Continuous positioning control | Mitsubishi Electronics QD75D

9MAJOR POSITIONING CONTROL

[2]Continuous positioning control

MELSEC-Q

(1)The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.

(2)In operation by continuous positioning control (operation pattern "01"), the next positioning No. is automatically executed. Always set operation pattern "00" in the last positioning data to complete the positioning.

If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found.

If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not completed, the operation will be started again from the positioning data No. 1.

Positioning continue (01)

Address (+) direction

		Dwell time
	Address (-) direction	not designated
	Address (-) direction
		Positioning
		complete (00)
Positioning start signal		ON
Positioning start signal		OFF
	[Y10, Y11, Y12, Y13]	OFF
Start complete signal		ON
	[X10, X11, X12, X13] OFF
		ON
BUSY signal	[XC, XD, XE, XF] OFF
Positioning complete signal		ON
Positioning complete signal		OFF
	[X14, X15, X16, X17]

Dwell time

Time

Fig. 9.2 Operation during continuous positioning control

9 - 7

Page 307

Image 307

Mitsubishi Electronics QD75D, QD75P user manual Continuous positioning control, Start complete signal X10, X11, X12, X13 OFF

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 3 Sequence Program Used for Positioning Control To 6 Memory Configuration and Data Process To 7110 112 Major Positioning Control Control Details and Setting OPR Control To 8105 High-Level Positioning Control To 10 10.1 111113 114 12.5 12.212.3 12.4 Appendix 7.1 Connection example of QD75D Troubleshooting 15- 1 to 15Appendices Appendix- 1 to Appendix-108 Appendix Manual Name Manual Number GX Configurator-QP Operating ManualHardware 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 outline Memo Product Outline Communicating signals between QD75 and each module Wide 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 modules 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 Stores the created program QD75 errors, etc., are detectedMechanism of positioning control Creates control order and conditions as a sequence 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 Pulse Vs =Mm/pulse Pulse/s Communicating signals between QD75 and each module QD75 Drive unit QD75 Peripheral deviceQD75 Manual pulse generator Dog signal, upper/lower limit signal, zero QD75 External signalDevice connection connector QD75 External signal External signal QD75 Communication Flow of system operation 1.2.1 Flow of all processes GX Configurator-QP QD75 Servo, etcGX Developer Details Reference Chapter For setting data ManualGX Configurator-QP Using GX Configurator-QP, also debug the set data Chapter Memo Outline of starting QD75 Outline of stopping Md.26 When Cd.6 Restart command is onOutline for restarting Reference 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 QD75 can be used in the following system Applicable modules and the number of installable modulesApplicable system Usable base unit GX Developer display screen How to check the function version and Serial NoMethod using the rated plate on the module side face Method using the software Combination of QD75 main functions and sub functions Signal layout for external device connection connector Positioning system Performance specificationsInterpolation function None PTP control Screw tightening torque Applicable wire size Common functions List of functions 1 QD75 control functionsMain functions Sub functions Speed limit function Torque limit function Main functions OPR control Control registered in QD75OP shift function Functions that compensate control Pattern 2 QD75 main functions Wait start Start data When the condition is established, the block start data isWith the set order Condition start Start data 3 QD75 sub functions and common functions Data No Or positioning dataPositioning To 65535 that can be set for each positioning data 13.5 Method using sequence programContact signals, such as Drive unit Ready or Common functions Details Reference Memo 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 Function X10 Axis Y10 X11 Signal direction QD75 PLC CPU Signal direction PLC CPU QD75Use prohibited Axis Code on 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 Selection Common External command function2B7 Signals Skip request from an external source Input Common to QD75P1 and QD75D1 Input/output interface internal circuit Initial value Input signal ON/OFF statusAbout logic setting and internal circuit Negative logic Output For QD75D1 Output For QD75P1 Items to confirm when installation and wiring are completed Wiring INSTALLATION, Wiring and Maintenance of the Product Part names of the QD75 are shown below Names of each partQD75P4 QD75D4 Interface of each QD75 is as shown below Handling precautions Installation