Palletizer

1 PRODUCT OUTLINE

1.1.2 Purpose and applications of positioning control

MELSEC-Q

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.

Punch press (X, Y feed positioning)

Gear and ball screw

320mm

160mm

15m/min

Y axis

Y axis X axis

(2000r/min)

servomotor

Y axis

Press

15m/min

punching

(1875r/min)

12 s

Press head

X axis

Gear and rack & pinion

Servo

X axis

PLC

servomotor

MELSEC-Q QD75

amplifier

Servo

amplifier

X axis

Y axis

•To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos.

•After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is then punched with the press.

•When the material type or shape changes, the press head die is changed, and the positioning pattern is changed.

Conveyor control

Conveyor

Servomotor (with brakes)

		G		Position detector
		G
Servo amplifier		Reduction		Palletizer
Servo amplifier		gears		Palletizer
		Ball screw		Unloader control
		(From QD75)		Unloader control
		(From QD75)
			PLC
			PLC
	Teaching unit		MELSEC-Q
	AD75TU				QD75
	AD75TU

		AD75
		AD75

•Using the servo for one axis, the palletizer is positioned at a high accuracy.

•The amount to lower the palletizer according to the material thickness is saved.

Compact machining center (ATC magazine positioning)

Servomotor

	Coupling	Reduction
		gears
		ATC tool
		magazine
Servo
amplifier	Positioning
	Positioning	Tool
QD75	pin	Tool
QD75		(12 pcs., 20 pcs.)
		(12 pcs., 20 pcs.)
		Rotation direction		Rotation direction
	PLC	for calling		for calling
	PLC	11, 12, 1, 2 or 3		17 to 20, 1 to 5
	MELSEC-Q	Current		Current
	MELSEC-Q	Current		Current
		value		value
		retrieval		retrieval
		position		position
		Rotation direction		Rotation direction
		for calling 5, 6, 7, 8, 9 or 10		for calling 7 to 16
		<No. of tools: 12>	<No. of tools: 20>

•The ATC tool magazine for a compact machining center is positioned.

•The relation of the magazine's current value and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time.

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Mitsubishi Electronics QD75D, QD75P user manual Purpose and applications of positioning control, Palletizer

