199: ...PPENDIX APPENDIX Appendix 1 External dimension drawing 1 QD70P4 90 98 QD70P4 CON1 RUN ERR AX2 AX1 AX4 AX3 QD70P4 27 4 Unit mm 2 QD70P8 QD70P8 CON2 RUN ERR AX6 AX5 AX8 AX7 CON1 AX2 AX1 AX4 AX3 QD70P8 9...

Страница 200: ...ag Status b1 OPR Standby Standby Md 7 t1 t2 t3 t4 t5 0 3 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms A delay may occur in t1 depending on the operating conditions of the other axes 2 Operation timing an...

Страница 201: ...on control Standby Start complete signal Machine OPR control operation Positioning complete signal OPR complete flag Status b1 t1 t2 t3 t4 t5 t6 0 1 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms As set in...

Страница 202: ...ete signal X10 to X17 t4 t1 t2 t3 t6 t5 Axis operation status OPR complete flag Status b1 Standby Speed control Position control Speed control is exercised until the speed position switching signal tu...

Страница 203: ...OFF OFF t4 JOG operation Positioning complete signal X18 to X1F Standby JOG operation Standby JOG start signal Y18 to Y1F Axis operation status Pulse output to outside PULSE Deceleration JOG Start OFF...

Страница 204: ...n Analog torque limit command 10V max current Within 2m Servo ON Reset Torque limit Forwardrunstrokeend Reverse runstrokeend Analog torque limit command 10V max current External emergency stop Speed p...

Страница 205: ...ergency stops Power supply 3 phase 200VAC Within 2m 5 Servo ON Reset Torque limit Forward run stroke end Reverse run stroke end External emergency stop Proportionalcontrol Within 2m Within 2m COM1 2 E...

Страница 206: ...C A or MR C A1 Within 2m 5 Forward run stroke end Reverse run strokeend Electromagnetic brake 3 REMARK 1 The logic of each I O terminal can be changed by making switch setting for intelligent functio...

Страница 207: ...ent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to...

Страница 208: ...changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to...

Страница 209: ...y making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 F...

Страница 210: ...O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example ass...

Страница 211: ...lse INC system ABS system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647inch 0 to 359 99999degree 2147483648 to 2147483647pulse INC system Fixed feed 214748364 8 to 214748364 7 m 21474 83648...

Страница 212: ...device software GX Configurator PT 4 GX Configurator QP A6CON1 soldering type straight out option A6CON1 soldering type straight out option Connection connector A6CON2 pressure displacement type strai...

Страница 213: ...he new speed from the command speed before positioning data No changing Time taken to reach the creep speed from the OPR speed Time taken to reach the bias speed at start from the set speed Operation...

Страница 214: ...14 to 219 314 to 319 414 to 419 514 to 519 614 to 619 714 to 719 Reserved Cannot be used 20 120 220 320 420 520 620 720 OPR 1 OPR method 21 121 221 321 421 521 621 721 OPR 2 OPR direction 22 23 122 12...

Страница 215: ...ol data 60 to 69 160 to 169 260 to 269 360 to 369 460 to 469 560 to 569 660 to 669 760 to 769 Reserved Cannot be used 70 71 170 171 270 271 370 371 470 471 570 571 670 671 770 771 Md 1 Current feed va...

Страница 216: ...No 2 820 to 829 920 to 929 1020 to 1029 1120 to 1129 1220 to 1229 1320 to 1329 1420 to 1429 1520 to 1529 No 3 830 to 839 930 to 939 1030 to 1039 1130 to 1139 1230 to 1239 1330 to 1339 1430 to 1439 153...

Страница 217: ...firmation 5 12 Connector 5 4 Continuous path control 9 5 Continuous positioning control 9 4 Count 1 machine OPR control 8 12 Count 2 machine OPR control 8 14 Current feed value 9 9 Current value chang...

Страница 218: ...1 Current feed value 4 7 Md 2 Movement amount after near point dog ON 4 7 Md 3 Current speed 4 7 Md 4 Axis operation status 4 7 Md 5 Axis error code 4 7 Md 6 Axis warning code 4 7 Md 7 Status 4 7 Md...

Страница 219: ...ntrol 4 3 Pr 5 Speed limit value 4 3 Pr 6 Bias speed at start 4 3 Pr 7 Positioning complete signal output time 4 3 Pr 8 Deviation counter clear signal output time 4 3 Pr 9 PULSE SIGN method selection...

Страница 220: ...7 17 Speed position switching signal 3 7 Start complete signal 3 5 Start method 4 30 Start method setting program 7 9 Start program 7 13 Starting the utility 6 9 Stop program 7 11 Stop settling time 1...

Страница 221: ...Index 5 Index 5 MEMO...

Страница 222: ...production 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...

Страница 223: ...istered trademarks of Microsoft Corporation in the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of their respective owners...

Страница 224: ...TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN MODEL MODEL CODE QD70P U S E 13JR39 SH NA 080171 C 0207 MEE Type QD70 Positioning Module When exported...

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