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Mitsubishi Electronics QD75D, QD75P user manual 1422 1424 1425

Models: QD75P QD75D

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5 DATA USED FOR POSITIONING CONTROL

MELSEC-Q

Default value				Storage buffer memory address (common to axes 1 to 4)
							Md.18							1422
							Md.18
0							Warning history
							Warning history
							pointer
											Indicates a pointer No. that is next to the Pointer No.
											assigned to the latest of the existing warning history records.
	Pointer No.																								14		15
	Pointer No.
																			11		12		13
												7			8	9	10
								4	5	6					8													1410 1414 1418

				1	2	3																1398		1402		1406
	Pointer No.		0	1	2					1374 1378 1382 1386								1390		1394		1398		1402
	Pointer No.		0																	1394
0
0		Md.14				1362		1366	1370																				1415 1419
		Md.14			1358				1370
																										1407 1411
		Axis in which the																1391 1395 1399 1403
		Axis in which the
		warning occured										1379			1383 1387
	history					1363 1367 1371 1375									1383 1387
		Md.15
		Md.15			1359																			1404 1408				1412 1416 1420
	Warning	Axis warning No.				1364 1368 1372 1376 1380 1384 1388 1392 1396																1400		1404 1408
	Warning	Md.16			1360	1364 1368 1372 1376 1380 1384 1388 1392 1396																				1409 1413			1417	1421
		Axis warning occurrence			1360																			1405					1417
		Axis warning occurrence																		1397 1401
		hour																1393
		hour													1385 1389
												1381
								1369 1373 1377
		Md.17
0000		Md.17			1361	1365
0000		Axis warning occurrence			1361	1365
		min: sec
									Each group of buffer memory addresses storing a complete warning history
									record is assigned a pointer No.
			Item Buffer memory address						Example: Pointer No. 0 = Buffer memory addresses 1358 to 1361
													Pointer No. 1 = Buffer memory addresses 1362 to 1365
													Pointer No. 1 = Buffer memory addresses 1362 to 1365
													Pointer No. 2 = Buffer memory addresses 1366 to 1369
													Pointer No. 15 = Buffer memory addresses 1418 to 1421
0000									Each history record is assigned a pointer No. in the range between 0 and 15.
									If the pointer No. 15 has been assigned to a new record, the next record will
									be assigned the pointer number 0.
									(A new record replaces an older record when a pointer No. is reassigned.)

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Mitsubishi Electronics QD75D, QD75P user manual 1422 1424 1425