Contents

Type QD75P/QD75D Positioning Module Page Safety Instructions Wiring Instructions Precautions for use Disposal Instructions Overall revisions based on the Japanese Manual Version SH NA-080058-B Addition of function version BSH-080047-E 3, .2.5, .6.2, .7.1, .2 to  1999 Mitsubishi Electric Corporation Introduction Installation, Wiring and Maintenance of the Product Specifications and Functions To 3 110 Memory Configuration and Data Process To 7112 Sequence Program Used for Positioning Control To 6 Major Positioning Control Control Details and Setting OPR Control To 8105 113 111114 High-Level Positioning Control To 10 10.1 12.3 12.212.4 12.5 Appendices Appendix- 1 to Appendix-108 Troubleshooting 15- 1 to 15Appendix Appendix 7.1 Connection example of QD75D Manual Name Manual Number GX Configurator-QP Operating ManualHardware Details of generic term/abbreviation Configurator-QPGeneric term for PLC CPU on which QD75 can be mounted IBM PC/AT and compatible DOS/V compliant personal computerPage Memo Memory Configuration and Data Process System configuration Specifications and FunctionsProduct outline Data Used for Positioning Control Memo Product Outline Communicating signals between QD75 and each module Features of the QD75 are shown below Positioning control 1.1.1 Features of QD75Availability of one, two, and four axis modules Wide variety of positioning control functions Quick startup Refer to Section Easy maintenance Setups, monitoring, and testing through GX Configurator-QP Palletizer Purpose and applications of positioning controlCompact machining center ATC magazine positioning Index table High-accuracy indexing of angle Lifter Storage of Braun tubes onto aging rackInner surface grinder Mechanism of positioning control QD75 errors, etc., are detectedCreates control order and conditions as a sequence program Stores the created program Speed control Position controlDesignated distance Outline design of positioning system Positioning system using QD75Positioning operation by the QD75 Pulse train output from the QD75 Movement amount and speed in a system using worm gears Mm/pulse Vs =Pulse/s Pulse Communicating signals between QD75 and each module QD75 Drive unit QD75 Peripheral deviceQD75 Manual pulse generator Device connection connector QD75 External signalQD75 External signal External signal QD75 Communication Dog signal, upper/lower limit signal, zero Flow of system operation 1.2.1 Flow of all processes GX Configurator-QP QD75 Servo, etcGX Developer GX Configurator-QP For setting data ManualUsing GX Configurator-QP, also debug the set data Chapter Details Reference Chapter Memo Outline of starting QD75 Outline of stopping Outline for restarting When Cd.6 Restart command is onReference Md.26 Cause occurs during deceleration stop processing to Restrictions with a system using a stepping motorFunction System Configuration Module USB cable Extension System RS-232 cable General image of system For details, refer to GX Configurator -QP Operating Manual Component list Specifications of recommended manual pulse generator Applicable system Applicable modules and the number of installable modulesUsable base unit QD75 can be used in the following system Method using the rated plate on the module side face How to check the function version and Serial NoMethod using the software GX Developer display screen Combination of QD75 main functions and sub functions Signal layout for external device connection connector Interpolation function None Performance specificationsPTP control Positioning system Screw tightening torque Applicable wire size Main functions List of functions 1 QD75 control functionsSub functions Common functions OP shift function Functions that compensate control Main functions OPR control Control registered in QD75Pattern Speed limit function Torque limit function 2 QD75 main functions With the set order When the condition is established, the block start data isCondition start Start data Wait start Start data 3 QD75 sub functions and common functions Positioning Or positioning dataTo 65535 that can be set for each positioning data Data No Contact signals, such as Drive unit Ready or Method using sequence programCommon functions Details Reference 13.5 Memo Combination of QD75 main functions and sub functions Pre-reading start function Deceleration start flag Function Stop command processingFor deceleration stop Function Acceleration/ deceleration time change function Use prohibited Signal direction QD75 PLC CPU Signal direction PLC CPU QD75Axis Code on X10 Axis Y10 X11 Details 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 2B7 Signals External command functionSkip request from an external source Selection Common Input Common to QD75P1 and QD75D1 Input/output interface internal circuit About logic setting and internal circuit Input signal ON/OFF statusNegative logic Initial value Output For QD75D1 Output For QD75P1 Items to confirm when installation and wiring are completed Wiring INSTALLATION, Wiring and Maintenance of the Product QD75P4 Names of each partQD75D4 Part names of the QD75 are shown below Interface of each QD75 is as shown below Handling precautions Installation environment Other precautions Main bodyCable Installation Precautions for installation Precautions for wiring Wiring Processing example of shielded cables Wiring example of shielded cableQD75 side Cables should be the shortest possible Wrap the coated parts with a heat contractile tube Assembling of connector A6CON1 Inside control box QD75 20cm7.88inch To 30cm11.82inch AD75CK How to ground shielded cable using AD75CK Control panel Insert until hook Catches Module bottom Wiring of the differential driver common terminal MELSEC-Q Disposal instructions Maintenance Precautions for maintenance Memo Data Used for Positioning Control Parameters Types of data Parameters and data required for controlPositioning parameters OPR parameters Operation, and stops/restarts the operation Data for user to control positioning system. Cd.1 to Cd.42 Setting items for positioning parameters Pr.1 Pr.42 Checking the positioning parameters Checking the OPR parameters Setting items for OPR parametersPr.43 Pr.57 Da.1 Setting items for positioning data Items Checking the positioning dataDa.1 Da.10 Memo Checking the block start data Setting items for block start data Checking the condition data Setting items for condition data Monitoring the system Types and roles of monitor dataMonitoring the positioning system operation history Monitoring the position Monitoring the axis operation stateMonitoring the speed Monitoring the state Memo Types and roles of control data Setting and resetting the setting dataControlling the system data Controlling the operation Controlling the operationControlling operation per step Controlling the speed Making settings related to operation Memo List of parameters 5.2.1 Basic parameters Pr.1 Unit settingRotating body 360 degrees/rotation Table, conveyor Pr.2 No. of pulses per rotation Ap Pr.2 to Pr.4 Movement amount per pulseAssuming that the unit mm is selected with 6000 100 6000 CW/CCW mode PULSE/SIGN modePr.5 Pulse output mode Pr.5 Pr.6 Rotation direction setting Phase/B phase modePositive logic Negative logic For multiple of 1 setting For multiple of 4 setting Pr.6 When Pr.7 Bias speed at start Basic parametersSpeed limit value Pr.8 Pr.8 Speed limit value Setting value Value set with peripheral device unitPr.9 Acceleration time Pr.10 Deceleration time Pulse To 200000 pulse/s To 1000000 pulse/s Select type Pr.11 Backlash compensation amount Detailed parameters Pr.13 Software stroke limit lower limit value Pr.12 Software stroke limit upper limit value Pr.16 Command in-position width Pr.15 Software stroke limit valid/invalid setting300 176 326 476 Torque limit setting value Pr.14 Software stroke limit selection Pr.18 Code on signal output timing Pr.17 Torque limit setting value Stop signal External Front-loading speed switching Speed switching mode ModeCommand Negative Input signal logic selection Near-point Positive Signal For standard switching Pr.19 Speed switching modeFor front-loading switching When composite speed is designated Pr.21 Current feed value during speed control Specify whether you wish to enable or disable the updatePr.24 Manual pulse