Auto Tuning Automatic Tuning | Mitsubishi Electronics QD75P, QD75D

APPENDICES

MELSEC-Q

AUTO TUNING (Automatic Tuning)

Properties such as responsiveness and stability of machines driven with a servomotor are affected by changes in the inertia moment and rigidity due to changes in the machine load, etc.

This function automatically adjusts the speed loop gain and position loop gain to match the machine state, so the machine's performance can be maintained at its optimum state.

A real time automatic tuning function should be used for machines having large load fluctuations.

AUTOMATIC TRAPEZOIDAL ACCELERATION/DECELERATION

An operation in which a graph of the time and speed takes a trapezoidal shape.

Acceleration

Deceleration

Speed

Time

BACKLASH COMPENSATION

When a forward run operation changes to a reverse run operation, there is sometimes play (backlash) in the mesh of the toothed gears. This also occurs when using a worm gear. Because of this backlash, a left feed of 1m (3.28feet) carried out after a right feed of 1m

(3.28feet) will not be sufficient to return the machine to its original position. The machine cannot be positioned to its original position without an extra feed equivalent to the backlash amount. This function compensates for that backlash amount.

Forward run

Backlash

Machine

1m (3.28feet) (right feed)does not move.

BACKUP FUNCTION

Backup functions consist of the following.

1)Functions for storing the sequence program and device statuses stored in the RAM memory of the PLC CPU, so that they are not lost during power failures, etc.

2)Functions for storing the current value in absolute position compatible systems so that it is not lost during power failures, etc.

3)Functions for reading the PLC CPU data (PLC programs, parameters, positioning data, etc.) by a peripheral device when the old PLC CPU is replaced, and then write it to the new PLC CPU after the replacement is completed.

BALL SCREW

This is a type of screw, with balls lined up in the threads like ball bearings. This reduces backlash, and enables rotation with little force.

Female thread

Male thread

1m (3.28feet) (left feed)

(Left feed amount)

Backlash

Appendix - 70

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Image 712

Mitsubishi Electronics QD75P Auto Tuning Automatic Tuning, Acceleration Deceleration Speed Time, Forward run Backlash