Contents

Type QD75P/QD75D Positioning Module Page Safety Instructions Wiring Instructions Precautions for use Disposal Instructions 3, .2.5, .6.2, .7.1, .2 to SH NA-080058-B Addition of function version BOverall revisions based on the Japanese Manual Version SH-080047-E 1999 Mitsubishi Electric Corporation Introduction Installation, Wiring and Maintenance of the Product Specifications and Functions To 3Sequence Program Used for Positioning Control To 6 Memory Configuration and Data Process To 7110 112Control Details and Setting OPR Control To 8 Major Positioning Control105 High-Level Positioning Control To 10 10.1 111113 11412.5 12.212.3 12.4Appendix 7.1 Connection example of QD75D Troubleshooting 15- 1 to 15Appendices Appendix- 1 to Appendix-108 AppendixGX Configurator-QP Operating Manual Manual Name Manual NumberHardware IBM PC/AT and compatible DOS/V compliant personal computer Configurator-QPDetails of generic term/abbreviation Generic term for PLC CPU on which QD75 can be mountedPage Memo Data Used for Positioning Control System configuration Specifications and FunctionsMemory Configuration and Data Process Product outlineMemo Product Outline Communicating signals between QD75 and each moduleWide variety of positioning control functions Positioning control 1.1.1 Features of QD75Features of the QD75 are shown below Availability of one, two, and four axis modulesQuick startup Refer to Section Easy maintenanceSetups, monitoring, and testing through GX Configurator-QP Purpose and applications of positioning control PalletizerCompact machining center ATC magazine positioning Lifter Storage of Braun tubes onto aging rack Index table High-accuracy indexing of angleInner surface grinder Stores the created program QD75 errors, etc., are detectedMechanism of positioning control Creates control order and conditions as a sequence programPosition control Speed controlDesignated distance Positioning system using QD75 Outline design of positioning systemPositioning operation by the QD75 Pulse train output from the QD75 Movement amount and speed in a system using worm gearsPulse Vs =Mm/pulse Pulse/sCommunicating signals between QD75 and each module QD75 Peripheral device QD75 Drive unitQD75 Manual pulse generator Dog signal, upper/lower limit signal, zero QD75 External signalDevice connection connector QD75 External signal External signal QD75 CommunicationGX Configurator-QP QD75 Servo, etc Flow of system operation 1.2.1 Flow of all processesGX Developer Details Reference Chapter For setting data ManualGX Configurator-QP Using GX Configurator-QP, also debug the set data ChapterMemo Outline of starting QD75 Outline of stopping Md.26 When Cd.6 Restart command is onOutline for restarting ReferenceRestrictions with a system using a stepping motor Cause occurs during deceleration stop processing toFunction System Configuration Module USB cable Extension System RS-232 cable General image of systemFor details, refer to GX Configurator -QP Operating Manual Component list Specifications of recommended manual pulse generatorQD75 can be used in the following system Applicable modules and the number of installable modulesApplicable system Usable base unitGX Developer display screen How to check the function version and Serial NoMethod using the rated plate on the module side face Method using the softwareCombination of QD75 main functions and sub functions Signal layout for external device connection connectorPositioning system Performance specificationsInterpolation function None PTP controlScrew tightening torque Applicable wire sizeCommon functions List of functions 1 QD75 control functionsMain functions Sub functionsSpeed limit function Torque limit function Main functions OPR control Control registered in QD75OP shift function Functions that compensate control Pattern2 QD75 main functions Wait start Start data When the condition is established, the block start data isWith the set order Condition start Start data3 QD75 sub functions and common functions Data No Or positioning dataPositioning To 65535 that can be set for each positioning data13.5 Method using sequence programContact signals, such as Drive unit Ready or Common functions Details ReferenceMemo Combination of QD75 main functions and sub functions Acceleration/ deceleration time change function Stop command processingPre-reading start function Deceleration start flag Function For deceleration stop FunctionX10 Axis Y10 X11 Signal direction QD75 PLC CPU Signal direction PLC CPU QD75Use prohibited Axis Code onDetails of input signals QD75 PLC CPU Detail of output signals PLC CPU QD75 Input specifications Output specifications Signal layout for external device connection connector List of input/output signal details Selection Common External command function2B7 Signals Skip request from an external sourceInput Common to QD75P1 and QD75D1 Input/output interface internal circuitInitial value Input signal ON/OFF statusAbout logic setting and internal circuit Negative logicOutput For QD75D1 Output For QD75P1Items to confirm when installation and wiring are completed WiringINSTALLATION, Wiring and Maintenance of the Product Part names of the QD75 are shown below Names of each partQD75P4 QD75D4Interface of each QD75 is as shown below Handling precautions Other precautions Main body Installation environmentCable Installation Precautions for installation Precautions for wiring WiringCables should be the shortest possible Wiring example of shielded cableProcessing example of shielded cables QD75 sideWrap the coated parts with a heat contractile tube Assembling of connector A6CON1Inside control box QD75 20cm7.88inch To 30cm11.82inch AD75CK How to ground shielded cable using AD75CKControl panel Insert until hook Catches Module bottom Wiring of the differential driver common terminalMELSEC-Q Disposal instructions Maintenance Precautions for maintenanceMemo Data Used for Positioning Control OPR parameters Types of data Parameters and data required for controlParameters Positioning parametersOperation, and stops/restarts the operation Data for user to control positioning system. Cd.1 to Cd.42Setting items for positioning parameters Pr.1 Pr.42 Checking the positioning parametersSetting items for OPR parameters Checking the OPR parametersPr.43 Pr.57 Da.1 Setting items for positioning dataChecking the positioning data ItemsDa.1 Da.10 Memo Checking the block start data Setting items for block start dataChecking the condition data Setting items for condition dataTypes and roles of monitor data Monitoring the systemMonitoring the positioning system operation history Monitoring the axis operation state Monitoring the positionMonitoring the speed Monitoring the state Memo Setting and resetting the setting data Types and roles of control dataControlling the system data Controlling the speed Controlling the operationControlling the operation Controlling operation per stepMaking settings related to operation Memo Table, conveyor Pr.1 Unit settingList of parameters 5.2.1 Basic parameters Rotating body 360 degrees/rotationPr.2 to Pr.4 Movement amount per pulse Pr.2 No. of pulses per rotation ApAssuming that the unit mm is selected with 6000 100 6000Pr.5 PULSE/SIGN modeCW/CCW mode Pr.5 Pulse output modeFor multiple of 4 setting Phase/B phase modePr.6 Rotation direction setting Positive logic Negative logic For multiple of 1 settingPr.6 WhenPr.8 Basic parametersPr.7 Bias speed at start Speed limit valuePulse To 200000 pulse/s To 1000000 pulse/s Select type Setting value Value set with peripheral device unitPr.8 Speed limit value Pr.9 Acceleration time Pr.10 Deceleration timePr.11 Backlash compensation amount Detailed parametersPr.13 Software stroke limit lower limit value Pr.12 Software stroke limit upper limit valuePr.14 Software stroke limit selection Pr.15 Software stroke limit valid/invalid settingPr.16 Command in-position width 300 176 326 476 Torque limit setting valuePr.18 Code on signal output timing Pr.17 Torque limit setting valueInput signal logic selection Near-point Positive Signal Front-loading speed switching Speed switching mode ModeStop signal External Command NegativeWhen composite speed is designated Pr.19 Speed switching modeFor standard switching For front-loading switchingPr.150 Speed-position function selection Specify whether