environment Other precautions Main bodyCable Installation Precautions for installation Precautions for wiring Wiring Cables should be the shortest possible Wiring example of shielded cableProcessing example of shielded cables QD75 side 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 OPR parameters Types of data Parameters and data required for controlParameters Positioning 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 speed Controlling the operationControlling the operation Controlling operation per step Making settings related to operation Memo Table, conveyor Pr.1 Unit settingList of parameters 5.2.1 Basic parameters Rotating body 360 degrees/rotation 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 Pr.5 PULSE/SIGN modeCW/CCW mode Pr.5 Pulse output mode For multiple of 4 setting Phase/B phase modePr.6 Rotation direction setting Positive logic Negative logic For multiple of 1 setting Pr.6 When Pr.8 Basic parametersPr.7 Bias speed at start Speed limit value Pulse 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 time Pr.11 Backlash compensation amount Detailed parameters Pr.13 Software stroke limit lower limit value Pr.12 Software stroke limit upper limit value Pr.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 value Pr.18 Code on signal output timing Pr.17 Torque limit setting value Input signal logic selection Near-point Positive Signal Front-loading speed switching Speed switching mode ModeStop signal External Command Negative When composite speed is designated Pr.19 Speed switching modeFor standard switching For front-loading switching Pr.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 selection Memo Pr.28 Deceleration time 1 to Pr.30 Pr.25 Acceleration time 1 to Pr.27 Deceleration time Deceleration time 1. Deceleration time Pr.31 JOG speed limit valuePr.32 JOG operation acceleration time selection Pr.33 JOG operation deceleration time selection Automatic trapezoid acceleration/deceleration Pr.34 Acceleration/deceleration process selectionPattern acceleration/deceleration Pr.35 S-pattern ratio Actual sudden stop Deceleration time Pr.36 Sudden stop deceleration timeAcceleration starts following Deceleration starts following Eration time MELSEC-Q Positioning complete signal output time Pr.40 Positioning complete signal output time Start point address Center point address Pr.41 Allowable circular interpolation error widthPath with spiral interpolation Error With calculation 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 Degree To 359.99999 degree To 35999999 ⋅ 10-5degree Pulse Pr.1 Setting valuePr.44 OPR direction Pr.44 Pr.46 OPR speed Pr.45 OP address Pulse 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 start Pr.48 OPR retry Memo OPR dwell time value When stopper method 1 is set forOPR detailed parameters Pr.49 OPR dwell time Acceleration time Pr.51 OPR acceleration time selectionPr.52 OPR deceleration time selection Use the value set Pr.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 shift 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.6 Positioning address/movement amount Absolute ABS system, current value changingDa.4 Deceleration time No Da.5 Axis to be interpolated 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 Value set with peripheral Value set with sequence Da.2 Setting value Setting itemDa.2 Repetition count 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 7001 Axis Settings AxisBlock Axis 7000 Axis 26000 27000 28000 29000 Shape Positioning data No Device EndShape Continue Da.13 Special start instruction How to start the positioning data set Start data NoDa.11 Shape Da.12 Start data No Special start instruction Special start instruction Setting value Setting detailsDa.14 Parameter Set the value as required for Block List of condition data Da.15 Da.19 Pages that follow explain the condition data setting items Data Used for Positioning Control Remark 03H Condition operator Parameter Setting value DefaultCondition target Identifier Operator Da.16 Condition operator Da.15 Condition targetDa.17 Address Condition operator Da.18 ParameterDa.19 Parameter Set the parameters as required for When in test mode When not 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 decimal Start Minute Second Storage item Storage detailsHistory Up to 16 records can be stored Start Hour 0000 0000HStorage buffer memory address common to axes 1 to Starting history Up to Can be storedStorage details Reading the monitor value Judgment 1292 Occurrence Axis error was detected Error Encountered an errorStores an axis error No Axis error Stores the time at which an 0000 1357 Encountered a warning Accesses to flash When the number of writeError reset operation is Axis in which 1422 1424 1425 Axis monitor data 0000 H Axis 1 Axis 2 Axis 3 AxisMonitoring is carried out with a hexadecimal 800 900 1000 1100 Set by the