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Positioning Module Type QD70D User`s Manual

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1. Axis 3 warning Axis 4 warning Axis 5 warning Axis 6 warning Axis 7 warning Axis 8 warning For the QD70D4 b4 to b7 0 fixed 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 7 List of control data 4 7 1 Axis control data Setting buffer memory address Item Setting details By setting 1 the following operation is performed e Axis error occurrence Xn1 Md 5 Axis error code axis warning occurrence Xn2 or Md 6 Axis warning code is cleared Xn1 and Xn2 are cleared when 1 is set in 1 eror r orar axes reset If Md 4 Axis operation status is Error the error is cleared and returned to the Standby status The data automatically changes to O after completion of axis error reset or axis warning reset When the OPR request flag bO of Md 7 setting 1 forcibly turns this data OFF request flag The data automatically changes to O after the OFF request OPR request flag turns OFF Set this data when starting the corresponding control Set the start data No for positioning control Starts from No 1 when 0 is set 9000 Machine OPR control 9001 Fast OPR control e If positioning control is stopped midway by the axis stop signal Y n 1 O to 1 7 when Md 4 Axis operation status is Stopped setting 1 restarts positioning cont
2. 6 1 IW Wiring iate tf dtm t Red 5 7 Wiring precautions 5 7 X X Y monitor eee 6 17 module 3 4 Xn1 axis error 3 4 Xn2 axis warning occurrence 3 4 Z Zero signal 3 7 Index 4 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty ter
3. 4 34 Axis stop signal sseeees 3 6 Axis warning occurrence signal 3 5 B BUSY signal 3 i peer 3 5 C CW COCW mode seseeeeeee 5 15 Cable 5 10 Cd 1 Axis error 4 8 Cd 2 OPR request flag OFF request 4 8 Cd 3 Start method 4 8 Cd 4 Restart 4 8 Cd 5 Speed position switching request 4 8 Cd 6 Speed change request 4 8 Cd 7 New speed 4 8 Cd 8 ACC DEC time at speed change 4 8 9 DEC STOP time at speed change 4 8 10 Target position change request 4 8 11 Target position change value 4 8 Common functions n se 12 1 Component list sss 2 2 Confirmation items at completion of wiring teh uM c atum 5 12 Confirming the current value 9 9 Index 1 D Confirming the wiring sesss 5 12 Connection confirmation 5 12 Connector 4 1 a 5 4 Continuous path 9 5 Continuous po
4. 8 1 Outline of starting 1 10 Outline of stopping 1 11 Programmable controller READY signal 3 6 Programmable controller READY signal YnO ON prOgE almi eren ted EE 7 12 PLC 4 2 PULSE SIGN 5 15 Parameter setting program 7 10 Part identification nomenclature 5 1 Performance specifications 3 1 Position match 4 13 Positioning complete signal 3 5 Positioning control operation program 7 8 Positioning control program examples 7 10 Positioning control start program 7 13 Positioning data setting program 7 11 Positioning start 3 6 Positioning 9 3 Pr 1 Software stroke limit upper limit value 4 3 Pr 2 Software stroke limit lower limit value 4 3 Pr 3 Software stroke limit valid invalid setting 4 3 Pr 4 Current feed value during speed control uda a i i iun 4 3 IPr 5 Speed limit value 4 3 6 Bias spee
5. When OPR method is Count 2 When axis stop signal is turned ON during machine OPR control Common to all OPR methods V va OPR 4 V n iau stop factor occurrence OPR 4 y QPR Pr 6 1 gt t OPR 7 gt OPR 8 Setting for the movement amount after near point dog ON When the OPR method is Count 1 or 2 set a value not less than the deceleration distance after the near point dog signal has turned ON SEU Setting example of OPR 8 Setting for the movement amount after near point dog ON When 10kpulse s is set in OPR 4 OPR speed 2kpulse s in OPR 5 Creep speed and 320ms 6 ACC DEC time at OPR calculate OPR 8 Setting for the movement amount after near point dog ON as indicated below DO Machine OPR control operation Deceleration distance 75 Vz x 1000 OPR 4 OPR speed Vz 10kpulse s _ vz x 0 z 2000 Creep speed Vc 2kpulse s 10x 10 x 320 80 2000 B 2000 80ms t Set 2000 pulse or more in OPR 8 Setting for the P movement amount after near point dog ON 6 ACC DEC time at OPR t 320ms Near point dog OFF ai ON 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 9 OPR dwell time Set the OPR dwell time in the following two cases
6. 1 1 1 1 1 1 1 1 1 1 1 1 1 brake i 1 1 1 1 1 1 1 1 F 1 1 1 1 P DC24V Electromagnetic Cut off by Servo ON signal OFF or by alarm signal Detector Within 10m 4 Y CN2 h i AXI Wa PULSEF1 A15 1 t PP 9 j PULSEF1 A16 PG 10 i PULSE R1 17 RENT NP 7 Dom mes i CLEAR1 A13 Li CH CLEAR1 COM i x LA PG01 COM DOG1 CHG1 RTRY1 Near point dog Speed position Retry switch switching App 9 5VDC 24V 0 24VDC power supply 5yGND power supply 5V 2A or higher 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 These are limit switches for servo amplifier for stop 3 For details of connection refer to the MR C series Servo Amplifier Instruction Manual 4 This indicates the distance between the QD70D and servo amplifier App 9 APPENDICE as MELSEC Q Appendix 4 Comparisons with conventional
7. No 4 PLC READY signal Yn0 ON program 0 contact is not needed when GX Configurator PT is used to make initial setting of parameters OPR data and positioning data 8M403 MO x11 No 5 request OFF program Pus TaN E ET Hl WANDP G79 D54 KO str vov K1 U1N G51 1 Rsv No 6 Start method setting program 1 Machine OPR X31 K9000 2 Fast OPR x32 ul G79 H1 D45 ser MovP K9001 ser 3 Positioning control Starting from No 1 X33 Ree Bd MOVP 4 Speed position switching control Starting from No 2 x34 ove K2 x35 wove K1 X36 move KO MELSEC Q 10 D54 M1 M3 U1N G51 1 055 D45 M4 D55 M5 D55 D55 ul G54 654 7 12 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7 13 oko os 5 Target Current value changing Starting from No 3 xir J hove 1 L 6 Turning OFF fast OPR control commad and fast control command strage Not needed when fast OPR control is not used x31 RST x33 RST x34 MT No 7 Positioning control start program 4 and MS contects are not needed when fast control is not carried out M8 contact is not needed when JOG operation is not performed X37 Fers M6
8. Refer to Section 4 6 List of monitor data for the setting details The latest error code is always stored 3 Resetting errors and warnings Setting 1 in Cd 1 Axis error reset performs the following processing and then cancels the error warning status e The axis error occurrence signal Xn1 is turned OFF 1 is set in Cd 1 of all axes e The axis warning occurrence signal Xn2 is turned OFF 1 is set in 1 of all axes e Md 4 Axis operation status changes from Error to Standby e Md 5 Axis error code is cleared to zero e Md 6 Axis warning code is cleared to zero i i i i iti 4 Confirming the error and warning definitions The error and warning definitions can be confirmed in Md 5 Axis error code and Md 6 Axis warning code To confirm them GX Developer GX Configurator PT is needed For details refer to Section 13 5 Confirming the error definitions using system monitor of GX Developer or CHAPTER 6 UTILITY PACKAGE GX Configurator PT Refer to Section 13 2 and Section 13 3 for details of the error codes and warning codes 13 2 13 TROUBLESHOOTIN MN MELSEC Q 13 2 List of errors The following table shows the error details and remedies to be taken when an error occurs Error name Error Operation status at error occurrence Hardware is faulty The system stops QD70D not prepa
9. 3 6 Axis warning occurrence signal 3 5 BUSY signal 3 5 Deviation counter clear signal 3 7 JOG start 3 6 Module READY signal 3 5 Near point dog signal 3 7 Programmable controller READY signal 3 6 Positioning complete signal 3 5 Positioning start signal 3 5 Speed position switching signal 3 7 Start complete 3 5 Zero signal 3 7 Signal communication between QD70D and each module iat jt Pda 1 8 Signal layout for connector 3 9 Signal NAMES 3 4 Simple reciprocating operation 5 19 Specifications of input output signals 3 7 Speed change function 11 2 Speed change program 7 14 Speed limit 11 1 Speed position switching control 9 10 Speed position switching control starting timing CNal tists vit ah ainsi eat ee oes 7 22 Speed position switch signal 3 10 Start complete 3 5 Start Method 4 37 Start method setting
10. 11 13 Cd 7 New speed value V1 New speed value at time t1 V2 New speed value at time t2 Cd 8 ACC DEC time at speed change Cd 9 DEC STOP time at speed change If a speed change is not made during speed control deceleration is made at Da 4 DEC STOP time 11 13 11 SUB FUNCTIONS MELSEC Q The following is the operation performed during machine OPR control in each OPR method When OPR method is any of near point dog method stopper 1 stopper 2 and count 1 gt V A Near point dog ON Pr 6 control complete i CPR When OPR method is stopper 3 gt V A I Eee Machine OPR control complete Pair V OPR 5 Machine OPR Pr 6 control complete gt t OPR 6 Pr 6j Bias speed at start 4 OPR speed OPR 5 Creep speed OPR 6 ACC DEC time at OPR OPR 7 DEC STOP time at OPR 11 14 11 14 11 SUB FUNCTIONS MELSEC Q 2 Precautions for control 1 Atthe set speed of 1 pulse s the set acceleration deceleration time is ignored 2 In the acceleration deceleration pattern where the movement amount is small relative to the acceleration deceleration time and a constant speed part does not exist operation is not performed at the set acceleration deceleration time In such a case review the setting details 3 If operation is
11. 3 Stopper 4 Count 1 5 Count 2 After decelerating at the near point dog ON stop at the zero signal and complete the machine OPR control After decelerating at the near point dog ON stop with the stopper and complete the machine OPR control after the OPR dwell time has passed After decelerating at the near point dog ON stop with the stopper and complete the machine OPR control with the zero signal After starting with the creep speed stop with the stopper and complete the machine OPR control with the zero signal After decelerating at the near point dog ON move the designated distance and complete the machine OPR control with the zero signal After decelerating at the near point dog ON move the designated distance and complete the machine OPR control Note Refer to 8 2 2 Machine OPR method for details on the OPR methods 4 DATA USED FOR POSITIONING CONTROL OPR method 0 Near point dog method 1 Start machine OPR control Start movement at the 4 OPR speed in the IOPR 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to OPR 5 Creep speed and move with the creep speed At this time the near point dog must be ON 4 When the first zero signal one pulse of which is output when the motor turns one revolution after near point dog OFF is detected the pulse output from th
12. Max calculation time 60us 0 Position match stop Timing at which the QD70D v accepts the axis stop A Signal input NX Operation without the axis stop signal input Stop operation by the axis stop signal input Max calculation time 60us Fig 4 6 Deceleration stop when an axis stop signal is input during S curve acceleration deceleration 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 11 Acceleration Deceleration System Selection Specify Trapezoidal or S curve acceleration deceleration For details refer to Section 11 6 Acceleration deceleration processing function 0 Trapezoidal acceleration deceleration V The acceleration and deceleration are liner L gt L 1 S curve acceleration deceleration The acceleration and V deceleration follow a Sin curve 1 oe kee eee gt L Note When 1 Continuous positioning control or 2 Continuous path control is selected for Da 1 Operation pattern S curve acceleration deceleration is not available Attempting to start it with either of these settings will cause an S curve acc dec setting operation pattern error Error code 515 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 12 Pulse Output Method Stop Signal Enabled For the case where an axis is stopped due to a stop factor select whether to continue or stop outputting t
13. ez ol N z g 22 oll noe qe NE ete See eres s 4 CU o N e te 02 02 0 wo Pore ieee ae pennsays Jot eo 8 B msacauccinuconusedsde v 98 86 ga erp I po 4 y 1 1 x vty Yo A jube TIE Tae F LUN f 1 1 co IL i 5 1 1 1 1 1 9 0 1 1 m e ite E re e b D v4 v App Unit mm inch App 1 App 1 APPENDICE MELSEC Q Appendix 2 Operation timing and processing time in each control 1 Operation timing and processing time of machine OPR control Positioning start signal Yn8 to YnF tT s i Pulse output to outside PULSE 112 lt 54 amp gt 1 BUSY signal Xn8 to XnF 1 1 1 1 1 Start complete signal X n 1 0 to 1 7 T T 1 1 Machine OPR control operation OPR request flag 7 Status 60 OPR complete flag 7 Status b1 0 3 to 0 5ms A delay may occur in t1 depending on the operating conditions of the other axes 2 Operation timing and processing time of fast OPR control Positioning start signal Yn8 toYnF Pulse output to outside PULSE BUSYsignal Xn8 to XnF 4 I ee 5 S
14. Move in Move in Move in move in direction direction direction direction PULSE is output from the PULSE F external I O signal and SIGN from PULSE R Refer to Section 3 4 3 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 3 A phase B phase mode Forward run and reverse run are controlled with the phase difference of the A phase and B phase Positive logic Negative logic 1 For multiple of 1 setting Forward run Command pulse output When B phase is 90 behind A phase For multiple of 4 setting Forward run Command pulse output Reverse run Command pulse output M When B phase is 90 ahead A phase Reverse run Command pulse output For multiple of 1 setting Forward run Command pulse output When B phase is 90 behind A phase For multiple of 4 setting Forward run Command pulse output Reverse run Command pulse output When B phase is 90 ahead A phase Reverse run Command pulse output pw When B phase is 90 When B phase is 90 behind A phase ahead A phase When B phase is 90 ahead A phase When B phase is 90 behind A phase A phase is output from the PULSE F external I O signal and B phase from PULSE R Refer to Section 3 4 3 Switch 2 Pulse output logic selection deviation counter clear output logic selection Set the pulse output si
15. ssesssssssseeeeneenenns App 6 Appendix 3 2 Connection example of QD70D and MR J2 J28S L1A App 7 Appendix 3 3 Connection example of QD70D and MR HLIA sssssseeeeeeennennns App 8 Appendix 3 4 Connection example of QD70D and MR CLAA App 9 Appendix 4 Comparisons with conventional positioning module App 10 Appendix 4 1 Comparisons with type QD70P positioning module App 10 Appendix 4 2 Comparisons with type QD75 positioning App 11 Appendix 5 List of buffer memory addresses sssssssssssssssssseeeeeennee nennen App 14 INDEX Index 1 to Index 4 USING THIS MANUAL The symbols used in this manual are shown below Pr Symbol indicating positioning parameter item OPR Symbol indicating OPR data item JOG Symbol indicating JOG data item Da Symbol indicating positioning data item Md amp Symbol indicating monitor data item Cd amp Symbol indicating control data item A serial No is inserted in the mark Numeric values used in this manual e The buffer memory addresses error codes and warning codes are represented in decimal e
16. 2 Movement amount and speed in a system using worm gears Movement amount per pulse mm pulse Command pulse frequency pulse s V Pulse encoder resolution pulse rev Pulse encoder Workpiece Worm gear lead mm rev XL Worm pear i p Deceleration ratio Movable section speed mm s Motor speed r min Position loop gain 1 s L3 y Servomotor Deviation counter droop pulse amount OP pulse Address pulse Fig 1 4 System using worm gears In the system shown in Fig 1 4 the movement amount per pulse command pulse frequency and the deviation counter droop pulser amount are determined as follows 1 Movement amount per pulse The movement amount per pulse is determined by the worm gear lead deceleration ratio and the pulse encoder resolution The movement amount therefore is given as follows Number of pulses output x Movement amount per pulse Bn mm pulse 2 Command pulse frequency The command pulse frequency is determined by the speed of the moving part and movement amount per pulse _ V Vs A pulse s 3 Deviation counter droop pulser amount The deviation counter droop pulser amount is determined by the command pulse frequency and position loop gain Vs e K pulse 1 PRODUCT OUTLINE MELSEC Q 1 1 4 Communicating signals between QD70D and each module Programmable controller CPU YnO XnO Xn2
17. 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 2 Details of input signal QD70D Programmable controller CPU The ON OFF timing and conditions of the input signals are shown below Xn1 Module READY Prepared e When the Programmable controller READY signal YnO turns from OFF to ON the Not parameter and the OPR data setting range is checked If no error is found this signal prepared turns ON When the axis error occurrence signal Xn1 is ON this signal does not watch dog turn ON if the Programmable controller READY signal YnO is turned from OFF to timer error ON When the Programmable controller READY signal YnO turns OFF this signal turns OFF When a watch dog timer WDT error occurs this signal turns OFF This signal is used for interlock in a sequence program etc ON Programmable controller OFF READY signal YnO Module READY signal Xn0 OFF y Axis error No error This signal turns ON if an error occurs in any of axes 1 to 8 and turns OFF when occurrence Error 1 Axis error reset is set for all axes occurrence Use Md 10 Error status to confirm the error status of the corresponding axis Axis warning No warning e This signal turns ON if a warning occurs in any of axes 1 to 8 and turns OFF when occurrence Warning 1 Axis error reset is set for all axes occurrence Use Md 11 Warning status to confirm the warning status of the corresponding axis Axis 1 BUSY 1 N
18. At start Start is not mad start Start is not made Programmable controller The watchdog timer error of the programmable i 830 During operation The axis decelerates to a CPU watch dog timer error controller CPU occurred stop 840 Module error A module power off error occurred Software stroke limit Upper limit value lt lower limit value in the software upper lower limit value error stroke limit upper lower limit values Setting range outside 902 PULSE SIGN method selection setup hold time The setting value of Pr 9 PULSE SIGN method selection setup hold time is outside the setting range Setting range outside The setting value of Pr 3 Software stroke limit Software stroke limit valid invalid setting is outside the setting range The module READY signal XnO does not The setting value of 4 Current feed value during turn ON speed control is outside the setting range Setting range outside 904 current feed value during speed control Setting range outside The setting value of Pr 5 Speed limit value is speed limit value outside the setting range e The setting value of Pr 6 Bias speed at start is Setting range outside bias outside the setting range speed e The setting value of Pr 6 Bias speed at start is higher than 5 Speed limit value Setting range outside 907 deviation counter clear signal out
