Position-speed switching control | Mitsubishi Electronics QD75P

9MAJOR POSITIONING CONTROL

9.2.18 Position-speed switching control

MELSEC-Q

In "position-speed switching control" (" Da.2 Control system" = Forward run:

position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in

" Da.6 Positioning address/movement amount" in the axis direction in which the

positioning data has been set. When the position-speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in " Da.8 command speed" until the input of a stop command.

The two types of position-speed switching control are "Forward run: position/speed" in

which the control starts in the forward run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction.

Switching over from position control to speed control

(1)The control is switched over from position control to speed control by the external signal "position-speed switching signal".

(2)Besides setting the positioning data, the " Cd.26 Position-speed switching enable flag" must also be turned ON to switch over from position control to speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON

after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control. Only speed control will be carried out when the " Cd.26 Position-speed switching enable flag" and

position-speed switching signal are ON at the operation start.)

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Mitsubishi Electronics QD75P Position-speed switching control, Switching over from position control to speed control

Contents

Type QD75P/QD75D Positioning Module Page Safety Instructions Wiring Instructions Precautions for use Disposal Instructions SH-080047-E SH NA-080058-B Addition of function version BOverall revisions based on the Japanese Manual Version 3, .2.5, .6.2, .7.1, .2 to  1999 Mitsubishi Electric Corporation Introduction Specifications and Functions To 3 Installation, Wiring and Maintenance of the Product 112 Memory Configuration and Data Process To 7110 Sequence Program Used for Positioning Control To 6 105 Control Details and Setting OPR Control To 8Major Positioning Control 114 111113 High-Level Positioning Control To 10 10.1 12.4 12.212.3 12.5 Appendix Troubleshooting 15- 1 to 15Appendices Appendix- 1 to Appendix-108 Appendix 7.1 Connection example of QD75D Hardware GX Configurator-QP Operating ManualManual Name Manual Number Generic term for PLC CPU on which QD75 can be mounted Configurator-QPDetails of generic term/abbreviation IBM PC/AT and compatible DOS/V compliant personal computerPage Memo Product outline System configuration Specifications and FunctionsMemory Configuration and Data Process Data Used for Positioning Control Memo Communicating signals between QD75 and each module Product Outline Availability of one, two, and four axis modules Positioning control 1.1.1 Features of QD75Features of the QD75 are shown below Wide variety of positioning control functions Easy maintenance Quick startup Refer to Section Setups, monitoring, and testing through GX Configurator-QP Compact machining center ATC magazine positioning Purpose and applications of positioning controlPalletizer Inner surface grinder Lifter Storage of Braun tubes onto aging rackIndex table High-accuracy indexing of angle Creates control order and conditions as a sequence program QD75 errors, etc., are detectedMechanism of positioning control Stores the created program Designated distance Position controlSpeed control Positioning operation by the QD75 Positioning system using QD75Outline design of positioning system Movement amount and speed in a system using worm gears Pulse train output from the QD75 Pulse/s Vs =Mm/pulse Pulse Communicating signals between QD75 and each module QD75 Manual pulse generator QD75 Peripheral deviceQD75 Drive unit QD75 External signal External signal QD75 Communication QD75 External signalDevice connection connector Dog signal, upper/lower limit signal, zero GX Developer GX Configurator-QP QD75 Servo, etcFlow of system operation 1.2.1 Flow of all processes Using GX Configurator-QP, also debug the set data Chapter For setting data ManualGX Configurator-QP Details Reference Chapter Memo Outline of starting QD75 Outline of stopping Reference When Cd.6 Restart command is onOutline for restarting Md.26 Function Restrictions with a system using a stepping motorCause occurs during deceleration stop processing to System Configuration General image of system Module USB cable Extension System RS-232 cable For details, refer to GX Configurator -QP Operating Manual Specifications of recommended manual pulse generator Component list Usable base unit Applicable modules and the number of installable modulesApplicable system QD75 can be used in the following system Method using the software How to check the function version and Serial NoMethod using the rated plate on the module side face GX Developer display screen Signal layout for external device connection connector Combination of QD75 main functions and sub functions PTP control Performance specificationsInterpolation function None Positioning system Applicable wire size Screw tightening torque Sub functions List of functions 1 QD75 control functionsMain functions Common functions Pattern Main functions OPR control Control registered in QD75OP shift function Functions that compensate control Speed limit function Torque limit function 2 QD75 main functions Condition start Start data When the condition is established, the block start data isWith the set order Wait start Start data 3 QD75 sub functions and common functions To 65535 that can be set for each positioning data Or positioning dataPositioning Data No Common functions Details Reference Method using sequence programContact signals, such as Drive unit Ready or 13.5 Memo Combination of QD75 main functions and sub functions For deceleration stop Function Stop command processingPre-reading start function Deceleration start flag Function Acceleration/ deceleration time change function Axis Code on Signal direction QD75 PLC CPU Signal direction PLC CPU QD75Use prohibited 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 Skip request from an external source External command function2B7 Signals Selection Common Input/output interface internal circuit Input Common to QD75P1 and QD75D1 Negative logic Input signal ON/OFF statusAbout logic setting and internal circuit Initial value Output For QD75P1 Output For QD75D1 Wiring Items to confirm when installation and wiring are completed INSTALLATION, Wiring and Maintenance of the Product QD75D4 Names of each partQD75P4 Part names of the QD75 are shown below Interface of each QD75 is as shown below Handling precautions Cable Other precautions Main bodyInstallation environment Installation Precautions for installation Wiring Precautions for wiring QD75 side Wiring example of shielded cableProcessing example of shielded cables Cables should be the shortest possible Assembling of connector A6CON1 Wrap the coated parts with a heat contractile tube How to ground shielded cable using AD75CK Inside control box QD75 20cm7.88inch To 30cm11.82inch AD75CK Control panel Wiring of the differential driver common terminal Insert until hook Catches Module bottom MELSEC-Q Maintenance Precautions for maintenance Disposal instructions Memo Data Used for Positioning Control Positioning parameters Types of data Parameters and data required for controlParameters OPR parameters Data for user to control