generator input selection Pr.150 Speed-position function selection Memo Pr.28 Deceleration time 1 to Pr.30 Pr.25 Acceleration time 1 to Pr.27 Pr.32 JOG operation acceleration time selection Pr.31 JOG speed limit valuePr.33 JOG operation deceleration time selection Deceleration time Deceleration time 1. Deceleration time Automatic trapezoid acceleration/deceleration Pr.34 Acceleration/deceleration process selectionPattern acceleration/deceleration Pr.35 S-pattern ratio Acceleration starts following Deceleration starts following Pr.36 Sudden stop deceleration timeEration time Actual sudden stop Deceleration time MELSEC-Q Positioning complete signal output time Pr.40 Positioning complete signal output time Path with spiral interpolation Error Pr.41 Allowable circular interpolation error widthWith calculation Start point address Center point address To enable the external command signal, set the to Pr.42 External command function selectionExternal command enable Memo Pr.43 OPR method OPR basic parameters Pr.46 OPR speed Pr.47 Creep speed Positive direction address Pr.44 OPR direction Pr.1 Setting valuePr.44 Degree To 359.99999 degree To 35999999 ⋅ 10-5degree Pulse Pr.46 OPR speed Pr.45 OP address Set a speed equal to or faster than the bias speed at start Pr.47 Creep speedOPR speed Pr.47 Creep speed Pr.7 Bias speed at start Pulse To 1000000 pulse/s Pr.48 OPR retry Memo OPR detailed parameters When stopper method 1 is set forPr.49 OPR dwell time OPR dwell time value Pr.52 OPR deceleration time selection Pr.51 OPR acceleration time selectionUse the value set Acceleration time Pr.53 OP shift amount Pr.54 OPR torque limit value Pr.55 Deviation counter clear signal output timePr.56 Speed designation during OP shift Pr.57 Dwell time during OPR retry List of positioning data Before explaining the positioning data setting items 599 600 Axis to be interpolated Operation pattern2-axis interpolation only Da.2 Control system Da.1 Operation patternDa.3 Acceleration time No Da.4 Deceleration time No Absolute ABS system, current value changingDa.5 Axis to be interpolated Da.6 Positioning address/movement amount Da.2 Position-speed switching control Speed-position switching control Da.2 Setting value When Pr.1 Unit Setting is pulse When Pr.1 Unit Setting is inch Memo Da.7 Arc Da.7 Arc addressEnd point address Address set with Da.6 When Pr.1 Unit Setting is mm Da.8 Command speed Da.2 Setting value Setting itemRepetition count Value set with peripheral Value set with sequence Da.2 Da.1 Da.9 Dwell time/JUMP designation positioning data No Memo Block List of block start dataStart block Da.11 Da.14 Pages that follow explain the block start data setting items Block Axis Settings Axis7000 Axis 7001 Axis Shape Device EndContinue 26000 27000 28000 29000 Shape Positioning data No Da.11 Shape How to start the positioning data set Start data NoDa.12 Start data No Da.13 Special start instruction Da.14 Parameter Special start instruction Setting value Setting detailsSet the value as required for Special start instruction Block List of condition data Da.15 Da.19 Pages that follow explain the condition data setting items Data Used for Positioning Control Remark Condition target Identifier Parameter Setting value DefaultOperator 03H Condition operator Da.16 Condition operator Da.15 Condition targetDa.17 Address Da.19 Parameter Da.18 ParameterSet the parameters as required for Condition operator When in test mode When not in test modeList of monitor data 5.6.1 System monitor data Not in test mode Test mode Reading the monitor value Default valueMonitoring is carried out with a decimal 1200 History Up to 16 records can be stored Storage item Storage detailsStart Hour Start Minute Second 0000 0000HStorage buffer memory address common to axes 1 to Storage details Reading the monitor value Can be storedJudgment Starting history Up to 1292 Stores an axis error No Error Encountered an errorAxis error Stores the time at which an Occurrence Axis error was detected 0000 1357 Error reset operation is Accesses to flash When the number of writeAxis in which Encountered a warning 1422 1424 1425 Axis monitor data Monitoring is carried out with a hexadecimal Axis 1 Axis 2 Axis 3 Axis800 900 1000 1100 0000 H Axis warning No When Command speed set by the current positioning dataStores 0 under the speed control Set by the positioning data used one step earlier 807 907 1007 1107 808 908 1008 1108 809 909 1009 1109 Default810 910 1010 811 911 1011 Speed-position switching Monitoring is carried out with a hexadecimal 0000H 816 916 1016812 912 1012 1112 0000H 813 913 1013 1113 814 914 1014 1114 Address/movement amount For a positioning operation Target valueAt other times Stores 0000 H 817 917 1017 Default Storage buffer Memory address Value818 918 1018 819 919 1019 Torque limit setting value is stored Is stored Is stored when machine OPR startsMachine OPR completion is stored Movement amount after 300 826 926 1026 Speed change processing Speed limit flagFlag Speed limit value due to a speed change or Pr.8 828 928 1028 1128 827 927 1027 1127829 929 1029 1129 830 930 1030 1130 Last executed positioning Positioning data No. beingExecuted last time Md.48 Deceleration start flag 0000 H 833 933 1033 832 932 1032 1132835 935 1035 1135 837 937 1037 1137 Buffer memory to the flash ROM List of control data 5.7.1 System control dataPositioning data No to No Block start data No to Setting Value Setting value K Restart command Stopped, set 1 Setting item Setting details Set the positioning start NoCode OFF request M code on signal turns OFF Axis control data Setting Setting K value Inch Degree Item to specify a new feed value2147483648 +2147483647 1505 1605 1705 1805 10 n1506 1507 1606 1607 1706 1707 1806 1807 Conversion into an integer value New acceleration time value Setting range unit Setting item Setting detailsSetting range unit To 8388608 ms Speed change Enable/disable selection 1510 1610 1710 1810 1511 1611 1711 1811 Set with a decimal Set with a decimal 1508 1608 1708 1808 1509 1609 1709 18091512 1612 1712 Inch Degree Pulse Setting range 1514 1614 1714 1814 100 1513 1613 17131515 1615 1715 1815 1516 1616 1716 ⋅ 10-1µm ⋅ 10-5inch 1518 1618 1718 1818 1517 1617 17171519 1619 1719 1819 1520 1620 1720 Specify a new torque limit stored value Torque limit setting valueSet a value within the allowable range 1522 1622 1722 1822 1523 1623 1723 1823 1521 1621 1721 18211524 1624 1724 1525 1625 1725 2147483647 Speed-position switching control INC modeFor that, use this data item to specify a new speed Inch Degree Pulse Pr.1 ⋅ 10-1µm 1527 1627 1727 1827 1526 1626 1726 18261528 1628 1728 1828 1530 1630 1730 1830 Target position change value Position-speed switchingNew address New speed 1534 1634 1734 1834 1532 1632 17321535 1635 1735 1835 1536 1636 1736 1836 Stepping should be performed 1541 1641 1741 1841 1540 1640 1740 1840 Set with a decimal1542 1642 1742 1842 1543 1643 1743 1843 Set with a decimal 1544 1644 1744 1844 Cd.39 Teaching positioning data No When degree is selected as the unit 1547 1647 1747 1847 1546 1646 17461548 1648 1748 1848 1549 1649 1749 1849 Memo Sequence Program Used for Positioning Control Reading/writing the data Precautions for creating programRestrictions to speed change execution interval Process during overrun Control unit System configurationCommunication with QD75 Program, the unit of 0 mm is set for the basic parameter X0C List of devices used Forward run JOG/inching command Code OFF command Commanding M code OFFReverse run JOG/inching command Command Time change X35 M10 Manual pulse generator operation Enable command Operation enableRequesting acceleration/deceleration Storage Data resisters and timers Acceleration time setting Value High-order 16 bits Acceleration time setting Low-order 16 bitsDeceleration time setting Low-order 16 bits Enable Pulse output mode Rotation direction setting Pulse output modeCommand speed Rotation Unit magnification Creating a program General configuration of program Positioning 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 Data requiring setting External command function valid setting programTime chart for OPR OFF request This program forcibly turns OFF the OPR request flag Procedures for setting the starting details Start details setting