19. C Set in Reverse run Movement in Movement in direction direction Fig 4 3 PULSE SIGN mode set the pulse output mode with the intelligent function module switch Refer to Section 5 6 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 10 Deceleration stop method Set how to stop the operation when an axis stop signal Yn 10 to Yn17 is input during position control including the one in the speed position switching control 0 Position match stop Deceleration starts when the axis stop signal is input and the axis stops immediately when the address preset to the positioning data in execution is reached 1 Deceleration stop When the axis stop signal is input the axis stops after decelerating to 6 Bias speed at start The axis does not stop at the address preset to the positioning data in execution Axis stop signal input 0 Position match stop T Continuous path control performed when axis stop signal is not input Da 5 Command speed Immediate stop after the address set to Da 6 Positioning address movement amount is reached Da 4 Deceleration n stop time Pr 6 Bias speed at start Positioning address movement amount In a pattern where the positioning address is reached during deceleration an immediate stop is made when the positioning address is reached However if the
20. coMtto4 B6 cOM to4 as COM o4 B6 COMtto4 AS CHG4 RTRY4 m NC A3 DOG4 PULSE R5 PULSE R6 PULSE R7 PULSE R8 A20 B20 A20 B20 COM COM COM COM PULSE F5 PULSE F6 PULSE F7 PULSE F8 A19 B19 A19 B19 COM COM COM COM as NC je N AT coM5to8 B7 cOMSto8 6 coM5to8 86 B5 inc INC INC B3 B2 COMS5 to 8 Bs B7 com5to8 86 comsto8 Bs ps B2 m CHGS RTRYS g2 B2 B8 B8 B7 B7 NC 4 NC NC B4 B3 B3 1 1 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 3 List of input output signal details The details of each QD70D external device connection connector are shown below o em e Signal name Pin No Symbol Negative logic is selected by external I O signal logic selection e This signal is used for detecting the near point dog during machine OPR Near point dog signal AO3 DOG control e The near point dog signal is detected at turning from OFF to ON e In speed position switching control The signal is input to switch from speed Speed position switching signal A05 B05 CHG RTRY control to position control Retry switch signal 02 B02 e In machine OPR This signal is used for retry switch detection in the OPR retry function A06 B06 e Common for near point dog signal and speed position switching control Common COM 07 07 signal
21. 1189 1199 I T p CN oo NO 4 28 4 DATA USED FOR POSITIONING CONTROL Positioning data 1 2 3 TIEN 1290 Da 1 Da 1 Operation pattern 1200 1210 1220 yel 1281 1291 1214 Da 5 Command speed 10 1215 Da 6 Positioning 1206 1216 1226 address movement 1207 1217 1227 amount 1229 Buffer A address 1282 1292 1293 1284 os 1285 Axis 1 1286 1296 1287 1297 1298 1289 1299 Used Positioning data 1 2 aca No TIEN 1490 Da 1 Da 1 Operation pattern 1400 1410 1420 Ta 1481 1491 Da 2 Control method 1401 1411 1421 1492 3 ACCIDEC time 1402 1412 1422 1483 1493 1414 1424 Da 5 ne 1415 1425 1486 1496 1487 1497 E 1406 1416 1426 E 1417 1427 1407 amount er deem 7 Dwell deem m 1489 1499 Reserved Cannot Be 419 1429 edd Buffer memory address Write to Reserved Cannot be used is prohibited 1484 1494 1485 1495 1 3 The descriptions that follow relate to the positioning data set items Da 1 to Da 7 MELSEC Q Positioning data No 1 2 SSS No isl Le 1390 1381 1391 1314 cn Da 5 Command speed e 1315 Da 6 Positioning 1306 1316 1326 address movement 1307 1317 13
22. 5 Speed limit value The speed is controlled at Pr 6 Bias speed at start or Pr 5 Speed limit value A speed change request was given during other than speed control of speed position switching control and Operation is continued JOG operation Speed change not possible The target position change was requested in any other than positioning control with the operation pattern set Operation is continued to Positioning termination Target position change not possible The axis decelerates to a stop once upon completion of the execution of the positioning The calculation processing time of the next positioning data in current execution and operation data was not reserved in Da 1j Operation pattern of resumes upon completion of the calculation Continuous positioning control processing of the next positioning data The BUSY signal does not turn OFF if the axis has stopped Insufficient movement amount 13 13 13 13 13 TROUBLESHOOTIN MELSEC Q Related buffer memory address Setting range Remedy rov TETTE e Do not make a restart request in Md 4 Axi i 4 Restart request Axis operation status of other 1 Make restart thane Stopped Do not make a restart request during OPR control or JOG operation dPESSpedimtvaue 5 dPESSpedimtvaue limit value ESESESESEAESJEJES Tip ADODUDDtBUlSBIS Change the set speed or Cd 7 New 7 107 207
23. Setting value setting Default valu Setting value buffer memory address ult valu range 0 Near point dog method OPR method 0 Forward direction OPR 2 OPR direction 121 1 Reverse direction 2147483648 to 122 222 322 422 522 622 722 OPR 3 OP address 2147483647 pulse 1 123 223 323 423 523 623 723 i 124 224 324 424 524 624 724 OPR 4 OPR speed 1 to 4000000 pulse s 1 125 225 325 425 525 625 725 1 126 226 326 426 526 626 726 OPR 5 Creep speed 1 to 4000000 pulse s 127 227 327 427 527 627 727 OPR 6 ACC DEC time at 0 to 32767 ms OPR 7 DEC STOP time at OPR 0 to 32767 ms 529 730 731 732 733 Setting for the movement 530 630 amount after near point 531 631 dog ON 632 732 OPR 9 OPR dwell time 32 622 OPR 10 retry 95 33 ess 1 When 0 Valid is set for Pr 3 Software stroke limit valid invalid setting the setting range is 0 to 2147483647 pulse 2 When making setting in a sequence program set 0 to 32767 in decimal as is and 32768 to 65535 in hexadecimal 4 DATA USED FOR POSITIONING CONTROL OPR 1 method MELSEC Q Set the OPR method for carrying out machine OPR control 0 Near point dog method 1 Stopper 1 2 Stopper 2
24. e Input the zero signal for machine OPR control Use the pulse encoder s zero signal and so on Zero signal A09 B09 PGO e Also use this signal when the OPR method is the stopper method and the OPR complete is input from an external source e The zero signal is detected at turning from OFF to ON e Common tor zero signa Fu B10 PGO COM e Common for zero signal Ple ws ms B15 This signal is used to output command pulses to the open collector compatible drive unit Pulse output F A16 B16 PULSE F PULSE SIGN mode PULSE A phase B phase mode A phase Pulse oU BER roe B17 PULSE Re Re pusere This signal is used to output command pulses to the open collector u utpu Pueewun compatible drive unit Pulse output R A18 B18 PULSE R PULSE SIGN mode SIGN A phase B phase mode B phase 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q b Signal details Signal name Pin No Symbol e Negative logic is selected by external I O signal logic selection Deviation counter clear e This signal is output during machine OPR control Example When carry out machine OPR control with stopper 2 Speed OPR speed Bias OPR 5 Creep speed speed at start Near point dog Lg A13 B13 CLEAR ZRIO Hes Pr 8 Deviation counter clear signal output time After feed pulse output stops The output time of the deviation counter clear signal is set in Pr
25. Microsoft Windows 7 Ultimate Operating System Microsoft Windows 7 Enterprise Operating System COMPONENT LIST The component list of this product is given below Quantity Type QD70DA Positioning Module 4 axes differential output type QD70D8 Type QD70D8 Positioning Module 8 axes differential output type cl SW1D5C QPTU E GX Configurator PT Version 1 1 license product CD ROM 1 SW1D5C QPTU EA GX Configurator PT Version 1 Multiple license product CD ROM MEMO Z O lo o CHAPTER 1 PRODUCT OUTLINE CHAPTER2 SYSTEM CONFIGURATION CHAPTER 3 SPECIFICATIONS AND FUNCTIONS CHAPTER 4 DATA USED FOR POSITIONING CONTROL CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION CHAPTER 6 UTILITY PACKAGE SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING Section 1 is configured for the following purposes 1 to 5 1 To understand the outline of positioning control and the QD70D specifications and functions 2 To carry out actual work such as installation and wiring 3 To set parameters and data required for positioning control 4 To create a sequence program required for positioning control Read Section 2 for details on each control nte id Me dl me is 1 1 to 1 12 2 1102 11 nahin ean 3 1 to 3 14 4 1 to 4 38 vetet ct c eet 5 1 to 5 21 EMT 6 1 to 6 19 CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7
26. The operation of the acceleration deceleration processing function of the AD75 is the same as that of the QD75 For comparison between the QD75 and AD75 refer to the QD75P QD75D Positioning Module User s Manual App 13 App 13 APPENDICE MELSEC Q Appendix 5 List of buffer memory addresses Buffer memory address RENS Reference Axis Axis Axis Axis Axis Axis Axis Axis easton 1 2 3 4 5 6 7 8 0 100 200 300 400 500 600 700 ne T Pr 1 Software stroke limit upper limit value 101 201 301 401 501 601 701 102 202 302 402 502 602 702 d m Pr 2 Software stroke limit lower limit value E 203 303 403 503 603 Em 104 704 Pr 3 Software stroke limit valid invalid setting 4 Current feed value during speed control 6 106 206 306 406 506 606 706 Pr 5 Speed limit value 107 207 307 407 507 607 707 108 208 308 408 508 608 708 Parameter section pe Pr 6 Bias speed at start E 209 309 409 509 609 E 110 710 r 7 Positioning complete signal output time r 8 Deviation counter clear signal output time r 9 PULSE SIGN method selection setup hold time 10 Deceleration Stop Method 11 Acceleration Deceleration System Selection r 12 Pulse Output Method Stop Signal Enabled OPR 1 OPR method OPR 2 OPR direction 22 122 222 322 422 522 622 722 P
27. 2 The setting data parameters have determined default values and are set to the default values before shipment from the factory Parameters related to axes that are not used are left at the default value 3 The setting data set in the QD70D buffer memory are not backed up All data are initialized at the time of system power on or programmable controller CPU reset 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 2 Setting items for parameters The table below lists items set to the positioning parameters Setting of parameters is similarly done for individual axes for all controls achieved by the QD70D For details of controls refer to SECTION 2 CONTROL DETAILS AND SETTING For details of setting items refer to 4 2 List of parameters _ Positi ning control JOG Related sub cono d SCHO CON abire operation function BG amarse mere o o o EC Sonne store o o o o Pra curentteed value during speed control o Ps specsiimtvaue Jeje J Sent2 PrG Besspedatstt O O o o 8 ECT Pestonng FEES couter 0 FS PULSEISIGN menoa secon seuneu BENE Deceleration stop method 11 Acceleration deceleration System selection Pulse output method stop signal enabled
28. 7 1 7 4 9 3 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent Japanese Manual Version SH 080550 F licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2006 MITSUBISHI ELECTRIC CORPORATION INTRODUCTION Thank you for purchasing the Mitsubishi programmable controller MELSEC Q series Always read through this manual and fully comprehend the functions and performance of the Q series programmable controller before starting use to ensure correct usage of this product CONTENTS SAFETY INSTRUCTIONS pii i xi ipar petite E pet Ei dee pete on et ei eta d En ox ee A 1 CONDITIONS OF USE FOR THE PRODUCT sssesssssssessseeeeeennenneeneenreneetnrenretretmetritritretnetteits A 4 REVISIONS detecte a eie tae tete a tette tute race taie ped de nas e a c dete ne dude teta foul A 5 INTRODUCTION P A 6 ee DU A 6 USING THIS MANUAL 2 1 mrt m ee em e Fe ta a ce ate eed cath ast egt A 10 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES sees A 10 GENERIC TERMS AND ABBREVIATIONS esses etretne triti tnetnr ntes A 11 COMPONENT EIS T etti ti mtt eet detener e i b dein p da p Bet cred A 11 SECTION 1 PRODUCT SPECIFICATIONS AND
29. App 1 External power source 3 8 Fast OPR control 8 18 Fast OPR control starting timing chart 7 21 Index 1 G Md 4 Axis operation status 4 7 General configuration of program 7 7 Md 5 Axis error 4 7 General image of system 2 1 Md 6 Axis warning 4 7 Md 7 Status ouis 4 7 Md 8 External I O 5 4 7 Handling precautions 5 1 Md 9 Executing positioning data No 4 7 Md 10 Error 4 7 l 11 Warning 4 7 assignment setting 5 14 Mechanism of positioning control 1 3 Immediate 9 6 Module READY 3 5 Incremental system 9 8 Module information monitor data 4 36 Initial setting sen 6 12 Module s detai
30. Delete Deletes the parameter file parameters Exit Closes this screen b Online menu Monitor Test Activates the Select monitor test module screen Read from PLC Reads intelligent function module parameters from the CPU module Write to PLC Writes intelligent function module parameters to the CPU module 1 Saving intelligent function module parameters in a file Since intelligent function module parameters cannot be saved in a file by the project saving operation of GX Developer save them on the shown module selection screen Reading writing intelligent function module parameters from to a programmable controller CPU using GX Developer a Intelligent function module parameters can be read from and written into a programmable controller after having been saved in a file b Seta target programmable controller CPU in GX Developer Online Transfer setup c When the QD70D is mounted to the remote I O station use Read from PLC and Write to PLC of GX Developer 3 Checking the required utility While the start I O is displayed on the Intelligent function module utility setting Screen may be displayed for the model name This means that the required utility has not been installed or the utility cannot be started from GX Developer Check the required utility selecting Tools Intelligent function utility Utility list in GX Developer 6 UTILITY PACKAGE GX Configurato
31. Fig 11 4 Restart speed after speed change during speed control of speed position switching control 7 If the speed has been changed during position control Operation pattern Positioning termination depending on the distance between the speed changed position and the target position 6 Positioning address movement amount the work may reach Da 6 Positioning address movement amount and stop at the point before the speed is reduced to Pr 6 Bias speed at start Speed change command New L 43 speed value TM Stopped when positioning address movement amount is reached Pr 6 Bias speed at start Cd 8 ACC DEC time at speed a DEC STOP time at speed change 8 To change the target position after changing the speed or vise versa refer to Section 11 5 Target position change function 2 Precautions during control 11 4 Software stroke limit function The software stroke limit function is designed not to execute the movable command to outside the setting range that has been set by the upper and lower limits of the workpiece movable range using the address Md 1 Current feed value established by the machine OPR control The software stroke limit function is valid for Md 1 Current feed value and Da 6 Positioning address movement amount New current value e The software stroke limit function is made valid at an operation start and during
32. Mechanical system inputs switches Near point dog signal Speed position switching signal Retry switch signal Drive unit Positioning module Connection QD70D4 QD70D8 cable 1 L L L L I 1 i Extension system L L L I 1 I r 1 For the usable CPU module refer to Section 2 3 Applicable system 2 For the usable base unit and power supply module refer to the CPU Module User s Manual 2 1 2 1 2 SYSTEM CONFIGURATION Z MELSEC Q 2 2 Component list A positioning system using the QD70D consists of the following components Remarks Positioning module No of control axes Differential output type GX Seer SW D5C GPPW E For details refer to the GX Developer Operating Manual and GX ISX Configurator PT SWi 7CD5C QPTU E CHAPTER 6 UTILITY PACKAGE GX Configurator PT DOS V personal User prepared 3 Personal computer computer Refer to the GX Developer Operating Manual for details User prepared RS 232 cable for connection of the CPU module and DOS V personal 4 RS 232 cable QC30R2 computer Refer to the GX Developer Operating Manual for details User prepared USB cable for connection of the CPU module and DOS V personal 5 USB cable computer Refer to the GX Developer Operating Manual for details User prepared Drive unit Refer to the drive unit manual for details User prepared Cable for connection of the QD70
33. OPR speed in the V OPR 4 OPR speed 2 Bias speed 3 at start Creep speed and move with the OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed 4 creep speed 4 When the first zero signal one pulse of which is output when the motor turns one revolution is detected after the Near point dog OFF movement amount set in OPR 8 Setting for the movement amount after near point dog ON has been Zero signal travelled after near point dog ON the pulse output from the QD70D stops and machine OPR control is completed 5 Count 2 1 Start machine OPR control Start movement at the OPR 4 OPR speed in the 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to OPR 5 Bias speed at start Creep speed and move with the OPR 4 OPR speed t Md 2 Movement amount after near point dog ON Near point dog should be turned OFF with enough distance provided from OP position First zero after movement amount 1 has been traveled after near point dog OFF OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed m t creep speed 1 4 After the near point dog turns ON and the movement amount set in OPR 8 Setting for the movement amount
34. Peripheral device The outline of the signal communication between the QD70D positioning module and programmable controller CPU peripheral device GX Configurator PT and drive unit etc is shown below A peripheral device communicates with the QD70D via the programmable controller CPU to which it is connected Refer to Section 3 3 2 for details of the I O signals Programmable controller READY signal ea Module READY signal JOG start signal Axis warning occurrence signal 1 8 to 1 to ___9 9 start __ Positioning complete X n 1 8 to 1 Signal BUSY signal Xn8 to XnF Start latere i X n 1 0 to 1 7 n ae 1 0 to Y n 1 7 Signa Interface with Axis error occurrence Programmable signal controller Xn1 CPU K Date write read Monitor data interface Operation monitor setting Auto refresh Peripheral device GX Configurator PT 1 8 External interface Zero signal Drive unit Deviation counter clear Pulse train Near point dog singal Speed position switching i system inputs i signal Retry switch signal Switches 1 PRODUCT TLINE MELSEC Q lll QD70D Programmable controller CPU Th
35. This program sets which control out of OPR control or positioning control to execute ll Data requiring setting 1 Set Start method according to the control to be started Oto 10 Positioning control Starts from No 1 when 0 is set 9000 Machine OPR control 9001 Fast OPR control Refer to Section 4 7 List of control data for more information on the setting details Start method 2 Set the following control data for speed position switching control Setting item Setting value Speed position switching 1 The speed position switching signal is d 5 54 154 254 354 454 554 654 754 request made valid enabled Refer to Section 4 7 List of control data for more information on the setting details 7 5 3 Start program This program is designed to start OPR control or positioning control using the positioning start signal Yn8 to YnF Refer to Chapters 8 and 9 for details of OPR control and positioning control Buffer memory i Drive unit ositioning data 1 is started Programmable controller CPU Input output signal When starting positioning with the scan after the completion of positioning insert 1 0 as an interlock so that positioning is started after Yn8 is turned OFF and 1 0 is turned OFF Set Cd 3 Start method according to the control to be