positioning system. Cd.1 to Cd.42 Operation, and stops/restarts the operation Setting items for positioning parameters Checking the positioning parameters Pr.1 Pr.42 Pr.43 Pr.57 Setting items for OPR parametersChecking the OPR parameters Setting items for positioning data Da.1 Da.1 Da.10 Checking the positioning dataItems Memo Setting items for block start data Checking the block start data Setting items for condition data Checking the condition data Monitoring the positioning system operation history Types and roles of monitor dataMonitoring the system Monitoring the speed Monitoring the axis operation stateMonitoring the position Monitoring the state Memo Controlling the system data Setting and resetting the setting dataTypes and roles of control data Controlling operation per step Controlling the operationControlling the operation Controlling the speed Making settings related to operation Memo Rotating body 360 degrees/rotation Pr.1 Unit settingList of parameters 5.2.1 Basic parameters Table, conveyor Assuming that the unit mm is selected with Pr.2 to Pr.4 Movement amount per pulsePr.2 No. of pulses per rotation Ap 6000 6000 100 Pr.5 Pulse output mode PULSE/SIGN modeCW/CCW mode Pr.5 Positive logic Negative logic For multiple of 1 setting Phase/B phase modePr.6 Rotation direction setting For multiple of 4 setting When Pr.6 Speed limit value Basic parametersPr.7 Bias speed at start Pr.8 Pr.9 Acceleration time Pr.10 Deceleration time Setting value Value set with peripheral device unitPr.8 Speed limit value Pulse To 200000 pulse/s To 1000000 pulse/s Select type Detailed parameters Pr.11 Backlash compensation amount Pr.12 Software stroke limit upper limit value Pr.13 Software stroke limit lower limit value 300 176 326 476 Torque limit setting value Pr.15 Software stroke limit valid/invalid settingPr.16 Command in-position width Pr.14 Software stroke limit selection Pr.17 Torque limit setting value Pr.18 Code on signal output timing Command Negative Front-loading speed switching Speed switching mode ModeStop signal External Input signal logic selection Near-point Positive Signal For front-loading switching Pr.19 Speed switching modeFor standard switching When composite speed is designated Pr.24 Manual pulse generator input selection Specify whether you wish to enable or disable the updatePr.21 Current feed value during speed control Pr.150 Speed-position function selection Memo Pr.25 Acceleration time 1 to Pr.27 Pr.28 Deceleration time 1 to Pr.30 Pr.33 JOG operation deceleration time selection Pr.31 JOG speed limit valuePr.32 JOG operation acceleration time selection Deceleration time Deceleration time 1. Deceleration time Pattern acceleration/deceleration Pr.34 Acceleration/deceleration process selectionAutomatic trapezoid acceleration/deceleration Pr.35 S-pattern ratio Eration time Pr.36 Sudden stop deceleration timeAcceleration starts following Deceleration starts following Actual sudden stop Deceleration time MELSEC-Q Pr.40 Positioning complete signal output time Positioning complete signal output time With calculation Pr.41 Allowable circular interpolation error widthPath with spiral interpolation Error Start point address Center point address External command enable Pr.42 External command function selectionTo enable the external command signal, set the to Memo OPR basic parameters Pr.43 OPR method Pr.46 OPR speed Pr.47 Creep speed Positive direction address Pr.44 Pr.1 Setting valuePr.44 OPR direction Degree To 359.99999 degree To 35999999 ⋅ 10-5degree Pulse Pr.45 OP address Pr.46 OPR speed OPR speed Pr.47 Creep speed Pr.7 Bias speed at start Pr.47 Creep speedSet a speed equal to or faster than the bias speed at start Pulse To 1000000 pulse/s Pr.48 OPR retry Memo Pr.49 OPR dwell time When stopper method 1 is set forOPR detailed parameters OPR dwell time value Use the value set Pr.51 OPR acceleration time selectionPr.52 OPR deceleration time selection Acceleration time Pr.53 OP shift amount Pr.56 Speed designation during OP shift Pr.55 Deviation counter clear signal output timePr.54 OPR torque limit value Pr.57 Dwell time during OPR retry Before explaining the positioning data setting items List of positioning data 599 600 2-axis interpolation only Operation patternAxis to be interpolated Da.3 Acceleration time No Da.1 Operation patternDa.2 Control system Da.5 Axis to be interpolated Absolute ABS system, current value changingDa.4 Deceleration time No Da.6 Positioning address/movement amount Da.2 Speed-position switching control Position-speed switching control When Pr.1 Unit Setting is pulse Da.2 Setting value When Pr.1 Unit Setting is inch Memo End point address Address set with Da.6 Da.7 Arc addressDa.7 Arc When Pr.1 Unit Setting is mm Da.8 Command speed Repetition count Setting value Setting itemDa.2 Value set with peripheral Value set with sequence Da.2 Da.9 Dwell time/JUMP designation positioning data No Da.1 Memo Start block List of block start dataBlock Pages that follow explain the block start data setting items Da.11 Da.14 7000 Axis Settings AxisBlock Axis 7001 Axis Continue Device EndShape 26000 27000 28000 29000 Shape Positioning data No Da.12 Start data No How to start the positioning data set Start data NoDa.11 Shape Da.13 Special start instruction Set the value as required for Special start instruction Setting value Setting detailsDa.14 Parameter Special start instruction List of condition data Block Pages that follow explain the condition data setting items Da.15 Da.19 Data Used for Positioning Control Remark Operator Parameter Setting value DefaultCondition target Identifier 03H Condition operator Da.17 Address Da.15 Condition targetDa.16 Condition operator Set the parameters as required for Da.18 ParameterDa.19 Parameter Condition operator List of monitor data 5.6.1 System monitor data When not in test modeWhen in test mode Monitoring is carried out with a decimal Reading the monitor value Default valueNot in test mode Test mode 1200 Start Hour Storage item Storage detailsHistory Up to 16 records can be stored Start Minute Second Storage buffer memory address common to axes 1 to 0000H0000 Judgment Can be storedStorage details Reading the monitor value Starting history Up to 1292 Axis error Stores the time at which an Error Encountered an errorStores an axis error No Occurrence Axis error was detected 1357 0000 Axis in which Accesses to flash When the number of writeError reset operation is Encountered a warning 1422 1424 1425 Axis monitor data 800 900 1000 1100 Axis 1 Axis 2 Axis 3 AxisMonitoring is carried out with a hexadecimal 0000 H Stores 0 under the speed control Command speed set by the current positioning dataAxis warning No When Set by the positioning data used one step earlier 810 910 1010 811 911 1011 Default807 907 1007 1107 808 908 1008 1108 809 909 1009 1109 Speed-position switching 812 912 1012 1112 0000H 813 913 1013 1113 0000H 816 916 1016Monitoring is carried out with a hexadecimal 814 914 1014 1114 At other times Stores For a positioning operation Target valueAddress/movement amount 818 918 1018 819 919 1019 Default Storage buffer Memory address Value0000 H 817 917 1017 Machine OPR completion is stored Is stored Is stored when machine OPR startsTorque limit setting value is stored Movement amount after 300 826 926 1026 Flag Speed limit flagSpeed change processing Speed limit value due to a speed change or Pr.8 829 929 1029 1129 827 927 1027 1127828 928 1028 1128 830 930 1030 