Contents

Type QD75P/QD75D Positioning Module Page Safety Instructions Wiring Instructions Precautions for use Disposal Instructions SH NA-080058-B Addition of function version B Overall revisions based on the Japanese Manual VersionSH-080047-E 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 Memory Configuration and Data Process To 7 110112 Sequence Program Used for Positioning Control To 6 Major Positioning Control Control Details and Setting OPR Control To 8105 111 113114 High-Level Positioning Control To 10 10.1 12.2 12.312.4 12.5 Troubleshooting 15- 1 to 15 Appendices Appendix- 1 to Appendix-108Appendix Appendix 7.1 Connection example of QD75D Manual Name Manual Number GX Configurator-QP Operating ManualHardware Configurator-QP Details of generic term/abbreviationGeneric term for PLC CPU on which QD75 can be mounted IBM PC/AT and compatible DOS/V compliant personal computerPage Memo System configuration Specifications and Functions Memory Configuration and Data ProcessProduct outline Data Used for Positioning Control Memo Communicating signals between QD75 and each module Product Outline Positioning control 1.1.1 Features of QD75 Features of the QD75 are shown belowAvailability of one, two, and four axis modules Wide variety of positioning control functions Easy maintenance Quick startup Refer to Section 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 QD75 errors, etc., are detected Mechanism of positioning controlCreates control order and conditions as a sequence program Stores the created program Speed control Position controlDesignated distance Outline design of positioning system Positioning system using QD75Positioning operation by the QD75 Movement amount and speed in a system using worm gears Pulse train output from the QD75 Vs = Mm/pulsePulse/s Pulse Communicating signals between QD75 and each module QD75 Drive unit QD75 Peripheral deviceQD75 Manual pulse generator QD75 External signal Device connection connectorQD75 External signal External signal QD75 Communication Dog signal, upper/lower limit signal, zero Flow of system operation 1.2.1 Flow of all processes GX Configurator-QP QD75 Servo, etcGX Developer For setting data Manual GX Configurator-QPUsing GX Configurator-QP, also debug the set data Chapter Details Reference Chapter Memo Outline of starting QD75 Outline of stopping When Cd.6 Restart command is on Outline for restartingReference Md.26 Cause occurs during deceleration stop processing to Restrictions with a system using a stepping motorFunction 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 Applicable modules and the number of installable modules Applicable systemUsable base unit QD75 can be used in the following system How to check the function version and Serial No Method using the rated plate on the module side faceMethod using the software GX Developer display screen Signal layout for external device connection connector Combination of QD75 main functions and sub functions Performance specifications Interpolation function NonePTP control Positioning system Applicable wire size Screw tightening torque List of functions 1 QD75 control functions Main functionsSub functions Common functions Main functions OPR control Control registered in QD75 OP shift function Functions that compensate controlPattern Speed limit function Torque limit function 2 QD75 main functions When the condition is established, the block start data is With the set orderCondition start Start data Wait start Start data 3 QD75 sub functions and common functions Or positioning data PositioningTo 65535 that can be set for each positioning data Data No Method using sequence program Contact signals, such as Drive unit Ready orCommon functions Details Reference 13.5 Memo Combination of QD75 main functions and sub functions Stop command processing Pre-reading start function Deceleration start flag FunctionFor deceleration stop Function Acceleration/ deceleration time change function Signal direction QD75 PLC CPU Signal direction PLC CPU QD75 Use prohibitedAxis Code on X10 Axis Y10 X11 Details of input signals QD75 PLC CPU Detail of output signals PLC CPU QD75 Input specifications Output specifications Signal layout for external device connection connector List of input/output signal details External command function 2B7 SignalsSkip request from an external source Selection Common Input/output interface internal circuit Input Common to QD75P1 and QD75D1 Input signal ON/OFF status About logic setting and internal circuitNegative logic 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 Names of each part QD75P4QD75D4 Part names of the QD75 are shown below Interface of each QD75 is as shown below Handling precautions Installation environment Other precautions Main bodyCable Installation Precautions for installation Wiring Precautions for wiring Wiring example of shielded cable Processing example of shielded cablesQD75 side 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 Types of data Parameters and data required for control ParametersPositioning parameters 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 Checking the OPR parameters Setting items for OPR parametersPr.43 Pr.57 Setting items for positioning data Da.1 Items Checking the positioning dataDa.1 Da.10 Memo Setting items for block start data Checking the block start data Setting items for condition data Checking the condition data Monitoring the system Types and roles of monitor dataMonitoring the positioning system operation history Monitoring the position Monitoring the axis operation stateMonitoring the speed Monitoring the state Memo Types and roles of control data Setting and resetting the setting dataControlling the system data Controlling the operation Controlling the operationControlling operation per step Controlling the speed Making settings related to operation Memo Pr.1 Unit setting List of parameters 5.2.1 Basic parametersRotating body 360 degrees/rotation Table, conveyor Pr.2 No. of pulses per rotation Ap Pr.2 to Pr.4 Movement amount per pulseAssuming that the unit mm is selected with 6000 6000 100 PULSE/SIGN mode CW/CCW modePr.5 Pulse output mode Pr.5 Phase/B phase mode Pr.6 Rotation direction settingPositive logic Negative logic For multiple of 1 setting For multiple of 4 setting When Pr.6 Basic parameters Pr.7 Bias speed at startSpeed limit value Pr.8 Setting value Value set with peripheral device unit Pr.8 Speed limit valuePr.9 Acceleration time Pr.10 Deceleration time 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 Pr.15 Software stroke limit valid/invalid setting Pr.16 Command in-position width300 176 326 476 Torque limit setting value Pr.14 Software stroke limit selection Pr.17 Torque limit setting value Pr.18 Code on signal output timing Front-loading speed switching Speed switching mode Mode Stop signal ExternalCommand Negative Input signal logic selection Near-point Positive Signal Pr.19 Speed switching mode For standard switchingFor front-loading switching When composite speed is designated Specify whether you wish to enable or disable the update Pr.21 Current feed value during speed controlPr.24 Manual pulse generator input selection Pr.150 Speed-position function selection Memo Pr.25 Acceleration time 1 to Pr.27 Pr.28 Deceleration time 1 to Pr.30 Pr.31 JOG speed limit value Pr.32 JOG operation acceleration time selectionPr.33 JOG operation deceleration time selection Deceleration