36. a When performing machine zero return by stopper 1 Set the time from when the near point dog turns ON until machine OPR control is completed Set not less than the movement time from when the near point dog turns ON until a stop is made by the stopper b When using the OPR retry function Set the stop time after deceleration stop by OPR retry For details refer to Section 8 4 OPR retry function OPR 10 OPR retry Set whether to enable or disable the OPR retry function 0 Disable Disables the OPR retry function 1 Enable Enables the OPR retry function Note The OPR retry function is valid only for the near point dog method and count 1 and 2 For details refer to Section 8 4 OPR retry function 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 4 List of JOG data Default value Setting value buffer memory address range parom T dd 41 141 241 341 441 541 641 741 JOG 1 1000 42 542 0 Forward run JOG JOG 4 JOG direction flag tR JoG os 8 om om m n tn n Reverse run JOG 1 JOG speed Set the speed for JOG operation This value is used for both forward run JOG and reverse run JOG Set the JOG speed in the following range Pr 5 Speed limit value gt JOG 1 JOG speed gt Pr 6 Bias speed at start If the JOG speed is more than the speed limit value it is limited to Pr 5 Speed limit value If the JOG speed is less than Pr 6 Bias speed
37. after near point dog ON has passed the pulse output from the QD70D stops with the first zero signal and machine OPR control is completed i Movement amount after near point dog ON ON Near point dog i 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 2 direction Set the direction to start movement when starting machine OPR control 0 Forward direction Moves in the direction that the address increments Arrow 2 1 Reverse direction Moves in the direction that the address decrements Arrow 1 Normally the OP is set near the lower limit or the upper limit so OPR 2 OPR direction is set as shown below When the zero point is set at the lower limit side the OPR directiion is in the direction of arrow 1 Set 1 for Lower limit Upper limit Address decremwnt Address increment direction direction Lower limit Upper limit Address decremwnt v Address increment l direction direction gt When the OP is set at the upper limit side the OPR diredtion is in direction of arrow 2 Set 0 for OPR OP address Set the address used as the reference point for position control ABS system When the machine OPR control is completed the stop position address is changed to the address set in OPR 3 OP address At the same time the OPR 3 OP address is stored in Md 1 Current feed value Note The setting range f
38. 2 m Da 5 Command speed 30000pulse s D42 D up Da 6 Positioning address movement amount 250000pulse D44 Da 7 Dwell time D45 Da 1 Operation pattern 0 Positioning termination D46 Positioning Da 2 Control method 5 Current value changing D51 data No 3 S S Da 6 Positioning address movement amount 300000pulse 3 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 054 OPR request flag Md 7 Status bit 0 055 3 Start method Refer to Section 7 5 2 Speed change request D57 New speed value Refer to Section 7 5 4 ACC DEC time at speed change DEC STOP time at speed change Axis 1 error status Md 10 Error status bit 0 5 Axis error code Cd 10 Target position change request Cd 11 Target position change value 500000pulse 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 3 Creating a program This section explains positioning control operation programs actually used The programs designed to perform the functions described in SECTION 2 CONTROL DETAILS AND SETTING are installed in the positioning control operation programs explained in Section 7 3 2 To monitor control add a necessary monitor program according to the system Refer to Section 4 6 List of monitor data for monitor items
39. 307 407 507 607 707 speed value to not less than Pr 6 Bi Pr 6 Bias speed at start speed at start and to not more than Pr 5 Speed limit value 108 208 308 408 508 608 708 0 to 4000000 pulse s 109 209 309 409 509 609 709 Cd 6j Speed change request Do not make a speed change during 1 Make speed change position control or during OPR control Do not change the target position in any Cd 10 Target position change request other than positioning control with the 1 Change the target position operation pattern set to Positioning termination Da 1 Operation pattern 0 Positioning termination 1 Continuous positioning control 2 Continuous path control Da 6 Positioning address movement amount 2147483648 to 2147483647 pulse For position control Correct Da 6 Positioning address movement amount or change 1 Operation pattern to Positioning termination Refer to Section 9 1 2 Refer to Section 4 5 List of positioning data 13 14 13 14 13 TROUBLESHOOTING 13 4 Error check by LED indication MELSEC Q The states of QD70D and each axis control can be confirmed by the LEDs located on the front panel of the QD70D main module RUND 50 OAX1 AX6D 2 AXTU ERRO 80 DAXA 007008 Each axis be monitored by the s
40. 7 3 1 General configuration of program The general configuration of the positioning control operation program is shown below Start of program creation we Set using the sequence program Set using the Parameter and data GX Configurator PT setting program Initialization program Refer to section 7 5 1 Parameter and data are Start method setting program Refer to section 7 5 2 Start program Refer to section 7 5 3 JOG operation program Refer to section 5 7 Sub program Refer to section 7 5 4 Stop program Completion of program creation Positioning control operation program 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 3 2 Positioning control operation program The following are individual programs which comprise the positioning control operation programs When creating a program refer to the explanation item of the corresponding program and Section 7 4 Positioning control program example and create an operation program according to the positioning control system The following programs are numbered It is recommended to comprise the programs in order of these numbers Start of program creation Set using sequence program Parameter TO command and data are Parameter and data setting program Set using the GX Configurator PT OPR data setting program When not carrying out OPR control the OPR data do
41. Current control whether the current feed value is 270 370 470 570 670 770 updated or not or cleared to zero can be selected 371 471 571 671 771 by parameter setting e The software stroke limit can be activated by parameter setting e If the current value has been changed by the current value change function the new value is stored Range 2147483648 to 2147483647 pulse e Ata machine OPR control start 0 is stored e After a machine OPR control start the movement amount from near point dog ON up to machine OPR control completion is stored amount Movement amount Indicates the movement after near amount up to completion of machine OPR control when near point dog ON is defined as ON e For near point dog free stopper type method the value is always O Range 0 to 2147483647 pulse e The current speed is stored The fraction is ignored 0 may be displayed if Current the speed is less than 1 pulse s Update timing 1ms for QD70D4 2ms for QD70D8 Range 0 to 4000000 pulse The operating status of the axis is stored 1 Error Standby Stopped JOG Operation OPR Axis Position e Control operation during speed control of speed position Switching control Speed e Position Speed during position control of speed position Switching control Deceleration Axis Stop ON Deceleration JOG Start OFF 9 Fast OPR At axis error occurrence the error code correspondin
42. Ifthe axis is started during near point dog ON it starts at OPR 5 Creep speed 4 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in 7 DEC STOP time at OPR 8 9 8 9 PR NTROL Sas do ass MELSEC Q 8 2 5 OPR method 3 Stopper 2 The following shows an operation outline of the stopper 2 OPR method lll Operation chart Machine OPR control is started 1 Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at 4 OPR speed Speed is reduced to OPR 5 Creep speed and the axis then moves at the creep speed At this time the motor torque must be limited If the torque is not limited the motor may fail at 4 On detection of the zero signal after the stop the pulse output from the QD70D stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in 8 After a deviation counter clear output is output to the drive unit the OPR complete flag 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status bO turns from ON to OFF OPR 4 OPR speed Deceleration at the near point dog ON OPR 5 Creep speed n Stopper Torque limit Nea
43. MELSEC Q 5 5 Confirming the wiring 5 5 1 Confirmation items at completion of wiring Check the following points when completed with the QD70D installation and wiring 15 the module correctly wired Connection confirmation By making connection conformation you can check whether the QD70D recognizes the external I O signals such as the near point dog and speed position switching signals for example The following is the way to make connection confirmation 1 Method using GX Developer Read the Md 8 External I O signal axis monitor data with the monitor function Buffer memory batch and check the read values Buffer memory address External I O signal Axis 3 Axis 5 Axis 6 Bit pattern b15 b12 b8 04 bO Not used Storage item Meaning Zero signal Near point dog signal Speed position switching signal Retry switch signal Deviation counter clear signal Example Checking the external I O signals of Axis 1 GX Developer display screen Module start address 0010 Buffer memory address 80 DEC C HEX Monitor format Bit amp Word isplay 16bit integer Value DEC C Bit C it i 32bitinteger cT C Word Real number ASCII character address 18498 7654 3210 _Ostion setup 00080 eavof
44. Positioning termination Target position change not possible Warning code 25 is generated 11 10 11 SUB FUNCTIONS MELSEC Q 11 6 Acceleration deceleration processing function The acceleration deceleration processing function is designed to adjust acceleration deceleration when OPR control positioning control or JOG operation is performed Adjusting the acceleration deceleration processing according to control enables finer control The acceleration deceleration adjusting items that can be set are bias speed at start target speed acceleration time deceleration time and Acceleration Deceleration System Selection The following will be explained for the acceleration deceleration processing function 1 Control details 2 Precautions for control 1 Control details The following is the operation of the acceleration deceleration processing function of the QD70D 1 Operation by Bias speed at start Target speed Acceleration time and Deceleration time Target speed Set acceleration time 7 actual acceleration time p Bias speed at start X is other than 0 Bias speed at start is 0 Set deceleration time actual deceleration time Set acceleration deceleration time actual acceleration deceleration time if Pr 6 Bias speed at start is either O or other than 0 Not that for S curve acceleration deceleration because the last
45. Q o BS o Always set Set as required Read when not required Setting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or within the setting range there is no problem iSetwhen using the OPR retry function when not set ll Checking the OPR data 1 to OPR 10 are checked for the setting ranges when the Programmable controller READY signal YnO output from the programmable controller CPU to the QD70D changes from OFF to ON At this time an error occurs in the OPR data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 4 Setting items for JOG data The JOG data must be set to perform JOG operation The following are the setting items of the JOG data The JOG data are set commonly for each axis Refer to CHAPTER 10 JOG OPERATION for details of JOG operation and to Section 4 4 List of JOG data for details of the setting items JOG data JOG operation JOG 1 JOG speed 90 J 306 2 acc tme 009 3 O JOG 4 joS direciona EO Always set Setting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or
46. Section 9 2 Setting the positioning data e 10 pieces of the positioning data positioning data No 1 to 10 can be set per axis Operation pattern Positioning address movement amount s t c 9 o o 9 1 9 1 POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 1 2 Operation patterns of positioning controls Positioning control starts with positioning data No 1 and allows you to set in Da 1 Operation pattern whether the subsequent consecutive data will be executed continuously or not There are the following three different operation patterns 1 to 3 e Termination 1 Positioning termination operation pattern 0 e Continuation A Continuous positioning control operation pattern 1 3 Continuous path control operation pattern 2 The following shows examples of operation patterns when 1 axis linear control ABS is set in positioning data No 1 to No 6 of axis 1 Details of each operation pattern are shown on the following pages Operation example when 1 axis linear control ABS is set in the positioning data of axis 1 gt Setting details Positioning data No 1 Positioning control to address A at command speed perator 2 path control No 2 Positioning control to address B at command speed Operation pattern 2 Continuous path control N
47. axis operation signal is turned ON during JOG operation JOG operation results in a deceleration stop Turning ON the JOG start signal when the axis stop signal is ON results in the Stop signal ON at start error error code 102 and does not start JOG It can be started by resetting the axis error then turning OFF the axis stop signal and turning the JOG start signal from OFF to ON again Error occurs if JOG start signal is turned from OFF to ON while axis stop signal is ON Programmable controller READY signal YnO Module READY signal Axis error reset Axis error ON occurrence signal Xn1 JOG start signal Y n 1 8 toY n 1 F Axis stop signal Y n 1 O to 1 7 BUSY signal Xn8 to XnF Fig 10 2 Operation when the axis stop signal is turned ON during JOG operation 10 4 10 4 1 PERATION MELSEC Q 2 When JOG direction flag is changed to reverse run JOG command during forward run JOG operation When 4 JOG direction flag is changed to the reverse run JOG command during forward run JOG operation forward run JOG operation is continued In this case the reverse run JOG command is made valid when the JOG start signal turns ON after the BUSY signal of the QD70D turned OFF However when forward run JOG operation is stopped by the axis stop signal or stopped due to an axis error reverse run JOG operation is not performed if JOG 4 JOG direction
48. current feed value current speed axis operation status and axis error code on the Monitor Test screen For details refer to Section 6 6 Monitor test Example Operation monitor of Axis 1 Axis 1 Monitor Test GX Configurator PT display screen Axis 1 Monitor Test Module information Module type 0070 Model Module Start 1 0 No 0010 Module model name 007008 Setting item Current value Setting value Axis Operation Status JOG Operation Executing Positioning Data No Axis Error Code Axis Warming Code Axis Error Reset Error Reset Complete m Reset Complete Status Except 0 Speed OSpeed External 1 0 Signal OFF Speed Position Switching Command Flash ROM setting Details Current value Monitoring display Cannot execute test Make test file Stop monitor 6 UTILITY PACKAGE GX Configurator PT MELSEC Q CHAPTER 6 UTILITY PACKAGE GX Configurator PT The QD70D utility package GX Configurator PT is software designed to make initial setting auto refresh setting monitor and others of the QD70D using dedicated screens without being conscious of the I O signals and buffer memory Use the utility package with GX Developer SW4D5C GPPW E or later 6 1 Utility package functions The following table lists the functions of the utility package Description Reference Make initial setting axis by axis for the QD70D to operate Set the values of the items
49. of occupied I O points 48 points I O assignment 16 for empty 32 for intelligent Weight 0 17kg 0 23kg 1 Positioning data can be activated from any of data No 1 through 10 2 A delay may occur depending on the operating conditions and starting conditions control method bias speed ACC DEC time etc of Positioning data i Positioning control range the other axes 3 When Continuous positioning control or Continuous path control is selected for the operation pattern S curve acceleration deceleration is not available 4 Setting of 32 points 0 for empty 32 for intelligent is also available by GX Developer s I O assignment setting 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 2 List of functions The following table lists the functions of the QD70D Read SECTION 2 CONTROL DETAILS AND SETTING for details of the functions using a near point dog or stopper 8 2 Positions a target to the OP address Md 1 Current feed contol value stored in the QD70D using machine OPR control 8 3 Allows machine zero return from any given position OPR retry function Even if the work is located beyond the origin machine zero return will be automatically performed Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount First carries out speed control and then carries out position control positioning control with designated addr
50. option straight out option Cannectidtenhedtor A6CON2 pressure displacement A6CON2 pressure displacement type type straight out option straight out option A6CON4 soldering type usable for A6CON4 soldering type usable for straight out straight out and diagonal out option and diagonal out option A6CON1 A6CON4 0 3mm A6CON1 A6CON4 0 3mm Applicable wire size A6CON2 AWG24 A6CON2 AWG24 C dul eer Diffarentisi dii QD75P Open collector omman se e erential driver Re roe TIU Nat QD75D 1 Differential driver For connection to open collector 200kpps Max output pulse 4Mpps E For connection to differential driver 1Mpps t For connection to open collector 2m Max connection distance to servo 10m k For connection to differential driver 10m QD75P1 0 4A QD75P2 0 46A QD75P4 0 58A Internal current consumption 5VDC 1 16A 2 16A QD75D1 0 52A QD75D2 0 56A QD75D4 0 82A Number of occupied I O points 48 points 32 points Number of slots occupied by module Weight 0 23kg 0 15kg 0 15kg 0 16kg Possible X Not possible 1 When the unit is degree the control method is the INC system ABS system under speed position switching control 2 When Continuous positioning control or Continuous path control is selected for the operation pattern S curve acceleration deceleration is not available 3 The near pass function is valid for continuous path control only 4 Added into GX Developer f
51. speed at position control completion or axis stop factor occurrence axis stop signal ON or error occurrence V Positioning data No 1 Positioning data No 2 Continuous positioning control Positioning termination M lt Ds 5 lt Dad 1 1 1 1 t D E Da 3 Dwell time Dwell time 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 1j Operation pattern is 2 Continuous path control Da 3 ACC DEC time Set the time taken to reach 5 Command speed set in the positioning data to be executed next from 5 Command speed set in the positioning data currently being executed Da 4 DEC STOP time Set any value within the setting range 0 to 32767ms This does not function V Positioning data Positioning data Positioning data 1 1 i No 2 i No 3 Positioning data No 4 1 Positioning termination gt i Continuous path control Bias speed at start t gt 0 0 1 1 1 ma Ner Dwell time I Nm Da 5 Command speed Set the speed for positioning control If the set command speed exceeds Pr 5 Speed limit value positioning control will be carried out at the speed limit value If the set command speed