1130 Executed last time Positioning data No. beingLast executed positioning Md.48 Deceleration start flag 835 935 1035 1135 832 932 1032 11320000 H 833 933 1033 837 937 1037 1137 Positioning data No to No List of control data 5.7.1 System control dataBuffer memory to the flash ROM Block start data No to Setting value K Setting Value Code OFF request M code on signal turns OFF Setting item Setting details Set the positioning start NoRestart command Stopped, set 1 Axis control data Setting K value Setting 2147483648 Item to specify a new feed valueInch Degree +2147483647 1506 1507 1606 1607 1706 1707 1806 1807 10 n1505 1605 1705 1805 Conversion into an integer value Setting range unit To 8388608 ms Setting item Setting detailsNew acceleration time value Setting range unit Speed change Enable/disable selection 1512 1612 1712 Set with a decimal 1508 1608 1708 1808 1509 1609 1709 18091510 1610 1710 1810 1511 1611 1711 1811 Set with a decimal Setting range Inch Degree Pulse 1515 1615 1715 1815 100 1513 1613 17131514 1614 1714 1814 1516 1616 1716 ⋅ 10-1µm ⋅ 10-5inch 1519 1619 1719 1819 1517 1617 17171518 1618 1718 1818 1520 1620 1720 Set a value within the allowable range Torque limit setting valueSpecify a new torque limit stored value 1524 1624 1724 1521 1621 1721 18211522 1622 1722 1822 1523 1623 1723 1823 1525 1625 1725 For that, use this data item to specify a new speed Speed-position switching control INC mode2147483647 Inch Degree Pulse Pr.1 ⋅ 10-1µm 1528 1628 1728 1828 1526 1626 1726 18261527 1627 1727 1827 1530 1630 1730 1830 New address Position-speed switchingTarget position change value New speed 1535 1635 1735 1835 1532 1632 17321534 1634 1734 1834 1536 1636 1736 1836 Stepping should be performed 1542 1642 1742 1842 1543 1643 1743 1843 Set with a decimal 1540 1640 1740 1840 Set with a decimal1541 1641 1741 1841 1544 1644 1744 1844 When degree is selected as the unit Cd.39 Teaching positioning data No 1548 1648 1748 1848 1546 1646 17461547 1647 1747 1847 1549 1649 1749 1849 Memo Sequence Program Used for Positioning Control Restrictions to speed change execution interval Precautions for creating programReading/writing the data Process during overrun Communication with QD75 System configurationControl unit Program, the unit of 0 mm is set for the basic parameter X0C List of devices used Reverse run JOG/inching command Code OFF command Commanding M code OFFForward run JOG/inching command Command Time change X35 Requesting acceleration/deceleration Enable command Operation enableM10 Manual pulse generator operation Storage Data resisters and timers Deceleration time setting Low-order 16 bits Acceleration time setting Low-order 16 bitsAcceleration time setting Value High-order 16 bits Enable Command speed Pulse output modePulse output mode Rotation direction setting Rotation Unit magnification General configuration of program Creating a 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 Time chart for OPR OFF request External command function valid setting programData requiring setting This program forcibly turns OFF the OPR request flag Positioning start point No Start details setting programProcedures for setting the starting details To validate position-speed switching signal, this Position-speed switching control speed changeUsed to set a new value when speed is changed Cd.25 Start program Buffer memory 1500 Starting conditions Starting by inputting positioning start signal Operation when starting 9001 Starting time chartX10 OFF Time chart for starting fast OPR X8 OFF 9002 Time chart for starting major positioning control Time chart for starting position-speed switching control Machine OPR operation timing and process time Position control operation timing and process time Follows Set to 1 Validate external command 1505 1605 1705 Starting by inputting external command signalSetting details Buffer memory address Value Axis Restrictions Restrictions Continuous operation interrupt programOperation during continuous operation interruption Cd.18 Control data requiring settings Set the following data to interrupt continuous operation Restart operation Stop with stop commandRestart program Cd.3 Starting conditions Control data requiring settingAxis operation status is 1 Stopped Signal state Set the following data to execute restart Time chart for restarting 14 Time chart for restarting Stop program Stop process Pr.36 Types of stop processesPr.30 Pr.10 Pr.28 Pr.29 Order of priority for stop process Sudden Stop cause Sudden stop deceleration process Memory Configuration and Data Process QD75 is configured of the following two memories Area configuration Memory Details of areas Data is backed up User accesses Here QD75 Buffer memory area configuration PLC Ready signal Y0 OFF on From command To commandPower supply ON/memo area PLC CPU reset Data transmission process Pr.8 Pr.10 Pr.25 Pr.42 Transmitting data with to command from PLC CPUAccessing with from command from PLC CPU Pr.1 Pr.7 Pr.11 Pr.24 Pr.43 Pr.57 Pr.150 Flash ROM request Write Memo area Flash ROM write Flash ROM request Write Cd.1 Flash ROM writeFlash ROM request writing QD75 read, monitor Reading data from buffer memory to peripheral device Writing data from peripheral device to buffer memory Completion Ex. Setting the positioning dataFollowing methods can be used to set the positioning data 11- 1 to 11 12- 1 to 12 Memo OPR Control Outline of OPR control 8.1.1 Two types of OPR control OPR from peripheral devices When an OPR is not requiredOPR sub functions Restricted, Combination not possible OP address is a fixed value set by the user Machine OPR Outline of the machine OPR operation ImportantMachine OPR operation Pr.45 Machine OPR method Machine OPR is started Operation chartOPR method 1 Near-point dog method Pr.51 Precautions during operation Pr.48 Pr.49 OPR method 2 Stopper methodPr.44 Pr.46 Pr.55 Set a value OPR speed, thus causing an errorAlways limit the servomotor torque after Md.31 Status b4 Torque limit Near-point dog OFF Machine OPR start Pr OPR speed Pr Creep speed Stops at stopper Zero signalOPR method 3 Stopper method Status b3 OPR complete flag Zero signal Near-point dog OFF Machine OPR startOPR speed Pr Creep speed Md.31 Status b4 Deviation counter clear output OPR direction. Torque OPR method 4 Stopper methodMachine moves at Pr.47 Pr.44 Standing by OP address OPR method 5 Count method1 OPR direction. It then moves at Pr.46 OPR speed toPr.50 Pr.44 OPR direction. It then moves at Pr.46 OPR speed when OPR method 6 Count methodMachine OPR is started Direction designated Setting for the movement amount after near- point dog on Fast OPR Outline of the fast OPR operation Fast OPR operation Operation timing and processing time of fast OPR Operating restrictions Memo Major Positioning Control Control unit degree handling Outline of major positioning controls Reverse run Speed-position switching control Speed/positionNonexecutable control system. When this instruction is Reverse run Position control Position/speed Major positioning control from peripheral devices Data required for major positioning controlMajor positioning control sub functions Operation patterns of major positioning controls Independent positioning control Positioning complete XC, XD, XE, XF X14, X15, X16 Dwell time Time Start complete signal X10, X11, X12, X13 OFFContinuous positioning control Continuous path control Pr.19 Deceleration stop conditions during continuous path control