programPositioning start point No Used to set a new value when speed is changed Position-speed switching control speed changeTo validate position-speed switching signal, this Cd.25 Buffer memory 1500 Start program Starting conditions Operation when starting Starting by inputting positioning start signal X10 OFF Starting time chart9001 X8 OFF 9002 Time chart for starting fast OPR Time 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 time Setting details Buffer memory address Value Axis Starting by inputting external command signalSet to 1 Validate external command 1505 1605 1705 Restrictions Operation during continuous operation interruption Continuous operation interrupt programRestrictions Cd.18 Set the following data to interrupt continuous operation Control data requiring settings Restart program Stop with stop commandRestart operation Cd.3 Axis operation status is 1 Stopped Signal state Control data requiring settingStarting conditions Set the following data to execute restart 14 Time chart for restarting Time chart for restarting Stop process Stop program Pr.30 Pr.10 Pr.28 Pr.29 Types of stop processesPr.36 Sudden Stop cause Sudden stop deceleration process Order of priority for stop process Memory Configuration and Data Process Area configuration Memory QD75 is configured of the following two memories Details of areas QD75 Data is backed up User accesses Here Buffer memory area configuration Power supply ON/memo area PLC CPU reset From command To commandPLC Ready signal Y0 OFF on Data transmission process Accessing with from command from PLC CPU Transmitting data with to command from PLC CPUPr.8 Pr.10 Pr.25 Pr.42 Pr.1 Pr.7 Pr.11 Pr.24 Pr.43 Pr.57 Pr.150 Memo area Flash ROM write Flash ROM request Write Flash ROM request Write Flash ROM request writing Flash ROM writeCd.1 QD75 read, monitor Writing data from peripheral device to buffer memory Reading data from buffer memory to peripheral device Following methods can be used to set the positioning data Ex. Setting the positioning dataCompletion 12- 1 to 12 11- 1 to 11 Memo OPR Control Outline of OPR control 8.1.1 Two types of OPR control OPR sub functions When an OPR is not requiredOPR from peripheral devices Restricted, Combination not possible Machine OPR operation Machine OPR Outline of the machine OPR operation ImportantOP address is a fixed value set by the user Pr.45 Machine OPR method OPR method 1 Near-point dog method Operation chartMachine OPR is started Pr.51 Pr.48 Precautions during operation Pr.44 Pr.46 OPR method 2 Stopper methodPr.49 Pr.55 Always limit the servomotor torque after OPR speed, thus causing an errorSet a value Md.31 Status b4 OPR method 3 Stopper method Pr OPR speed Pr Creep speed Stops at stopper Zero signalTorque limit Near-point dog OFF Machine OPR start OPR speed Pr Creep speed Zero signal Near-point dog OFF Machine OPR startStatus b3 OPR complete flag Md.31 Status b4 Deviation counter clear output Machine moves at OPR method 4 Stopper methodOPR direction. Torque Pr.47 Pr.44 Standing by OP address OPR direction. It then moves at OPR method 5 Count method1 Pr.50 OPR speed toPr.46 Machine OPR is started OPR method 6 Count methodPr.44 OPR direction. It then moves at Pr.46 OPR speed when Direction designated Setting for the movement amount after near- point dog on Fast OPR operation Fast OPR Outline of the fast OPR operation Operating restrictions Operation timing and processing time of fast OPR Memo Control unit degree handling Major Positioning Control Outline of major positioning controls Nonexecutable control system. When this instruction is Speed-position switching control Speed/positionReverse run Reverse run Position control Position/speed Major positioning control sub functions Data required for major positioning controlMajor positioning control from peripheral devices Operation patterns of major positioning controls XC, XD, XE, XF Independent positioning control Positioning complete Continuous positioning control Start complete signal X10, X11, X12, X13 OFFX14, X15, X16 Dwell time Time Pr.19 Continuous path control Deceleration stop conditions during continuous path control Interpola Tion axis Forward run command Reverse run command Speed 3000 2000 1000 Speed handling X14, X15, X16, X17 OFF Speed switching Refer to Pr.19 Speed switching mode X14, X15, X16 Start complete signal X10, X11, X12, X13 OFF Busy signal MELSEC-Q Absolute system Designating the positioning addressIncremental system Values showing the current value Confirming the current valueMd.21 Machine feed value Value is changed to a new value Da.6 Monitoring the current valueBuffer memory addresses Axis Md.20 Current feed value Setting to validate software stroke limit Software stroke limit valid/invalid settingSetting to invalidate software stroke limit Control unit degree handling Cd.40 UsingMoved from 315 to Moved from 45 to Incremental system When the software stroke limit is valid Meaning of interpolation control Interpolation controlAxis linear interpolation control, 4-axis fixed-feed Control, 4-axis speed control Axis Deceleration time No Data Setting the positioning data during interpolation controlAxis to be Interpolated Positioning address Forward run speed 2, 3, Movement amount Interpolation control continuous positioning Starting the interpolation controlSpeed during interpolation control Pr.20 Axis operation status during interpolation control Limits to interpolation controlSpeed limit Interpolation will be stored Positioning data setting items Interpolation Axis, 4-axis SwitchingPosition control Speed control Speed Position Jump instruction Arc address Command speedDa.9 Dwell time No. at Jump 2 1-axis linear control Positioning data setting exampleAxis linear control ABS linear 1-axis linear control Axis linear control INC linear Axis linear interpolation control ABS linear 3 2-axis linear interpolation control2-axis linear interpolation control Positioning address/movement amount Signal Da.10 Code Axis Setting item Reference Axis setting ExampleData will not be executed Da.2 Control system Set absolute system 2-axis linear interpolation control Start point address Axis Current stop position Axis linear interpolation control INC linear Set this when other sub operation commands are issued Da.8 Command speedDa.6 movement amount Positioning address 3-axis linear interpolation control 4 3-axis linear interpolation controlForward direction Axis Output of the positioning complete signal Setting not required setting value will bePositioning data will not be executed At deceleration Major Positioning Control Points Start point address X1, Y1, Z1 Movement amount Reverse directionStop address after the positioning control Axis 5000 6000 Deceleration time Pr.10 Da.4 Set incremental system 3-axis linear Major Positioning Control Points 5 4-axis linear interpolation control Code Setting details Axis Arc address Command speedPr.1 Unit setting Operation pattern Positioning Axis linear interpolation control INC linear 500ms Da.10 Setting not required setting value will be ignored 1-axis fixed-feed control 6 1-axis fixed-feed control Set 1-axis fixed-feed control Da.3 Acceleration time 2-axis fixed-feed control 7 2-axis fixed-feed control interpolation Set 2-axis fixed-feed control Speed may exceedPr.20 Interpolation Mm/min Speed designation method Set the time the machine dwells after the positioning stop 3-axis fixed-feed control 8 3-axis fixed-feed control interpolation Designated movement amount Restrictions 5000.0 6000.0 Set 3-axis fixed-feed control 4-axis fixed-feed control 9 4-axis fixed-feed control interpolation Axis side speed may exceed Movement amount Axis Da.7 Arc address Da.8 Command speedInterpolated Da.6 2-axis circular interpolation control Unit setting When the units set 3000.0 ∝ Pr.1 Setting is set to mm If the self-axis is set, an error will occurSet the speed when moving to the end point address Sub point designation Movement amount Restrictions With sub point designation Pr.1 Unit Setting is set to mmPr.25 Acceleration time 1 as Acceleration time at start Speed Pr.20 Interpolation speed designation Clockwise Can be controlledCounterclockwise Positioning address/movement Refer to Circular interpolation error compensationPr.41 Forward direction Arc addressRadius Reverse