52. 1 0 to 1 7 _OFF BUSY signal Xn8 to XnF _OFF Positioning complete signal X n 1 8 to X n 1 F OFF Axis error occurrence signal Xn1 Start method Fig 7 6 Positioning control starting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 4 Speed position switching control starting timing chart Operation pattern 0 Speed control Position control Dwell time Positioning data No 1 lt gt i i Positioning start signal Yn8 to Programmable controller READY signal YnO Module READY signal Xn0 Start complete signal X n 1 0 BUSY signal Xn8 to XnF Positioning complete signal 1 8 to X n 1 F Axis error occurrence signal Xn1 Speed position switching signal CHG Cd 3 Start method Cd 5 Speed position switching request Fig 7 7 Speed position switching control starting timing chart For positioning control or OPR control multiple axes can be started simultaneously In this case turn ON the positioning start signals of the target axes within the same Scan However after multiple axes have been started simultaneously they cannot be stopped simultaneously For a simultaneous start of multiple axes do not tum ON OFF the signals by the direct access output DY Refer to Section 9 3 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 5 4 Sub program Sp
53. 1 to 7 26 L NOILOAS MEMO 1 PRODUCT OUTLINE MELSEC Q CHAPTER 1 PRODUCT OUTLINE This User s Manual provides the specifications handling programming methods and other information of the QD70D positioning module used with the MELSEC Q series CPU module When diverting any of the program examples introduced in this manual to the actual system fully verify that there are no problems in the controllability of the target system 1 1 Positioning control 1 1 1 Features of QD70D The following are the features of the QD70D 1 Wide assortment of 4 axes and 8 axes modules The QD70D is a positioning module used in a multi axes system that does not need complex control It is not compatible with the MELSEC A series AD70 positioning module in I O signals functions etc 2 About positioning control functions b c d e f The QD70D has a number of functions required for a positioning control System such as positioning control to any position and equal speed control 1 You can set up to 10 pieces of positioning data which include positioning address control method operation pattern and like per axis These positioning data are used to exercise positioning control axis by axis 2 Axis by axis positioning control allows linear control up to 8 axes can be controlled simultaneously This control can perform positioning termination with one piece of positioning data or exercise continuous po
54. 15 11 15 11 SUB FUNCTIONS MELSEC Q 1 Control details 1 Restart during position control Setting 1 With restart request in 4 Restart request when 4 Axis operation status is Stopped resumes position control from the stop position to the end point of the positioning data where the axis had stopped independently of the absolute or incremental system Example for incremental system The following is the operation performed when the axis is stopped during execution of position control 1 axis linear control at the axis 1 movement amount of 600 and a restart request is executed after the axis stop signal turns OFF Stop position at axis stop A Stop position at axis stop Specified end i iti Restart us Starting point point position Operation at Stop position address restart after restart DUNS CARTER Axis 1 gt Axis 1 0 100 300 700 0 100 300 700 2 Restart during speed control Speed control is resumed at the speed used before a stop made by the axis stop signal Y n 1 0 to Y n 1 7 3 When restart is not made during position control When Md 4 Axis operation status is Stopped turning ON the positioning start signal Yn8 to YnF starts position control from the current stop position Example for incremental system The following is the operation performed when the axis is stopped during execution of position control 1 axis linear control
55. 1A 1 point 0 4A 1VDC TYP 2ms or less CLEAR 5 to 24VDC 4 75 to 30VDC 2 5VDC MAX 0 1mA or less resistance load 3 SPECIFICATIONS AND FUNCTIONS 3 4 2 Signal layout for external device connection connector MELSEC Q The specifications of the connector section which is the input output interface for the QD70D and external device are shown below The signal layout for the QD70D external device connection connector is shown QD70D4 QD70D4 RUNO OAX1 2 OAX3 ERRO OAX4 QD70D4 AX3 AX1 4 2 gt 06 1 n o0 oo oo 11 od 0 oo 0 11 oo oo oo oo oo oo oo n n n oo oo nu od od nu nu nu n ngu nu J ES QD70D8 QD70D8 50 OAX1 AX60 2 AX70 ERRO AX8D OAX4 AX2 QD70D8 AX1 3 SPECIFICATIONS AND FUNCTIONS Pin layout Front view of the module MELSEC Q PULSE R1 PULSE R2 PULSE R3 PULSE R4 A20 B20 A20 B20 COM COM COM COM PULSE F1 PULSE F2 PULSE F3 PULSE F4 A19 B19 A19 B19 COM COM COM COM A16 PULSE F4 A15 PULSE 4 A14 _ CLEAR 1 COM CLEAR 4 COM A13 2 JC A2 2 NC NC BH Nc JAM Bi PG04 COM Bo _ PGO4 B8B AB BB A7 cOM to4 COMI to 4 A6
56. 4 Axis operation status to Stopped n this case setting other than O in Cd 7 New speed value and 1 in Cd 6 Speed change request turns OFF 0 speed Md 7 Status b2 enabling operation to be continued 5 H Positioning data setting examples The following table shows setting examples when speed position switching control by forward run is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Set Positioning termination assuming the next positioning data will not be executed Continuous path control cannot be set in speed position switching control Positioning Da 1 Operation pattern tamiinati n Speed Position m ARE Da 2 Control method Ctrl Forward Set speed position switching control by forward run Da 3 ACC DEC time 1000ms Set the acceleration deceleration time for speed position switching control a 4 DEC STOP time 1000ms Set the deceleration stop time for speed position switching control Command speed 50000pulse s the speed to be controlled 6 Positioning address 10000pulse the movement amount after the switching to position control movement amount Set the time from when a stop pulse output stop is made under Da 7 Dwell time 500ms position control until the
57. 8 Deviation counter clear signal output time e Use the drive unit that can reset the droop pulse amount in the internal deviation counter when the QD70D turns this signal ON Note The deviation counter clear is a signal output by the QD70D during machine OPR control It cannot be output randomly CLEAR Deviation counter clear common A14 B14 e Common for deviation counter clear 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 4 Input output interface internal circuit Shows summary image of the internal circuit of the interface for connection to external devices of the QD70D Near point dog signal Speed position switching signal Retry CHG RTRY Switch signal id Input output n External wiring class 24VDC Zero signal Pulse output F PULSE Pulse output F PULSE F Pulse output F common PULSE F COM Pulse output PULSE Pulse output R PULSE R Pulse output R common PULSE R COM Deviation counter clear CLEAR Deviation counter clear CLEAR COM common 1 Connection to the 24V DC input common COM is available from either the positive or negative side 2 The input common COM has internal connections for axes 1 to 4 and 5 to 8 8 To the Speed position switching signal Retry switch signal CHG RTRY both switches for CHG and RTRY can be connected Pay special attention to prevent the both switches from turning on at the same time 3 12 3 12 3 SPECIFICATIONS AN
58. 8 4 OPR retry function 8 OPR CONTROL MELSEC Q Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds To improve the machine s stopping accuracy its must change over to a slow speed before stopping This speed is set in the OPR 5 Creep speed PR NTROL SA uoo ass MELSEC Q 8 2 3 OPR method 1 Near point dog method The following shows an operation outline of the near point dog method OPR method ll Operation chart Machine OPR control is started Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR speed Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR The machine decelerates to the OPR 5 Creep speed and subsequently moves at that speed At this time the near point dog must be ON On detection of the first zero signal after near point dog OFF the pulse output from the QD70D stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in 8 After a deviation counter clear signal is output to the drive unit the OPR complete flag Md 7 Status b1 turns from OFF to ON the OPR request flag Md 7 status b0 turns from ON to OFF 4 OPR speed Deceleration at t
59. 896 887 897 ET Axis 2 EI 806 816 826 EI 807 817 827 amount Da 7 Dwell time 808 889 899 Buffer A address Used Positioning data No 1 2 lll Toll TI 1090 1081 1091 1024 Da 5 en 107 2 1025 ELA Positioning 1006 11016 ee Jis ELA 1007 1017 amount Reserved Cannot Be 1009 1019 1029 i Used Buffer address Write to Reserved Cannot be used is prohibited 4 28 1082 1092 1083 1093 1084 1094 1085 1095 1 1086 ice 1087 1098 1089 1099 SS M SS oo x Positioning data No 1 2 eee No Da 1 Da 1 Operation pattern 910 920 Sy 991 Ere l 914 924 2 5 Da 5 Command speed ane 915 925 Da 6 Positioning 906 916 926 address movement 907 917 927 amount Buffer memory address Positioning data No 1 2 Ll No Tat Ld 1180 1190 118111191 5 Da 5 Command speed Da 6 Positioning 1116 address movement 1117 amount 1128 zl Reserved Cannot Be pe 1119 Used Buffer memory address 982 992 983 993 984 994 985 995 Reserved Cannot Be H 1182 1192 1183 1193 1184 1185 Axis 4 1186 1187 1198
60. Bias speed at start operation starts at Pr 6 Bias speed at start and the Outside speed warning warning code 20 occurs If Pr 6 Bias speed at start is O starting JOG operation with the setting of 0 in JOG 1 JOG speed results in the following 0 speed Md 7 Status b2 turns ON e The BUSY signal turns ON When the JOG start signal turns OFF the BUSY signal turns OFF and 4 Axis operation status changes to Standby In this case making a speed change with the setting of other than 0 in Cd 7 New speed value 1 in 6 Speed change request turns OFF 0 speed Md 7 Status b2 enabling operation to be continued 5 If a warning occurs JOG operation is continued E Error during operation If operation is stopped by the software stroke limit function JOG operation can be performed to move the workpiece to within the software stroke limit range after an axis error reset Refer to Section 11 4 for details V JOG operation JOG operation possible JOG operation not possible Within software stroke limit range Outside software stroke limit range MM TOS 10 2 10 2 10 JOG OPERATION MELSEC Q 10 2 JOG operation execution procedure The JOG operation is carried out by the following procedure Using GX Developer set JOG Preparation STEP 1 Set the JOG data fa eee o quie ON
61. Deviation counter clear signal output time Md 4 Axis operation status Standby X During OPR Standby T i n 0 T Md Movement amount after Unfixed X 0 X Value marked gt 1 i near point dog ON Md 1 Current feed value Unfixed Traveled value is stored OP address Fig 8 11 Count 2 machine OPR control 8 OPR CONTROL MELSEC Q lll Precaution during operation 1 If OPR 8 Setting for the movement amount after near point dog ON is less than the deceleration distance from OPR 4 OPR speed to OPR 5 Creep speed machine OPR control is completed normally 2 When the near point dog is ON at start an error Start during near point dog ON Error code 201 occurs Perform JOG operation to move the axis to the position where the near point dog turns OFF Refer to Section 8 4 OPR retry function 3 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR PR NTROL ias do ass MELSEC Q 8 3 Fast OPR control 8 3 1 Outline of the fast OPR control operation ll Fast OPR operation In a fast OPR control positioning control is carried out by a machine OPR control to the Md 1 Current feed value stored in the QD70D By setting 9001 in Cd 3 Start method and turning ON the positioning start signal Y8 to YF fast OPR control perform
62. JOG 1 to JOG 4 for executing the JOG operation Set the JOG date in the QD70 buffer memory using the TO command Create a sequence program that turns ON the JOG start signal Write the sequence program created in STEP 1 to the programmable controller CPU using GX Developer JOG STEP 3 Turn ON the JOG start signal operation ser ae asd start JOG start 1 8 Y n 1 9 1 Y n 1 B Axis 5 Y n 1 C Y n 1 D Y n 1 E Y n 1 F One of the following two methods can be used Method 1 Monitor using GX Configurator PT Method 2 Monitor using GX Developer operation Stop the JOG operation when the JOG start signal is turned OFF using the sequence program in STEP 1 JOG operation stop Monitoring 4 End of control Refer to Section 5 7 Simple reciprocating operation for details of a JOG operation starting program e It is assumed that an external safety circuit and other mechanical elements have already installed e Preset the external I O signal logic pulse output mode and pulse rotation direction with the intelligent function module switches For details refer to Section 5 6 Switch setting for intelligent function module e Make parameter setting as necessary 10 3 10 3 1 PERATION a MELSEC Q 10 3 JOG operation example 1 When axis operation signal is turned ON during JOG operation When the
63. Loc EE the window Em Moves between controls in the window between controls in the window cui Used in combination with the mouse operation to select multiple cells for test execution Deletes the character where the cursor is positioned When a cell is selected clears all of the setting contents in the cell Back Deletes the character where the cursor is positioned Lace P Ta Moves the cursor one page up Page Down Moves the cursor one page down Completes the entry in the cell 2 Data created with the utility package The following data or files that are created with the utility package can be also handled in GX Developer Figure 6 1 shows respective data or files are handled in which operation Intelligent function module parameter a This represents the data created in Auto refresh setting and they are stored in an intelligent function module parameter file in a project created by GX Developer Project Program Parameter PLC parameter Network parameter Intelligent function module parameter b Steps 1 to 3 shown in Figure 6 1 are performed as follows 1 From GX Developer select Project Open project Save Save as 2 Onthe intelligent function module selection screen of the utility select Intelligent function module parameter Open parameters Save parameters 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 3 From GX Develope
64. Module type 0010 QD70 Model Module Module model name apzopa Parameter setting module Intelligent function module parameter Auto refresh Delete Explanation of items 1 Activation of other screens Following screens can be displayed from the intelligent function module utility Screen a Initial setting screen Start I O No Module type Module model name Initial setting b Auto refresh setting screen Start I O No Module type Module model name Auto refresh c Select monitor test module screen Online Monitor Test 1 Enter the start I O No in hexadecimal 2 Command buttons Deletes the initial setting and auto refresh setting of the selected module Closes this screen 6 UTILITY PACKAGE GX Configurator PT Exit Open parameters Close parameters Save parameters Delete parameters MELSEC Q 3 Menu bar 22 Intelligent function module utility D 5 BUSES Online To utility C MELSEC Q OTE Tools Help Monitor Test 1 Read From PLC Write to PLC a File menu Intelligent function module parameters of the project opened by GX Developer are handled Open Reads a parameter file parameters Close Closes the parameter file If any data are modified a parameters dialog asking for file saving will appear Save Saves the parameter file parameters
65. OPR data setting program 7 10 JOG 4 JOG direction flag 4 5 OPR method 8 3 OPR method 1 Near point dog method 8 5 L OPR method 2 Stopper 1 8 8 LED indication 13 15 OPR method 3 Stopper 2 8 10 List of buffer memory addresses App 14 OPR method 4 Stopper 3 8 12 List of devices 7 3 OPR method 5 Count 1 8 14 List Of xit grep 13 3 OPR method 6 Count 2 8 16 List of functions sssssssesssss 3 2 OPR request enee 8 1 List of input output signals 3 4 OPR request OFF program 7 16 List of warnings eeeee 13 13 OPR request flag 4 37 OPR 1 OPR method 4 4 OPR 2 OPR 4 4 MELSECNET AH sen 2 5 OPR 3 OP 4 4 Machine OPR 8 2 OPR 4IOPR speed 4 4 Machine OPR control starting timing chart 7 20 OPR 5 Creep s
66. Setting Axis 7 OPR Data Setting Nol Operation Pattern Positioning Termination Axis Parameter Setting Anis Parameter Setting Axis 1 No Control Method Axis 8 Data Selling Aris 8 OPR Data Setting Positioning Axis 1 Positioning Data Setting Anis 1 Positioning Selling Setting Not DEC STOP Time Axis 2 Positioning Data Setting Axis 2 Positioning Setting 1 Command Speed Axis 3 Positioning Data Setting Axis 3 Positioning Setting Nol Positioning Address Movement Amount Axis 4 Positioning Data Setting Axis 4 Positioning Setting Select items Nol Dwell Time to be moved to sub window Details Move to sub window Details Select input Setting range Positioning Termination Continuous Positioning Ctrl Continuous Path Ctrl End setup Make text file End setup Cancel Make text file Cancel Explanation of items 1 Setting item list 2 Command button n indicates the axis No 007004 1104 007008 1 to 8 Creates a file containing the screen data in text file format Saves the set data and ends the operation Cancels the setting and ends the operation Initial settings are stored in an intelligent function module parameter file After being written to the CPU module the initial setting is made effective by either 1 or 2 1 Cycle the RUN STOP switch of the CPU module STOP RUN STOP RUN 2 With the RUN STOP switch set to RUN turn off and then on the power or
67. The X Y devices are represented in hexadecimal e The setting data and monitor data are represented in either decimal or hexadecimal The data ended by H are represented in hexadecimal Example 10 10 Decimal 10H 16 Hexadecimal COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES 1 For programmable controller system To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to the manual included with the CPU module or base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives For the product To ensure that this product maintains EMC and Low Voltage Directives please refer to Section 5 4 1 GENERIC TERMS AND ABBREVIATIONS Unless specially noted the following generic terms and abbreviations are used in this manual Generic term abbreviation Details of generic term abbreviation CPU QD70D Generic term for type QD70D positioning module QD70D4 QD70D8 _ QD70P Generic term for type QD70P positioning module QD70P4 QD70P8 M QD75 Generic term for positioning module QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 and QD75D4 The module type is described to indicate a specific module Peripheral device Generic term for DOS V personal computer where following GX Configurator PT GX Developer have
68. To comply with the EMC Directive and Low Voltage Directive always ground the QD70D to the control box using the shielded cables and AD75CK cable clamping Mitsubishi Electric make Inside control box 20cm 7 88 inch to 30cm 11 82 inch For details on the AD75CK refer to the following manual AD75CK type Cable Clamping Instruction Manual 5 SETUP AND PROCEDURES BEFORE OPERATION Control panel Control panel example Relay Drive Drive unit unit Relay Relay Programmable QD controller CPU 700 Noise source Power system etc Changed Relay Realy Relay Programmable QD controller CPU 70D Noise source power system etc MELSEC Q Wiring examples using duct improper example and improved Wiring duct The deive units are placed near the noise source The connection cable between the QD70D and drive units is too long Wiring duct The QD70D and drive units are placed closely The connection cable between the QD70D and drive units is separately laid from teh power line in this example the cable is outside of the duct and is as short as possible 5 SETUP AND PROCEDURES BEFORE OPERATION