Forward run command Reverse run command Interpola Tion axis Speed handling Speed 3000 2000 1000 Speed switching Refer to Pr.19 Speed switching mode X14, X15, X16, X17 OFF Start complete signal X10, X11, X12, X13 OFF Busy signal X14, X15, X16 MELSEC-Q Incremental system Designating the positioning addressAbsolute system Md.21 Machine feed value Confirming the current valueValues showing the current value Value is changed to a new value Buffer memory addresses Monitoring the current valueDa.6 Axis Md.20 Current feed value Setting to invalidate software stroke limit Software stroke limit valid/invalid settingSetting to validate software stroke limit Control unit degree handling Moved from 315 to Moved from 45 to UsingCd.40 When the software stroke limit is valid Incremental system Axis linear interpolation control, 4-axis fixed-feed Interpolation controlMeaning of interpolation control Control, 4-axis speed control Axis Axis to be Interpolated Setting the positioning data during interpolation controlDeceleration time No Data Positioning address Forward run speed 2, 3, Movement amount Speed during interpolation control Starting the interpolation controlInterpolation control continuous positioning Pr.20 Speed limit Limits to interpolation controlAxis operation status during interpolation control Interpolation will be stored Position control Speed control Interpolation Axis, 4-axis SwitchingPositioning data setting items Speed Position Da.9 Dwell time Arc address Command speedJump instruction No. at Jump Axis linear control ABS linear Positioning data setting example2 1-axis linear control 1-axis linear control Axis linear control INC linear 2-axis linear interpolation control 3 2-axis linear interpolation controlAxis linear interpolation control ABS linear Positioning address/movement amount Data will not be executed Da.2 Control system Axis Setting item Reference Axis setting ExampleSignal Da.10 Code Set absolute system 2-axis linear interpolation control Axis linear interpolation control INC linear Start point address Axis Current stop position Da.6 movement amount Da.8 Command speedSet this when other sub operation commands are issued Positioning address Forward direction Axis 4 3-axis linear interpolation control3-axis linear interpolation control Positioning data will not be executed Setting not required setting value will beOutput of the positioning complete signal At deceleration Major Positioning Control Points Stop address after the positioning control Axis 5000 Movement amount Reverse directionStart point address X1, Y1, Z1 6000 Set incremental system 3-axis linear Deceleration time Pr.10 Da.4 Major Positioning Control Points 5 4-axis linear interpolation control Pr.1 Unit setting Axis Arc address Command speedCode Setting details Operation pattern Positioning Axis linear interpolation control INC linear Setting not required setting value will be ignored 500ms Da.10 6 1-axis fixed-feed control 1-axis fixed-feed control Set 1-axis fixed-feed control Da.3 Acceleration time 7 2-axis fixed-feed control interpolation 2-axis fixed-feed control Pr.20 Interpolation Mm/min Speed designation method Speed may exceedSet 2-axis fixed-feed control Set the time the machine dwells after the positioning stop 8 3-axis fixed-feed control interpolation 3-axis fixed-feed control Designated movement amount Restrictions Set 3-axis fixed-feed control 5000.0 6000.0 9 4-axis fixed-feed control interpolation 4-axis fixed-feed control Interpolated Da.6 Movement amount Axis Da.7 Arc address Da.8 Command speedAxis side speed may exceed 2-axis circular interpolation control Unit setting When the units set Set the speed when moving to the end point address If the self-axis is set, an error will occur3000.0 ∝ Pr.1 Setting is set to mm Sub point designation Movement amount Restrictions Pr.25 Acceleration time 1 as Acceleration time at start Pr.1 Unit Setting is set to mmWith sub point designation Speed Pr.20 Interpolation speed designation Counterclockwise Can be controlledClockwise Pr.41 Circular interpolation error compensationPositioning address/movement Refer to Radius Reverse direction Arc addressForward direction Arc address Reverse direction Restrictions Center point designation. Select clockwise or Positioning data setting examplesAxis Arc address Command speed Da.9 Dwell time Da.10 M code Counterclockwise according to the control Movement amount = Restrictions INC circular Unit setting is set to mmWith center point designation. Select clockwise or 8000.0 ∝ 12 1-axis speed control Pr.18 Current feed value during 1-axis speed controlSet Positioning complete Timing setting only possible in the with mode Axis 1 Positioning data No Setting itemDa.10 Code Code on signal output Control Da.2 Control system 13 2-axis speed control Md.31 Status b0 Current feed value during 2-axis speed control Command speed ExamplesSetting item Pr.8 Speed limit value Set 2-axis speed control Axis Da.8 Command speed Da.9 Dwell timeMm/min Setting not required setting value will be ignored 14 3-axis speed control 11 3-axis speed control operation timing Current feed value during 3-axis speed control Restrictions Set Positioning complete Speed limit Axis 1 setting Axis 2 setting Axis 3 setting4000.00mm/min 5000.00mm/min 6000.00mm/min Value Command 8000.00mm/min 6000.00mm/min 4000.00mm/min Speed Set the speed to be commanded Da.8 Command speed Da.9 Dwell time Da.10 M code AxisSetting other than Positioning complete is Output timing setting only possible 15 4-axis speed control 4-axis speed control 12 4-axis speed control operation timing Current feed value during 4-axis speed control Value Min Command 8000.00mm 6000.00mm 4000.00mm 1500.00mm Axis Setting itemSetting Speed limit 4000.00mm 5000.00mm 6000.00mm 8000.00mm Speed Min Code on signal output timing Setting other than PositioningSet this when other sub Setting only possible Speed-position switching control INC mode Speed-position switching control INC modeSwitching over from speed control to position control Setting item Setting details Buffer memory address Value Md Status b0 MELSEC-Q Follows parameters Following table shows Switching time from speed control to position controlMd.20 Current feed value Speed control setting Current feed value Cd.23 Speed-position switching signal settingChanging the position control movement amount Status b1 of the axis monitor area Pr.21 value Speed/position Position switching control INC modeSet speed-position switching control by forward run Acceleration time No Pr.25 Speed-position switching control ABS mode Unit setting Cd Speed-position Switching enable flag Speed control flag X14,X15,X16,X17 Unit setting of 2 degree Pulse Current feed value Speed control setting is other thanPr.21 Md.20 Speed-position switching signal setting Speed-position switching signal Added Position switching control ABS mode Axis Movement amount Arc address Switching over from position control to speed control 18 Position-speed switching control operation timing External position-speed switching signal Position control carried out until position-speed switchingSignal turns on Current feed value during speed Current feed value during position-speed switching controlSwitching time from position control to speed control Status b5 turns on V2 becomes the speed control command speed Position-speed switching signal settingChanging the speed control command speed Status b5 of the axis monitor area