positioning data used one step earlier Command speed set by the current positioning dataAxis warning No When Stores 0 under the speed control 807 907 1007 1107 808 908 1008 1108 809 909 1009 1109 Default810 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 1113 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 Movement amount after Is stored Is stored when machine OPR startsTorque limit setting value is stored Machine OPR completion is stored 300 826 926 1026 Speed limit value due to a speed change or Pr.8 Speed limit flagSpeed change processing Flag 830 930 1030 1130 827 927 1027 1127828 928 1028 1128 829 929 1029 1129 Md.48 Deceleration start flag Positioning data No. beingLast executed positioning Executed last time 837 937 1037 1137 832 932 1032 11320000 H 833 933 1033 835 935 1035 1135 Block start data No to List of control data 5.7.1 System control dataBuffer memory to the flash ROM Positioning data No to No Setting Value Setting value K Axis control data Setting item Setting details Set the positioning start NoRestart command Stopped, set 1 Code OFF request M code on signal turns OFF Setting Setting K value +2147483647 Item to specify a new feed valueInch Degree 2147483648 Conversion into an integer value 10 n1505 1605 1705 1805 1506 1507 1606 1607 1706 1707 1806 1807 Speed change Enable/disable selection Setting item Setting detailsNew acceleration time value Setting range unit Setting range unit To 8388608 ms 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 1516 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 1819 Specify a new torque limit stored value Torque limit setting valueSet a value within the allowable range 1525 1625 1725 1521 1621 1721 18211522 1622 1722 1822 1523 1623 1723 1823 1524 1624 1724 Inch Degree Pulse Pr.1 ⋅ 10-1µm Speed-position switching control INC mode2147483647 For that, use this data item to specify a new speed 1530 1630 1730 1830 1526 1626 1726 18261527 1627 1727 1827 1528 1628 1728 1828 New speed Position-speed switchingTarget position change value New address 1536 1636 1736 1836 1532 1632 17321534 1634 1734 1834 1535 1635 1735 1835 Stepping 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 decimal Cd.39 Teaching positioning data No When degree is selected as the unit 1549 1649 1749 1849 1546 1646 17461547 1647 1747 1847 1548 1648 1748 1848 Memo Sequence Program Used for Positioning Control Process during overrun Precautions for creating programReading/writing the data Restrictions to speed change execution interval Program, the unit of 0 mm is set for the basic parameter System configurationControl unit Communication with QD75 X0C List of devices used Command Time change X35 Code OFF command Commanding M code OFFForward run JOG/inching command Reverse run JOG/inching command Storage Enable command Operation enableM10 Manual pulse generator operation Requesting acceleration/deceleration Data resisters and timers Enable Acceleration time setting Low-order 16 bitsAcceleration time setting Value High-order 16 bits Deceleration time setting Low-order 16 bits Rotation Unit magnification Pulse output modePulse output mode Rotation direction setting Command speed 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 This program forcibly turns OFF the OPR request flag External command function valid setting programData requiring setting Time chart for OPR OFF request Procedures for setting the starting details Start details setting programPositioning 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, this 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 Restrictions Starting by inputting external command signalSetting details Buffer memory address Value Axis Set to 1 Validate external command 1505 1605 1705 Cd.18 Continuous operation interrupt programOperation during continuous operation interruption Restrictions Set the following data to interrupt continuous operation Control data requiring settings Cd.3 Stop with stop commandRestart program Restart operation Set the following data to execute restart Control data requiring settingAxis operation status is 1 Stopped Signal state Starting conditions 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 Data transmission process From command To commandPower supply ON/memo area PLC CPU reset PLC Ready signal Y0 OFF on Pr.