time Deceleration time 1. Deceleration time Automatic trapezoid acceleration/deceleration Pr.34 Acceleration/deceleration process selectionPattern acceleration/deceleration Pr.35 S-pattern ratio Pr.36 Sudden stop deceleration time Acceleration starts following Deceleration starts followingEration time Actual sudden stop Deceleration time MELSEC-Q Pr.40 Positioning complete signal output time Positioning complete signal output time Pr.41 Allowable circular interpolation error width Path with spiral interpolation ErrorWith calculation Start point address Center point address To enable the external command signal, set the to Pr.42 External command function selectionExternal command enable Memo OPR basic parameters Pr.43 OPR method Pr.46 OPR speed Pr.47 Creep speed Positive direction address Pr.1 Setting value Pr.44 OPR directionPr.44 Degree To 359.99999 degree To 35999999 ⋅ 10-5degree Pulse Pr.45 OP address Pr.46 OPR speed Pr.47 Creep speed Set a speed equal to or faster than the bias speed at startOPR speed Pr.47 Creep speed Pr.7 Bias speed at start Pulse To 1000000 pulse/s Pr.48 OPR retry Memo When stopper method 1 is set for OPR detailed parametersPr.49 OPR dwell time OPR dwell time value Pr.51 OPR acceleration time selection Pr.52 OPR deceleration time selectionUse the value set Acceleration time Pr.53 OP shift amount Pr.55 Deviation counter clear signal output time Pr.54 OPR torque limit valuePr.56 Speed designation during OP shift Pr.57 Dwell time during OPR retry Before explaining the positioning data setting items List of positioning data 599 600 Axis to be interpolated Operation pattern2-axis interpolation only Da.2 Control system Da.1 Operation patternDa.3 Acceleration time No Absolute ABS system, current value changing Da.4 Deceleration time NoDa.5 Axis to be interpolated 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 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 Setting value Setting item Da.2Repetition count Value set with peripheral Value set with sequence Da.2 Da.9 Dwell time/JUMP designation positioning data No Da.1 Memo Block List of block start dataStart block Pages that follow explain the block start data setting items Da.11 Da.14 Settings Axis Block Axis7000 Axis 7001 Axis Device End ShapeContinue 26000 27000 28000 29000 Shape Positioning data No How to start the positioning data set Start data No Da.11 ShapeDa.12 Start data No Da.13 Special start instruction Special start instruction Setting value Setting details Da.14 ParameterSet the value as required for 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 Parameter Setting value Default Condition target IdentifierOperator 03H Condition operator Da.16 Condition operator Da.15 Condition targetDa.17 Address Da.18 Parameter Da.19 ParameterSet the parameters as required for Condition operator When in test mode When not in test modeList of monitor data 5.6.1 System monitor data Reading the monitor value Default value Not in test mode Test modeMonitoring is carried out with a decimal 1200 Storage item Storage details History Up to 16 records can be storedStart Hour Start Minute Second 0000 0000HStorage buffer memory address common to axes 1 to Can be stored Storage details Reading the monitor valueJudgment Starting history Up to 1292 Error Encountered an error Stores an axis error NoAxis error Stores the time at which an Occurrence Axis error was detected 1357 0000 Accesses to flash When the number of write Error reset operation isAxis in which Encountered a warning 1422 1424 1425 Axis monitor data Axis 1 Axis 2 Axis 3 Axis Monitoring is carried out with a hexadecimal800 900 1000 1100 0000 H Command speed set by the current positioning data Axis warning No WhenStores 0 under the speed control Set by the positioning data used one step earlier 807 907 1007 1107 808 908 1008 1108 809 909 1009 1109 Default810 910 1010 811 911 1011 Speed-position switching 0000H 816 916 1016 Monitoring is carried out with a hexadecimal812 912 1012 1112 0000H 813 913 1013 1113 814 914 1014 1114 Address/movement amount For a positioning operation Target valueAt other times Stores 0000 H 817 917 1017 Default Storage buffer Memory address Value818 918 1018 819 919 1019 Is stored Is stored when machine OPR starts Torque limit setting value is storedMachine OPR completion is stored Movement amount after 300 826 926 1026 Speed limit flag Speed change processingFlag Speed limit value due to a speed change or Pr.8 827 927 1027 1127 828 928 1028 1128829 929 1029 1129 830 930 1030 1130 Positioning data No. being Last executed positioningExecuted last time Md.48 Deceleration start flag 832 932 1032 1132 0000 H 833 933 1033835 935 1035 1135 837 937 1037 1137 List of control data 5.7.1 System control data Buffer memory to the flash ROMPositioning data No to No Block start data No to Setting value K Setting Value Setting item Setting details Set the positioning start No Restart command Stopped, set 1Code OFF request M code on signal turns OFF Axis control data Setting K value Setting Item to specify a new feed value Inch Degree2147483648 +2147483647 10 n 1505 1605 1705 18051506 1507 1606 1607 1706 1707 1806 1807 Conversion into an integer value Setting item Setting details New acceleration time value Setting range unitSetting range unit To 8388608 ms Speed change Enable/disable selection 1510 1610 1710 1810 1511 1611 1711 1811 Set with a decimal Set with a decimal 1508 1608 1708 1808 1509 1609 1709 18091512 1612 1712 Setting range Inch Degree Pulse 100 1513 1613 1713 1514 1614 1714 18141515 1615 1715 1815 1516 1616 1716 ⋅ 10-1µm ⋅ 10-5inch 1517 1617 1717 1518 1618 1718 18181519 1619 1719 1819 1520 1620 1720 Specify a new torque limit stored value Torque limit setting valueSet a value within the allowable range 1521 1621 1721 1821 1522 1622 1722 1822 1523 1623 1723 18231524 1624 1724 1525 1625 1725 Speed-position switching control INC mode 2147483647For that, use this data item to specify a new speed Inch Degree Pulse Pr.1 ⋅ 10-1µm 1526 1626 1726 1826 1527 1627 1727 18271528 1628 1728 1828 1530 1630 1730 1830 Position-speed switching Target position change valueNew address New speed 1532 1632 1732 1534 1634 1734 18341535 1635 1735 1835 1536 1636 1736 1836 Stepping should be performed 1540 1640 1740 1840 Set with a decimal 1541 1641 1741 18411542 1642 1742 1842 1543 1643 1743 1843 Set with a decimal 1544 1644 1744 1844 When degree is selected as the unit Cd.39 Teaching positioning data No 1546 1646 1746 1547 1647 1747 18471548 1648 1748 1848 1549 1649 1749 1849 Memo Sequence Program Used for Positioning Control Precautions for creating program Reading/writing the dataRestrictions to speed change execution interval Process during overrun System configuration Control unitCommunication with QD75 Program, the unit of 0 mm is set for the basic parameter X0C List of devices used Code OFF command Commanding M code OFF Forward run JOG/inching commandReverse run JOG/inching command Command Time change X35 Enable command Operation enable M10 Manual pulse generator operationRequesting acceleration/deceleration Storage Data resisters and timers Acceleration time setting Low-order 16 bits Acceleration time setting Value High-order 16 bitsDeceleration time setting Low-order 16 bits Enable Pulse output mode Pulse output mode Rotation direction settingCommand speed 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 External command function valid setting