Speed limit value if a new speed exceeds Setting value will be ignored Set position-speed switching controlUnit setting is Da.1 Positioning Current feed value is changed to the value set Changing to a new current value using the positioning dataCurrent value changing Md.21 Arc address Setting not required Setting value is Ignored Axis to be Setting not required Setting value isSetting is set to mm Command Setting not required Setting value is Speed Ignored Cd.9 Current value changing procedureCurrent value changing, setting 9003 Setting method for the current value changing function Following shows a start time chart PLC CPU NOP instruction Operation Jump instruction Acceleration time No Set the Jump instructionCode Unconditional Jump Condition data No Simultaneous start condition data cannot be set Set the Loop LoopLoop to Lend loop is repeated by set repeat cycles Set the Lend LendIgnore the Lend before the Loop is executed 10.3.4 10.3.210.3.3 10.3.5 High-level positioning control from peripheral devices Outline of high-level positioning controlHigh-level positioning control sub functions Special start Da.12 Da.13 Data required for high-level positioning controlStart data set in the next point Designate Block start data and condition data configuration 7001 7004 High-level positioning control execution procedure Positioning start No. in Step No. Condition Next start Da.11 EndDa.12 Start data No Da.13 Da.14 Parameter Block start normal start Setting examples Block start data setting examplePositioning data setting example Control examples Block start control example Condition start Parameter is carried out for the positioning data set Wait start Axis 1 block Da.11 Da.12 Da.14 Da.13 Axis 1 block Da.11 Da.12 Da.14 Simultaneous startA simultaneous start, the positioning data set 3rd point End Condition data Nos. have been set Da.14 Repeated start for loopParameter of the block start data in which For loop is set Repeated start for condition 7th point Restrictions when using the Next start6th point 8th point Wait Condition data is set in the following casesControl type High-level positioning control Repeated start 04H Buffer memory Memory P1 numeric value Set only when Da.16 Address03H Buffer memory 01H =P1 Word 02H Words 05H P1≤ QD75 buffer memory Address 30000 30099 Following shows setting examples for condition data Condition data setting examplesSetting the device ON/OFF as a condition Condition Device X0 =QD75 Ready is OFF Control details Multiple axes simultaneous start control procedureMultiple axes simultaneous start control Setting examples Points 7000 1500 Input/output signal Y10QD75 Buffer memory Drive unit 1501 Control data that require setting Start conditions Start time chart Start time chartPositioning data setting example M104 Y10 X10 Creating the programExample Set the block start data beforehand To H0 K1500 K7000 Manual Control 11.2.5 JOG operation Inching operation Carrying out manual control from peripheral devices Manual pulse generator operationManual control sub functions Monitoring manual control JOG operation Outline of JOG operation Important JOG operation Cd.16 Errors during operationCd.17 JOG operation timing and processing time JOG operation timing and processing times JOG operation execution procedure JOG operation is carried out by the following procedure Setting the required parameters for JOG operation Acceleration time 3 Unit pulse Acceleration time 1 Unit pulse 1000Acceleration time 2 Unit pulse Deceleration time 1 Unit pulse JOG speed is set to 100.00mm/min in the example shown Required control data settingCreating start programs for JOG operation JOG operation start time chart Creating the program When the stop signal is turned on during JOG operation JOG operation example Busy signalXC, XD, XE, XF OFF Y9, YB, YD, YF Forward run JOG start signal OFF Y8, YA, YC, YE Signal Y8, YA, YC, YEForward run JOG operation execution Test mode Forward run JOG operation Forward run JOG start Forward run JOG operation Forward run JOG start signal Y4, Y5, Y6, Y7 100ms Rise of JOG start signal is ignored Inching operation Outline of inching operation Important Inching operation Limit signal Inching operation timing and processing times Depending on Inching operation execution procedure Inching operation is carried out by the following procedure Pr.1 Pr.2 Setting the required parameters for inching operationSetting item Setting requirement Factory-set initial value Pulse output to the drive Creating a program to enable/disable the inching operation Inching 14 Inching operation start time chart Creating the program When stop signal is turned on during inching operation Inching operation example 16 Operation when JOG start signal is turned on in test mode Create the sequence program so that X10, X11, X12 Manual pulse generator operation enabledManual pulse generator operation Cd.21 Restricted items Operation possible Operation not possible Upper/lower Manual pulse generator operation timing and processing time 64 to 28.4 to 57.6 For example, when Position control by manual pulse generator operationSpeed control by manual pulse generation operation Manual pulse generator operation execution procedure Manual pulse generator input selection Torque limit setting value Unit % 300Input signal logic selection Cd.20 Generator 1 pulse Magnification Generator operation when finished withManual pulse Set the manual pulse generator 1 pulse input Forward run Reverse run Pulse input Phase PLC Ready signal Start complete signal X10 OFF Busy signal No.13 Manual pulse generator operation program Memo 12.2.2 12.1.112.2.1 12.3.1 It cannot be invalidated with parameters Outline of sub functionsFollowing table shows the types of sub functions available Trigger for the sub work Timing known Movement starts Sub functions specifically for machine OPROPR retry function Direction opposite to the Pr.44 OPR direction OPR direction, a OPR direction is set to 0 Positive Setting the dwell time during an OPR retry Pr OPR direction Stop by limit Machine OPR Setting item Setting details Factory-set Value Precaution during controlSetting the OPR retry function Dwell time during OPR retry OP shift function OP shift operation OPR speed or Setting range for the OP shift amountMovement speed during OP shift Status b4 Precautions during controlSetting the OP shift function Functions for compensating the control Backlash compensation function Backlash compensation, which includes the movement amount Setting the backlash compensation functionCurrent feed value or 255 Electronic gear function Pr.2 Definition Error compensation methodProcedure Set the post-compensation No. of pulses per rotation Ap Relation between the movement amount per pulse and speed Actual speed Remark Positioning data No Positioning data No Near pass functionDa Positioning address Path of positioning data No.3 Axis 1 output speed Axis 2 output speed Allowable circular interpolation error width Example Near pass Functions to limit the control Speed limit function 200000 Setting the speed limit functionIf any axis exceeds JOG speed JOG speed limit Torque limit function New torque value is set to Pr.17 When limiting the torque atTorque limit setting value, confirm That Setting the torque limit function Torque limit stored value Workpiece moveable range Software stroke limit functionPr.13 Software stroke limit lower limit Pr.14 When machine feed value is setCurrent feed value