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.42 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 Restricted, Combination not possible When an OPR is not requiredOPR sub functions OPR from peripheral devices Pr.45 Machine OPR Outline of the machine OPR operation ImportantMachine OPR operation OP address is a fixed value set by the user Machine OPR method Pr.51 Operation chartOPR method 1 Near-point dog method Machine OPR is started Pr.48 Precautions during operation Pr.55 OPR method 2 Stopper methodPr.44 Pr.46 Pr.49 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 Pr.47 Pr.44 OPR method 4 Stopper methodMachine moves at OPR direction. Torque Standing by OP address OPR direction. It then moves at OPR method 5 Count method1 Pr.50 OPR speed toPr.46 Direction designated OPR method 6 Count methodMachine OPR is started Pr.44 OPR direction. It then moves at Pr.46 OPR speed when 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 Reverse run Position control Position/speed Speed-position switching control Speed/positionNonexecutable control system. When this instruction is Reverse run 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 Value is changed to a new value Confirming the current valueValues showing the current value Md.21 Machine feed value Axis Md.20 Current feed value Monitoring the current valueDa.6 Buffer memory addresses Control unit degree handling Software stroke limit valid/invalid settingSetting to validate software stroke limit Setting to invalidate software stroke limit Cd.40 UsingMoved from 315 to Moved from 45 to Incremental system When the software stroke limit is valid Control, 4-axis speed control Axis Interpolation controlMeaning of interpolation control Axis linear interpolation control, 4-axis fixed-feed Positioning address Forward run speed 2, 3, Movement amount Setting the positioning data during interpolation controlDeceleration time No Data Axis to be Interpolated Pr.20 Starting the interpolation controlInterpolation control continuous positioning Speed during interpolation control Interpolation will be stored Limits to interpolation controlAxis operation status during interpolation control Speed limit Speed Position Interpolation Axis, 4-axis SwitchingPositioning data setting items Position control Speed control No. at Jump Arc address Command speedJump instruction Da.9 Dwell time 1-axis linear control Positioning data setting example2 1-axis linear control Axis linear control ABS linear Axis linear control INC linear Positioning address/movement amount 3 2-axis linear interpolation controlAxis linear interpolation control ABS linear 2-axis linear interpolation control Set 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 system Start point address Axis Current stop position Axis linear interpolation control INC linear Positioning address Da.8 Command speedSet this when other sub operation commands are issued Da.6 movement amount 3-axis linear interpolation control 4 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 executed Major Positioning Control Points 6000 Movement amount Reverse directionStart point address X1, Y1, Z1 Stop address after the positioning control Axis 5000 Deceleration time Pr.10 Da.4 Set incremental system 3-axis linear Major Positioning Control Points 5 4-axis linear interpolation control Operation pattern Positioning Axis Arc address Command speedCode Setting details Pr.1 Unit setting 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 the time the machine dwells after the positioning stop Speed may exceedSet 2-axis fixed-feed control Pr.20 Interpolation Mm/min Speed designation method 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 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 address Movement 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 start Clockwise Can be controlledCounterclockwise Positioning address/movement Refer to Circular interpolation error compensationPr.41 Arc address Reverse direction Arc addressForward direction Radius Reverse direction Restrictions 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 or Movement amount = Restrictions 8000.0 ∝ Unit setting is set to mmWith center point designation. Select clockwise or INC circular 12 1-axis speed control Set Positioning complete Current feed value during 1-axis speed controlPr.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 mode 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 8000.00mm/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 limit Output 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 commanded 4-axis speed control 15 4-axis speed control 12 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 1500.00mm Setting only possible Setting other than PositioningSet this when other sub Code on signal output timing Setting 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 mode Md 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 shows Changing the position control movement amount Speed-position switching signal settingCd.23 Pr.21 value Status b1 of the axis monitor area Acceleration time No Pr.25 Position switching control INC modeSet speed-position switching control by forward run Speed/position 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 Status b5 turns on Current feed value during position-speed switching controlSwitching time from position control to speed control Current feed value during