direction Arc address Reverse direction Restrictions Axis Arc address Command speed Da.9 Dwell time Da.10 M code Positioning data setting examplesCenter point designation. Select clockwise or Counterclockwise according to the control Movement amount = Restrictions With center point designation. Select clockwise or Unit setting is set to mmINC circular 8000.0 ∝ 12 1-axis speed control Set Positioning complete Current feed value during 1-axis speed controlPr.18 Da.10 Code Code on signal output Axis 1 Positioning data No Setting itemTiming setting only possible in the with mode Control Da.2 Control system Md.31 Status b0 13 2-axis speed control Setting item Pr.8 Speed limit value Command speed ExamplesCurrent feed value during 2-axis speed control Mm/min Setting not required setting value will be ignored Axis Da.8 Command speed Da.9 Dwell timeSet 2-axis speed control 11 3-axis speed control operation timing 14 3-axis speed control Restrictions Set Positioning complete Current feed value during 3-axis speed control 4000.00mm/min 5000.00mm/min 6000.00mm/min Value Command Axis 1 setting Axis 2 setting Axis 3 settingSpeed limit 8000.00mm/min 6000.00mm/min 4000.00mm/min Speed Setting other than Positioning complete is Da.8 Command speed Da.9 Dwell time Da.10 M code AxisSet the speed to be commanded Output timing setting only possible 4-axis speed control 15 4-axis speed control 12 4-axis speed control operation timing Current feed value during 4-axis speed control Setting Speed limit 4000.00mm 5000.00mm 6000.00mm 8000.00mm Axis Setting itemValue Min Command 8000.00mm 6000.00mm 4000.00mm 1500.00mm Speed Min Set this when other sub Setting other than PositioningCode on signal output timing Setting only possible Switching over from speed control to position control Speed-position switching control INC modeSpeed-position switching control INC mode Setting item Setting details Buffer memory address Value Md Status b0 MELSEC-Q Follows parameters Md.20 Current feed value Speed control setting Switching time from speed control to position controlFollowing table shows Current feed value Changing the position control movement amount Speed-position switching signal settingCd.23 Pr.21 value Status b1 of the axis monitor area Set speed-position switching control by forward run Position switching control INC modeSpeed/position Acceleration time No Pr.25 Unit setting Speed-position switching control ABS mode X14,X15,X16,X17 Cd Speed-position Switching enable flag Speed control flag Unit setting of 2 degree Pulse Pr.21 Md.20 Speed control setting is other thanCurrent feed value Speed-position switching signal setting Speed-position switching signal Added Axis Movement amount Arc address Position switching control ABS mode Switching over from position control to speed control 18 Position-speed switching control operation timing Signal turns on Position control carried out until position-speed switchingExternal position-speed switching signal Switching time from position control to speed control Current feed value during position-speed switching controlCurrent feed value during speed Status b5 turns on Changing the speed control command speed Position-speed switching signal settingV2 becomes the speed control command speed Speed limit value if a new speed exceeds Status b5 of the axis monitor area Unit setting is Set position-speed switching controlSetting value will be ignored Da.1 Positioning Current value changing Changing to a new current value using the positioning dataCurrent feed value is changed to the value set Md.21 Setting is set to mm Axis to be Setting not required Setting value isArc address Setting not required Setting value is Ignored Command Setting not required Setting value is Speed Ignored Current value changing, setting 9003 Current value changing procedureCd.9 Following shows a start time chart Setting method for the current value changing function PLC CPU Operation NOP instruction Jump instruction Code Unconditional Jump Condition data No Set the Jump instructionAcceleration time No Simultaneous start condition data cannot be set Loop to Lend loop is repeated by set repeat cycles LoopSet the Loop Ignore the Lend before the Loop is executed LendSet the Lend 10.3.3 10.3.210.3.4 10.3.5 High-level positioning control sub functions Outline of high-level positioning controlHigh-level positioning control from peripheral devices Start data set in the next point Data required for high-level positioning controlSpecial start Da.12 Da.13 Designate Block start data and condition data configuration 7001 7004 Positioning start No. in Step High-level positioning control execution procedure Da.12 Start data No Da.13 Condition Next start Da.11 EndNo. Da.14 Parameter Positioning data setting example Setting examples Block start data setting exampleBlock start normal start Block start control example Control examples Parameter is carried out for the positioning data set Condition start Axis 1 block Da.11 Da.12 Da.14 Wait start A simultaneous start, the positioning data set Simultaneous startDa.13 Axis 1 block Da.11 Da.12 Da.14 3rd point End Parameter of the block start data in which For loop is set Repeated start for loopCondition data Nos. have been set Da.14 Repeated start for condition 6th point Restrictions when using the Next start7th point 8th point Control type High-level positioning control Condition data is set in the following casesWait Repeated start 03H Buffer memory 01H =P1 Word 02H Memory P1 numeric value Set only when Da.16 Address04H Buffer memory Words 05H P1≤ QD75 buffer memory Address 30000 30099 Setting the device ON/OFF as a condition Condition data setting examplesFollowing shows setting examples for condition data Condition Device X0 =QD75 Ready is OFF Multiple axes simultaneous start control Multiple axes simultaneous start control procedureControl details Setting examples Points QD75 Buffer memory Drive unit Input/output signal Y107000 1500 1501 Start conditions Control data that require setting Positioning data setting example Start time chartStart time chart Example Set the block start data beforehand Creating the programM104 Y10 X10 To H0 K1500 K7000 11.2.5 Manual Control Inching operation JOG operation Manual control sub functions Manual pulse generator operationCarrying out manual control from peripheral devices Monitoring manual control JOG operation JOG operation Outline of JOG operation Important Cd.17 Errors during operationCd.16 JOG operation timing and processing times JOG operation timing and processing time JOG operation is carried out by the following procedure JOG operation execution procedure Setting the required parameters for JOG operation Acceleration time 2 Unit pulse Acceleration time 1 Unit pulse 1000Acceleration time 3 Unit pulse Deceleration time 1 Unit pulse Creating start programs for JOG operation Required control data settingJOG 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 operation Y9, YB, YD, YF Busy signalXC, XD, XE, XF OFF Forward run JOG operation execution Test mode Signal Y8, YA, YC, YEForward run JOG start signal OFF Y8, YA, YC, YE Forward run JOG operation Forward run JOG start Y4, Y5, Y6, Y7 100ms Rise of JOG start signal is ignored Forward run JOG operation Forward run JOG start signal Inching operation Inching operation Outline of inching operation Important Limit signal Depending on Inching operation timing and processing times Inching operation is carried out by the following procedure Inching operation execution procedure Setting item Setting requirement Factory-set initial value Setting the required parameters for inching operationPr.1 Pr.2 Pulse output to the drive Inching Creating a program to enable/disable the inching operation 14 Inching operation start time chart Creating the program Inching operation example When stop signal is turned on during inching operation 16 Operation when JOG start signal is turned on in test mode Manual pulse generator operation X10, X11, X12 Manual pulse generator operation enabledCreate the sequence program so that Cd.21 Operation possible Operation not possible Upper/lower Restricted items 64 to 28.4 to 57.6 Manual pulse generator operation timing and processing time Speed control by manual pulse generation operation Position control by manual pulse