69. ae Position control Positioning data setting item Positioning termination Da 1 Operation Continuous positioning pattern control Continuous path control 2 contra method 1 axis linear control ABS Speed Position Ctrl Forward Current value Positioning address movement amount Always set Set as required when not set x Dwell time Speed position switching Current value control 1 axis linear control INC Speed Position Ctrl Reverse changing 3 ACC DEC time DEC STOP time 9 Command speed destination address Setting not possible If setting is made an error error code 502 New current value change not possible error code 503 Continuous path control not possible will occur at a start Setting not required Setting value is invalid Use the initial values or setting values within a range where no error occurs POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 2 2 1 axis linear control In 1 axis linear control 2 Control method 1 axis linear control ABS 1 axis linear control INC one motor is used to carry out position control in a set axis direction 1 1 axis linear control ABS linear 1 ll Operation chart In absolute system 1 axis linear control addresses established by a machine OPR control are used Position control is carried out from the current stop position
70. at start it is limited to Pr 6 Bias speed at start JOG 2 JOG ACC time Set the time taken to reach JOG 1 JOG speed from Pr 6 Bias speed at start at a JOG operation start JOG start signal ON This value is used for both forward run JOG and reverse run JOG JOG 3 JOG DEC time Set the time taken to make a stop after reaching Pr 6 Bias speed at start from JOG 1 JOG speed at a JOG operation stop JOG start signal OFF error occurrence This value is used for both forward run JOG and reverse run JOG JOG 4 JOG direction flag Set the forward reverse direction for JOG operation 0 Forward run JOG 1 Reverse run JOG 4 DATA USED FOR POSITIONING CONTROL 4 5 List of positioning data Before explaining the positioning data setting items Da 1 to MELSEC Q the configuration of the positioning data will be shown below The positioning data stored in the QD70D buffer memory has the following type of MM Positioning data No 1 2 ll all Da 1 Da 1 Operation pattern 800 820 s TL 891 Da 2 Control method E Is 882 892 3 ACC DEC time 802 E caen e 884 894 814 824 Da 5 Command speed en 815 825 885 895 886
71. at the axis 1 movement amount of 600 and position control is started after the axis stop signal turns OFF Stop position at axis sto m Stop position at axis stop PP P Specified end Positioning oint position Starting point P start Operation at position Stop position address control start after restart Axis 1 E epson Axis 1 0 100 300 700 0 100 300 900 11 16 11 16 11 SUB FUNCTIONS 2 Speed position ON Switching signal Speed position Switching signal 11 17 MELSEC Q Precautions for control 1 Setting 1 With restart request in 4 Restart request when 4 Axis operation status is other than Stopped results in the Restart not possible warning warning code 11 2 If 1 With restart request is set in Cd 4 Restart request when the axis stop signal Y n 1 0 to Y n 1 7 is ON the Stop signal ON at start error error code 102 occurs and a restart is not made 3 Ifthe positioning data is changed after the axis has been stopped by the axis stop signal 1 0 to 1 7 a restart cannot be made properly 4 The restart function is not performed in the following cases The Restart not possible warning warning code 11 occurs e During OPR control e During JOG operation 5 For speed position switching control the axis is always restarted by speed control whichever speed control or position control is used for the oper
72. below 1 Positioning control system using QD70D Programmable controller Positioning module Drive unit QD70D Forward Servomotor pulse train innr Program Read write etc iati 4 Buffer memores Reverse run IXY pulse train TULL Intelligent 7 device Interface Monitor date read function module parameter ELA Feedback pulse 1nnr Initial setting Auto rofresh setting Monitor GX Configurator PT Fig 1 2 Outline of the operation of positioning control system using QD70D a Positioning operation by the QD70D 1 The QD70D output is a pulse train The pulse train output by the QD70D is counted by and stored in the deviation counter in the drive unit The D A converter outputs an analog DC current proportionate to the count maintained by the deviation counter called pulse droop The analog DC current serves as the servomotor speed control signal 2 The servomotor rotation is controlled by the speed control signal from the drive unit As the servomotor rotates the pulse encoder PLG attached to the servomotor generates feedback pulses the frequency of which is proportionate to the rotation speed The feedback pulses are fed back to the drive unit and decrements the pulse droop the pulse count maintained by the deviation counter The motor keeps on rotating as the pulse droop is maintained at a certain level 3 When the QD70D terminates the ou
73. can be started by turning the JOG start signal from OFF to ON again JOG start signal OFF Y n 1 8 to Y n 1 F JOG is not started if axis f stop signal is turned OFF Axis stop signal OFF Y n 1 O to Y n 1 F BUSY signal Xn8 to XnF Fig 10 5 Operation performed when axis stop signal is turned from ON to OFF with JOG start signal ON 10 6 10 6 11 SUB FUNCTIONS MELSEC Q CHAPTER 11 SUB FUNCTIONS This chapter details the sub functions of the QD70D 11 1 Outline of sub functions Sub functions Speed limit function Speed change function Software stroke limit function Target position change function Acceleration deceleration process function Restart function The sub functions are used to limit control and add functions for example for execution of OPR control positioning control and JOG operation These sub functions are executed by parameter setting sequence programs etc There are the following sub functions If the command speed exceeds 5 Speed limit value during control this function limits the commanded speed to within the 5 Speed limit value setting range This function allows the speed change at any time point during position control with the operation pattern set to Positioning termination during speed control in the speed position switching control or during JOG operation If a command outside of the upper lower limit stroke
74. case since the speed at the point to start the deceleration stop is not Da 5 Command speed the time to complete the deceleration stop is not Deceleration stop time Command speed is reduced Da 4 Deceleration stop Example When an axis stop signal is input during deceleration in continuous path control the deceleration stop is as shown below When an axis stop signal is input during deceleration from command speed a of positioning data No 1 to command speed b of positioning data No 2 the actual time required for the deceleration stop is longer than Da 4 Deceleration stop time because the speed at the point starting deceleration stop is faster than b v Positioning data No 1 Continuous path control 2 1 4 Positioning data No 2 Positioning termination Axis stop signal input a Command speed of the positioning data No 1 b Command speed of the positioning data No 2 Operation performed when axis stop signal is not input Same slope Bias speed at start 3 Acc Dec time Deceleration stop time Actual deceleration stop time Pr 10 Deceleration stop method the motion is stopped immediately when Da 6 Positioning address movement amount is reached If 0 Position match stop is set for A Positioning data No 1 Continuous path control gt lt
75. etes agentes ag 6 16 6 6 1 Monitoring Test sCreen eise tne tette tret tabe drin thea tnb debate eth ata ade R 6 16 7 1 Precautions for creating program eesriie T eene rennen nnne nennen nnns 7 1 7 2 List of devices Used 2 2 ede eere ee att e eie ee ute dude d den ette de ee dedos 7 3 7 3 Creating a PrOGrarm a e a 7 7 7 3 1 General configuration of program eia ERRERA in aiei 7 7 7 3 2 Positioning control operation program nennen nnns 7 8 7 4 Positioning control program examples sssssssseseeeeneeeeneeneeneennrnnnnn rennen nnne nens 7 10 7 5 5 e dep edendis neto soonest tinam 7 16 51 InitialiZatiory program retire ip etin inte Pn n 7 16 7 5 2 Start method setting program ntn e icai nda 7 17 75 3 Start PrOQhaM e 7 17 75 4 Sub program i dn ha idt tie I ie c b e d Lie det eg HUE Dr be Po nid i 7 23 SECTION 2 CONTROL DETAILS AND SETTING 8 OPR CONTROL 8 1 to 8 21 3 1 Outline of OPI Control et et eet d ae ee ERO EXE 8 1 8 1 Ts bwo types ot OPR COnITOL cut rre rer rere rr rinde 8 1 8 2 Machine OPR controla 5 elt ib ttes eiat id 8 2 8 2 1 Outline of the machine OPR operation 2 ccccc
76. flag is changed to the reverse run JOG command Forward run JOG operation Reverse run JOG operation Reverse run JOG command is ignored BUSY signa to XnF Fig 10 3 Operation performed when JOG direction flag is changed to reverse run JOG command during forward run JOG operation e When switching between forward run and reverse run turn the JOG start signal from OFF to ON when the BUSY signal is OFF e When switching between forward run and reverse run reserve at least 4ms as the time to turn the JOG start signal from OFF to ON Refer to Fig 10 3 10 5 10 5 1 PERATION MELSEC Q 3 When the JOG start signal is turned ON again during deceleration caused by the ON OFF of the JOG start signal The JOG start signal is ignored when the JOG start signal is turned ON again during deceleration that was started by turning the JOG start signal from ON to OFF JOG operation A JOG start is ignored JOG start signal Y n 1 8 to 1 BUSYsignal Xn8 to XnF Fig 10 4 Operation when the JOG start signal is turned ON during deceleration 4 When axis stop signal is turned OFF after a stop made by turning ON axis stop signal with JOG start signal ON JOG operation is not performed when the axis stop signal is turned OFF again after a stop that was made by turning ON the axis stop signal with the JOG start signal ON JOG operation
77. from the positioning data No 1 Dwell time Continuous positioning control 1 Continuous positioning control 1 Address direction Address direction Dwell time not specified Positioning termination 0 Positioning start signal Start complete signal X n 1 0 to X n 1 7 BUSY signal Xn8 to xnF 2 Positioning complete signal X n 1 8 to X n 1 F op fa fL Fig 9 2 Operation during continuous positioning control The Insufficient movement amount warning warning code 41 occurs if the movement amount of the currently executed positioning data is too small to reserve the calculation processing time approx 2ms of the next positioning data in the operation pattern of 1 Continuous positioning control The execution of the next positioning data is started on completion of the calculation The axis remains stopped until the calculation is completed However the BUSY signal does not turn OFF In this case the warning can be avoided by adding 2ms to the setting value of Da 7 Dwell time POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 3 Continuous path control 1 Operation of continuous path control A speed change is made between the command speeds of the positioning data No currently executed and positioning data No to be executed next without a deceleration stop A speed change is not made if the current speed is equal to the next speed b Dwell t
78. has traveled the movement amount set in OPR 8 Setting for the movement amount after near point dog ON after near point dog ON the pulse output from the QD70D stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status bO turns from ON to OFF Deceleration at the near point dog ON OPR 4 OPR speed OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed Pr 6 Bias speed at start Movement amount after near point dog ON 1 igi Leave sufficient distance from the OP position to the near point dog OFF Adjust the setting for the movement amount after near point dog ON to be as near as possible to the center of the zero signal HIGH If the setting for the movement amount after near point dog ON falls within the zero signal there may be produced an error of one motor rotation in the machine OPR control stop position First zero signal after movement by the value set to OPR 8 Setting for the movement amount after near point dog ON Machine OPR control start One motor rotation Positioning start signal Y8 to YF OPR request flag ma Status b0 OPR co
79. limit setting range set in the parameters is issued this function will not execute positioning control for that command During position control with the operation pattern set to Positioning termination this function allows change of the target position By setting a new positioning address or movement amount in Cd 11 Target position change value the target position can be changed with 10 Target position change request This function adjusts the acceleration deceleration processing of control This function resumes positioning control from where it had stopped while the axis is at a stop 11 2 Speed limit function The speed limit function limits the command speed to a value within the speed limit value setting range when the command speed during control exceeds the speed limit value The details shown below explain about the speed limit function 1 Relation between the speed limit function and various controls 2 Setting the speed limit function 1 Relation between the speed limit function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit Speed limit value Operation when speed limit value is function exceeded Does not operate OPR Machine ORR control HIE Out of OPR speed setting range error 5 Speed limit value x control code 913 error or Out of creep speed Fast
80. machine OPR control is data No started 0 is stored e When fast OPR control is started 1 is stored Executing positioning 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 6 2 Module information monitor data Storage buffer memory address Item Storage details Default value Common for axis 1 to axis 8 At error occurrence the bit corresponding to the error occurrence axis turns ON 0 Normal OFF 1 Error ON The error occurrence axis cannot be run When Cd 1 Axis error reset axis control data of the corresponding axis is turned ON the error status of the corresponding axis is cleared to zero Refer to Chapter 13 for details b15 b12 b8 b4 Error Storage item Meaning II c status Not used Axis 1 error Axis 2 error Axis 3 error Axis 4 error Axis 5 error Axis 6 error Axis 7 error Axis 8 error For the QD70D4 b4 to b7 0 fixed At warning occurrence the bit corresponding to the warning occurrence axis turns ON 0 Normal OFF 1 Warning ON When 1 Axis error reset axis control data of the corresponding axis is turned ON the warning status of the corresponding axis is cleared to zero Refer to Chapter 13 for details b15 b12 b8 b4 bO Warning 7 it Not used Storage item Meaning Status Axis 1 warning Axis 2 warning
81. not need to be set Block start data setting program No 3 RRC CCE FUE ESSE EMEN BANDI Ed EE Initialization program PLC READY signal Yn0 ON program Required Not carried out OPR request OFF program Carried out Continued on next page 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Continued from previous page Start method setting program Programs needed to exercise 6 OPR control Positioning control No 7 ussuassuuauusuuscsuusurusuas JOG Operation program Program needed to perform No 8 JOG operation JOG operation program Sub program i Programs added according to control exercised No 9 Create as necessary Speed change program No 10 z Target position change program No 11 Restart program gt No 12 z Error rest program grt Program designed to stop control 2 p Qo Qo o o S 3 a S End of program creation 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7 4 Positioning control program examples MELSEC Q An example of the Axis 1 positioning control program is given in this section program is not necessary No 1 to No 3 parameter and data setting program When setting the parameters or data with the s
82. of the specified one piece of data When the dwell time has been specified for position control position control is completed after the specified time has elapsed Positioning termination 0 Dwell time gt lt Positioning start signal Yn8 to YnF Start complete signal X n 1 0 to X n 1 7 m BUSY signal Xn8 to XnF Positioning complete signal 1 8 to 1 Fig 9 1 Operation at positioning termination 9 POSITIONING CONTROL MELSEC Q 2 Continuous positioning control 1 The machine always automatically decelerates each time the positioning control is completed Acceleration is then carried out after the QD70D command speed reaches 0 to carry out the next positioning data operation When the dwell time has been specified for position control acceleration is started after specified time has elapsed 2 In operation by continuous positioning control operation pattern 1 the next positioning data No is automatically executed Always set operation pattern 0 in the last positioning data to terminate the positioning control If the operation pattern is set to continue 1 or 2 the operation will continue until operation pattern O is found If the operation pattern O cannot be found the operation may be carried out until the positioning data No 10 If the operation pattern of the positioning data No 10 is not terminated the operation will be started again
83. performed with O set as the bias speed at start in the control method of 1 axis linear control ABS or 1 axis linear control INC positioning control an error Movement amount shortage at 0 bias speed error code 514 may occur due to shortage of the movement amount Perform either of the following operations a b as the corrective action at error occurrence a Set 1 pulse s or more to Pr 6 bias speed at start b If the movement amount is 32 pulse or less set the value equal to or less than the initial value 1000ms to Da 3 ACC DEC time and Da 4 DEC STOP time 11 7 Restart function When the axis is stopped by the axis stop signal during operation position control is resumed from the stop position to the end of the positioning data by 4 Restart request Position control that can be restored The restart function can be used only when the axis is stopped during operation under position control or speed control of speed position switching control Position control that cannot be restored When the axis has been stopped during operation under position control of speed position switching control do not restart it If the axis is restarted it will not be stopped at the end point of the positioning data Refer to 2 5 in this section for operation details The following will be described for the restart function 1 Control details 2 Precautions for control 11