you wish to enable or disable the updatePr.21 Current feed value during speed control Pr.24 Manual pulse generator input selectionMemo Pr.28 Deceleration time 1 to Pr.30 Pr.25 Acceleration time 1 to Pr.27Deceleration time Deceleration time 1. Deceleration time Pr.31 JOG speed limit valuePr.32 JOG operation acceleration time selection Pr.33 JOG operation deceleration time selectionPr.34 Acceleration/deceleration process selection Automatic trapezoid acceleration/decelerationPattern acceleration/deceleration Pr.35 S-pattern ratio Actual sudden stop Deceleration time Pr.36 Sudden stop deceleration timeAcceleration starts following Deceleration starts following Eration timeMELSEC-Q Positioning complete signal output time Pr.40 Positioning complete signal output timeStart point address Center point address Pr.41 Allowable circular interpolation error widthPath with spiral interpolation Error With calculationPr.42 External command function selection To enable the external command signal, set the toExternal command enable Memo Pr.43 OPR method OPR basic parametersPr.46 OPR speed Pr.47 Creep speed Positive direction address Degree To 359.99999 degree To 35999999 ⋅ 10-5degree Pulse Pr.1 Setting valuePr.44 OPR direction Pr.44Pr.46 OPR speed Pr.45 OP addressPulse To 1000000 pulse/s Pr.47 Creep speedSet a speed equal to or faster than the bias speed at start OPR speed Pr.47 Creep speed Pr.7 Bias speed at startPr.48 OPR retry Memo OPR dwell time value When stopper method 1 is set forOPR detailed parameters Pr.49 OPR dwell timeAcceleration time Pr.51 OPR acceleration time selectionPr.52 OPR deceleration time selection Use the value setPr.53 OP shift amount Pr.57 Dwell time during OPR retry Pr.55 Deviation counter clear signal output timePr.54 OPR torque limit value Pr.56 Speed designation during OP shiftList of positioning data Before explaining the positioning data setting items599 600 Operation pattern Axis to be interpolated2-axis interpolation only Da.1 Operation pattern Da.2 Control systemDa.3 Acceleration time No Da.6 Positioning address/movement amount Absolute ABS system, current value changingDa.4 Deceleration time No Da.5 Axis to be interpolatedDa.2 Position-speed switching control Speed-position switching controlDa.2 Setting value When Pr.1 Unit Setting is pulseWhen Pr.1 Unit Setting is inch Memo Da.7 Arc address Da.7 ArcEnd point address Address set with Da.6 When Pr.1 Unit Setting is mm Da.8 Command speed Value set with peripheral Value set with sequence Da.2 Setting value Setting itemDa.2 Repetition countDa.1 Da.9 Dwell time/JUMP designation positioning data NoMemo List of block start data BlockStart block Da.11 Da.14 Pages that follow explain the block start data setting items7001 Axis Settings AxisBlock Axis 7000 Axis26000 27000 28000 29000 Shape Positioning data No Device EndShape ContinueDa.13 Special start instruction How to start the positioning data set Start data NoDa.11 Shape Da.12 Start data NoSpecial start instruction Special start instruction Setting value Setting detailsDa.14 Parameter Set the value as required forBlock List of condition dataDa.15 Da.19 Pages that follow explain the condition data setting itemsData Used for Positioning Control Remark 03H Condition operator Parameter Setting value DefaultCondition target Identifier OperatorDa.15 Condition target Da.16 Condition operatorDa.17 Address Condition operator Da.18 ParameterDa.19 Parameter Set the parameters as required forWhen not in test mode When in test modeList of monitor data 5.6.1 System monitor data 1200 Reading the monitor value Default valueNot in test mode Test mode Monitoring is carried out with a decimalStart Minute Second Storage item Storage detailsHistory Up to 16 records can be stored Start Hour0000H 0000Storage buffer memory address common to axes 1 to Starting history Up to Can be storedStorage details Reading the monitor value Judgment1292 Occurrence Axis error was detected Error Encountered an errorStores an axis error No Axis error Stores the time at which an0000 1357Encountered a warning Accesses to flash When the number of writeError reset operation is Axis in which1422 1424 1425 Axis monitor data 0000 H Axis 1 Axis 2 Axis 3 AxisMonitoring is carried out with a hexadecimal 800 900 1000 1100Set by the positioning data used one step earlier Command speed set by the current positioning dataAxis warning No When Stores 0 under the speed controlDefault 807 907 1007 1107 808 908 1008 1108 809 909 1009 1109810 910 1010 811 911 1011 Speed-position switching 814 914 1014 1114 0000H 816 916 1016Monitoring is carried out with a hexadecimal 812 912 1012 1112 0000H 813 913 1013 1113For a positioning operation Target value Address/movement amountAt other times Stores Default Storage buffer Memory address Value 0000 H 817 917 1017818 918 1018 819 919 1019 Movement amount after Is stored Is stored when machine OPR startsTorque limit setting value is stored Machine OPR completion is stored300 826 926 1026 Speed limit value due to a speed change or Pr.8 Speed limit flagSpeed change processing Flag830 930 1030 1130 827 927 1027 1127828 928 1028 1128 829 929 1029 1129Md.48 Deceleration start flag Positioning data No. beingLast executed positioning Executed last time837 937 1037 1137 832 932 1032 11320000 H 833 933 1033 835 935 1035 1135Block start data No to List of control data 5.7.1 System control dataBuffer memory to the flash ROM Positioning data No to NoSetting Value Setting value KAxis control data Setting item Setting details Set the positioning start NoRestart command Stopped, set 1 Code OFF request M code on signal turns OFFSetting Setting K value+2147483647 Item to specify a new feed valueInch Degree 2147483648Conversion into an integer value 10 n1505 1605 1705 1805 1506 1507 1606 1607 1706 1707 1806 1807Speed change Enable/disable selection Setting item Setting detailsNew acceleration time value Setting range unit Setting range unit To 8388608 msSet with a decimal 1508 1608 1708 1808 1509 1609 1709 1809 1510 1610 1710 1810 1511 1611 1711 1811 Set with a decimal1512 1612 1712 Inch Degree Pulse Setting range1516 1616 1716 100 1513 1613 17131514 1614 1714 1814 1515 1615 1715 1815⋅ 10-1µm ⋅ 10-5inch 1520 1620 1720 1517 1617 17171518 1618 1718 1818 1519 1619 1719 1819Torque limit setting value Specify a new torque limit stored valueSet a value within the allowable range 1525 1625 1725 1521 1621 1721 18211522 1622 1722 1822 1523 1623 1723 1823 1524 1624 1724Inch Degree Pulse Pr.1 ⋅ 10-1µm Speed-position switching control INC mode2147483647 For that, use this data item to specify a new speed1530 1630 1730 1830 1526 1626 1726 18261527 1627 1727 1827 1528 1628 1728 1828New speed Position-speed switchingTarget position change value New address1536 1636 1736 1836 1532 1632 17321534 1634 1734 1834 1535 1635 1735 1835Stepping should be performed 1544 1644 1744 1844 1540 1640 1740 1840 Set with a decimal1541 1641 1741 1841 1542 1642 1742 1842 1543 1643 1743 1843 Set with a decimalCd.39 Teaching positioning data No When degree is selected as the unit1549 1649 1749 1849 1546 1646 17461547 1647 1747 1847 1548 1648 1748 1848Memo Sequence Program Used for Positioning Control Process during overrun Precautions for creating programReading/writing the data Restrictions to speed change execution intervalProgram, the unit of 0 mm is set for the basic parameter System configurationControl unit Communication with QD75X0C List of devices used Command Time change X35 Code OFF command Commanding M code OFFForward run JOG/inching command Reverse run JOG/inching commandStorage Enable command Operation enableM10 Manual pulse generator operation Requesting acceleration/decelerationData resisters and timers Enable Acceleration time setting Low-order 16 bitsAcceleration time setting Value High-order 16 bits Deceleration time setting Low-order 16 bitsRotation Unit magnification Pulse output modePulse output mode Rotation direction setting Command speedCreating a program General configuration of programPositioning control operation program Refer to Section From previous Positioning program examples MELSEC-Q Setting of special start instruction to normal start Position-speed switching operation positioning data No No M code OFF program Not required when M code is not used No Manual pulse generator operation program