speed 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 Da.1 Positioning Set position-speed switching controlUnit setting is Setting value will be ignored Md.21 Changing to a new current value using the positioning dataCurrent value changing Current feed value is changed to the value set Command 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 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 Simultaneous start condition data cannot be set Set the Jump instructionCode Unconditional Jump Condition data No Acceleration time No Loop to Lend loop is repeated by set repeat cycles LoopSet the Loop Ignore the Lend before the Loop is executed LendSet the Lend 10.3.5 10.3.210.3.3 10.3.4 High-level positioning control sub functions Outline of high-level positioning controlHigh-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.13 Block start data and condition data configuration 7001 7004 Positioning start No. in Step High-level positioning control execution procedure Da.14 Parameter Condition Next start Da.11 EndDa.12 Start data No Da.13 No. 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 3rd point End Simultaneous startA simultaneous start, the positioning data set Da.13 Axis 1 block Da.11 Da.12 Da.14 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 8th point Restrictions when using the Next start6th point 7th point Repeated start Condition data is set in the following casesControl type High-level positioning control Wait Words 05H P1≤ Memory P1 numeric value Set only when Da.16 Address03H Buffer memory 01H =P1 Word 02H 04H Buffer memory QD75 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 data Multiple axes simultaneous start control Multiple axes simultaneous start control procedureControl details Setting examples Points 1501 Input/output signal Y10QD75 Buffer memory Drive unit 7000 1500 Start conditions Control data that require setting Positioning data setting example Start time chartStart time chart To H0 K1500 K7000 Creating the programExample Set the block start data beforehand M104 Y10 X10 11.2.5 Manual Control Inching operation JOG operation Monitoring manual control Manual pulse generator operationManual control sub functions Carrying out manual control from peripheral devices 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 Deceleration time 1 Unit pulse Acceleration time 1 Unit pulse 1000Acceleration time 2 Unit pulse Acceleration time 3 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 Forward run JOG start Signal Y8, YA, YC, YEForward run JOG operation execution Test mode Forward run JOG start signal OFF Y8, YA, YC, YE 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 Pulse output to the drive Setting the required parameters for inching operationSetting item Setting requirement Factory-set initial value Pr.1 Pr.2 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 Cd.21 X10, X11, X12 Manual pulse generator operation enabledManual pulse generator operation Create the sequence program so that 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 12.3.1 12.1.112.2.1 12.2.2 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 Direction opposite to the Pr.44 OPR direction Sub functions specifically for machine OPROPR retry function Movement starts 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 Dwell time during OPR retry Precaution during controlSetting the OPR retry function Setting item Setting details Factory-set Value 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 255 Setting the backlash compensation functionCurrent feed value or Backlash compensation, which includes the movement amount 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 JOG speed JOG speed limit Setting the speed limit functionIf any axis exceeds 200000 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 Software stroke limit lower limit Software stroke limit functionPr.13 Workpiece moveable range Md Current feed value Md Machine feed value When machine feed value is setCurrent feed value and range limit check Pr.14 Software 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.12 Software stroke Setting the software stroke limit functionInvalidating the software stroke limit For manual operation, set 0 software stroke limit invalid 315º Setting when the control unit is degreeSetting the software stroke limit Current value address 19 Hardware stroke limit function operation Hardware stroke limit function Input 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 value Speed changes to Operation during Functions to change the control detailsSpeed change function Following drawing shows the operation during a speed change Cd.14 Function version Restarting speed Da.8 Command speedOr 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 than Speed 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 speed No.14 Speed change