program Data requiring settingTime chart for OPR OFF request This program forcibly turns OFF the OPR request flag Procedures for setting the starting details Start details setting programPositioning start point No Position-speed switching control speed change Used to set a new value when speed is changedTo validate position-speed switching signal, this Cd.25 Start program Buffer memory 1500 Starting conditions Starting by inputting positioning start signal Operation when starting X10 OFF Starting time chart9001 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 Starting by inputting external command signal Setting details Buffer memory address Value AxisSet to 1 Validate external command 1505 1605 1705 Restrictions Continuous operation interrupt program Operation during continuous operation interruptionRestrictions Cd.18 Control data requiring settings Set the following data to interrupt continuous operation Stop with stop command Restart programRestart operation Cd.3 Control data requiring setting Axis operation status is 1 Stopped Signal stateStarting conditions Set the following data to execute restart Time chart for restarting 14 Time chart for restarting Stop program Stop process Pr.30 Pr.10 Pr.28 Pr.29 Types of stop processesPr.36 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 From command To command Power supply ON/memo area PLC CPU resetPLC Ready signal Y0 OFF on Data transmission process Transmitting data with to command from PLC CPU Accessing with from command from PLC CPUPr.8 Pr.10 Pr.25 Pr.42 Pr.1 Pr.7 Pr.11 Pr.24 Pr.43 Pr.57 Pr.150 Flash ROM request Write Memo area Flash ROM write Flash ROM request Write Flash ROM request writing Flash ROM writeCd.1 QD75 read, monitor Reading data from buffer memory to peripheral device Writing data from peripheral device to buffer memory Following methods can be used to set the positioning data Ex. Setting the positioning dataCompletion 11- 1 to 11 12- 1 to 12 Memo OPR Control Outline of OPR control 8.1.1 Two types of OPR control When an OPR is not required OPR sub functionsOPR from peripheral devices Restricted, Combination not possible Machine OPR Outline of the machine OPR operation Important Machine OPR operationOP address is a fixed value set by the user Pr.45 Machine OPR method Operation chart OPR method 1 Near-point dog methodMachine OPR is started Pr.51 Precautions during operation Pr.48 OPR method 2 Stopper method Pr.44 Pr.46Pr.49 Pr.55 Always limit the servomotor torque after OPR speed, thus causing an errorSet a value Md.31 Status b4 OPR method 3 Stopper method Pr OPR speed Pr Creep speed Stops at stopper Zero signalTorque limit Near-point dog OFF Machine OPR start OPR speed Pr Creep speed Zero signal Near-point dog OFF Machine OPR startStatus b3 OPR complete flag Md.31 Status b4 Deviation counter clear output OPR method 4 Stopper method Machine moves atOPR direction. Torque Pr.47 Pr.44 Standing by OP address OPR method 5 Count method1 OPR direction. It then moves at Pr.50 OPR speed toPr.46 OPR method 6 Count method Machine OPR is startedPr.44 OPR direction. It then moves at Pr.46 OPR speed when Direction designated Setting for the movement amount after near- point dog on Fast OPR 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 Speed-position switching control Speed/position Nonexecutable control system. When this instruction isReverse run Reverse run Position control Position/speed Major positioning control sub functions Data required for major positioning controlMajor positioning control from peripheral devices Operation patterns of major positioning controls Independent positioning control Positioning complete XC, XD, XE, XF Continuous positioning control Start complete signal X10, X11, X12, X13 OFFX14, X15, X16 Dwell time Time 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 Absolute system Designating the positioning addressIncremental system Confirming the current value Values showing the current valueMd.21 Machine feed value Value is changed to a new value Monitoring the current value Da.6Buffer memory addresses Axis Md.20 Current feed value Software stroke limit valid/invalid setting Setting to validate software stroke limitSetting to invalidate software stroke limit Control unit degree handling Cd.40 UsingMoved from 315 to Moved from 45 to When the software stroke limit is valid Incremental system Interpolation control Meaning of interpolation controlAxis linear interpolation control, 4-axis fixed-feed Control, 4-axis speed control Axis Setting the positioning data during interpolation control Deceleration time No DataAxis to be Interpolated Positioning address Forward run speed 2, 3, Movement amount Starting the interpolation control Interpolation control continuous positioningSpeed during interpolation control Pr.20 Limits to interpolation control Axis operation status during interpolation controlSpeed limit Interpolation will be stored Interpolation Axis, 4-axis Switching Positioning data setting itemsPosition control Speed control Speed Position Arc address Command speed Jump instructionDa.9 Dwell time No. at Jump Positioning data setting example 2 1-axis linear controlAxis linear control ABS linear 1-axis linear control Axis linear control INC linear 3 2-axis linear interpolation control Axis linear interpolation control ABS linear2-axis linear interpolation control Positioning address/movement amount Axis Setting item Reference Axis setting Example Signal Da.10 CodeData will not be executed Da.2 Control system Set absolute system 2-axis linear interpolation control Axis linear interpolation control INC linear Start point address Axis Current stop position Da.8 Command speed Set this when other sub operation commands are issuedDa.6 movement amount Positioning address 3-axis linear interpolation control 4 3-axis linear interpolation controlForward direction Axis Setting not required setting value will be Output of the positioning complete signalPositioning data will not be executed At deceleration Major Positioning Control Points Movement amount Reverse direction Start point address X1, Y1, Z1Stop address after the positioning control Axis 5000 6000 Set incremental system 3-axis linear Deceleration time Pr.10 Da.4 Major Positioning Control Points 5 4-axis linear interpolation control Axis Arc address Command speed Code Setting detailsPr.1 Unit setting 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 Speed may exceed Set 2-axis fixed-feed controlPr.20 Interpolation Mm/min Speed designation method 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 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 If the self-axis is set, an error will occur 3000.0 ∝ Pr.1 Setting is set to mmSet the speed when moving to the end point address Sub point designation Movement amount Restrictions Pr.1 Unit Setting is set to mm With sub point designationPr.25 Acceleration time 1 as Acceleration time at start Speed Pr.20 Interpolation speed designation Clockwise Can be controlledCounterclockwise Positioning address/movement Refer to Circular interpolation error compensationPr.41 Arc address Forward directionRadius Reverse direction Arc address Reverse direction Restrictions Positioning data setting examples Axis Arc address Command speed Da.9 Dwell time Da.10 M codeCenter point designation. Select clockwise or Counterclockwise according to the control Movement amount = Restrictions Unit setting is set to mm With