84. position switching i ai request speed position switching 54 154 254 354 454 554 654 754 u signal Refer to Section 4 7 List of control data for more information on the setting details Bl Restrictions 1 During the speed position control the signal wired as the Reset switch signal also functions as the speed position switching signal Pay attention to the fact that if the Retry switch signal is input during speed control in the speed position switching control it will be switched to the position control at this moment 2 If Continuous path control is set in Da 1 Operation pattern the Continuous path control not possible error error code 503 occurs disabling a start 3 Speed position switching control cannot be set in Da 2 Control method of the positioning data if Continuous path control is set in Da 1 Operation pattern of its preceding positioning data For example if the operation pattern of positioning data No 1 is Continuous path control Speed position Switching control cannot be set in positioning data No 2 If such setting has been made the Continuous path control not possible error error code 503 occurs resulting in a deceleration stop POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 4 Under speed control of speed position switching control the software stroke limit range is checked only when 1 Update has been set in Pr 4 C
85. positioning address is not reached during deceleration a position match stop cannot be made Refer to the following chart p ip stop signal input is Continuous path control performed when axis stop signal is not input Command speed Deceleration stop before the address set to Da 6 Positioning address movement amount is reached Deceleration stop time Bias speed at start Positioning address movement amount Axis stop signal input 1 Deceleration stop ut f Continuous path control performed when axis stop signal is not input Command speed No stop if the address set to Da 6 Positioning address movement amount is reached Deceleration stop Deceleration stop time Bias speed at start Positioning address movement amount If the axis passes through the positioning address it does not stop and decelerates to a stop Fig 4 4 Deceleration stop by axis stop signal input 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Bl Precautions In the following cases the operational behavior after the axis stop signal input is different from those shown in Fig 4 4 1 Deceleration stop when the axis stop signal is input during acceleration deceleration Deceleration stop is an operation in which Da 5 to Pr 6 Bias speed at start within the time set for time When the axis stop signal is input during acceleration deceleration the above mentioned operation is also performed In this
86. positioning complete signal is output The setting value is ignored if a stop is made under speed control Refer to Section 4 5 List of positioning data for the setting details EE 2 g D c o 2 9 POSITIONING CONTROL MELSEC Q 9 2 4 Current value changing Setting item z 2 Sg D c o 2 Dwell time Operation pattern Current value changing performs control to change Md 1 Current feed value to any address ll Operation chart The following chart shows the operation timing for a current value changing The 1 Current feed value is changed to the value set in Da 6 Positioning address movement amount when the positioning start signal turns ON Positioning start signal OFF Yn8 to YnF Positioning complete signal OFF i X n 1 8 to X n 1 F Current feed value 5000 x 10900 Current feed value changes to the positioning address designated by the positioning data of the current value changing The above chart shows an example es the positioning address is Bl Restrictions 1 If Continuous path control is set in Da 1 Operation pattern the New current change not possible error error code 502 occurs Continuous path control cannot be set for current value changing 2 Current
87. positioning start signal turns ON during BUSY the Positioning start operation starting warning will occur warning code 10 requested Do not turn ON OFF the signals by the direct access output DY Refer to Section 9 3 1 0 OFF e When the axis stop signal turns ON the control positioning 1 1 Axis stop not control and JOG operation In these cases the ON time should be Y n 1 2 requested set to 4ms or more Y n 1 8 i ON e Turning ON the axis stop signal during operation decelerates the Y n 1 4 Axis stop requested axis to a stop At this time Md 4 Axis operation status changes Y n 1 5 i P 1 6 from Deceleration Axis Stop ON to Stopped Y n 1 7 JOG start OFF e When the JOG start signal is ON JOG operation will be carried JOG not started out at the JOG 1 JOG speed When the JOG start signal turns ON OFF the operation will decelerate and stop At this time Md 4 JOG started Axis operation status changes from Deceleration JOG Start OFF to Standby e Set the rotation direction in JOG 4 JOG direction flag Refer to Chapter 10 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 Specifications of input output interfaces with external device 3 4 1 Electrical specifications of input output signals Bl Input specifications Rated input Working voltage ON voltage OFF voltage Signal name Input resistance R
88. power supply error or programmable controller fault occurs Failure to observe this could lead to accidents for incorrect outputs or malfunctioning 1 Configure an emergency stop circuit and interlock circuit such as a positioning control upper limit lower limit to prevent mechanical damage outside the programmable controller 2 The machine OPR operation is controlled by the OPR direction and OPR speed data Deceleration starts when the near point dog turns ON Thus if the OPR direction is incorrectly set deceleration will not start and the machine will continue to travel Configure an interlock circuit to prevent mechanical damage outside the programmable controller 3 When the module detects an error deceleration stop will take place Make sure that the OPR data and positioning data are within the parameter setting values N CAUTION e Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire Separate these by 100mm 3 94in or more Failure to observe this could lead to malfunctioning caused by noise Mounting Precautions N CAUTION e Use the programmable controller under the environment specified in the User s Manual of the CPU used Using the programmable controller outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration e While pressing the installation lever located at the bottom of modu
89. range 0 to 4000000 pulse s Da 6 Positioning address movement amount Set OPR 7 JOG 3 Da 4 0 to 2147483647 pulse For speed position switching control Cd 8 ACC DEC time at speed change 0 to 32767 ms Correct 6 Positioning Cd 9 DEC STOP time at speed address movement amount Refer to change to 32767 ms Section 9 1 2 to within the setting range Da 6 Positioning address movement amount 2147483648 to 2147483647 pulse For position control Correct Da 6 Positioning address movement amount Refer to Section 9 1 2 Refer to Section 4 5 List of positioning data Positioning address movement amount 0 to 2147483647 pulse For speed position switching control Operation pattern 0 Positioning termination When using S curve acc dec Set Da 1 Operation pattern to Positioning termination 13 8 13 8 13 TROUBLESHOOTING MELSEC Q Error name Operation status at error occurrence The setting made for the QD70D is Hold in the Error 800 Hold old error time output mode parameter of the CPU module Start is not made The intelligent function module switch setting made on 810 Switch setting error GX Developer is in error P bl troll 820 DoE PAGOS The programmable controller CPU resulted in an error
90. reset the CPU module If the initialization settings have been written by a sequence program the initialization settings will be executed during the STOP RUN of the CPU module Arrange so that the initial settings written by the sequence program are re executed during the STOP RUN of the CPU module 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 5 Auto refresh setting Purpose Configure the QD70D s buffer memory for automatic refresh There are the following setting items as the auto refresh setting parameters Common to all axes e Error status e Warning status Axis by axis e Current feed value e Current speed e Axis operation status e Axis error code e Axis warning code e Executing positioning data No This auto refresh setting eliminates the need for reading by sequence programs Operating procedure Start I O No Module type Module model name Auto refresh Enter the start I O No in hexadecimal Setting screen Auto refresh setting Module information Module type 0070 Model Module Start 1 0 No Module model name 007008 PLC side Setting item Transfer e Device word count Error Status Waring Status Axis 1 Current Feed Value Axis 1 Current Speed Axis 1 Axis Operation Status Axis 1 Axis Error Code Axis 1 Axis Warming Code Axis 1 Executing Positioning Data No Axis 2 Current Feed Value Make text file End setup Cancel 6 UTILITY PA
91. securely mount the module with the fixing hole as a supporting point Improper mounting of the module may lead to malfunctioning faults or dropping When using the module in the environment subject to much vibration secure the module with a Screw Tighten the screw within the range of the specified tightening torque Insufficient tightening may lead to dropping short circuit or malfunctioning Excessive tightening may damage the screw or module leading to dropping short circuit or malfunctioning 5 SETUP AND PROCEDURES BEFORE OPERATION 1 2 MELSEC Q Main body e The module case is made of resin Take care not to drop or apply strong impacts onto the case Do not remove the QD70D from the case Failure to observe this could lead to faults e Tighten the screws such as module fixing screws within the following ranges Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Screw location Tightening torque range Module fixing screw screw 0 36 to 0 48N m Connector screw M2 6 screw 0 25 to 0 32Nem 1 The module can be easily fixed onto the base unit using the hook at the top of the module However it is recommended to secure the module with the module fixing screw if the module is subject to significant vibration Cable e Do not press on the cable with a sharp obje
92. signal from Start signal the programmable controller CPU Control start mom om omm om wm Um m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m m mi Stop yy Y 1 10 1 PRODUCT TLINE ee MELSEC Q 1 2 2 Outline of stopping The possible causes of a control stop are as follows 1 Control ended normally 2 An error occurred in the programmable controller CPU 3 An error occurred in the QD70D 4 The axis stop signal from the programmable controller CPU turned ON Stop processings opus in the above cases are outlined in the following table Except the case 1 where control stopped normally Stop processing Stop factor Stopped axis Axis operation status p pp Md 4 after stop OPR Positioning JOG control control operation Programmable controller CPU error Deceleration stop SO stroke limit upper lower limit Axis stop from programmable controller 3 Axis b St d Deceleration sto CPU turned ON as ei oppe P 1 By making parameter setting you can set the software stroke limit valid invalid When the stroke limit is set invalid a deceleration stop is not made Refer to Section 4 2 2 If an illegal positioning data setting value caused an error during position control operation pattern continuous path control an immediate stop is made at th
93. system 2147483648 to 2147483647pulse 214748364 8 to 214748364 7 21474 83648 to 21474 83647inch 0 to 359 99999degree 2147483648 to 2147483647pulse lt INC system gt lt INC system Fixed feed gt 2147483648 to 2147483647pulse 214748364 8 to 214748364 7um 21474 83648 to 21474 83647inch Positioning control range 21474 83648 to 21474 83647degree 2147483648 to 2147483647pulse Speed position switching control Speed position position speed switching 0 to 2147483647pulse INC control System 0 to 214748364 7 um 0 to 21474 83647inch 0 to 21474 83647degree 10 to 359 99999degree 0 to 2147483647pulse 0 01 to 20000000 00mm min 0 001 to 2000000 000inch min 0 001 to 2000000 000degree min 1 to 1000000pulse s TAM Block start condition start wait start High level positioning control No simultaneous start repeat start x 1 to 4000000pulse s Machine OPR control function O 6 types O 6 types JOG operation O OE Inching operation 1 0a ___ Manual pulse generator function 1 pulse generator module deceleration EY processing acceleration deceleration Acceleration time and deceleration Acceleration time and deceleration time can be Acceleration deceleration time time can be set set 0 to 32767ms 1 to 8388608ms Acceleration App 11 App 11 APPENDICE MELSEC Q QD75P1 QD75P2 QD75P4 QD70D4 QD70D8 QD75D1 QD75D2 QD7
94. that need initial setting Setting items e Parameters Initial setting e OPR data Section 6 4 e Positioning data The initially set data are registered to PLC parameter and when the programmable controller CPU is placed in the RUN status they are written to the QD70D automatically Set the QD70D buffer memory values to be automatically refreshed Auto refresh target buffer memory values Common to all axes e Error status e Warning status Axis by axis e Current feed value Auto refresh setting e Current speed Section 6 5 e Axis operation status e Axis error code e Axis warning code e Executing positioning data No The values stored in the automatically refreshed QD70D buffer memory are read automatically when the END instruction of the programmable controller CPU is executed Monitor test the buffer memory and I O signals of the QD70D e Axis monitor test Monitor test Section 6 6 OPR monitor e X Y monitor 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 2 Installing and Uninstalling the Utility Package For how to install or uninstall the utility package refer to Method of installing the MELSOFT Series included in the utility package The latest version of Method of installing the MELSOFT Series can be downloaded on the MELFANSweb website http www MitsubishiElectric co jp melfansweb 6 2 1 Handling precautions The following explains the precautions on using the Utility package
95. the current value 2 The current feed value is controlled by a signed numerical value Range 2147483648 to 2147483647 pulse Hence continuation of counting up will cause an overflow and continuation of counting down will cause an underflow Normal operation cannot be performed in an overflow or underflow status If there is a possibility of an overflow or underflow set the software stroke limit function valid Refer to Section 11 4 Software stroke limit function for details E Monitoring the current value The current feed value is stored in the following buffer memory address and can be read using a DFRO P commana from the programmable controller CPU ee Buffer memory addresses 70 170 270 370 470 570 670 770 ie erect erat yo ems err een ne et pt ee et ee ee Program in which the axis 1 current feed value is read to D104 and D105 i DFRO k70 0104 KI lt Read current feed value to D104 and D105 gt 9 POSITIONING CONTROL 9 2 Setting the positioning data MELSEC Q 9 2 1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the Da 2 Control method The following are the setting items of the positioning data for each control Refer to Section 9 2 2 and later for operation details and setting of each control Positioning control m P
96. value or within the setting range there is no problem ll Checking the positioning data Da 1 to Da 7 are checked for the setting ranges when positioning control is started At this time an error occurs in the positioning data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 6 Type and roles of monitor data The monitor data area in the buffer memory stores data relating to the control state of the positioning control system which are monitored as required while the positioning System is operating The following data are available for monitoring e Axis operation monitoring Monitoring of the current position and speed and other data related to the movements of axes through the axis monitor data Md 1 to 9 e Module information monitoring Monitoring of the QD70D error status and warning status through the module information monitor data 10 to Md 11 Refer to Section 4 6 List of monitor data for details of the monitor data Monitor data Monitor details Current feed value Monitor the current current feed value Movement amount after near point dog Monitor the movement amount after the near point dog has turned ON ON Monitor the positioning data No currently being executed Md 10 Emorstaus _ Montorthe
97. within the setting range there is no problem ll Checking the JOG data 1 to JOG 4 are checked for the setting ranges when JOG operation is started At this time an error occurs in the JOG data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 5 Setting items for positioning data Positioning data must be set for carrying out any positioning control The table below lists the items to be set for producing the positioning data 1 to 10 positioning data items can be set for each axis For details of the positioning controls refer to Chapter 9 POSITIONING CONTROL For details of the individual setting items refer to 4 5 List of positioning data Positioning control Speed position Current value Position control switching control changin Positioning data 22 Continuous Continuous path contro control ar SK Da 2 Control method 1 axis control ABS Speed Position Ctrl Forward Current value BE linear control INC Ctrl Reverse TI ACC DEC time Command speed 0 Positioning address movement amount EMEN m destination NE NO Always set Set as required Read when not required Setting not possible Setting not required This is an irrelevant item so the set value will be ignored If the value is the default
98. 0 1005 1105 1205 1305 1405 1505 6 i 5 Positioning address 2147483648 to 806 906 1006 1106 1206 1306 1406 1506 movement amount 2147483647 pulse 1 807 907 1007 1107 1207 1307 1407 1507 Da 7 Dwell time 010 65535 2 o 908 1008 1108 1208 1308 1408 1508 1 0 to 2147483647 pulse when Da 2 Control method is 3 Speed Position Ctrl Forward or 4 Speed Position Ctrl Reverse 2 When making setting in a sequence program set 0 to 32767 in decimal as is and 32768 to 65535 in hexadecimal Da 1 Operation pattern The operation pattern designates whether positioning control of a certain data No is to be ended with just that data or whether the positioning control for the next data No is to be carried out in succession Operation pattern End 595999999999 t B B tt n tg 0 Positioning termination Continuous posotioning control with one start signal Countinue TN Continupus path positioning control with speed change 1 Continuous positioning control 2 Continuous path control 1 Positioning termination Set to execute positioning control to the designated address and then complete positioning control 2 Continuous positioning control Positioning control is carried out successively in order of data Nos with one start signal The operation halts at each
99. 010 Module type 9070 Model Module Start 1 0 No 0010 Module model 007008 Module model 007008 Setting item Setting value a Setting item Setting value Software Stroke Limit Upper Limit Value 2147483647 Method Near Point Dog Method Software Stroke Limit Lower Limit Value 22147483548 Direction Forward Direction Software Stroke Limit Valid Invalid Setting Valid Address Current Feed Value During Speed Control No Update Speed Speed Limit Value Creep Speed Bias Speed At Start 0 ACC DEC time at OPR Positioning Complete Signal Output Time 300 DEC STOP time at OPR Details Details Decimal input Select input Setting range Setting range 2147483648 2147483647 Near Point Dog Method Stopper 1 Stopper 2 Stopper 3 Make text fle End setup Make text fle End setup 6 UTILITY PACKAGE GX Configurator PT MELSEC Q Initial setting of positioning data Initial setting Module information Module type 0070 Model Module Start 1 0 No 0010 Axis 1 Positioning Data Setting Module information Module type 0070 Model Module Start 1 0 No 0010 Module model 007008 Move to Module model name 007008 Setting item Setting value 5 b win d ow Setting item Setting value Axis 7 Data