program Cd.14 New speed value Cd.8 Set 1 Validate the external commandPr.42 Set 1 External speed change request Valid K62 Input the external command signalWrite 1000000 to D108 and D109 K1514 D108 Md.22 Override functionFeedrate becomes a value of 1 or less. When Cd.13 Positioning Cd.13 Operation speed Setting the override function MELSEC-Q Cd.10 Cd.11 For an acceleration/deceleration time change enable settingAcceleration/deceleration time change function Pr.9 Pr.10 Pr.25 Pr.30 When 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 value 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 PLC system Pulse train Servo amplifier QD75 CommandBattery Servomotor Pulse/rev cumulative rotation Outline of absolute position detection data communication Dedicated Absolute position signal transmission procedureInstruction 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 ABS Unit ∝ m Controlling instructionsCondition 1. Number of output pulses Condition 2. Positioning address Detection system Concept for the unit of mm, inch or pulseExample 26843545.6 26843545.5 Unusable range Absolute position Usable range in absolute Concept for the unit of degree Step operation not possible Other functionsStep function Relation between the step function and various controls Step start information Step modeDeceleration unit step Data No. unit step Turn 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 to Positioning start signal RYn+10, RYn+11 Cd Step valid flag Positioning start signalY10, Y11, Y12, Y13 Busy signal XC, XD, XE, XF Positioning complete signal Cd.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 step Skip function Y10, Y11, Y12, Y13 BUSYsignalFollowing 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 request Md.25 Code on signal output timingWith mode Code output function Code OFF request After mode Point Pr.18 Setting the M code output functionReading M codes M code No Code set Control details Teaching timing Teaching functionAddresses 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 address YES Teaching procedure MELSEC-Q Motion path Example Target position Setting conditionsTeaching program example Program example 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 Width check Command in-position width and command in-position flagExecution of the command in-position Pr.16 Remaining 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.16 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 Set whether the deceleration start flag function Deceleration start flag function setting methodChecking of deceleration start flag Monitor item Storage details Control Stop command processing for deceleration stop functionDeceleration curve re-processing Deceleration curve continuation Precautions for control Setting method Common Functions Outline of common functions Parameter initialization means Parameter initialization function Initialization request Parameter initialization methodParameter Parameter Cd.2 Set 1 parameter initialization request 1901 Execution data backup written to flash ROM means Execution data backup functionMd.19 Flash Execution data backup method Shown in the following table External I/O signal logic switching functionParameter setting details Precautions on parameter setting External I/O signal monitor function 14.6 14.314.4 14.5 Interlock during dedicated instruction is executed List of dedicated instructions Setting data Functions Control data Abrst instruction Execution completion OutputPoints Processing processing Precautions Errors Program examples Dedicated Instructions PSTRT1, PSTRT2, PSTRT3, PSTRT4 9000 to Machine OPR 9001Fast OPR 9002 Current value changing 9003 7000 to User 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 Pinit Device Setting data Setting range Setting sideInstruction symbol Execution condition Other than 0 Abnormal completion error code 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 Status for axis status storage Resetting errors and warningsConfirming the error and warning definitions Invalid operations Memo 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 or OPR speed by the stopper method Count method 1 Near-point dog signal is turnedDwell time fault OP detection timing Detailed parameter 2 Sudden stop Bring 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 Section Current speed is set for speed Position switching controlWhen multiple axes are started To 600, 7000 to 7004, and 9001 to 9004 Axis 1 start data No 1640 1740 1840 Refer to .5 Da.1660H, 70H, 80H, 90H, A0H B0H, C0H, D0H, E0H Operation status at error occurrence Where the control unit is set toAt 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 Invalid Operation pattern sets a new Not possible Control falls outsideValue range Control unit is set to degree Control system sets an At start Bring the current feed value into