and range limit check Md Current feed value Md Machine feed value Software stroke limit check details Pr.12 Precautions during software stroke limit checkSoftware stroke limit upper Limit value No.10 P11 No.11 No.12 No.13 No.14 P01 For manual operation, set 0 software stroke limit invalid Setting the software stroke limit functionInvalidating the software stroke limit Software stroke Current value address Setting when the control unit is degreeSetting the software stroke limit 315º Hardware stroke limit function 19 Hardware stroke limit function operation Input signal logic selection is set to the initial value Wiring the hardware stroke limitWhen the hardware stroke limit function is not used Input signal logic selection is the initial value Following drawing shows the operation during a speed change Functions to change the control detailsSpeed change function Speed changes to Operation during Or later Function version Restarting speed Da.8 Command speedCd.14 New speed value is equal to or larger than Status b10, and enableSpeed limit value when the value set Positioning operation Speed change 0 flag Cd.14 New speed value 2000 Set the new speed Setting the speed change function from the PLC CPUFollowing shows the speed change time chart Speed change Cd.15 Set 1 Change the speed No.14 Speed change program Valid Cd.8 Set 1 Validate the external commandPr.42 Set 1 External speed change request Cd.14 New speed value K1514 D108 Input the external command signalWrite 1000000 to D108 and D109 K62 Cd.13 Override functionFeedrate becomes a value of 1 or less. When Md.22 Setting the override function Positioning Cd.13 Operation speed MELSEC-Q Pr.9 Pr.10 Pr.25 Pr.30 For an acceleration/deceleration time change enable settingAcceleration/deceleration time change function Cd.10 Cd.11 When 0 is set in Cd.10 New acceleration time value Cd.10 Set the new acceleration time Time value Setting the acceleration/deceleration time change functionNew acceleration New deceleration Example No.16 Acceleration/deceleration time change program Torque change function 31 Torque change operation Setting the torque change function start signal If a value besides 0 is set QD75 Operation Panel Module Absolute position restoration functionServomotor with absolute position detector PLC system Outline of absolute position detection data communication QD75 CommandBattery Servomotor Pulse/rev cumulative rotation PLC system Pulse train Servo amplifier Instruction Absolute position signal transmission procedureDedicated This is turned on when ABS data is requested in the ABS Signal name Abbreviation Pin No Function and applicationABS transmission mode terminal. While this is turned on Transmission mode Condition 2. Positioning address Controlling instructionsCondition 1. Number of output pulses Unit ∝ m 26843545.6 26843545.5 Unusable range Absolute position Concept for the unit of mm, inch or pulseExample Detection system Usable range in absolute Concept for the unit of degree Relation between the step function and various controls Other functionsStep function Step operation not possible Data No. unit step Step modeDeceleration unit step Step start information Write 1 restart to Using the step operationSet the step mode before starting the positioning data Turn OFF the step valid flag, and quit the step function XC, XD, XE, XF Positioning complete signal Cd Step valid flag Positioning start signalY10, Y11, Y12, Y13 Busy signal Positioning start signal RYn+10, RYn+11 Unit step Step function settingsSet 0 Deceleration unit step or 1 Data No Cd.34 Step mode Cd.35 Step valid flag Set 1 Carry out step operation Following drawing shows the skip function operation Y10, Y11, Y12, Y13 BUSYsignalSkip function Setting the skip function from the PLC CPU Pr.42 Set 3 Skip request Setting the skip function using an external command signalCd.8 Set 1 Validate external command K62 K3 Code output function Code on signal output timingWith mode Md.25 After mode Code OFF request Point M code No Code set Setting the M code output functionReading M codes Pr.18 Addresses for which teaching is possible Teaching functionControl details Teaching timing Selection Written to Arc address Data used in teachingFollowing control data is used in teaching Designates the data to be taught Teaching Teaching procedure YES MELSEC-Q Motion path Program example Setting conditionsTeaching program example Example Target position Point Details of control When the direction of the operation is changedTarget position change function Precautions during operation Following shows the time chart for target position change Set 1 Carry out speed change No.22 Target position change program Command in-position function Pr.16 Command in-position width and command in-position flagExecution of the command in-position Width check Command Turn on the command in-position flag, and set Pr.16 Setting the command in-position functionConfirming the command in-position flag Remaining distance to the stop position of the position Acceleration/deceleration processing function Pattern acceleration/deceleration processing method Velocity Speed change request Speed change deceleration Set the acceleration/deceleration curve when 1 is setPattern acceleration/deceleration processing Pre-reading start function Controls 49 System example using pre-reading start function Cutter Cutter shaft Feed shaft Stock Feed shaft Start Program examples MELSEC-Q Deceleration start flag function Start made with positioning data No. specified Start data No Block start Da.11 Da.12Data Shape Precautions during control Monitor item Storage details Deceleration start flag function setting methodChecking of deceleration start flag Set whether the deceleration start flag function Deceleration curve continuation Stop command processing for deceleration stop functionDeceleration curve re-processing Control Precautions for control Setting method Common Functions Outline of common functions Parameter initialization function Parameter initialization means Parameter Cd.2 Set 1 parameter initialization request 1901 Parameter initialization methodParameter Initialization request Md.19 Execution data backup functionExecution data backup written to flash ROM means Execution data backup method Flash Precautions on parameter setting External I/O signal logic switching functionParameter setting details Shown in the following table External I/O signal monitor function 14.5 14.314.4 14.6 List of dedicated instructions Interlock during dedicated instruction is executed Setting data Control data Functions Processing processing OutputPoints Abrst instruction Execution completion Errors Precautions Program examples Dedicated Instructions PSTRT1, PSTRT2, PSTRT3, PSTRT4 7000 to User Machine OPR 9001Fast OPR 9002 Current value changing 9003 9000 to Complete state display OFF Sequence programPstrt instruction Execution completion Program examples Dedicated Instructions TEACH1, TEACH2, TEACH3, TEACH4 Positioning data No. for which teaching is carried out User Teaching data Current feed value is written is setCurrent feed value is written to positioning address Teach instruction Execution completion Program example Other than Device Setting data Setting sidePfwrt Pfwrt instruction Execution completion Instruction symbolSequence program Processing Precautions Program example Other than 0 Abnormal completion error code Device Setting data Setting range Setting sideInstruction