100. 1 2 3 5 For safety Since the utility is add in software for GX Developer read Safety Precautions and the basic operating procedures in the GX Developer Operating Manual DE About installation GX Configurator PT is add in software for SW4D5C GPPW E or later versions Therefore GX Configurator PT must be installed on the personal computer that has already SW4D5C GPPW E or later version installed Screen error of Intelligent function module utility Insufficient system resource may cause the screen to be displayed inappropriately while using the Intelligent function module utility If this occurs close the Intelligent function module utility GX Developer program comments etc and other applications and then start GX Developer and Intelligent function module utility again To start the Intelligent function module utility a In GX Developer select QCPU Q mode for PLC series and specify a project If any PLC series other than QCPU mode is selected or if no project is specified the Intelligent function module utility will not start b Multiple Intelligent function module utilities can be started However Open parameters and Save parameters operations under Intelligent function module parameter are allowed for one Intelligent function module utility only Only the Monitor test operation is allowed for the other utilities Switching between two or more Intelligent function module utilitie
101. 10 Error status corresponding to the error occurrence axis turns ON _ Md i Emorstatus _ Md i Emorstatus status Axis error Md 5 Axis error code 10 Axis NO occurrence signal buffer memory address Buffer memory address 177 Refer to Section 4 6 List of monitor data for the setting details If another error occurs during axis error occurrence the latest error code is ignored However if any of the system affecting errors error codes 800 to 840 occurs the old error code is overwritten by the newest error code Error codes 800 to 840 are stored into Md 5 Axis error code of all axes 13 1 13 TROUBLESHOOTING 13 2 MELSEC Q 2 Warnings Types of warnings A warning occurs during OPR control positioning control or JOG operation If a warning occurs operation is continued Also if a warning occurs Md 4 Axis operation status remains unchanged Bl warning storage If a warning occurs the axis warning occurrence signal turns ON and the warning code DEC corresponding to the warning definition is stored into Md 6 Axis warning code Also the bit of 11 Warning status corresponding to the warning occurrence axis turns ON 11 Warning status 11 Axis No Axis warning Md 6 Axis warning code Ma fi Wamingstats status occurrence signal buffer memory address address
102. 10kQ USE E Pod 10 MO1 QF Max 1mA meter needle PULSE F1 A16 T3 PPR 11 MO2 0 swings in both directions PULSE F1 COM PULSE R1 7 1 NP 35 Within 2 PULSE R1 A18 1 Within m PULSE R1 COM LG 3 PGO1 A9 PGO1 COM A10 App 8 Zero speed detection Analog torque limit command 10V max current Analog torque limit command 10V max current Fault The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector Manual These are limit switches for servo amplifier for stop For details of connection refer to the MR H series Servo Amplifier Instruction This indicates the distance between the QD70D and servo amplifier App 8 APPENDICES MELSEC Q Appendix 3 4 Connection example of QD70D and r 7 1 Regenerative resistor connected i0ptionally and externally 1 ent Configure a sequence to turn off MC at alarm or emergency stop HC PQ series motor r 1 Power supply 95090 9 Single phase 200VAC A type or Single phase 100VAC A1 type 5
103. 27 amount Reserved Cannot Be 319 1329 eds Buffer address 1382 1392 1393 1384 1385 1386 1396 1387 1397 1398 1389 1399 Positioning data 1 2 Tl No TIEN 1590 Da 1 Da 1 Operation pattern 1500 1510 1520 Tal 1581 1591 Da 2 Control method 1501 1511 1521 E 1592 Da 3 ACCIDEC time 1502 1512 1522 1593 1514 1524 s s command speed 505 1515 1525 1586 1590 1587 Da 6 Positioning 1506 1516 1526 address movement 1507 1517 1527 amount ce Da 7 Dwell time 1508 P 1589 1599 wole Buffer memory address 1584 1594 1585 1595 Axis 4 Used The buffer memory addresses shown are those of the positioning data No 1 for the axes 1 to 8 4 DATA USED FOR POSITIONING CONTROL MELSEC Q item Setting value Setting value buffer memory address l ult valu setting range 0 Positioning termination Da 1 Operation pattern Continuous positioning control 2 Continuous path control 0 No control method ABS INC 2 Control method 0 801 901 1001 1101 1201 1301 1401 1501 Forward Reverse changing 903 5 Da NS i 4 i 804 904 1004 1104 1204 1304 1404 1504 5 Command speed 0 to 4000000 pulse s 805 9
104. 4 QD70D8 T 907004 007008 RUNO DAX1 5 DAX1 DAX2 AX60 DAX2 ERRO 4 ERRO AX80 DAX4 QD70D4 QD70D8 AX3 AX1 AX1 AX4 AX2 AX2 oa nn oa 00 nn 00 00 nn nn nn nn oa ad a0 od 00 nn nn nn od 0 nn Nae J J 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q External device connection connector The connectors for use with the QD70D should be purchased separately by the user The connector types and pressure displacement tool are listed below a Connector types Soldering type straight out A6CON1 Pressure displacement type straight out A6CON2 Soldering type usable for straight out and A6CON4 diagonal out Pressure displacement tool Applicable Type Model name Contact wire size FCN 363T FUJITSU COMPORNENT LIMITED 5 SETUP AND PROCEDURES BEFORE OPERATION 5 4 Wiring MELSEC Q This section explains how to wire the drive unit and mechanical system inputs to the QD70D The following are the precautions for wiring the QD70D Read these precautions together with Section 5 1 Handling precautions to ensure work safety 5 4 1 Wiring precautions 1 2 3 4 5 Always confirm the terminal layout before connecting the wires to the QD70D Correctly solder the external device conne
105. 5 Creep speed Bias speed at start 4 1 t ON First zero after Zero signal ______ i near point dog OFF V OPR 4 OPR speed 2 OPR 5 Creep speed Bias speed at start gt t Range where motor rotation is forcibly stopped by stopper ON Near point dog OFF Dwell time i Dwell time out counting y V OPR 4 OPR 5 Creep speed i Stopped by stopper Bias speed at start 1 5 Zero signal Near point dog OFF 4 DATA USED FOR POSITIONING CONTROL 3 Stopper 1 Start machine OPR control Start movement at the OPR 5 IOPR 2 needed for the motor If there is no torque limit the motor Creep speed in the OPR direction At this time a torque limit is M may fail at 2 2 The axis contacts against the stopper at OPR 5 Creep 1 Bias speed at start MELSEC Q OPR 5 Creep speed Stopped by stopper speed and then stops Zero signal 3 When the zero signal signal output on detection of contact with the stopper is detected after a stop the pulse output from the QD70D stops and machine OPR control is completed 4 Count 1 1 Start machine OPR control Start movement at the OPR 4 IOPR 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to 5
106. 5D4 OPR sub function OPR retry OPR retry OP shift Electronic gear backlash compensation near 3 pass No ht Speed limit Speed limit torque limit software stroke limit Control limit function i ue software stroke limit hardware stroke limit f Speed change override torque limit value Control details change function Speed change Absolute position restoration function Restart continuous operation interrupt step skip Other sub functions Restart target position change M code output teaching target position change command in position pre reading start Compensation function Sub functions Y device of programmable controller CPU Y device of programmable controller external command signal start command from CPU peripheral device Y device of programmable controller CPU Y device of programmable controller external command signal stop command from CPU Deceleration stop aS GRANT ae CIEN Sudden stop PS Se peripheral device Immediate stop Current value monitor data Current feed value Current feed value machine feed value Error display Error LED Error LED History data storage Yes 3 types 16 pcs axis Start error warning x mo N Flash ROM Data storage destination Backup not possible Battery free backup Peripheral device software GX Configurator PT GX Configurator QP A6CON1 soldering type AGCON1 soldering type straight out
107. 6 ACC DEC time at OPR e When Da 2 Control method is 0 to 32767 ms Current value changing or OPR 7 DEC STOP time at OPR Speed Position Ctrl do not set 0 to 32767 ms Continuous path control in Da 1 JOG 2 JOG ACC time Operation pattern 0 to 32767 ms Do not set Current value changing or JOG 3 JOG DEC time Speed Position Ctrl in Da 2 Control 0 to 32767 ms method of the positioning data Da 1 Operation pattern following the positioning data where 0 Positioning termination Continuous path control has been set 1 Continuous positioning control in Da 1 Operation pattern 2 Continuous path control Refer to Section 9 2 3 and Section Da 2 Control method 9 2 4 0 No control method 1 1 axis linear control ABS 2 1 axis linear control INC 3 Speed Position Ctrl Forward 4 Speed Position Ctrl Reverse Refer to Section 4 3 List of OPR data Refer to Section 4 4 List of JOG data Refer to Section 4 5 List of positioning data Set Da 1 Operation pattern to within the setting range Set Da 5 Command speed to other Refer to Section 4 7 List of control data 5 Cumenivalieichanaing than 0 Da 3 ACC DEC time Set Da 2 Control method to within the 0 to 32767 ms setting range Da 4 DEC STOP time 0 to 32767 ms OPR 6 JOG 2 3 Da 5 Command speed to within the setting
108. 70D 13 1 Error and warning details 13 1 1 Errors Types of errors Errors detected by the QD70D include parameter and OPR data setting range errors and errors at the operation start or during operation 1 Parameter OPR data setting range errors The parameters and the OPR data are checked when the power is turned ON and at the rising edge OFF ON of the Programmable controller READY signal YnO An error will occur if there is a mistake in the parameter and the OPR data setting details at that time When this kind of error occurs the module READY signal does not turn ON To cancel this kind of error set the correct value in the parameter and the OPR data for which the error occurred and then turn ON the Programmable controller READY signal YnO Errors at the operation start or during operation These are errors that occur at the operation start or during operation when the OPR control positioning control or JOG operation is used If an error occurs on any axis at a start that axis does not start and Md 4 Axis operation status changes to Error If an error occurs on any axis during operation that axis decelerates to a stop and Md 4 Axis operation status changes to Error ll Error storage If an error occurs the axis error occurrence signal turns ON and the error code DEC corresponding to the error definition is stored into Md 5 Axis error code Also the bit of Md
109. 70D U SY E MODEL CODE 13JR80 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
110. 9 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller MELSEG Led cries Positioning Module Type QD70D User s Manual QD70D4 QD70D8 GX Configurator PT SW1D5C QPTU E e SAFETY PRECAUTIONS e Always read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly The instructions given in this manual are concerned with this product For safety precautions for programmable controller systems refer to the user s manual of the CPU module used In this manual the safety precautions are classified into two levels WARNING and N CAUTION ST N AN WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Note that the CAUTION level may lead to a serious consequence according to the circumstances Always follow the instructions of both levels because they are important to personal safety Please save this manual to make it accessible when required and always forward it to the end user Design Precautions N WARNING e Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external
111. A USED FOR POSITIONING CONTROL MELSEC Q CHAPTER 4 DATA USED FOR POSITIONING CONTROL This chapter explains the specifications of the data to be set to the QD70D 4 1 Type of data 4 1 1 Parameters and data required for control The parameters and data required to carry out control with the QD70D include the setting data monitor data and control data shown below Setting data H Parameters Set at a system startup according to the machinery equipment and applications Storage destination QD70D buffer memory Pr 1 to Pr 12 x H OPR data Set values required to exercise OPR control Storage destination QD70D buffer memory OPR 1 to OPR 10 amp H JOG data Set values required to perform JOG operation Storage destination QD70D buffer memory 1 to JOG 4 Positioning data Set values required to exercise positioning control Storage destination QD70D buffer memory iDa 1 to Da 7 i Intelligent function module switches Set the pulse output mode and external I O signal logic Storage destination I O assignment setting PLC parameter of QCPU Switches 1 to 5 The parameters and data are made valid when the Programmable controller READY signal YnO turns from OFF to ON The JOG data or positioning data are made valid when a JOG operat
112. Always set Setas required Read when not required Setting not required This is an irrelevant item so the set value will be ignored If the value is the default value or within the setting range there is no problem Under the speed position switching control this is valid only for position control ll Checking the parameters IPr 1 to 12 are checked for the setting ranges when the Programmable controller READY signal YnO output from the programmable controller CPU to the QD70D changes from OFF to ON At this time an error occurs in the parameter whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 3 Setting items for OPR data When carrying out OPR control the OPR data must be set The setting items for the OPR data are shown below The OPR data are set commonly for each axis Refer to Chapter 8 OPR CONTROL for details on the OPR CONTROL and to section 4 3 List of OPR data for details on each setting item Machine OPR control Fast OPR control OPR method ipee omspemmm 5 5 oms pcocwemom Near point dog method Stopper 1 Stopper 2 ofo comz ojojo jojo coms Data set for machine OPR control are used e o
113. CKAGE GX Configurator PT MELSEC Q Explanation of items 1 Setting item list Warning status n indicates the axis No Axis 1 Executing Positioning Data No QD70D4 1104 007008 1 to 8 to Axis n Axis Operation Status Axis n Axis Error Code Axis Axis Warning Code Axis Executing Positioning Data No 2 Items Module side Buffer Displays the buffer memory size of the setting item size Module side Transfer Displays the number of words to be transferred word count Transfer direction indicates that data are written from the programmable controller CPU to the buffer memory gt indicates that data are loaded from the buffer memory to the programmable controller CPU PLC side device Enter a CPU module side device that is to be automatically refreshed Applicable devices are X Y M L B T C ST D R and ZR When using bit devices X Y M L or B set a number that can be divided by 16 points examples X10 Y120 M16 etc Also buffer memory data are stored in a 16 point area starting from the specified device number For example if X10 is entered data are stored in X10 to X1F 3 Command button Make text file Creates a file containing the screen data in text file format End setup Saves the set data and ends the operation Cancels the setting and ends the operation POINTS e The auto refresh settings are stored in an intelligent function module parameter file T
114. Cd 11 Target position change value and turn ON Cd 10 Target position change request The setting for a new target position differs depending on whether to select 1 1 axis linear control ABS or 1 axis linear control INC for Da 2 Control method e For the 1 axis linear control ABS set the movement amount from the OP address e For the 1 axis linear control INC set the movement amount from the start address The following explains the target position change function 1 Control details 2 Precautions during control 1 Control details The control cases using the target position change function are shown below 1 When the target position change request is input the work is located before the deceleration start position for the newly specified target lt lt Target position change request ON L New target position Previous target position New target position Decremented Incremented 2 When the target position change request is input the work is located beyond the deceleration start position for the newly specified target V A Deceleration start position for new target Target position change request ON N New target position Decremented Previous target position 3 When the target position change request is input the work has started decelerating to stop lt Target position change request ON New target posit
115. D FUNCTIONS MELSEC Q 1 Input signal ON OFF status a Input signal ON OFF status The input signal ON OFF status is defied by the external wiring and logic setting This is explained below with the example of near point dog signal DOG The other input signals also perform the same operations as the near point dog signal DOG ON OFF status of near point dog signal Logic setting External wiring DOG as seen from QD70D Voltage not applied 0O O DOG 24VDC COM Negative logic Initial value Voltage applied Voltage not applied Positive logic Voltage not applied Voltage applied Set the logic setting using Switch setting for intelligent function module For details of the settings refer to Section 5 6 b Logic setting and internal circuit In the QD70D the case where the internal circuit photocoupler is OFF in the negative logic setting is defined as input signal OFF Reversely the case where the internal circuit photocoupler is OFF in the positive logic setting is defined as input signal ON Photocoupler ON OFF status When voltage is not applied Photocoupler OFF When voltage is applied Photocoupler ON 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 2 Output signal ON OFF status In the QD7OD the logic setting for the output signal ON OFF status is defined as described below Before connecting the QD70D to a servo amplifier con
116. D and drive unit or mechanical Connection cable for connection of QD70D and drive unit system input signals To be fabricated in reference to the connected device manual and Section 3 4 2 2 SYSTEM CONFIGURATION SYS CONFIGU MELSEC Q 2 3 Applicable systems This section describes applicable systems 1 Applicable modules and base units and No of modules a When mounted with a CPU module The table below shows the CPU modules and base units applicable to the QD70D and quantities for each CPU model Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Pay attention to the power supply capacity before mounting modules and if the power supply capacity is insufficient change the combination of the modules Applicable CPU module Baseuit unit No of modules Extension base CPU type CPU model Main base unit i uni Q00JCPU Up t4 d Basic model QCPU QOOCPU _ High Performance E Up to 32 model QCPU lQi2HCPU O eR lQozPHCPU O Bron Process CPU Up to 32 Q25PHCPU Programmable pee controller CPU Redundant CPU Up to 26 lq25PRHCPU QOOUJCPU EF to 4 QOOUCPU to 12 Eu lqozucPU Upto13 to 13 QO3UDCPU Universal model QO04UDHCPU QCPU QO6UDHCPU ETIN Up to 32 Q13UDHCFU Q20UDHCPU Q26UDHCPU 2 SYSTEM CONFIGURATION MELSEC Q Applicable CPU module No o