the software Stroke limit using the manual controlPosition switching control, and position-speed 1506 1606 1706 1806 Sudden 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 parameter To 2000000000 mm/min or others Refer to .3 Da.8 Correct the positioning data or change the parameter Are in line with each other Sub point setting End point = sub point ErrorProhibited area Either of the following applies Designated Start point = sub point 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 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 data Error 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 stop Output at error stop Set the ABS setting direction in the unit of degreeWithin the setting range Set 0 when the software stroke limits are valid Outside the setting range Range Outside unit settingRange Outside the setting range Outside unit Error Setting range Rotation direction Set 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 range Speed changeover Error Error name Operation status at errorSetting value Setting range Code on timing Mode error Degree 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 on 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 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 basic 226 376 526 Axis 1 Axis 2 Axis 3 Axis 221 371 521Set the speed to the bias speed at start or higher 225 375 525 List 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 range Command function When input magnification is set atLimit value when the speed is Termination setting Give 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 signal Classification Warning Outside command Command speed exceeds Continuous path control is used Set the teaching data selection set value to withinFollowing cases During deceleration stop. An operating pattern LED 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-C 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 Interpolation 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 mode Initial 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 65535ms Initial value Axis Remarks 300 Time Ted Movement Amount Control AcceleraArc Dwell Code Pattern System Tion time Interpola Address 2015 2016 2017 2018 2019 20022005 2006 2007 2008 2009 2012 Posi 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 203 5032 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 304 6022 6024 6025 6026 6027 6028 6029 404 4016002 6004 6005 6006 6007 6008 6009 402 6012 6014 6015 6016 6017 6018 6019 403 7032 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 504 8032 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 8029 9022 9024 9025 9026 9027 9028 9029 104 1019002 9004 9005 9006 9007 9008 9009 102 9012 9014 9015 9016 9017 9018 9019 103 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+ 24G 2m maxB19 Generator +24VIN No. of control axes No. of positioning data items Error displayStart, error, warning Model QD75P1 QD75P2 QD75P4 A1SD71S2 Positioning systems Comparisons of performance specifications214748364.8 to Controls Command pulse output system Ation time Setting rangeNear pass Error display Error LED History data storage Start, error, warning Function 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 are Changed functions Normal Not Ready Ready signalIs changed to Error occurring Axis operation status Step operation is restarted with the restart command Error code comparisons A1SD75 Not READY/WDT errorInput/output X/Y comparisons Added Deleted Fatal warning Common Buffer 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 selection Start history storage during error 623 Pointer number Test mode flag 450Error judgment Start Second 100 ms Errors Axis warning No Items of A1SD75 QD75753 1422 Start positioning data No. setting value Speed-position switching control positioningExternal input/output signal Special start data instruction parameter setting Speed-position switching control movement Clock data setting hourClock data setting minute, second Axis error reset Code/condition data 1510 1610 1710New deceleration time value Acceleration/deceleration time change during Parameter Start 43504600 4850 Data Data 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 control Monitor data OP absolute position Speed-position switching control positioning amountSpecial start data instruction code setting value Special start data instruction parameter setting value 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 No.10 Positioning No.11 Code After modeClamp command No.1 No.2 Female thread Male thread Auto Tuning Automatic TuningAcceleration Deceleration Speed Time Forward run Backlash Full speed Speed Bias speed BIN Binary C D Change signalCCW Counterclockwise Refer to term Feedback Pulse No.