No Torque change program ABS data setting and ABRST1 instruction execution No Flash ROM write program This program forcibly turns OFF the OPR request flag External command function valid setting programData requiring setting Time chart for OPR OFF requestStart details setting program Procedures for setting the starting detailsPositioning start point No Cd.25 Position-speed switching control speed changeUsed to set a new value when speed is changed To validate position-speed switching signal, thisBuffer memory 1500 Start programStarting conditions Operation when starting Starting by inputting positioning start signalStarting time chart X10 OFF9001 X8 OFF 9002 Time chart for starting fast OPRTime chart for starting major positioning control Time chart for starting position-speed switching control Machine OPR operation timing and process time Follows Position control operation timing and process timeRestrictions Starting by inputting external command signalSetting details Buffer memory address Value Axis Set to 1 Validate external command 1505 1605 1705Cd.18 Continuous operation interrupt programOperation during continuous operation interruption RestrictionsSet the following data to interrupt continuous operation Control data requiring settingsCd.3 Stop with stop commandRestart program Restart operationSet the following data to execute restart Control data requiring settingAxis operation status is 1 Stopped Signal state Starting conditions14 Time chart for restarting Time chart for restartingStop process Stop programTypes of stop processes Pr.30 Pr.10 Pr.28 Pr.29Pr.36 Sudden Stop cause Sudden stop deceleration process Order of priority for stop processMemory Configuration and Data Process Area configuration Memory QD75 is configured of the following two memoriesDetails of areas QD75 Data is backed up User accesses HereBuffer memory area configuration Data transmission process From command To commandPower supply ON/memo area PLC CPU reset PLC Ready signal Y0 OFF onPr.1 Pr.7 Pr.11 Pr.24 Pr.43 Pr.57 Pr.150 Transmitting data with to command from PLC CPUAccessing with from command from PLC CPU Pr.8 Pr.10 Pr.25 Pr.42Memo area Flash ROM write Flash ROM request Write Flash ROM request WriteFlash ROM write Flash ROM request writingCd.1 QD75 read, monitor Writing data from peripheral device to buffer memory Reading data from buffer memory to peripheral deviceEx. Setting the positioning data Following methods can be used to set the positioning dataCompletion 12- 1 to 12 11- 1 to 11Memo OPR Control Outline of OPR control 8.1.1 Two types of OPR control Restricted, Combination not possible When an OPR is not requiredOPR sub functions OPR from peripheral devicesPr.45 Machine OPR Outline of the machine OPR operation ImportantMachine OPR operation OP address is a fixed value set by the userMachine OPR method Pr.51 Operation chartOPR method 1 Near-point dog method Machine OPR is startedPr.48 Precautions during operationPr.55 OPR method 2 Stopper methodPr.44 Pr.46 Pr.49OPR speed, thus causing an error Always limit the servomotor torque afterSet a value Md.31 Status b4 Pr OPR speed Pr Creep speed Stops at stopper Zero signal OPR method 3 Stopper methodTorque limit Near-point dog OFF Machine OPR start Zero signal Near-point dog OFF Machine OPR start OPR speed Pr Creep speedStatus b3 OPR complete flag Md.31 Status b4 Deviation counter clear output Pr.47 Pr.44 OPR method 4 Stopper methodMachine moves at OPR direction. TorqueStanding by OP address OPR direction. It then moves at OPR method 5 Count method1OPR speed to Pr.50Pr.46 Direction designated OPR method 6 Count methodMachine OPR is started Pr.44 OPR direction. It then moves at Pr.46 OPR speed whenSetting for the movement amount after near- point dog on Fast OPR operation Fast OPR Outline of the fast OPR operationOperating restrictions Operation timing and processing time of fast OPRMemo Control unit degree handling Major Positioning ControlOutline of major positioning controls Reverse run Position control Position/speed Speed-position switching control Speed/positionNonexecutable control system. When this instruction is Reverse runData required for major positioning control Major positioning control sub functionsMajor positioning control from peripheral devices Operation patterns of major positioning controls XC, XD, XE, XF Independent positioning control Positioning completeStart complete signal X10, X11, X12, X13 OFF Continuous positioning controlX14, X15, X16 Dwell time Time Pr.19 Continuous path controlDeceleration stop conditions during continuous path control Interpola Tion axis Forward run command Reverse run commandSpeed 3000 2000 1000 Speed handlingX14, X15, X16, X17 OFF Speed switching Refer to Pr.19 Speed switching modeX14, X15, X16 Start complete signal X10, X11, X12, X13 OFF Busy signalMELSEC-Q Designating the positioning address Absolute systemIncremental system Value is changed to a new value Confirming the current valueValues showing the current value Md.21 Machine feed valueAxis Md.20 Current feed value Monitoring the current valueDa.6 Buffer memory addressesControl unit degree handling Software stroke limit valid/invalid settingSetting to validate software stroke limit Setting to invalidate software stroke limitUsing Cd.40Moved from 315 to Moved from 45 to Incremental system When the software stroke limit is validControl, 4-axis speed control Axis Interpolation controlMeaning of interpolation control Axis linear interpolation control, 4-axis fixed-feedPositioning address Forward run speed 2, 3, Movement amount Setting the positioning data during interpolation controlDeceleration time No Data Axis to be InterpolatedPr.20 Starting the interpolation controlInterpolation control continuous positioning Speed during interpolation controlInterpolation will be stored Limits to interpolation controlAxis operation status during interpolation control Speed limitSpeed Position Interpolation Axis, 4-axis SwitchingPositioning data setting items Position control Speed controlNo. at Jump Arc address Command speedJump instruction Da.9 Dwell time1-axis linear control Positioning data setting example2 1-axis linear control Axis linear control ABS linearAxis linear control INC linear Positioning address/movement amount 3 2-axis linear interpolation controlAxis linear interpolation control ABS linear 2-axis linear interpolation controlSet absolute system 2-axis linear interpolation control Axis Setting item Reference Axis setting ExampleSignal Da.10 Code Data will not be executed Da.2 Control systemStart point address Axis Current stop position Axis linear interpolation control INC linearPositioning address Da.8 Command speedSet this when other sub operation commands are issued Da.6 movement amount4 3-axis linear interpolation control 3-axis linear interpolation controlForward direction Axis At deceleration Setting not required setting value will beOutput of the positioning complete signal Positioning data will not be executedMajor Positioning Control Points 6000 Movement amount Reverse directionStart point address X1, Y1, Z1 Stop address after the positioning control Axis 5000Deceleration time Pr.10 Da.4 Set incremental system 3-axis linearMajor Positioning Control Points 5 4-axis linear interpolation control Operation pattern Positioning Axis Arc address Command speedCode Setting details Pr.1 Unit settingAxis linear interpolation control INC linear 500ms Da.10 Setting not required setting value will be ignored1-axis fixed-feed control 6 1-axis fixed-feed controlSet 1-axis fixed-feed control Da.3 Acceleration time 2-axis fixed-feed control 7 2-axis fixed-feed control interpolationSet the time the machine dwells after the positioning stop Speed may exceedSet 2-axis fixed-feed control Pr.20 Interpolation Mm/min Speed designation method3-axis fixed-feed control 8 3-axis fixed-feed control interpolationDesignated movement amount Restrictions 5000.0 6000.0 Set 3-axis fixed-feed control4-axis fixed-feed control 9 4-axis fixed-feed control interpolationMovement amount Axis Da.7 Arc address Da.8 Command speed Axis side speed may exceedInterpolated Da.6 2-axis circular interpolation control Unit setting When the units set Sub point designation If the self-axis is set, an error will occur3000.0 ∝ Pr.1 Setting is set to mm Set the speed when