symbol Execution condition Pinit Pinit instruction Execution completion Initialized setting data ParametersPositioning data No to No Block start data No to Program example 15.3 15.4 Error and warning details Errors Types of errors Types of warnings Error storageAxis error No Invalid operations Resetting errors and warningsConfirming the error and warning definitions Status for axis status storage Memo List of errors Signals/external inputs to QD75 are turned on or After making an axis error reset refer to 3 in SectionCheck whether the stop commands output OFF. Turn OFF the on commands OP detection timing Detailed parameter 2 Sudden stop Near-point dog signal is turnedDwell time fault OPR speed by the stopper method Count method 1 Review the wiring. Refer to Section Lower the OPR speed Increase the dog signal input timeAdjust the near-point dog position so that Bring the JOG speed into the setting range To 600, 7000 to 7004, and 9001 to 9004 Position switching controlWhen multiple axes are started Current speed is set for speed B0H, C0H, D0H, E0H Refer to .5 Da.1660H, 70H, 80H, 90H, A0H Axis 1 start data No 1640 1740 1840 At start The system will not operate Where the control unit is set toOperation status at error occurrence 2147483648 to When software stroke limits are Invalid Setting with sequence programWhen software stroke limits are Valid Correct the circular interpolation error allowable limit Control unit is set to degree Control system sets an Control falls outsideValue range Operation pattern sets a new Not possible 1506 1606 1706 1806 Stroke limit using the manual controlPosition switching control, and position-speed At start Bring the current feed value into the software Unit group Units are different at the parameter Axis linear interpolation control ErrorInterpolation axis Operation of the interpolation axis Sudden stop selection Axis not present Stop group Correct the positioning data or change the parameter To 2000000000 mm/min or others Refer to .3 Da.8 Designated Start point = sub point Sub point setting End point = sub point ErrorProhibited area Either of the following applies Are in line with each other Correct the positioning address. Refer to .2.16, 9.2.17 Axis Same as error codes 515 toCorrect the control system or parameter. Refer to .1.6 Positioning start is carried out 537 536 When an M code on signal X4 to StartX7 is turned on Correct the instruction code of the special start data After turning OFF the M code on signal, startSignal. Then start the system Refer to .4 Da.13 Setting deceleration 9001 to Stop/sudden stop Direction in unit Set outside the setting rangeHold error Output at error stop, the setting for Error Executed with the teaching data Stop selection Set 0 when the software stroke limits are valid Set the ABS setting direction in the unit of degreeWithin the setting range Output at error stop Error Setting range Rotation direction Outside unit settingRange Outside the setting range Outside unit Outside the setting range Range Bring the setting into the setting range PLC Ready signal Y0 from OFF to onSet the value converted into the pulse number using Set the bias speed to not more than the speed limit Mode error Error Error name Operation status at errorSetting value Setting range Code on timing Speed changeover Turn the PLC Ready signal Y0 from OFF to on Mm inch pulse Bring the setting into the setting rangeSpeed-position switching control ABS mode should Degree 0 to Value is smaller than the upper limit value Detailed parameter Setting error Circular interpolation Error width Axis 1 Axis 2 Axis 3 Axis 194 344 494 195 345 495 196 346 496 PLC Ready signal Y0 from OFF to on 197 347 497Bring the setting into the speed limit value or below OPR speed error Setting range Set range of the OPR basic OPR direction errorSetting range OP address setting Set range of the OPR basic Creep speed error 225 375 525 Axis 1 Axis 2 Axis 3 Axis 221 371 521Set the speed to the bias speed at start or higher 226 376 526 List of warnings Set a value within the setting range Do not issue the restart command when the axisCarry out the teaching request when the axis is not Deceleration with the JOG start signal OFF Termination setting When input magnification is set atLimit value when the speed is Command function Do not turn on the speed-position switching signal Magnification to within the setting rangeWith a stop command, during stoppage, or during Give a request at the position where there is an Outside command Command speed exceeds Classification Warning During deceleration stop. An operating pattern Set the teaching data selection set value to withinFollowing cases Continuous path control is used LED display functions Appendix 4.3 Connection example of QD75D MR-C Appendix 4.1 Connection example of QD75D MR-HAppendix 4.2 Connection example of QD75D MR-J2/J2S- a Appendix 8.1 Connection example of QD75D ∑ series Additional devices Function comparisonAdditional buffer memory Memo MELSEC-Q MELSEC-Q Appendix 2.2 Parameter setting value entry table Initial value Axis Remarks 20000 1000 2147483647 2147483648 300 Input selection Phase/B phase multiple PULSE/SIGN mode Setting Upper limit External B7, b9 Unused Each bit valueGenerator input Positive Command Deviation Unused Logic Interpolation error width Initial value Axis Remarks 1000 20000 300 Deviation counter clear signal To 65535ms Creep speed Do not retry OPR with upper/lower limit switchSetting for the movement amount OPR direction Initial value Axis Remarks 300 Dwell Code Pattern System Tion time Interpola Address Control AcceleraArc Time Ted Movement Amount 2012 20022005 2006 2007 2008 2009 2015 2016 2017 2018 2019 Posi Command Positioning Arc data 4012 4014 4015 4016 4017 4018 4019 203 2014002 4004 4005 4006 4007 4008 4009 202 4022 4024 4025 4026 4027 4028 4029 204 5022 5024 5025 5026 5027 5028 5029 304 5002 5004 5005 5006 5007 5008 5009 3025012 5014 5015 5016 5017 5018 5019 303 5032 5034 5035 5036 5037 5038 5039 305 6012 6014 6015 6016 6017 6018 6019 403 4016002 6004 6005 6006 6007 6008 6009 402 6022 6024 6025 6026 6027 6028 6029 404 7022 7024 7025 7026 7027 7028 7029 504 7002 7004 7005 7006 7007 7008 7009 5027012 7014 7015 7016 7017 7018 7019 503 7032 7034 7035 7036 7037 7038 7039 505 8022 8024 8025 8026 8027 8028 8029 8002 8004 8005 8006 8007 8008 80098012 8014 8015 8016 8017 8018 8019 8032 8034 8035 8036 8037 8038 8039 9012 9014 9015 9016 9017 9018 9019 103 1019002 9004 9005 9006 9007 9008 9009 102 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+ +24VIN 2m maxB19 Generator 24G Model QD75P1 QD75P2 QD75P4 A1SD71S2 Error displayStart, error, warning No. of control axes No. of positioning data items 214748364.8 to Controls Comparisons of performance specificationsPositioning systems History data storage Start, error, warning Ation time Setting rangeNear pass Error display Error LED Command pulse output system Function comparisons Integrated into error code 508. Error codes 509 to 512 are Start history storage during errorQD75, errors for the software stroke upper limit are From the speed limit value is out of the maximum command Step operation is restarted with the restart command Normal Not Ready Ready signalIs changed to Error occurring Axis operation status Changed functions Error code comparisons Added Deleted Fatal warning Common Not READY/WDT errorInput/output X/Y comparisons A1SD75 Buffer memory address comparisons QD75 Pr.42 