generator operationFor example, when Manual pulse generator operation execution procedure Input signal logic selection Torque limit setting value Unit % 300Manual pulse generator input selection Manual pulse Set the manual pulse generator 1 pulse input Generator operation when finished withCd.20 Generator 1 pulse Magnification Start complete signal X10 OFF Busy signal Forward run Reverse run Pulse input Phase PLC Ready signal No.13 Manual pulse generator operation program Memo 12.2.1 12.1.112.2.2 12.3.1 Following table shows the types of sub functions available Outline of sub functionsIt cannot be invalidated with parameters Timing known Trigger for the sub work OPR retry function Sub functions specifically for machine OPRMovement starts Direction opposite to the Pr.44 OPR direction OPR direction is set to 0 Positive OPR direction, a Pr OPR direction Stop by limit Machine OPR Setting the dwell time during an OPR retry Setting the OPR retry function Precaution during controlSetting item Setting details Factory-set Value Dwell time during OPR retry OP shift operation OP shift function Movement speed during OP shift Setting range for the OP shift amountOPR speed or Setting the OP shift function Precautions during controlStatus b4 Backlash compensation function Functions for compensating the control Current feed value or Setting the backlash compensation functionBacklash compensation, which includes the movement amount 255 Pr.2 Electronic gear function Procedure Error compensation methodDefinition No. of pulses per rotation Ap Set the post-compensation Actual speed Relation between the movement amount per pulse and speed Remark Da Positioning address Path of positioning data No.3 Near pass functionPositioning data No Positioning data No Axis 2 output speed Axis 1 output speed Example Near pass Allowable circular interpolation error width Speed limit function Functions to limit the control If any axis exceeds Setting the speed limit function200000 JOG speed JOG speed limit New torque value is set to Torque limit function Torque limit setting value, confirm That When limiting the torque atPr.17 Torque limit stored value Setting the torque limit function Pr.13 Software stroke limit functionWorkpiece moveable range Software stroke limit lower limit Current feed value and range limit check When machine feed value is setPr.14 Md Current feed value Md Machine feed value Software stroke limit check details Software stroke limit upper Limit value Precautions during software stroke limit checkPr.12 No.10 P11 No.11 No.12 No.13 No.14 P01 Invalidating the software stroke limit Setting the software stroke limit functionFor manual operation, set 0 software stroke limit invalid Software stroke Setting the software stroke limit Setting when the control unit is degreeCurrent value address 315º 19 Hardware stroke limit function operation Hardware stroke limit function When the hardware stroke limit function is not used Wiring the hardware stroke limitInput signal logic selection is set to the initial value Input signal logic selection is the initial value Speed change function Functions to change the control detailsFollowing drawing shows the operation during a speed change Speed changes to Operation during Cd.14 Function version Restarting speed Da.8 Command speedOr later Speed limit value when the value set Status b10, and enableNew speed value is equal to or larger than Positioning operation Speed change 0 flag Following shows the speed change time chart Setting the speed change function from the PLC CPUCd.14 New speed value 2000 Set the new speed Speed change Cd.15 Set 1 Change the speed No.14 Speed change program Pr.42 Set 1 External speed change request Cd.8 Set 1 Validate the external commandValid Cd.14 New speed value Write 1000000 to D108 and D109 Input the external command signalK1514 D108 K62 Feedrate becomes a value of 1 or less. When Override functionCd.13 Md.22 Positioning Cd.13 Operation speed Setting the override function MELSEC-Q Acceleration/deceleration time change function For an acceleration/deceleration time change enable settingPr.9 Pr.10 Pr.25 Pr.30 Cd.10 Cd.11 When 0 is set in Cd.10 New acceleration time value New acceleration Setting the acceleration/deceleration time change functionCd.10 Set the new acceleration time Time value New deceleration No.16 Acceleration/deceleration time change program Example 31 Torque change operation Torque change function If a value besides 0 is set Setting the torque change function start signal Servomotor with absolute position detector PLC system Absolute position restoration functionQD75 Operation Panel Module Battery Servomotor Pulse/rev cumulative rotation QD75 CommandOutline of absolute position detection data communication PLC system Pulse train Servo amplifier Dedicated Absolute position signal transmission procedureInstruction ABS transmission mode terminal. While this is turned on Signal name Abbreviation Pin No Function and applicationThis is turned on when ABS data is requested in the ABS Transmission mode Condition 1. Number of output pulses Controlling instructionsCondition 2. Positioning address Unit ∝ m Example Concept for the unit of mm, inch or pulse26843545.6 26843545.5 Unusable range Absolute position Detection system Usable range in absolute Concept for the unit of degree Step function Other functionsRelation between the step function and various controls Step operation not possible Deceleration unit step Step modeData No. unit step Step start information Set the step mode before starting the positioning data Using the step operationWrite 1 restart to Turn OFF the step valid flag, and quit the step function Y10, Y11, Y12, Y13 Busy signal Cd Step valid flag Positioning start signalXC, XD, XE, XF Positioning complete signal Positioning start signal RYn+10, RYn+11 Set 0 Deceleration unit step or 1 Data No Cd.34 Step mode Step function settingsUnit step Cd.35 Step valid flag Set 1 Carry out step operation Skip function Y10, Y11, Y12, Y13 BUSYsignalFollowing drawing shows the skip function operation Setting the skip function from the PLC CPU Cd.8 Set 1 Validate external command Setting the skip function using an external command signalPr.42 Set 3 Skip request K62 K3 With mode Code on signal output timingCode output function Md.25 Code OFF request After mode Point Reading M codes Setting the M code output functionM code No Code set Pr.18 Control details Teaching timing Teaching functionAddresses for which teaching is possible Following control data is used in teaching Data used in teachingSelection Written to Arc address Designates the data to be taught Teaching YES Teaching procedure MELSEC-Q Motion path Teaching program example Setting conditionsProgram example Example Target position Point Target position change function When the direction of the operation is changedDetails of control Precautions during operation Set 1 Carry out speed change Following shows the time chart for target position change No.22 Target position change program Command in-position function Execution of the command in-position Command in-position width and command in-position flagPr.16 Width check Confirming the command in-position flag Setting the command in-position functionCommand Turn on the command in-position flag, and set Pr.16 Remaining distance to the stop position of the position Acceleration/deceleration processing function Velocity Pattern acceleration/deceleration processing method Pattern acceleration/deceleration processing Set the acceleration/deceleration curve when 1 is setSpeed change request Speed change deceleration Controls Pre-reading start function Cutter Cutter shaft Feed shaft Stock 49 System example using pre-reading start function Feed shaft Start Program examples MELSEC-Q Start made with positioning data No. specified Deceleration start flag function Data Shape Block start Da.11 Da.12Start data No Precautions during control Checking of deceleration start flag Deceleration start flag function setting methodMonitor item Storage details Set whether the deceleration start flag function Deceleration curve re-processing Stop command processing for deceleration stop functionDeceleration curve continuation Control Precautions for control Setting method Common Functions Outline of common