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/second Near-point dog of the OPR Positioning Drive Motor Module Unit Power supplyReceiver Index Scale Rotary encoderLinear encoder Appendix For the main For the zero OPR speed Dog switch QD75, F is a status where the module itself has a faultRotation by the motor Lead feedrate per screw rotation Gain FLS Signal forward limit signalG50 Max. spindle speed setting Raising Right Right No is several millimeters To the right of No Incremental Encoder Actuator MicroswitchKPPS Y0 Forward run Y1 Reverse run Made by Mitsubishi Electric Corp. model MR-HDP01 Code Machine CodeRefer to GD2 No.9 Longitudinal Feed No.8 No.1 Latitudinal feed No. of pulses per Per rotation Encoder rotation NC Language Numerical Control LanguageP rate. Refer to the term P Rate Rate This point is the reference OPR Method Feedback pulses PG0 1 axis rotation Pronounced pee-jee-zero. Refer to the term Zero SignalRate Pulse Rate PG0 Pulse Generator Zero Loop gain Command pulse frequencyDwell time Positioning complete signal Refer to the term Operation Pattern Type Terminal PTP Control Point To Point ControlRefer to the section of term operation pattern Forward Reverse RLS Signal reverse limit signal REAL-TIME Auto Tuning Real-time Automatic Tuning Motor PLG Encoder SFC Sequential Function ChartExecution of extrusion QD75 Ready Servo amplifier Speed Control Start Switching signal High speed Incremental positioning Motor torque MotorLoad Refer to the term Dwell Time AppendixMachine OPR Stopper Positioning possible in a 3m 9.84feet range Limit switchTorque width variations, deviations in the torque Lower limit Upper limit Stop Rotated by the motor Also called PG zero. Refer to Zero SignalBase 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 Remedy Machine OPR, the message Trouble type Questions/TroubleMovement amount per No. of pulses per No. of pulses Rotation Setting 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 value Set 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 Module Unit 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 if Appendix 12 List of buffer memory addresses Setting for the movement amount after 1422 Axis in which the errorError history pointer Occurrence Hour Memory area Axis monitor data Monitor data Md.30 External input/output signalSpecial start data instruction No. setting 815 915 1015 1115 Amount 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 Dwell time/JUMP destination Buffer memory address Axis Operation patternCode/condition data No No. of Loop to Lend repetitions 50th point Buffer memory address Axis Memory area ShapeStart data No Point Data Parameter 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 12-63 Axis error occurrence HourAxis error occurrence Minute second Md.12 Axis error reset Command in-position width Composite speed Explanation of positioning Details of input signals QD75 PLC CPUDeviation counter clear signal output time Appendix-73 External input/output signal Error correction Explanation of positioning termsError reset Explanation of positioning terms External command function selection Input signal logic selection For starting speed-position switching controlFor starting with external command signal Test mode flag 15-36 Limit switch Explanation of positioning termsManual pulse generator enable flag Multi-phase pulse Explanation of positioning 12-18 Multiplying rate setting Explanation of positioningNo. of write accesses to flash ROM NC language Explanation of positioning terms Appendix-81 Position-speed switching control enable flag Outline of installation, wiring and maintenanceOutput signal logic selection Position loop mode Explanation of positioning Positioning starting point No PrecautionsExternal command function valid setting Pulse output mode Explanation of positioning Setting for the movement amount after near-point Dog on Restart commandRLS signal Explanation of positioning terms Rotation direction setting Speed-position switching control Explanation Special start data instruction code setting valueSpecial start data instruction parameter setting Speed-position switching control ABS mode Time chart for starting position-speed Stop command processing for deceleration stopStop signal Explanation of positioning terms Time chart Turntable Explanation of positioning terms Unit setting Explanation of positioning termsWith mode Explanation of positioning terms Tracking function Explanation of positioning Memo Overseas service Gratis Warranty Term and Gratis Warranty RangeGratis Warranty Term Gratis Warranty RangePage Page QD75-U-S-E 13JR09 SHNA-080058-H0506MEE

Mitsubishi Electronics QD75D, QD75P Continuous positioning control, X14, X15, X16 Dwell time Time

Models: QD75P QD75D

[2]Continuous positioning control

MELSEC-Q

OFF

Start complete signal

[X10, X11, X12, X13] OFF

OFF

[X14, X15, X16, X17]

Dwell time

Time

Fig. 9.2 Operation during continuous positioning control