moving to the end point addressMovement amount Restrictions Speed Pr.20 Interpolation speed designation Pr.1 Unit Setting is set to mmWith sub point designation Pr.25 Acceleration time 1 as Acceleration time at startCan be controlled ClockwiseCounterclockwise Circular interpolation error compensation Positioning address/movement Refer toPr.41 Arc address Reverse direction Arc addressForward direction Radius Reverse directionRestrictions Counterclockwise according to the control Positioning data setting examplesAxis Arc address Command speed Da.9 Dwell time Da.10 M code Center point designation. Select clockwise orMovement amount = Restrictions 8000.0 ∝ Unit setting is set to mmWith center point designation. Select clockwise or INC circular12 1-axis speed control Current feed value during 1-axis speed control Set Positioning completePr.18 Control Da.2 Control system Axis 1 Positioning data No Setting itemDa.10 Code Code on signal output Timing setting only possible in the with modeMd.31 Status b0 13 2-axis speed controlCommand speed Examples Setting item Pr.8 Speed limit valueCurrent feed value during 2-axis speed control Axis Da.8 Command speed Da.9 Dwell time Mm/min Setting not required setting value will be ignoredSet 2-axis speed control 11 3-axis speed control operation timing 14 3-axis speed controlRestrictions Set Positioning complete Current feed value during 3-axis speed control8000.00mm/min 6000.00mm/min 4000.00mm/min Speed Axis 1 setting Axis 2 setting Axis 3 setting4000.00mm/min 5000.00mm/min 6000.00mm/min Value Command Speed limitOutput timing setting only possible Da.8 Command speed Da.9 Dwell time Da.10 M code AxisSetting other than Positioning complete is Set the speed to be commanded4-axis speed control 15 4-axis speed control12 4-axis speed control operation timing Current feed value during 4-axis speed control Speed Min Axis Setting itemSetting Speed limit 4000.00mm 5000.00mm 6000.00mm 8000.00mm Value Min Command 8000.00mm 6000.00mm 4000.00mm 1500.00mmSetting only possible Setting other than PositioningSet this when other sub Code on signal output timingSetting item Setting details Buffer memory address Value Speed-position switching control INC modeSwitching over from speed control to position control Speed-position switching control INC modeMd Status b0 MELSEC-Q Follows parameters Current feed value Switching time from speed control to position controlMd.20 Current feed value Speed control setting Following table showsSpeed-position switching signal setting Changing the position control movement amountCd.23 Pr.21 value Status b1 of the axis monitor areaAcceleration time No Pr.25 Position switching control INC modeSet speed-position switching control by forward run Speed/positionUnit setting Speed-position switching control ABS modeX14,X15,X16,X17 Cd Speed-position Switching enable flag Speed control flagUnit setting of 2 degree Pulse Speed control setting is other than Pr.21 Md.20Current feed value Speed-position switching signal setting Speed-position switching signal Added Axis Movement amount Arc address Position switching control ABS modeSwitching over from position control to speed control 18 Position-speed switching control operation timing Position control carried out until position-speed switching Signal turns onExternal position-speed switching signal Status b5 turns on Current feed value during position-speed switching controlSwitching time from position control to speed control Current feed value during speedPosition-speed switching signal setting Changing the speed control command speedV2 becomes the speed control command speed Speed limit value if a new speed exceeds Status b5 of the axis monitor areaDa.1 Positioning Set position-speed switching controlUnit setting is Setting value will be ignoredMd.21 Changing to a new current value using the positioning dataCurrent value changing Current feed value is changed to the value setCommand Setting not required Setting value is Speed Ignored Axis to be Setting not required Setting value isSetting is set to mm Arc address Setting not required Setting value is IgnoredCurrent value changing procedure Current value changing, setting 9003Cd.9 Following shows a start time chart Setting method for the current value changing functionPLC CPU Operation NOP instructionJump instruction Simultaneous start condition data cannot be set Set the Jump instructionCode Unconditional Jump Condition data No Acceleration time NoLoop Loop to Lend loop is repeated by set repeat cyclesSet the Loop Lend Ignore the Lend before the Loop is executedSet the Lend 10.3.5 10.3.210.3.3 10.3.4Outline of high-level positioning control High-level positioning control sub functionsHigh-level positioning control from peripheral devices Designate Data required for high-level positioning controlStart data set in the next point Special start Da.12 Da.13Block start data and condition data configuration 7001 7004 Positioning start No. in Step High-level positioning control execution procedureDa.14 Parameter Condition Next start Da.11 EndDa.12 Start data No Da.13 No.Setting examples Block start data setting example Positioning data setting exampleBlock start normal start Block start control example Control examplesParameter is carried out for the positioning data set Condition startAxis 1 block Da.11 Da.12 Da.14 Wait start3rd point End Simultaneous startA simultaneous start, the positioning data set Da.13 Axis 1 block Da.11 Da.12 Da.14Repeated start for loop Parameter of the block start data in which For loop is setCondition data Nos. have been set Da.14 Repeated start for condition 8th point Restrictions when using the Next start6th point 7th pointRepeated start Condition data is set in the following casesControl type High-level positioning control WaitWords 05H P1≤ Memory P1 numeric value Set only when Da.16 Address03H Buffer memory 01H =P1 Word 02H 04H Buffer memoryQD75 buffer memory Address 30000 30099 Condition Device X0 =QD75 Ready is OFF Condition data setting examplesSetting the device ON/OFF as a condition Following shows setting examples for condition dataMultiple axes simultaneous start control procedure Multiple axes simultaneous start controlControl details Setting examples Points 1501 Input/output signal Y10QD75 Buffer memory Drive unit 7000 1500Start conditions Control data that require settingStart time chart Positioning data setting exampleStart time chart To H0 K1500 K7000 Creating the programExample Set the block start data beforehand M104 Y10 X1011.2.5 Manual ControlInching operation JOG operationMonitoring manual control Manual pulse generator operationManual control sub functions Carrying out manual control from peripheral devicesJOG operation JOG operation Outline of JOG operation ImportantErrors during operation Cd.17Cd.16 JOG operation timing and processing times JOG operation timing and processing timeJOG operation is carried out by the following procedure JOG operation execution procedureSetting the required parameters for JOG operation Deceleration time 1 Unit pulse Acceleration time 1 Unit pulse 1000Acceleration time 2 Unit pulse Acceleration time 3 Unit pulseRequired control data setting Creating start programs for JOG operationJOG speed is set to 100.00mm/min in the example shown JOG operation start time chart Creating the program JOG operation example When the stop signal is turned on during JOG operationY9, YB, YD, YF Busy signalXC, XD, XE, XF OFFForward run JOG operation Forward run JOG start Signal Y8, YA, YC, YEForward run JOG operation execution Test mode Forward run JOG start signal OFF Y8, YA, YC, YEY4, Y5, Y6, Y7 100ms Rise of JOG start signal is ignored Forward run JOG operation Forward run JOG start signalInching operation Inching operation Outline of inching operation ImportantLimit signal Depending on Inching operation timing and processing timesInching operation is carried out by the following procedure Inching operation execution procedurePulse output to the drive Setting the required parameters for inching operationSetting item Setting requirement Factory-set initial value Pr.1 Pr.2Inching Creating a program to enable/disable the inching operation14 Inching operation start time chart Creating the program Inching operation example When stop signal is turned on during inching operation16 