center point designation. Select clockwise orINC circular 8000.0 ∝ 12 1-axis speed control Set Positioning complete Current feed value during 1-axis speed controlPr.18 Axis 1 Positioning data No Setting item Da.10 Code Code on signal outputTiming setting only possible in the with mode Control Da.2 Control system 13 2-axis speed control Md.31 Status b0 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 14 3-axis speed control 11 3-axis speed control operation timing Current feed value during 3-axis speed control Restrictions Set Positioning complete Axis 1 setting Axis 2 setting Axis 3 setting 4000.00mm/min 5000.00mm/min 6000.00mm/min Value CommandSpeed limit 8000.00mm/min 6000.00mm/min 4000.00mm/min Speed Da.8 Command speed Da.9 Dwell time Da.10 M code Axis Setting other than Positioning complete isSet the speed to be commanded 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 Axis Setting item Setting Speed limit 4000.00mm 5000.00mm 6000.00mm 8000.00mmValue Min Command 8000.00mm 6000.00mm 4000.00mm 1500.00mm Speed Min Setting other than Positioning Set this when other subCode on signal output timing Setting only possible Speed-position switching control INC mode Switching over from speed control to position controlSpeed-position switching control INC mode Setting item Setting details Buffer memory address Value Md Status b0 MELSEC-Q Follows parameters Switching time from speed control to position control Md.20 Current feed value Speed control settingFollowing table shows Current feed value Changing the position control movement amount Speed-position switching signal settingCd.23 Status b1 of the axis monitor area Pr.21 value Position switching control INC mode Set speed-position switching control by forward runSpeed/position 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 Pr.21 Md.20 Speed control setting is other thanCurrent feed value 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 Signal turns on Position control carried out until position-speed switchingExternal position-speed switching signal Current feed value during position-speed switching control Switching time from position control to speed controlCurrent feed value during speed Status b5 turns on Changing the speed control command speed Position-speed switching signal settingV2 becomes the speed control command speed Status b5 of the axis monitor area Speed limit value if a new speed exceeds Set position-speed switching control Unit setting isSetting value will be ignored Da.1 Positioning Changing to a new current value using the positioning data Current value changingCurrent feed value is changed to the value set Md.21 Axis to be Setting not required Setting value is Setting is set to mmArc address Setting not required Setting value is Ignored Command Setting not required Setting value is Speed Ignored Current value changing, setting 9003 Current value changing procedureCd.9 Setting method for the current value changing function Following shows a start time chart PLC CPU NOP instruction Operation Jump instruction Set the Jump instruction Code Unconditional Jump Condition data NoAcceleration time No Simultaneous start condition data cannot be set Loop to Lend loop is repeated by set repeat cycles LoopSet the Loop Ignore the Lend before the Loop is executed LendSet the Lend 10.3.2 10.3.310.3.4 10.3.5 High-level positioning control sub functions Outline of high-level positioning controlHigh-level positioning control from peripheral devices Data required for high-level positioning control Start data set in the next pointSpecial start Da.12 Da.13 Designate Block start data and condition data configuration 7001 7004 High-level positioning control execution procedure Positioning start No. in Step Condition Next start Da.11 End Da.12 Start data No Da.13No. Da.14 Parameter Positioning data setting example Setting examples Block start data setting exampleBlock start normal start 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 Simultaneous start A simultaneous start, the positioning data setDa.13 Axis 1 block Da.11 Da.12 Da.14 3rd point End Parameter of the block start data in which For loop is set Repeated start for loopCondition data Nos. have been set Da.14 Repeated start for condition Restrictions when using the Next start 6th point7th point 8th point Condition data is set in the following cases Control type High-level positioning controlWait Repeated start Memory P1 numeric value Set only when Da.16 Address 03H Buffer memory 01H =P1 Word 02H04H Buffer memory Words 05H P1≤ QD75 buffer memory Address 30000 30099 Condition data setting examples Setting the device ON/OFF as a conditionFollowing shows setting examples for condition data Condition Device X0 =QD75 Ready is OFF Multiple axes simultaneous start control Multiple axes simultaneous start control procedureControl details Setting examples Points Input/output signal Y10 QD75 Buffer memory Drive unit7000 1500 1501 Control data that require setting Start conditions Positioning data setting example Start time chartStart time chart Creating the program Example Set the block start data beforehandM104 Y10 X10 To H0 K1500 K7000 Manual Control 11.2.5 JOG operation Inching operation Manual pulse generator operation Manual control sub functionsCarrying out manual control from peripheral devices Monitoring manual control JOG operation Outline of JOG operation Important JOG operation Cd.17 Errors during operationCd.16 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 1 Unit pulse 1000 Acceleration time 2 Unit pulseAcceleration time 3 Unit pulse Deceleration time 1 Unit pulse Creating start programs for JOG operation Required control data settingJOG speed is set to 100.00mm/min in the example shown JOG operation start time chart Creating the program When the stop signal is turned on during JOG operation JOG operation example Busy signalXC, XD, XE, XF OFF Y9, YB, YD, YF Signal Y8, YA, YC, YE Forward run JOG operation execution Test modeForward run JOG start signal OFF Y8, YA, YC, YE 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 Setting the required parameters for inching operation Setting item Setting requirement Factory-set initial valuePr.1 Pr.2 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 X10, X11, X12 Manual pulse generator operation enabled Manual pulse generator operationCreate the sequence program so that 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 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 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 12.1.1 12.2.112.2.2 12.3.1 Following table shows the types of sub functions available Outline of sub functionsIt cannot be invalidated with parameters Trigger for the sub work Timing known Sub functions specifically for machine OPR OPR retry functionMovement starts 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 Precaution during control Setting the OPR retry functionSetting item Setting details Factory-set Value Dwell time during OPR retry OP shift function OP shift operation Movement speed during OP shift Setting range for the OP shift amountOPR speed or Setting the OP shift function Precautions during controlStatus b4 Functions for compensating the control Backlash compensation function Setting the backlash compensation function Current feed value orBacklash compensation, which includes the movement amount 255 Electronic gear function Pr.2 Procedure Error compensation