functions Parameter initialization means Parameter initialization function Parameter Parameter initialization methodParameter Cd.2 Set 1 parameter initialization request 1901 Initialization request Execution data backup written to flash ROM means Execution data backup functionMd.19 Flash Execution data backup method Parameter setting details External I/O signal logic switching functionPrecautions on parameter setting Shown in the following table External I/O signal monitor function 14.4 14.314.5 14.6 Interlock during dedicated instruction is executed List of dedicated instructions Setting data Functions Control data Points OutputProcessing processing Abrst instruction Execution completion Precautions Errors Program examples Dedicated Instructions PSTRT1, PSTRT2, PSTRT3, PSTRT4 Fast OPR 9002 Current value changing 9003 Machine OPR 90017000 to User 9000 to Pstrt instruction Execution completion Sequence programComplete state display OFF Program examples Dedicated Instructions TEACH1, TEACH2, TEACH3, TEACH4 Current feed value is written to positioning address Teaching data Current feed value is written is setPositioning data No. for which teaching is carried out User Teach instruction Execution completion Program example Pfwrt Device Setting data Setting sideOther than Sequence program Processing Instruction symbolPfwrt instruction Execution completion Precautions Program example Instruction symbol Execution condition Device Setting data Setting range Setting sideOther than 0 Abnormal completion error code Pinit Positioning data No to No Block start data No to Initialized setting data ParametersPinit instruction Execution completion Program example 15.4 15.3 Types of errors Error and warning details Errors Axis error No Error storageTypes of warnings Confirming the error and warning definitions Resetting errors and warningsInvalid operations Status for axis status storage Memo List of errors Check whether the stop commands output After making an axis error reset refer to 3 in SectionSignals/external inputs to QD75 are turned on or OFF. Turn OFF the on commands Dwell time fault Near-point dog signal is turnedOP detection timing Detailed parameter 2 Sudden stop OPR speed by the stopper method Count method 1 Adjust the near-point dog position so that Lower the OPR speed Increase the dog signal input timeReview the wiring. Refer to Section Bring the JOG speed into the setting range When multiple axes are started Position switching controlTo 600, 7000 to 7004, and 9001 to 9004 Current speed is set for speed 60H, 70H, 80H, 90H, A0H Refer to .5 Da.16B0H, C0H, D0H, E0H Axis 1 start data No 1640 1740 1840 Operation status at error occurrence Where the control unit is set toAt start The system will not operate When software stroke limits are Valid Setting with sequence program2147483648 to When software stroke limits are Invalid Correct the circular interpolation error allowable limit Value range Control falls outsideControl unit is set to degree Control system sets an Operation pattern sets a new Not possible Position switching control, and position-speed Stroke limit using the manual control1506 1606 1706 1806 At start Bring the current feed value into the software Interpolation axis Operation of the interpolation axis Axis linear interpolation control ErrorUnit group Units are different at the parameter Sudden stop selection Axis not present Stop group To 2000000000 mm/min or others Refer to .3 Da.8 Correct the positioning data or change the parameter Prohibited area Either of the following applies Sub point setting End point = sub point ErrorDesignated Start point = sub point Are in line with each other Correct the control system or parameter. Refer to .1.6 Axis Same as error codes 515 toCorrect the positioning address. Refer to .2.16, 9.2.17 X7 is turned on 536 When an M code on signal X4 to StartPositioning start is carried out 537 Signal. Then start the system After turning OFF the M code on signal, startCorrect the instruction code of the special start data Refer to .4 Da.13 Hold error Output at error stop, the setting for Direction in unit Set outside the setting rangeSetting deceleration 9001 to Stop/sudden stop Error Executed with the teaching data Stop selection Within the setting range Set the ABS setting direction in the unit of degreeSet 0 when the software stroke limits are valid Output at error stop Range Outside the setting range Outside unit Outside unit settingError Setting range Rotation direction Outside the setting range Range Set the value converted into the pulse number using PLC Ready signal Y0 from OFF to onBring the setting into the setting range Set the bias speed to not more than the speed limit Setting value Setting range Code on timing Error Error name Operation status at errorMode error Speed changeover Speed-position switching control ABS mode should Mm inch pulse Bring the setting into the setting rangeTurn the PLC Ready signal Y0 from OFF to on Degree 0 to Value is smaller than the upper limit value Circular interpolation Error width Detailed parameter Setting error Bring the setting into the speed limit value or below 196 346 496 PLC Ready signal Y0 from OFF to on 197 347 497Axis 1 Axis 2 Axis 3 Axis 194 344 494 195 345 495 Setting range OP address setting Set range of the OPR basic OPR direction errorOPR speed error Setting range Set range of the OPR basic Creep speed error Set the speed to the bias speed at start or higher Axis 1 Axis 2 Axis 3 Axis 221 371 521225 375 525 226 376 526 List of warnings Carry out the teaching request when the axis is not Do not issue the restart command when the axisSet a value within the setting range Deceleration with the JOG start signal OFF Limit value when the speed is When input magnification is set atTermination setting Command function With a stop command, during stoppage, or during Magnification to within the setting rangeDo not turn on the speed-position switching signal Give a request at the position where there is an Classification Warning Outside command Command speed exceeds Following cases Set the teaching data selection set value to withinDuring deceleration stop. An operating pattern Continuous path control is used LED display functions Appendix 4.2 Connection example of QD75D MR-J2/J2S- a Appendix 4.1 Connection example of QD75D MR-HAppendix 4.3 Connection example of QD75D MR-C Appendix 8.1 Connection example of QD75D ∑ series Additional buffer memory Function comparisonAdditional devices Memo MELSEC-Q MELSEC-Q Appendix 2.2 Parameter setting value entry table 20000 1000 2147483647 2147483648 300 Initial value Axis Remarks Generator input Positive Command Deviation Unused Logic Setting Upper limit External B7, b9 Unused Each bit valueInput selection Phase/B phase multiple PULSE/SIGN mode Interpolation error width Initial value Axis Remarks 1000 20000 300 Setting for the movement amount Creep speed Do not retry OPR with upper/lower limit switchDeviation counter clear signal To 65535ms OPR direction Initial value Axis Remarks 300 Arc Control AcceleraDwell Code Pattern System Tion time Interpola Address Time Ted Movement Amount 2005 2006 2007 2008 2009 20022012 2015 2016 2017 2018 2019 Posi Command Positioning Arc data 4002 4004 4005 4006 4007 4008 4009 202 2014012 4014 4015 4016 4017 4018 4019 203 4022 4024 4025 4026 4027 4028 4029 204 5012 5014 5015 5016 5017 5018 5019 303 5002 5004 5005 5006 5007 5008 5009 3025022 5024 5025 5026 5027 5028 5029 304 5032 5034 5035 5036 5037 5038 5039 305 6002 6004 6005 6006 6007 6008 6009 402 4016012 6014 6015 6016 6017 6018 6019 403 6022 6024 6025 6026 6027 6028 6029 404 7012 7014 7015 7016 7017 7018 7019 503 7002 7004 7005 7006 7007 7008 7009 5027022 7024 7025 7026 7027 7028 7029 504 7032 7034 7035 7036 7037 7038 7039 505 8012 8014 8015 8016 8017 8018 8019 8002 8004 8005 8006 8007 8008 80098022 8024 8025 8026 8027 8028 8029 8032 8034 8035 8036 8037 8038 8039 9002 9004 9005 9006 9007 9008 9009 102 1019012 9014 9015 9016 9017 9018 9019 103 9022 9024 9025 9026 9027 9028 9029 104 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 MELSEC-Q MR-H TE2 QD75D CN1 Pulse F+ Pulse R+ Clear Clear COM MR-HDP01 Pulser B DOG SON Pulser A+ B19 Generator 2m max+24VIN 24G Start, error, warning Error displayModel QD75P1 QD75P2 QD75P4 A1SD71S2 No. of control