Operation when JOG start signal is turned on in test mode Cd.21 X10, X11, X12 Manual pulse generator operation enabledManual pulse generator operation Create the sequence program so thatOperation possible Operation not possible Upper/lower Restricted items64 to 28.4 to 57.6 Manual pulse generator operation timing and processing timePosition control by manual pulse generator operation Speed control by manual pulse generation operationFor example, when Manual pulse generator operation execution procedure Torque limit setting value Unit % 300 Input signal logic selectionManual pulse generator input selection Generator operation when finished with Manual pulse Set the manual pulse generator 1 pulse inputCd.20 Generator 1 pulse Magnification Start complete signal X10 OFF Busy signal Forward run Reverse run Pulse input Phase PLC Ready signalNo.13 Manual pulse generator operation program Memo 12.3.1 12.1.112.2.1 12.2.2Outline of sub functions Following table shows the types of sub functions availableIt cannot be invalidated with parameters Timing known Trigger for the sub workDirection opposite to the Pr.44 OPR direction Sub functions specifically for machine OPROPR retry function Movement startsOPR direction is set to 0 Positive OPR direction, aPr OPR direction Stop by limit Machine OPR Setting the dwell time during an OPR retryDwell time during OPR retry Precaution during controlSetting the OPR retry function Setting item Setting details Factory-set ValueOP shift operation OP shift functionSetting range for the OP shift amount Movement speed during OP shiftOPR speed or Precautions during control Setting the OP shift functionStatus b4 Backlash compensation function Functions for compensating the control255 Setting the backlash compensation functionCurrent feed value or Backlash compensation, which includes the movement amountPr.2 Electronic gear functionError compensation method ProcedureDefinition No. of pulses per rotation Ap Set the post-compensationActual speed Relation between the movement amount per pulse and speedRemark Near pass function Da Positioning address Path of positioning data No.3Positioning data No Positioning data No Axis 2 output speed Axis 1 output speedExample Near pass Allowable circular interpolation error widthSpeed limit function Functions to limit the controlJOG speed JOG speed limit Setting the speed limit functionIf any axis exceeds 200000New torque value is set to Torque limit functionWhen limiting the torque at Torque limit setting value, confirm ThatPr.17 Torque limit stored value Setting the torque limit functionSoftware stroke limit lower limit Software stroke limit functionPr.13 Workpiece moveable rangeMd Current feed value Md Machine feed value When machine feed value is setCurrent feed value and range limit check Pr.14Software stroke limit check details No.10 P11 No.11 No.12 No.13 No.14 P01 Precautions during software stroke limit checkSoftware stroke limit upper Limit value Pr.12Software stroke Setting the software stroke limit functionInvalidating the software stroke limit For manual operation, set 0 software stroke limit invalid315º Setting when the control unit is degreeSetting the software stroke limit Current value address19 Hardware stroke limit function operation Hardware stroke limit functionInput signal logic selection is the initial value Wiring the hardware stroke limitWhen the hardware stroke limit function is not used Input signal logic selection is set to the initial valueSpeed changes to Operation during Functions to change the control detailsSpeed change function Following drawing shows the operation during a speed changeFunction version Restarting speed Da.8 Command speed Cd.14Or later Positioning operation Speed change 0 flag Status b10, and enableSpeed limit value when the value set New speed value is equal to or larger thanSpeed change Cd.15 Set 1 Change the speed Setting the speed change function from the PLC CPUFollowing shows the speed change time chart Cd.14 New speed value 2000 Set the new speedNo.14 Speed change program Cd.14 New speed value Cd.8 Set 1 Validate the external commandPr.42 Set 1 External speed change request ValidK62 Input the external command signalWrite 1000000 to D108 and D109 K1514 D108Md.22 Override functionFeedrate becomes a value of 1 or less. When Cd.13Positioning Cd.13 Operation speed Setting the override functionMELSEC-Q Cd.10 Cd.11 For an acceleration/deceleration time change enable settingAcceleration/deceleration time change function Pr.9 Pr.10 Pr.25 Pr.30When 0 is set in Cd.10 New acceleration time value New deceleration Setting the acceleration/deceleration time change functionNew acceleration Cd.10 Set the new acceleration time Time valueNo.16 Acceleration/deceleration time change program Example31 Torque change operation Torque change functionIf a value besides 0 is set Setting the torque change function start signalAbsolute position restoration function Servomotor with absolute position detector PLC systemQD75 Operation Panel Module PLC system Pulse train Servo amplifier QD75 CommandBattery Servomotor Pulse/rev cumulative rotation Outline of absolute position detection data communicationAbsolute position signal transmission procedure DedicatedInstruction Transmission mode Signal name Abbreviation Pin No Function and applicationABS transmission mode terminal. While this is turned on This is turned on when ABS data is requested in the ABSUnit ∝ m Controlling instructionsCondition 1. Number of output pulses Condition 2. Positioning addressDetection system Concept for the unit of mm, inch or pulseExample 26843545.6 26843545.5 Unusable range Absolute positionUsable range in absolute Concept for the unit of degree Step operation not possible Other functionsStep function Relation between the step function and various controlsStep start information Step modeDeceleration unit step Data No. unit stepTurn OFF the step valid flag, and quit the step function Using the step operationSet the step mode before starting the positioning data Write 1 restart toPositioning start signal RYn+10, RYn+11 Cd Step valid flag Positioning start signalY10, Y11, Y12, Y13 Busy signal XC, XD, XE, XF Positioning complete signalCd.35 Step valid flag Set 1 Carry out step operation Step function settingsSet 0 Deceleration unit step or 1 Data No Cd.34 Step mode Unit stepY10, Y11, Y12, Y13 BUSYsignal Skip functionFollowing drawing shows the skip function operation Setting the skip function from the PLC CPU K62 K3 Setting the skip function using an external command signalCd.8 Set 1 Validate external command Pr.42 Set 3 Skip requestMd.25 Code on signal output timingWith mode Code output functionCode OFF request After modePoint Pr.18 Setting the M code output functionReading M codes M code No Code setTeaching function Control details Teaching timingAddresses for which teaching is possible Designates the data to be taught Teaching Data used in teachingFollowing control data is used in teaching Selection Written to Arc addressYES Teaching procedureMELSEC-Q Motion path Example Target position Setting conditionsTeaching program example Program examplePoint When the direction of the operation is changed Target position change functionDetails of control Precautions during operation Set 1 Carry out speed change Following shows the time chart for target position changeNo.22 Target position change program Command in-position function Width check Command in-position width and command in-position flagExecution of the command in-position Pr.16Remaining distance to the stop position of the position Setting the command in-position functionConfirming the command in-position flag Command Turn on the command in-position flag, and set Pr.16Acceleration/deceleration processing function Velocity Pattern acceleration/deceleration processing methodSet the acceleration/deceleration curve when 1 is set Pattern acceleration/deceleration processingSpeed change request Speed change deceleration Controls Pre-reading start functionCutter Cutter shaft Feed shaft Stock 49 System example using pre-reading start functionFeed shaft Start Program examples MELSEC-Q Start made with positioning data No. specified Deceleration start flag functionBlock start Da.11 Da.12 Data ShapeStart data No Precautions during control Set whether the deceleration