methodDefinition Set the post-compensation No. of pulses per rotation Ap Relation between the movement amount per pulse and speed Actual speed Remark Da Positioning address Path of positioning data No.3 Near pass functionPositioning data No Positioning data No Axis 1 output speed Axis 2 output speed Allowable circular interpolation error width Example Near pass Functions to limit the control Speed limit function Setting the speed limit function If any axis exceeds200000 JOG speed JOG speed limit Torque limit function New torque value is set to Torque limit setting value, confirm That When limiting the torque atPr.17 Setting the torque limit function Torque limit stored value Software stroke limit function Pr.13Workpiece moveable range Software stroke limit lower limit When machine feed value is set Current feed value and range limit checkPr.14 Md Current feed value Md Machine feed value Software stroke limit check details Precautions during software stroke limit check Software stroke limit upper Limit valuePr.12 No.10 P11 No.11 No.12 No.13 No.14 P01 Setting the software stroke limit function Invalidating the software stroke limitFor manual operation, set 0 software stroke limit invalid Software stroke Setting when the control unit is degree Setting the software stroke limitCurrent value address 315º Hardware stroke limit function 19 Hardware stroke limit function operation Wiring the hardware stroke limit When the hardware stroke limit function is not usedInput signal logic selection is set to the initial value Input signal logic selection is the initial value Functions to change the control details Speed change functionFollowing drawing shows the operation during a speed change Speed changes to Operation during Cd.14 Function version Restarting speed Da.8 Command speedOr later Status b10, and enable Speed limit value when the value setNew speed value is equal to or larger than Positioning operation Speed change 0 flag Setting the speed change function from the PLC CPU Following shows the speed change time chartCd.14 New speed value 2000 Set the new speed Speed change Cd.15 Set 1 Change the speed No.14 Speed change program Cd.8 Set 1 Validate the external command Pr.42 Set 1 External speed change requestValid Cd.14 New speed value Input the external command signal Write 1000000 to D108 and D109K1514 D108 K62 Override function Feedrate becomes a value of 1 or less. WhenCd.13 Md.22 Setting the override function Positioning Cd.13 Operation speed MELSEC-Q For an acceleration/deceleration time change enable setting Acceleration/deceleration time change functionPr.9 Pr.10 Pr.25 Pr.30 Cd.10 Cd.11 When 0 is set in Cd.10 New acceleration time value Setting the acceleration/deceleration time change function New accelerationCd.10 Set the new acceleration time Time value 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 Servomotor with absolute position detector PLC system Absolute position restoration functionQD75 Operation Panel Module QD75 Command Battery Servomotor Pulse/rev cumulative rotationOutline of absolute position detection data communication PLC system Pulse train Servo amplifier Dedicated Absolute position signal transmission procedureInstruction Signal name Abbreviation Pin No Function and application ABS transmission mode terminal. While this is turned onThis is turned on when ABS data is requested in the ABS Transmission mode Controlling instructions Condition 1. Number of output pulsesCondition 2. Positioning address Unit ∝ m Concept for the unit of mm, inch or pulse Example26843545.6 26843545.5 Unusable range Absolute position Detection system Usable range in absolute Concept for the unit of degree Other functions Step functionRelation between the step function and various controls Step operation not possible Step mode Deceleration unit stepData No. unit step Step start information Using the step operation Set the step mode before starting the positioning dataWrite 1 restart to Turn OFF the step valid flag, and quit the step function Cd Step valid flag Positioning start signal Y10, Y11, Y12, Y13 Busy signalXC, XD, XE, XF Positioning complete signal Positioning start signal RYn+10, RYn+11 Step function settings Set 0 Deceleration unit step or 1 Data No Cd.34 Step modeUnit step Cd.35 Step valid flag Set 1 Carry out step operation Skip function Y10, Y11, Y12, Y13 BUSYsignalFollowing drawing shows the skip function operation Setting the skip function from the PLC CPU Setting the skip function using an external command signal Cd.8 Set 1 Validate external commandPr.42 Set 3 Skip request K62 K3 Code on signal output timing With modeCode output function Md.25 After mode Code OFF request Point Setting the M code output function Reading M codesM code No Code set Pr.18 Control details Teaching timing Teaching functionAddresses for which teaching is possible Data used in teaching Following control data is used in teachingSelection Written to Arc address Designates the data to be taught Teaching Teaching procedure YES MELSEC-Q Motion path Setting conditions Teaching program exampleProgram example Example Target position Point Target position change function When the direction of the operation is changedDetails of control 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 Command in-position width and command in-position flag Execution of the command in-positionPr.16 Width check Setting the command in-position function Confirming the command in-position flagCommand Turn on the command in-position flag, and set Pr.16 Remaining distance to the stop position of the position Acceleration/deceleration processing function Pattern acceleration/deceleration processing method Velocity Pattern acceleration/deceleration processing Set the acceleration/deceleration curve when 1 is setSpeed change request Speed change deceleration 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 Data Shape Block start Da.11 Da.12Start data No Precautions during control Deceleration start flag function setting method Checking of deceleration start flagMonitor item Storage details Set whether the deceleration start flag function Stop command processing for deceleration stop function Deceleration curve re-processingDeceleration curve continuation Control Precautions for control Setting method Common Functions Outline of common functions Parameter initialization function Parameter initialization means Parameter initialization method ParameterParameter Cd.2 Set 1 parameter initialization request 1901 Initialization request Execution data backup written to flash ROM means Execution data backup functionMd.19 Execution data backup method Flash External I/O signal logic switching function Parameter setting detailsPrecautions on parameter setting Shown in the following table External I/O signal monitor function 14.3 14.414.5 14.6 List of dedicated instructions Interlock during dedicated instruction is executed Setting data Control data Functions Output PointsProcessing processing Abrst instruction Execution completion Errors Precautions Program examples Dedicated Instructions PSTRT1, PSTRT2, PSTRT3, PSTRT4 Machine OPR 9001 Fast OPR 9002 Current value changing 90037000 to User 9000 to Pstrt instruction Execution completion Sequence programComplete state display OFF Program examples Dedicated Instructions TEACH1, TEACH2, TEACH3, TEACH4 Current feed value is written to positioning address Teaching data Current feed value