axes No. of positioning data items Positioning systems Comparisons of performance specifications214748364.8 to Controls Near pass Error display Error LED Ation time Setting rangeHistory data storage Start, error, warning Command pulse output system Function comparisons QD75, errors for the software stroke upper limit are Start history storage during errorIntegrated into error code 508. Error codes 509 to 512 are From the speed limit value is out of the maximum command Is changed to Error occurring Axis operation status Normal Not Ready Ready signalStep operation is restarted with the restart command Changed functions Error code comparisons Input/output X/Y comparisons Not READY/WDT errorAdded Deleted Fatal warning Common A1SD75 Buffer memory address comparisons Allowable circular interpolation error width Positioning complete signal output time 209 359QD75 Pr.42 External command function selection Near pass mode selection for path control 216 366 Error judgment Test mode flag 450Start Second 100 ms Errors Start history storage during error 623 Pointer number Axis warning No Items of A1SD75 QD75753 1422 External input/output signal Speed-position switching control positioningSpecial start data instruction parameter setting Start positioning data No. setting value Clock data setting minute, second Clock data setting hourAxis error reset Speed-position switching control movement New deceleration time value 1510 1610 1710Acceleration/deceleration time change during Code/condition data 4600 43504850 Data Parameter Start Data indication No. comparisons Allowable circular interpolation error width Positioning complete signal output timePr.42 Near pass mode selection for path control Setting for the movement amount after near-point dog on Monitor data Special start data instruction code setting value Speed-position switching control positioning amountSpecial start data instruction parameter setting value OP absolute position Control data Interrupt request during continuous operation Stop command processing for deceleration stop selectionCd.42 Called block start data with the QD75 Appendix Positioning data, block start data, condition data Input signal comparisons Input/output signal comparisonsOutput signal comparisons Appendix 10 Melsec Explanation of positioning terms Pulse input Phase Clamp command After modeNo.1 No.2 No.10 Positioning No.11 Code Acceleration Deceleration Speed Time Auto Tuning Automatic TuningForward run Backlash Female thread Male thread Full speed Speed Bias speed BIN Binary CCW Counterclockwise Change signalRefer to term Feedback Pulse C D Converter Digital-to-Analog converter CP Control Continuous Path ControlNo. of pulses Voltage 0 to ±10V To 80,000 Pulses/second No.2 No.4 No.6 No.1 No.5 No.3 Near-point dog of the OPR Positioning Drive Motor Module Unit Power supplyReceiver Linear encoder Appendix Rotary encoderFor the main For the zero Index Scale OPR speed Dog switch QD75, F is a status where the module itself has a faultRotation by the motor Lead feedrate per screw rotation G50 Max. spindle speed setting FLS Signal forward limit signalRaising Gain Right Right No is several millimeters To the right of No Incremental Encoder KPPS MicroswitchY0 Forward run Y1 Reverse run Actuator Refer to GD2 Code Machine CodeNo.9 Longitudinal Feed No.8 No.1 Latitudinal feed Made by Mitsubishi Electric Corp. model MR-HDP01 P rate. Refer to the term P Rate NC Language Numerical Control LanguageRate No. of pulses per Per rotation Encoder rotation This point is the reference OPR Method Rate Pulse Rate Pronounced pee-jee-zero. Refer to the term Zero SignalPG0 Pulse Generator Zero Feedback pulses PG0 1 axis rotation Dwell time Positioning complete signal Command pulse frequencyRefer to the term Operation Pattern Loop gain Refer to the section of term operation pattern PTP Control Point To Point ControlForward Reverse Type Terminal RLS Signal reverse limit signal REAL-TIME Auto Tuning Real-time Automatic Tuning Execution of extrusion SFC Sequential Function ChartQD75 Ready Servo amplifier Motor PLG Encoder Speed Control Start Switching signal High speed Incremental positioning Motor torque MotorLoad Refer to the term Dwell Time AppendixMachine OPR Stopper Torque width variations, deviations in the torque Limit switchLower limit Upper limit Stop Positioning possible in a 3m 9.84feet range Rotated by the motor Also called PG zero. Refer to Zero SignalBase table Axis Appendix 11 Positioning control troubleshooting Changed 1pulse cannot be achieved Thus, the setting 1 m 8192 Setting of 1 m 1pulse isTrouble type Questions/Trouble Remedy How can the deceleration stop Movement amount per No. of pulses per Trouble type Questions/TroubleNo. of pulses Rotation Machine OPR, the message If possible, set the signal so it does not turn on only Signal should be turned on at 4ms or moreSelected? Setting value Setting is Deceleration stop, it will be ignored. The same How can it be canceled? Changing has been executed When a JOG operation isPLC Ready signal Y0 turns on Module Set to Is it possible to count the pulses Not possible Signal ON, warning 100 start To on Parameters When the start signal was turnedIs there any problem if Unit magnification to 10-fold or Is set to Appendix 12 List of buffer memory addresses Setting for the movement amount after Error history pointer Axis in which the errorOccurrence Hour 1422 Special start data instruction No. setting Md.30 External input/output signal815 915 1015 1115 Amount Memory area Axis monitor data Monitor data Memory area Axis control data Control data 1515 1615 1715 1815 Speed change request Axis Simultaneous starting axis start data No Cd.42 Stop command processing for deceleration Code/condition data No Buffer memory address Axis Operation patternNo. of Loop to Lend repetitions Dwell time/JUMP destination Start data No Point Buffer memory address Axis Memory area ShapeData Parameter 50th point PLC CPU memory area Condition judgement target data of the condition 27.4 136 Appendix 13 External dimension drawing QD75P1/QD75P2/QD75P4Unit mm QD75D1/QD75D2/QD75D4 Number Axis error occurrence Minute second Md.12 Axis error reset Axis error occurrence HourCommand in-position width 12-63 Deviation counter clear signal output time Details of input signals QD75 PLC CPUAppendix-73 Composite speed Explanation of positioning Error reset Explanation of positioning terms Error correction Explanation of positioning termsExternal command function selection External input/output signal For starting with external command signal For starting speed-position switching controlTest mode flag Input signal logic selection Manual pulse generator enable flag Limit switch Explanation of positioning termsMulti-phase pulse Explanation of positioning 15-36 No. of write accesses to flash ROM Multiplying rate setting Explanation of positioningNC language Explanation of positioning terms Appendix-81 12-18 Output signal logic selection Outline of installation, wiring and maintenancePosition loop mode Explanation of positioning Position-speed switching control enable flag External command function valid setting PrecautionsPulse output mode Explanation of positioning Positioning starting point No RLS signal Explanation of positioning terms Restart commandRotation direction setting Setting for the movement amount after near-point Dog on Special start data instruction parameter setting Special start data instruction code setting valueSpeed-position switching control ABS mode Speed-position switching control Explanation Stop signal Explanation of positioning terms Stop command processing for deceleration stopTime chart Time chart for starting position-speed With mode Explanation of positioning terms Unit setting Explanation of positioning termsTracking function Explanation of positioning Turntable Explanation of positioning terms Memo Gratis Warranty Term Gratis Warranty Term and Gratis Warranty RangeGratis Warranty Range Overseas servicePage Page QD75-U-S-E 13JR09 SHNA-080058-H0506MEE

Mitsubishi Electronics QD75D, QD75P Purpose and applications of positioning control, Palletizer

Models: QD75P QD75D

1 PRODUCT OUTLINE

1.1.2 Purpose and applications of positioning control

MELSEC-Q

Palletizer

Compact machining center (ATC magazine positioning)