start flag function Deceleration start flag function setting methodChecking of deceleration start flag Monitor item Storage detailsControl Stop command processing for deceleration stop functionDeceleration curve re-processing Deceleration curve continuationPrecautions for control Setting method Common Functions Outline of common functions Parameter initialization means Parameter initialization functionInitialization request Parameter initialization methodParameter Parameter Cd.2 Set 1 parameter initialization request 1901Execution data backup function Execution data backup written to flash ROM meansMd.19 Flash Execution data backup methodShown in the following table External I/O signal logic switching functionParameter setting details Precautions on parameter settingExternal I/O signal monitor function 14.6 14.314.4 14.5Interlock during dedicated instruction is executed List of dedicated instructionsSetting data Functions Control dataAbrst instruction Execution completion OutputPoints Processing processingPrecautions ErrorsProgram examples Dedicated Instructions PSTRT1, PSTRT2, PSTRT3, PSTRT4 9000 to Machine OPR 9001Fast OPR 9002 Current value changing 9003 7000 to UserSequence program Pstrt instruction Execution completionComplete state display OFF Program examples Dedicated Instructions TEACH1, TEACH2, TEACH3, TEACH4 Teaching data Current feed value is written is set Current feed value is written to positioning addressPositioning data No. for which teaching is carried out User Teach instruction Execution completion Program example Device Setting data Setting side PfwrtOther than Instruction symbol Sequence program ProcessingPfwrt instruction Execution completion Precautions Program example Pinit Device Setting data Setting range Setting sideInstruction symbol Execution condition Other than 0 Abnormal completion error codeInitialized setting data Parameters Positioning data No to No Block start data No toPinit instruction Execution completion Program example 15.4 15.3Types of errors Error and warning details ErrorsError storage Axis error NoTypes of warnings Status for axis status storage Resetting errors and warningsConfirming the error and warning definitions Invalid operationsMemo List of errors OFF. Turn OFF the on commands After making an axis error reset refer to 3 in SectionCheck whether the stop commands output Signals/external inputs to QD75 are turned on orOPR speed by the stopper method Count method 1 Near-point dog signal is turnedDwell time fault OP detection timing Detailed parameter 2 Sudden stopBring the JOG speed into the setting range Lower the OPR speed Increase the dog signal input timeAdjust the near-point dog position so that Review the wiring. Refer to SectionCurrent speed is set for speed Position switching controlWhen multiple axes are started To 600, 7000 to 7004, and 9001 to 9004Axis 1 start data No 1640 1740 1840 Refer to .5 Da.1660H, 70H, 80H, 90H, A0H B0H, C0H, D0H, E0HWhere the control unit is set to Operation status at error occurrenceAt start The system will not operate Correct the circular interpolation error allowable limit Setting with sequence programWhen software stroke limits are Valid 2147483648 to When software stroke limits are InvalidOperation pattern sets a new Not possible Control falls outsideValue range Control unit is set to degree Control system sets anAt start Bring the current feed value into the software Stroke limit using the manual controlPosition switching control, and position-speed 1506 1606 1706 1806Sudden stop selection Axis not present Stop group Axis linear interpolation control ErrorInterpolation axis Operation of the interpolation axis Unit group Units are different at the parameterTo 2000000000 mm/min or others Refer to .3 Da.8 Correct the positioning data or change the parameterAre in line with each other Sub point setting End point = sub point ErrorProhibited area Either of the following applies Designated Start point = sub pointAxis Same as error codes 515 to Correct the control system or parameter. Refer to .1.6Correct the positioning address. Refer to .2.16, 9.2.17 536 When an M code on signal X4 to Start X7 is turned onPositioning start is carried out 537 Refer to .4 Da.13 After turning OFF the M code on signal, startSignal. Then start the system Correct the instruction code of the special start dataError Executed with the teaching data Stop selection Direction in unit Set outside the setting rangeHold error Output at error stop, the setting for Setting deceleration 9001 to Stop/sudden stopOutput at error stop Set the ABS setting direction in the unit of degreeWithin the setting range Set 0 when the software stroke limits are validOutside the setting range Range Outside unit settingRange Outside the setting range Outside unit Error Setting range Rotation directionSet the bias speed to not more than the speed limit PLC Ready signal Y0 from OFF to onSet the value converted into the pulse number using Bring the setting into the setting rangeSpeed changeover Error Error name Operation status at errorSetting value Setting range Code on timing Mode errorDegree 0 to Value is smaller than the upper limit value Mm inch pulse Bring the setting into the setting rangeSpeed-position switching control ABS mode should Turn the PLC Ready signal Y0 from OFF to onCircular interpolation Error width Detailed parameter Setting error196 346 496 PLC Ready signal Y0 from OFF to on 197 347 497 Bring the setting into the speed limit value or belowAxis 1 Axis 2 Axis 3 Axis 194 344 494 195 345 495 Creep speed error OPR direction errorSetting range OP address setting Set range of the OPR basic OPR speed error Setting range Set range of the OPR basic226 376 526 Axis 1 Axis 2 Axis 3 Axis 221 371 521Set the speed to the bias speed at start or higher 225 375 525List of warnings Deceleration with the JOG start signal OFF Do not issue the restart command when the axisCarry out the teaching request when the axis is not Set a value within the setting rangeCommand function When input magnification is set atLimit value when the speed is Termination settingGive a request at the position where there is an Magnification to within the setting rangeWith a stop command, during stoppage, or during Do not turn on the speed-position switching signalClassification Warning Outside command Command speed exceedsContinuous path control is used Set the teaching data selection set value to withinFollowing cases During deceleration stop. An operating patternLED display functions Appendix 8.1 Connection example of QD75D ∑ series Appendix 4.1 Connection example of QD75D MR-HAppendix 4.2 Connection example of QD75D MR-J2/J2S- a Appendix 4.3 Connection example of QD75D MR-CFunction comparison Additional buffer memoryAdditional devices Memo MELSEC-Q MELSEC-Q Appendix 2.2 Parameter setting value entry table 20000 1000 2147483647 2147483648 300 Initial value Axis RemarksInterpolation error width Setting Upper limit External B7, b9 Unused Each bit valueGenerator input Positive Command Deviation Unused Logic Input selection Phase/B phase multiple PULSE/SIGN modeInitial value Axis Remarks 1000 20000 300 OPR direction Creep speed Do not retry OPR with upper/lower limit switchSetting for the movement amount Deviation counter clear signal To 65535msInitial value Axis Remarks 300 Time Ted Movement Amount Control AcceleraArc Dwell Code Pattern System Tion time Interpola Address2015 2016 2017 2018 2019 20022005 2006 2007 2008 2009 2012Posi Command Positioning Arc data 4022 4024 4025 4026 4027 4028 4029 204 2014002 4004 4005 4006 4007 4008 4009 202 4012 4014 4015 4016 4017 4018 4019 2035032 5034 5035 5036 5037 5038 5039 305 5002 5004 5005 5006 5007 5008 5009 3025012 5014 5015 5016 5017 5018 5019 303 5022 5024 5025 5026 5027 5028 5029 3046022 6024 6025 6026 6027 6028 6029 404 4016002 6004 6005 6006 6007 6008 6009 402 6012 6014 6015 6016 6017 6018 6019 4037032 7034 7035 7036 7037 7038 7039 505 7002 7004 7005 7006 7007 7008 7009 5027012 7014 7015 7016 7017 7018 7019 503 7022 7024 7025 7026 7027 7028 7029 5048032 8034 8035 8036 8037 8038 8039 8002 8004 8005 8006 8007 8008 80098012 8014 8015 8016 8017 8018 8019 8022 8024 8025 8026 8027 8028 80299022 9024 9025 9026 9027 9028 9029 104 1019002 9004 9005 9006 9007 9008 9009 102 9012 9014 9015 9016 9017 9018 9019 103MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MR-H TE2 QD75D CN1 Pulse F+ Pulse R+ Clear Clear COM MR-HDP01 Pulser B DOG SON Pulser A+ 24G 2m maxB19 Generator +24VINNo. of control axes No. of positioning data items Error displayStart, error, warning Model QD75P1 QD75P2 QD75P4 A1SD71S2Comparisons of performance specifications Positioning systems214748364.8 to Controls Command pulse output system Ation time Setting rangeNear pass Error display Error LED History data storage Start, error, warningFunction comparisons From the speed limit value is out of the maximum command Start history storage during errorQD75, errors for the software stroke upper limit are Integrated into error code 508. Error codes 509 to 512 areChanged functions Normal Not Ready Ready signalIs changed to Error occurring Axis operation status Step operation is restarted with the restart commandError code comparisons A1SD75 Not READY/WDT errorInput/output X/Y comparisons Added Deleted Fatal warning CommonBuffer memory address comparisons Near pass mode selection for path control 216 366 Positioning complete signal output time 209 359Allowable circular interpolation error width QD75 Pr.42 External command function selectionStart history storage during error 623 Pointer number Test mode flag 450Error judgment Start Second 100 ms ErrorsItems of A1SD75 QD75 Axis warning No753 1422 Start positioning data No. setting value Speed-position switching control positioningExternal input/output signal Special start data instruction parameter settingSpeed-position switching control movement Clock data setting hourClock data setting minute, second Axis error resetCode/condition data 1510 1610 1710New deceleration time value Acceleration/deceleration time change duringParameter Start 43504600 4850 DataData indication No. comparisons Setting for the movement amount after near-point dog on Positioning complete signal output timeAllowable circular interpolation error width Pr.42 Near pass mode selection for path controlMonitor data OP absolute position Speed-position switching control positioning amountSpecial start data instruction code setting value Special start data instruction parameter setting valueControl data Stop command processing for deceleration stop selection Interrupt request during continuous operationCd.42 Called block start data with the QD75 Appendix Positioning data, block start data, condition dataInput/output signal comparisons Input signal comparisonsOutput signal comparisons Appendix 10 Melsec Explanation of positioning terms Pulse input PhaseNo.10 Positioning No.11 Code After modeClamp command No.1 No.2Female thread Male thread Auto Tuning Automatic TuningAcceleration Deceleration Speed Time Forward run BacklashFull speed Speed Bias speed BIN BinaryC D Change signalCCW Counterclockwise Refer to term Feedback PulseNo.2 No.4 No.6 No.1 No.5 No.3 CP Control Continuous Path ControlConverter Digital-to-Analog converter No. of pulses Voltage 0 to ±10V To 80,000 Pulses/secondPositioning Drive Motor Module Unit Power supply Near-point dog of the OPRReceiver Index Scale Rotary encoderLinear encoder Appendix For the main For the zeroQD75, F is a status where the module itself has a fault OPR speed Dog switchRotation by the motor Lead feedrate per screw rotation Gain FLS Signal forward limit signalG50 Max. spindle speed setting RaisingRight Right No is several millimeters To the right of No Incremental EncoderActuator MicroswitchKPPS Y0 Forward run Y1 Reverse runMade by Mitsubishi Electric Corp. model MR-HDP01 Code Machine CodeRefer to GD2 No.9 Longitudinal Feed No.8 No.1 Latitudinal feedNo. of pulses per Per rotation Encoder rotation NC Language Numerical Control LanguageP rate. Refer to the term P Rate RateThis point is the reference OPR MethodFeedback pulses PG0 1 axis rotation Pronounced pee-jee-zero. Refer to the term Zero SignalRate Pulse Rate PG0 Pulse Generator ZeroLoop gain Command pulse frequencyDwell time Positioning complete signal Refer to the term Operation PatternType Terminal PTP Control Point To Point ControlRefer to the section of term operation pattern Forward ReverseRLS Signal reverse limit signal REAL-TIME Auto Tuning Real-time Automatic TuningMotor PLG Encoder SFC Sequential Function ChartExecution of extrusion QD75 Ready Servo amplifierSpeed Control Start Switching signal High speed Incremental positioningRefer to the term Dwell Time Appendix Motor torque MotorLoadMachine OPR Stopper Positioning possible in a 3m 9.84feet range Limit switchTorque width variations, deviations in the torque Lower limit Upper limit StopAlso called PG zero. Refer to Zero Signal Rotated by the motorBase table Axis Appendix 11 Positioning control troubleshooting How can the deceleration stop 8192 Setting of 1 m 1pulse isChanged 1pulse cannot be achieved Thus, the setting 1 m Trouble type Questions/Trouble RemedyMachine OPR, the message Trouble type Questions/TroubleMovement amount per No. of pulses per No. of pulses RotationSetting is Deceleration stop, it will be ignored. The same Signal should be turned on at 4ms or moreIf possible, set the signal so it does not turn on only Selected? Setting valueSet to Is it possible to count the pulses Not possible When a JOG operation isHow can it be canceled? Changing has been executed PLC Ready signal Y0 turns on ModuleUnit magnification to 10-fold or Is set to To on Parameters When the start signal was turnedSignal ON, warning 100 start Is there any problem ifAppendix 12 List of buffer memory addresses Setting for the movement amount after 1422 Axis in which the errorError history pointer Occurrence HourMemory area Axis monitor data Monitor data Md.30 External input/output signalSpecial start data instruction No. setting 815 915 1015 1115 AmountMemory area Axis control data Control data 1515 1615 1715 1815 Speed change requestAxis Simultaneous starting axis start data No Cd.42 Stop command processing for decelerationDwell time/JUMP destination Buffer memory address Axis Operation patternCode/condition data No No. of Loop to Lend repetitions50th point Buffer memory address Axis Memory area ShapeStart data No Point Data ParameterPLC CPU memory area Condition judgement target data of the conditionAppendix 13 External dimension drawing QD75P1/QD75P2/QD75P4 27.4 136Unit mm QD75D1/QD75D2/QD75D4 Number 12-63 Axis error occurrence HourAxis error occurrence Minute second Md.12 Axis error reset Command in-position widthComposite speed Explanation of positioning Details of input signals QD75 PLC CPUDeviation counter clear signal output time Appendix-73External input/output signal Error correction Explanation of positioning termsError reset Explanation of positioning terms External command function selectionInput signal logic selection For starting speed-position switching controlFor starting with external command signal Test mode flag15-36 Limit switch Explanation of positioning termsManual pulse generator enable flag Multi-phase pulse Explanation of positioning12-18 Multiplying rate setting Explanation of positioningNo. of write accesses to flash ROM NC language Explanation of positioning terms Appendix-81Position-speed switching control enable flag Outline of installation, wiring and maintenanceOutput signal logic selection Position loop mode Explanation of positioningPositioning starting point No PrecautionsExternal command function valid setting Pulse output mode Explanation of positioningSetting for the movement amount after near-point Dog on Restart commandRLS signal Explanation of positioning terms Rotation direction settingSpeed-position switching control Explanation Special start data instruction code setting valueSpecial start data instruction parameter setting Speed-position switching control ABS modeTime chart for starting position-speed Stop command processing for deceleration stopStop signal Explanation of positioning terms Time chartTurntable Explanation of positioning terms Unit setting Explanation of positioning termsWith mode Explanation of positioning terms Tracking function Explanation of positioningMemo Overseas service Gratis Warranty Term and Gratis Warranty RangeGratis Warranty Term Gratis Warranty RangePage Page QD75-U-S-E 13JR09 SHNA-080058-H0506MEE

MELSEC-Q

Indicates a pointer No. that is next to the Pointer No.

0000

0000

1422

1424

1425