External command function selection Positioning complete signal output time 209 359Allowable circular interpolation error width Near pass mode selection for path control 216 366 Start Second 100 ms Errors Test mode flag 450Error judgment Start history storage during error 623 Pointer number 753 1422 Items of A1SD75 QD75Axis warning No Special start data instruction parameter setting Speed-position switching control positioningExternal input/output signal Start positioning data No. setting value Axis error reset Clock data setting hourClock data setting minute, second Speed-position switching control movement Acceleration/deceleration time change during 1510 1610 1710New deceleration time value Code/condition data 4850 Data 43504600 Parameter Start Data indication No. comparisons Pr.42 Near pass mode selection for path control Positioning complete signal output timeAllowable circular interpolation error width Setting for the movement amount after near-point dog on Monitor data Special start data instruction parameter setting value Speed-position switching control positioning amountSpecial start data instruction code setting value OP absolute position Control data Cd.42 Stop command processing for deceleration stop selectionInterrupt request during continuous operation Positioning data, block start data, condition data Called block start data with the QD75 Appendix Output signal comparisons Input/output signal comparisonsInput signal comparisons Pulse input Phase Appendix 10 Melsec Explanation of positioning terms No.1 No.2 After modeClamp command No.10 Positioning No.11 Code Forward run Backlash Auto Tuning Automatic TuningAcceleration Deceleration Speed Time Female thread Male thread BIN Binary Full speed Speed Bias speed Refer to term Feedback Pulse Change signalCCW Counterclockwise C D No. of pulses Voltage 0 to ±10V To 80,000 Pulses/second CP Control Continuous Path ControlConverter Digital-to-Analog converter No.2 No.4 No.6 No.1 No.5 No.3 Receiver Positioning Drive Motor Module Unit Power supplyNear-point dog of the OPR For the main For the zero Rotary encoderLinear encoder Appendix Index Scale Rotation by the motor Lead feedrate per screw rotation QD75, F is a status where the module itself has a faultOPR speed Dog switch Raising FLS Signal forward limit signalG50 Max. spindle speed setting Gain Incremental Encoder Right Right No is several millimeters To the right of No Y0 Forward run Y1 Reverse run MicroswitchKPPS Actuator No.9 Longitudinal Feed No.8 No.1 Latitudinal feed Code Machine CodeRefer to GD2 Made by Mitsubishi Electric Corp. model MR-HDP01 Rate NC Language Numerical Control LanguageP rate. Refer to the term P Rate No. of pulses per Per rotation Encoder rotation OPR Method This point is the reference PG0 Pulse Generator Zero Pronounced pee-jee-zero. Refer to the term Zero SignalRate Pulse Rate Feedback pulses PG0 1 axis rotation Refer to the term Operation Pattern Command pulse frequencyDwell time Positioning complete signal Loop gain Forward Reverse PTP Control Point To Point ControlRefer to the section of term operation pattern Type Terminal REAL-TIME Auto Tuning Real-time Automatic Tuning RLS Signal reverse limit signal QD75 Ready Servo amplifier SFC Sequential Function ChartExecution of extrusion Motor PLG Encoder Start Switching signal High speed Incremental positioning Speed Control Machine OPR Stopper Refer to the term Dwell Time AppendixMotor torque MotorLoad Lower limit Upper limit Stop Limit switchTorque width variations, deviations in the torque Positioning possible in a 3m 9.84feet range Base table Axis Also called PG zero. Refer to Zero SignalRotated by the motor Appendix 11 Positioning control troubleshooting Trouble type Questions/Trouble Remedy 8192 Setting of 1 m 1pulse isChanged 1pulse cannot be achieved Thus, the setting 1 m How can the deceleration stop No. of pulses Rotation Trouble type Questions/TroubleMovement amount per No. of pulses per Machine OPR, the message Selected? Setting value Signal should be turned on at 4ms or moreIf possible, set the signal so it does not turn on only Setting is Deceleration stop, it will be ignored. The same PLC Ready signal Y0 turns on Module When a JOG operation isHow can it be canceled? Changing has been executed Set to Is it possible to count the pulses Not possible Is there any problem if To on Parameters When the start signal was turnedSignal ON, warning 100 start Unit magnification to 10-fold or Is set to Appendix 12 List of buffer memory addresses Setting for the movement amount after Occurrence Hour Axis in which the errorError history pointer 1422 815 915 1015 1115 Amount Md.30 External input/output signalSpecial start data instruction No. setting Memory area Axis monitor data Monitor data 1515 1615 1715 1815 Speed change request Memory area Axis control data Control data Cd.42 Stop command processing for deceleration Axis Simultaneous starting axis start data No No. of Loop to Lend repetitions Buffer memory address Axis Operation patternCode/condition data No Dwell time/JUMP destination Data Parameter Buffer memory address Axis Memory area ShapeStart data No Point 50th point Condition judgement target data of the condition PLC CPU memory area Unit mm Appendix 13 External dimension drawing QD75P1/QD75P2/QD75P427.4 136 QD75D1/QD75D2/QD75D4 Number Command in-position width Axis error occurrence HourAxis error occurrence Minute second Md.12 Axis error reset 12-63 Appendix-73 Details of input signals QD75 PLC CPUDeviation counter clear signal output time Composite speed Explanation of positioning External command function selection Error correction Explanation of positioning termsError reset Explanation of positioning terms External input/output signal Test mode flag For starting speed-position switching controlFor starting with external command signal Input signal logic selection Multi-phase pulse Explanation of positioning Limit switch Explanation of positioning termsManual pulse generator enable flag 15-36 NC language Explanation of positioning terms Appendix-81 Multiplying rate setting Explanation of positioningNo. of write accesses to flash ROM 12-18 Position loop mode Explanation of positioning Outline of installation, wiring and maintenanceOutput signal logic selection Position-speed switching control enable flag Pulse output mode Explanation of positioning PrecautionsExternal command function valid setting Positioning starting point No Rotation direction setting Restart commandRLS signal Explanation of positioning terms Setting for the movement amount after near-point Dog on Speed-position switching control ABS mode Special start data instruction code setting valueSpecial start data instruction parameter setting Speed-position switching control Explanation Time chart Stop command processing for deceleration stopStop signal Explanation of positioning terms Time chart for starting position-speed Tracking function Explanation of positioning Unit setting Explanation of positioning termsWith mode Explanation of positioning terms Turntable Explanation of positioning terms Memo Gratis Warranty Range Gratis Warranty Term and Gratis Warranty RangeGratis Warranty Term Overseas servicePage Page QD75-U-S-E 13JR09 SHNA-080058-H0506MEE

Mitsubishi Electronics QD75P, QD75D user manual Position-speed switching control

Models: QD75P QD75D

9.2.18 Position-speed switching control

MELSEC-Q

Switching over from position control to speed control