is written is setPositioning data No. for which teaching is carried out User Teach instruction Execution completion Program example Pfwrt Device Setting data Setting sideOther than Sequence program Processing Instruction symbolPfwrt instruction Execution completion Precautions Program example Device Setting data Setting range Setting side Instruction symbol Execution conditionOther than 0 Abnormal completion error code Pinit Positioning data No to No Block start data No to Initialized setting data ParametersPinit instruction Execution completion Program example 15.3 15.4 Error and warning details Errors Types of errors Axis error No Error storageTypes of warnings Resetting errors and warnings Confirming the error and warning definitionsInvalid operations Status for axis status storage Memo List of errors After making an axis error reset refer to 3 in Section Check whether the stop commands outputSignals/external inputs to QD75 are turned on or OFF. Turn OFF the on commands Near-point dog signal is turned Dwell time faultOP detection timing Detailed parameter 2 Sudden stop OPR speed by the stopper method Count method 1 Lower the OPR speed Increase the dog signal input time Adjust the near-point dog position so thatReview the wiring. Refer to Section Bring the JOG speed into the setting range Position switching control When multiple axes are startedTo 600, 7000 to 7004, and 9001 to 9004 Current speed is set for speed Refer to .5 Da.16 60H, 70H, 80H, 90H, A0HB0H, C0H, D0H, E0H Axis 1 start data No 1640 1740 1840 Operation status at error occurrence Where the control unit is set toAt start The system will not operate Setting with sequence program When software stroke limits are Valid2147483648 to When software stroke limits are Invalid Correct the circular interpolation error allowable limit Control falls outside Value rangeControl unit is set to degree Control system sets an Operation pattern sets a new Not possible Stroke limit using the manual control Position switching control, and position-speed1506 1606 1706 1806 At start Bring the current feed value into the software Axis linear interpolation control Error Interpolation axis Operation of the interpolation axisUnit group Units are different at the parameter 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 Sub point setting End point = sub point Error Prohibited area Either of the following appliesDesignated Start point = sub point Are in line with each other Correct the control system or parameter. Refer to .1.6 Axis Same as error codes 515 toCorrect the positioning address. Refer to .2.16, 9.2.17 X7 is turned on 536 When an M code on signal X4 to StartPositioning start is carried out 537 After turning OFF the M code on signal, start Signal. Then start the systemCorrect the instruction code of the special start data Refer to .4 Da.13 Direction in unit Set outside the setting range Hold error Output at error stop, the setting forSetting deceleration 9001 to Stop/sudden stop Error Executed with the teaching data Stop selection Set the ABS setting direction in the unit of degree Within the setting rangeSet 0 when the software stroke limits are valid Output at error stop Outside unit setting Range Outside the setting range Outside unitError Setting range Rotation direction Outside the setting range Range PLC Ready signal Y0 from OFF to on Set the value converted into the pulse number usingBring the setting into the setting range Set the bias speed to not more than the speed limit Error Error name Operation status at error Setting value Setting range Code on timingMode error Speed changeover Mm inch pulse Bring the setting into the setting range Speed-position switching control ABS mode shouldTurn the PLC Ready signal Y0 from OFF to on Degree 0 to Value is smaller than the upper limit value Detailed parameter Setting error Circular interpolation Error width 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 OPR direction error Setting range OP address setting Set range of the OPR basicOPR speed error Setting range Set range of the OPR basic Creep speed error Axis 1 Axis 2 Axis 3 Axis 221 371 521 Set the speed to the bias speed at start or higher225 375 525 226 376 526 List of warnings Do not issue the restart command when the axis Carry out the teaching request when the axis is notSet a value within the setting range Deceleration with the JOG start signal OFF When input magnification is set at Limit value when the speed isTermination setting Command function Magnification to within the setting range With a stop command, during stoppage, or duringDo not turn on the speed-position switching signal Give a request at the position where there is an Outside command Command speed exceeds Classification Warning Set the teaching data selection set value to within Following casesDuring deceleration stop. An operating pattern Continuous path control is used LED display functions Appendix 4.1 Connection example of QD75D MR-H Appendix 4.2 Connection example of QD75D MR-J2/J2S- aAppendix 4.3 Connection example of QD75D MR-C Appendix 8.1 Connection example of QD75D ∑ series Additional buffer memory Function comparisonAdditional devices Memo MELSEC-Q MELSEC-Q Appendix 2.2 Parameter setting value entry table Initial value Axis Remarks 20000 1000 2147483647 2147483648 300 Setting Upper limit External B7, b9 Unused Each bit value Generator input Positive Command Deviation Unused LogicInput selection Phase/B phase multiple PULSE/SIGN mode Interpolation error width Initial value Axis Remarks 1000 20000 300 Creep speed Do not retry OPR with upper/lower limit switch Setting for the movement amountDeviation counter clear signal To 65535ms OPR direction Initial value Axis Remarks 300 Control Accelera ArcDwell Code Pattern System Tion time Interpola Address Time Ted Movement Amount 2002 2005 2006 2007 2008 20092012 2015 2016 2017 2018 2019 Posi Command Positioning Arc data 201 4002 4004 4005 4006 4007 4008 4009 2024012 4014 4015 4016 4017 4018 4019 203 4022 4024 4025 4026 4027 4028 4029 204 5002 5004 5005 5006 5007 5008 5009 302 5012 5014 5015 5016 5017 5018 5019 3035022 5024 5025 5026 5027 5028 5029 304 5032 5034 5035 5036 5037 5038 5039 305 401 6002 6004 6005 6006 6007 6008 6009 4026012 6014 6015 6016 6017 6018 6019 403 6022 6024 6025 6026 6027 6028 6029 404 7002 7004 7005 7006 7007 7008 7009 502 7012 7014 7015 7016 7017 7018 7019 5037022 7024 7025 7026 7027 7028 7029 504 7032 7034 7035 7036 7037 7038 7039 505 8002 8004 8005 8006 8007 8008 8009 8012 8014 8015 8016 8017 8018 80198022 8024 8025 8026 8027 8028 8029 8032 8034 8035 8036 8037 8038 8039 101 9002 9004 9005 9006 9007 9008 9009 1029012 9014 9015 9016 9017 9018 9019 103 9022 9024 9025 9026 9027 9028 9029 104 MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MELSEC-Q MR-H TE2 QD75D CN1 Pulse F+ Pulse R+ Clear Clear COM MR-HDP01 Pulser B DOG SON Pulser A+ 2m max B19 Generator+24VIN 24G Error display Start, error, warningModel QD75P1 QD75P2 QD75P4 A1SD71S2 No. of control axes No. of positioning data items Positioning systems Comparisons of performance specifications214748364.8 to Controls Ation time Setting range Near pass Error display Error LEDHistory data storage Start, error, warning Command pulse output system Function comparisons Start history storage during error QD75, errors for the software stroke upper limit areIntegrated into error code 508. Error codes 509 to 512 are From the speed limit value is out of the maximum command Normal Not Ready Ready signal Is changed to Error occurring Axis operation statusStep operation is restarted with the restart command Changed functions Error code comparisons Not READY/WDT error Input/output X/Y comparisonsAdded Deleted Fatal warning Common A1SD75 Buffer memory address comparisons Positioning complete signal output time 209 359 Allowable circular interpolation error widthQD75 Pr.42 External command function selection Near pass mode selection for path control 216 366 Test mode flag 450 Error judgmentStart Second 100 ms Errors Start history storage during error 623 Pointer number Axis warning No Items of A1SD75 QD75753 1422 Speed-position switching control positioning External input/output signalSpecial start data instruction parameter setting Start positioning data No. setting value Clock data setting hour Clock data setting minute, secondAxis error reset Speed-position switching control movement 1510 1610 1710 New deceleration time valueAcceleration/deceleration time change during Code/condition data 4350 46004850 Data Parameter Start Data indication No. comparisons Positioning complete signal output time Allowable circular interpolation error widthPr.42 Near pass mode selection for path control Setting for the movement amount after near-point dog on Monitor data Speed-position switching control positioning amount Special start data instruction code setting valueSpecial start data instruction parameter setting value OP absolute position Control data Interrupt request during continuous operation Stop command processing for deceleration stop selectionCd.42 Positioning data, block start data, condition data Called block start data with the QD75 Appendix Input signal comparisons Input/output signal comparisonsOutput signal comparisons Pulse input Phase Appendix 10 Melsec Explanation of positioning terms After mode Clamp commandNo.1 No.2 No.10 Positioning No.11 Code Auto Tuning Automatic Tuning Acceleration Deceleration Speed TimeForward run Backlash Female thread Male thread BIN Binary Full speed Speed Bias speed Change signal CCW CounterclockwiseRefer to term Feedback Pulse C D CP Control Continuous Path Control Converter Digital-to-Analog converterNo. of pulses Voltage 0 to ±10V To 80,000 Pulses/second No.2 No.4 No.6 No.1 No.5 No.3 Near-point dog of the OPR Positioning Drive Motor Module Unit Power supplyReceiver Rotary encoder Linear encoder AppendixFor the main For the zero Index Scale OPR speed Dog switch QD75, F is a status where the module itself has a faultRotation by the motor Lead feedrate per screw rotation FLS Signal forward limit signal G50 Max. spindle speed settingRaising Gain Incremental Encoder Right Right No is several millimeters To the right of No Microswitch KPPSY0 Forward run Y1 Reverse run Actuator Code Machine Code Refer to GD2No.9 Longitudinal Feed No.8 No.1 Latitudinal feed Made by Mitsubishi Electric Corp. model MR-HDP01 NC Language Numerical Control Language P rate. Refer to the term P RateRate No. of pulses per Per rotation Encoder rotation OPR Method This point is the reference Pronounced pee-jee-zero. Refer to the term Zero Signal Rate Pulse RatePG0 Pulse Generator Zero Feedback pulses PG0 1 axis rotation Command pulse frequency Dwell time Positioning complete signalRefer to the term Operation Pattern Loop gain PTP Control Point To Point Control Refer to the section of term operation patternForward Reverse Type Terminal REAL-TIME Auto Tuning Real-time Automatic Tuning RLS Signal reverse limit signal SFC Sequential Function Chart Execution of extrusionQD75 Ready Servo amplifier Motor PLG Encoder Start Switching signal High speed Incremental positioning Speed Control Motor torque MotorLoad Refer to the term Dwell Time AppendixMachine OPR Stopper Limit switch Torque width variations, deviations in the torqueLower limit Upper limit Stop Positioning possible in a 3m 9.84feet range Rotated by the motor Also called PG zero. Refer to Zero SignalBase table Axis Appendix 11 Positioning control troubleshooting 8192 Setting of 1 m 1pulse is Changed 1pulse cannot be achieved Thus, the setting 1 mTrouble type Questions/Trouble Remedy How can the deceleration stop Trouble type Questions/Trouble Movement amount per No. of pulses perNo. of pulses Rotation Machine OPR, the message Signal should be turned on at 4ms or more If possible, set the signal so it does not turn on onlySelected? Setting value Setting is Deceleration stop, it will be ignored. The same When a JOG operation is How can it be canceled? Changing has been executedPLC Ready signal Y0 turns on Module Set to Is it possible to count the pulses Not possible To on Parameters When the start signal was turned Signal ON, warning 100 startIs there any problem if Unit magnification to 10-fold or Is set to Appendix 12 List of buffer memory addresses Setting for the movement amount after Axis in which the error Error history pointerOccurrence Hour 1422 Md.30 External input/output signal Special start data instruction No. setting815 915 1015 1115 Amount 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 Buffer memory address Axis Operation pattern Code/condition data NoNo. of Loop to Lend repetitions Dwell time/JUMP destination Buffer memory address Axis Memory area Shape Start data No PointData Parameter 50th point Condition judgement target data of the condition PLC CPU memory area 27.4 136 Appendix 13 External dimension drawing QD75P1/QD75P2/QD75P4Unit mm QD75D1/QD75D2/QD75D4 Number Axis error occurrence Hour Axis error occurrence Minute second Md.12 Axis error resetCommand in-position width 12-63 Details of input signals QD75 PLC CPU Deviation counter clear signal output timeAppendix-73 Composite speed Explanation of positioning Error correction Explanation of positioning terms Error reset Explanation of positioning termsExternal command function selection External input/output signal For starting speed-position switching control For starting with external command signalTest mode flag Input signal logic selection Limit switch Explanation of positioning terms Manual pulse generator enable flagMulti-phase pulse Explanation of positioning 15-36 Multiplying rate setting Explanation of positioning No. of write accesses to flash ROMNC language Explanation of positioning terms Appendix-81 12-18 Outline of installation, wiring and maintenance Output signal logic selectionPosition loop mode Explanation of positioning Position-speed switching control enable flag Precautions External command function valid settingPulse output mode Explanation of positioning Positioning starting point No Restart command RLS signal Explanation of positioning termsRotation direction setting Setting for the movement amount after near-point Dog on Special start data instruction code setting value Special start data instruction parameter settingSpeed-position switching control ABS mode Speed-position switching control Explanation Stop command processing for deceleration stop Stop signal Explanation of positioning termsTime chart Time chart for starting position-speed Unit setting Explanation of positioning terms With mode Explanation of positioning termsTracking function Explanation of positioning Turntable Explanation of positioning terms Memo Gratis Warranty Term and Gratis Warranty Range Gratis Warranty TermGratis Warranty Range Overseas servicePage Page QD75-U-S-E 13JR09 SHNA-080058-H0506MEE