117. DEC time at speed change Axis stop signal ON or JOG start DEC STOP time at speed change ignal OFF after target di a b d Bias speed at start Same slope Preset deceleration stop time Actual deceleration time Fig 11 2 Operation performed when axis stop signal ON or JOG start signal OFF occurs before new speed value is reached 11 3 11 3 11 SUB FUNCTION MELSEC Q 2 When 0 is set in Pr 6 Bias speed at start making a speed change with the setting of 0 in Cd 7 New speed value results in the following e A deceleration stop is made and 0 speed Md 7 Status b2 turns ON e The axis stops but Md 4 Axis operation status is Speed Position Speed or JOG Operation and the BUSY signal remains ON When the axis stop signal is turned ON the BUSY signal turns OFF and Md 4 Axis operation status changes to Stopped n this case making a speed change with the setting of other than in 7 New speed value and 1 in 6 Speed change request turns OFF 0 speed Md 7 Status b2 enabling operation to be continued Positioning start signal op Yn8 to YnF i BUSY signal OFF Xn8 to XnF New speed value Speed change request 0 speed Status b2 Fig 11 3 Speed change at new speed value during speed control of speed position switching control 3 A spee
118. Enabled setting out of range stop The set value of Pulse Output Method Stop Signal Enabled is outside the setting range 13 11 13 11 13 TROUBLESHOOTIN noe MELSEC Q etting range Related buffer memory address buffer memory address S Remedy OPR 1 OPR method 0 Near point dog method 20 120 220 320 420 520 620 720 1 Stopper 1 Change the setting to within the setting 2 Stopper 2 3 Stopper 3 range and turn the Programmable 4 Count 1 5 Count 2 controller READY signal YnO from OFF OPR 2 OPR direction to ON 21 121 221 321 421 521 621 721 0 Forward direction 1 Reverse direction OPR address The setting range varies depending on the value set for Pr 3 Software stroke limit valid invalid setting 0 Valid 0 to 214783647 e 4 Invalid 2147483648 to 2147483647 22 122 222 322 422 522 622 722 23 123 223 323 423 523 623 723 Change the setting to within the setting range to not more than Pr 5 Speed limit value and to not less than Pr 6 Bias speed at start and turn the Programmable controller READY signal OER a OUI Speed Yn0 from OFF to ON OPR 5 Creep speed 1 to 4000000 pulse s Change the setting to within the setting range to not more than 4 OPR speed and to not less than 6 Bias speed at start and turn the Programmable controller READY signal YnO from
119. F after the new speed is reached following a speed change request the time required to make a stop after reaching 6 Bias speed at start from the operating speed is Cd 9 DEC STOP time at speed change However if the new speed 7 New speed value is less than the old speed the time required to make a stop from axis stop signal ON or JOG start signal OFF may exceed the preset deceleration stop time 9 when a deceleration stop is made by axis stop signal ON or JOG start signal OFF right after the speed change command before Cd 7 New speed value is reached See below Note that the deceleration stop time is the time required to make a stop from the target speed and not the time required to make a stop from the current speed If axis stop signal ON or JOG start signal OFF occurs before the target speed is reached the time required to make an actual stop is determined by the current speed speed at axis stop signal ON or JOG start signal OFF and slope of deceleration from the target speed to a stop slope of deceleration found from the target speed Cd 7 and deceleration stop time Cd 9 When it is necessary to make a stop in a short time before the target speed is reached make adjustment using the Cd 9 value Speed change command Old speed Axis stop signal ON or JOG start signal OFF New speed value before target speed is reached ACCI
120. For the QD70D the acceleration deceleration slope is determined by the three data of bias speed at start target speed and acceleration deceleration time Fully note this when changing the setting values A sharp acceleration deceleration slope may affect the machine 2 Setting and operation of Acceleration Deceleration method Whether to use the trapezoidal or S curve acceleration deceleration is set as the acceleration deceleration method This setting is effective for all of the acceleration deceleration operations a Trapezoidal Acceleration Deceleration The speed is increased or decreased between Pr 6 Bias speed at start and the target speed linearly during the acceleration or deceleration time V IY Target speed Acceleration time Deceleration time b S curve Acceleration Deceleration The speed is increased or decreased between Pr 6 Bias speed at start and the target speed in a S curve during the acceleration or deceleration time Target speed Acceleration time Fig 11 7 Setting and operation of Acceleration Deceleration method 11 12 11 12 11 SUB FUNCTIONS MELSEC Q The following is the operation of the acceleration deceleration processing function during position control or speed changing in the operation pattern of continuous path control For position control in operation pattern of continuous path con
121. G CONTROL essent 9 1109 18 CHAPTER 10 JOG OPERATION 10 1to 10 6 CHAPTER 11 SUB FUNCTIONS ett tiere rte tee tren re cede netu ds 11 1to 11 17 CHAPTER 12 COMMON FUNCTIONS sssssseseseeeneeneeeeneeneenrtrrrennennrntei 12 1to 12 3 CHAPTER 13 TROUBLESHOOTING 13 1 to 13 16 N Z O O o MEMO c NOILO3S 8 OPR CONTROL MELSEC Q CHAPTER 8 OPR CONTROL This chapter details the OPR control of the QD70D 8 1 Outline of OPR control 8 1 1 Two types of OPR control OPR control is exercised to set up a position OP as a reference for carrying out positioning control It is used to return a machine system at any position other than the OP to the OP when the QD70D issues a OPR request with the power turned ON or others or after a positioning control stop In the QD70D the following two types of control are defined as OPR control in the sequence of OPR operation Either of these two types of OPR control can be executed by setting the OPR data setting 9000 or 9001 in Cd 3 Start method and turning ON the positioning start signal 1 Establish a positioning control OP Machine OPR control Start method 9000 2 Carry out position control toward the OP Fast OPR control Start method 9001 The machine OPR control in 1 above must always be carried o
122. HANDLING 1 PRODUCT OUTLINE 1 1to 1 12 1 1 Positioning 1 1 u Aa Ra M Features of QDTQD 42 Re li tbe eed ele qnte beans 1 1 1 1 2 Mechanism of positioning nennen enne 1 3 1 1 3 Outline design of positioning control system 1 5 1 1 4 Communicating signals between QD70D and each 1 8 1 2 Positioning CODTOL ioi ten b te b be prre RED 1 10 1 21 Outline of startirig one ne heneneneheneReneheneRenehe nenne 1 10 1 2 2 Outline of stoppirig 4 2 iia Ro e a Le de re ge caa Do qn 1 11 2 SYSTEM CONFIGURATION 2 1102 11 2 1 General image of system esses an ate n n dn n ae 2 1 2 2 Component list nic eer 2 2 2 3 Applicable SyStetms s 5 Doi ii e eH ep d ped epar el ee bleed testi tais 2 3 2 4 Using QD70D with Redundant CPUS orrn nennen nnne trennen 2 7 2 5 About Use of the QD70D on the MELSECNET H Remote I O 2 8 2 6 Checking Function Version Serial Number and Software Version sss 2 9 341 Performance specifications om eel a eae 3 1 2 BT KO AUTAT A 5 2 RET ETT EID EO D EDI DL III M 3 2 3 3 Specifications of input
123. ION MELSEC Q 2 5 About Use of the QD70D on the MELSECNET H Remote I O Station Here use of the QD70D on the MELSECNET H remote I O station is explained 1 Number of QD70D that can be installed when the remote I O station is used See Section 2 3 concerning the number of QD70D that can be installed when the remote I O station is used Limitations when using the remote I O station When the QD70D is used on the MELSECNET H remote I O station a delay will occur due to the link scan time Therefore fully verify that there will be no problem with controllability in the target system Example Depending on the ON time of the positioning completed signal the ON status may not be detected due to a delay in the link scan time 2 SYSTEM CONFIGURATION _ MELSEC Q 2 6 Checking Function Version Serial Number and Software Version 1 Checking the function version and serial number of the QD70D The serial number and function version of the QD70D are described in the rating plate on the front part of the module or displayed in the system monitor of GX Developer a Checking the rating plate located on the side of the QD70D MELSEC G MITSUBISHI Serial No first 5 digits Function version Relevant regulation standards A MITSUBISHI ELECTRIC IN JAPAN b Checking the front part of the module The serial number and function version described in the rating plate can be shown on the front
124. ITY PACKAGE GX Configurator PT MELSEC Q 1 Online Monitor Test Selecting monitor test module screen Select monitor test module Select monitor test module Start 1 0 No Module type omo f E Module model name 007008 z Module implementation status Start 1 0 No Module model name Monitor Test Monitor Test Select a module to be monitored tested Monitor Test screen Monitor Test Module information Module type 0070 Model Module Start 1 0 No 0010 Module model 007008 Setting item Current value Setting value Module READY Prepared PLC READY ON Axis error occurrence Normal Axis warning occurrence Normal Axis 1 BUSY BUSY Axis 2 BUSY OFF Axis 3 BUSY OFF Axis 4 BUSY OFF Axis 5 BUSY OFF Axis 6 BUSY OFF Axis 7 BUSY OFF Flash ROM setting Details Current value Monitoring display Cannot execute test Make text file 2 Refer to Section 6 6 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 3 Starting the Intelligent function module utility Operating procedure Intelligent function module utility is started from GX Developer Tools Intelligent function utility Start Setting screen 22 Intelligent function module utility D WMELSECYGPPWYPT Intelligent Function module parameter Online Tools Help Select a target intelligent function module Start 1 0 No
125. Invalid Pr 4 Current feed value during speed control Specify whether you wish to enable or disable the update of Md 1 Current feed value while operations are performed under the speed control including the speed position and position speed switching control 0 No update The current feed value will not change The value at the beginning of the speed control will be kept 1 Update The current feed value will be updated The current feed value will change from the initial 2 Clear to 0 and no update The current feed will be set initially to zero and not updated The value be kept 0 Pr 5 Speed limit value Set the maximum speed for OPR control positioning control and JOG operation The speed limit value is determined by the following two conditions e Motor speed e Workpiece movement speed 4 DATA USED Programmable controller CPU FOR POSITIONIN NTROL OR POSITIONING CO MELSEC Q Pr 6 Bias speed at start Set the minimum starting speed for OPR control positioning control and JOG operation When using a stepping motor or like set this speed to start the motor smoothly A stepping motor does not start smoothly if the motor speed is low at a start Set a value not more than Pr 5 Speed limit value If it is more than 5 Speed limit value the Setting range outside bias speed error error code 906 will occur Pr 7 Positioning complete signal
126. JL Deviation counter clear output logic Pulse output logic selection Switch 2 selection 0009 Deviation counter clear output 1408 indicate he exis Nos 0 Negative logic logic selection 1 Positive logic i 7 6 5 4 3 2 7 6 5 4 3 2 Zero signal input logic selection 5X9 m rm 2 9 19 2 1212 Rotation direction setting Zero signal input logic selection Switch 3 1to8 indicate the axis Nos Rotation direction setting Zero signal input logic selection 0 Forward run pulse output increases 0 Negative logic Rotation direction setting the current feed value 1 Positive logic 1 Reverse run pulse output increases he current feed value Near point dog signal input logic selection 1 to 8 indicate the axis Nos 0 Negative logic 1 Positive logic Switch 5 Vacant Setting example Setting item Setting details Target signal Switch names setting Pulse output mode PULSE SIGN mode CWICCW mode PULSE F 4 ET 5500H seem PESE R Pulse output logic selection i Switch 2 55AAH Deviation counter clear output CLEAR 990 selection ero signal input logic selection o T 7 Rotation direction setting Reverse run pulse increases s run increases the FOOFH i current feed value current feed value Near point dog signal
127. MELSEC Q 4 Confirming the operation status a Method using GX Developer Read the following axis monitor data with the monitor function Buffer memory batch Axis monitor data Monitor details Buffer memory address Axis 1 Axis 2 1 t feed val Monitor th t positi 170 270 370 470 570 670 770 urrent feed value onitor the current position 171 271 371 471 574 671 771 174 274 374 474 574 674 774 175 275 375 475 575 675 775 3 Current speed Monitor the current speed Monitor the operation status 2 JOG Operation Md 4 Axis operation status of the axis 76 176 276 376 476 576 676 776 For more information on the monitor details refer to Section 4 6 List of monitor data Example Operation status of Axis 1 lt GX Developer display screen gt Module start address 0010 Buffer memory address 70 DEC C HEX Monitor format Bit amp Word Display 16bit integer Value DEC C Bit B3 C HEX epo C Word Real number C ASCII character Address 4FEDC 4BA98 7654 43210 a _ Option setup 1000 1111 0 0101 233445 00071 0000 0000 0000 0011 00072 0000 0000 0000 0000 0 Device lest 00073 0000 0000 0000 0000 M 00074 0001 0011 1000 1000 5000 00075 0000 0000 0000 0000 00076 0000 0000 0000 0010 2 Close 00077 0000 0000 0000 0000 b Method using GX Configurator PT Monitor the
128. Monitor ae Montes Motes to sub window Axis 4 Monitor Avis fM Monitor Awis 5 Monitor Test Axis 5 Monitor Test 5 Monitor Aris 5 Monitor Axis 6 Monitor Test 86 Montor Test Flash ROM setting Details Current value display Monitoring Cannot execute test Make text file Stop monitor Move to sub window Axis 1 Monitor Test Axis 1 OPR Monitor Axis 1 Monitor Test Axis 1 OPR Monitor Module information Module information Module type 0070 Model Module Start 1 0 No 0010 Module type 0070 Model Module Start 1 0 No 0010 Module model 007008 Module model 007008 Setting value Setting item Curent value Setting value Curent feed value Movement amount after near point dog Curent speed Axis operation status Setting item Curent value Current feed value Current speed Axis operation status Executing positioning data No Avis error code Statue Axis warning code request flag Avis error reset Eror reset complete Enor reset complete Status Status Except 0 speed OPH jig O speed Extemal1 0 signal Extemal 17 0 signal OFF Zero signal Speed position switching command Extemal170 signal s Flash ROM setting Details Flash ROM setting Detai
129. NCTIONS MELSEC Q CHAPTER 3 SPECIFICATIONS AND FUNCTIONS This chapter describes the performance specifications of the QD70D and the specifications of the I O signals transferred to from the programmable controller CPU and external device For the general specifications of the QD70D refer to the User s Manual of the CPU module used 3 1 Performance specifications No of control axes 4 axes 8 axes Interpolation function No Control method PTP Point To Point control path control linear only speed position switching control Control unit pulse 10 pieces of data positioning data No 1 to 10 axis can be set using GX Configurator PT or sequence program Peripheral device utility package GX Configurator PT option PTP control Incremental system absolute system Positioning control method Speed position switching control Incremental system Path control Incremental system absolute system Absolute system 2147483648 to 2147483647pulse Incremental system 2147483648 to 2147483647pulse Speed position switching control 0 to 2147483647pulse Speed command 0 to 4000000pulse s Acce eraon deceleration Trapezoidal acceleration deceleration S curve acceleration deceleration i processing c a 0 to 32767ms Position control Applicable wire size 0 3mm or lower for use of AGCON1 or AGCON4 AWG24 for use of AGCON2 edm device connection connector A6CON1 AGCON2 AGCONA QD70D and drive unit No
130. No No 1050 1150 1250 1350 1450 1550 to to to to to to 1059 1159 1259 1359 1459 1559 2 3 4 5 6 7 8 9 08 10 0 9 0 9 0 9 50 59 0 9 0 9 0 9 0 9 9 t 92 t 92 93 t 93 94 t 94 9 t 9 96 t 96 97 t 97 98 t 98 99 t 99 Module information Section 4 1 6 monitor data Warning status 1 Write to Reserved Cannot be used is prohibited 2 Addresses not given in the list is write disabled App 16 App 16 INDEX Numeral 5 mat 4 35 1 axis linear control ABS 9 11 1 axis linear control INC 9 12 A ADI ziii xam uias 1 1 7 a ia 5 10 Absolute system sse 9 8 Acceleration deceleration processing function E 11 11 Actual acceleration deceleration time 11 11 A phase B phase 5 16 Applicable systems 2 3 Applicable wire 2 3 1 Auto refresh setting 6 14 Axis control data sssssssssss 4 37 Axis display LED 5 4 Axis error occurrence signal 3 5 Axis monitor
131. OFF to ON OPR 6 ACC DEC time at OPR OPR 7 DEC STOP time at OPR 0 to 32767 ms OPR 8 Setting for the movement amount after near point dog ON 0 to 2147483647 pulse s Pr 10 Stop mode during path control 0 Position match stop 1 Deceleration stop Change the setting to within the setting 10 OPR retry range and turn the Programmable 0 Valid controller READY signal YnO from OFF 1 Invalid to ON Pr 11 Acceleration deceleration System selection 0 Trapezoidal acceleration deceleration 1 S pattern acceleration deceleration Pr 12 Pulse output method stop signal enabled 0 Fixed Pulse output 1 Fixed Deceleration Time 13 12 13 12 13 TROUBLESHOOTIN _ MELSEC Q 13 3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs Warning name Warning Operation status at warning occurrence EX Start during operation The start request is issued while the axis is BUSY Continue the operation A restart request was made when Md 4 Axi operation status is other than Stopped Restart not possible e During OPR control or JOG operation a restart Operation is continued request was made when Md 4 Axis operation status is other than Stopped The set speed or 7 New speed value is lower Outside speed than Pr 6 Bias speed at start or higher than
132. OPR and the axis moves at 5 Creep speed At this time the motor torque must be limited If the torque is not limited On detection of the zero signal after the stop the pulse output from the QD70D stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status b0 turns from ON to OFF QPR 5 Creep speed Stopper Pr 6 Bias speed at start Zero signal Torque limit Machine OPR control start Positioning start signal Y8 to YF OPR request flag Maz Status 60 OPR complete flag v7 Status b1 Devigilon Counter clear output Deviation counter clear signal output time Axis operation status Standby X During OPR X Standby Movement amount after Unfixed 0 i near point dog ON Current feed value Standby X Traveled value is stored A OP address Fig 8 8 Stopper 3 machine OPR control PR NTROL Saec udo ass MELSEC Q Bl Restrictions 1 Always limit the motor torque If the torque is not limited the motor may fail when the machine presses against the stopper For a torque limit refer to the manual of the drive unit used 2
133. OPR control 8 setting range error code 914 error occurs Position control Out of speed range warning warning code 1 axis linear control p 9 9 9 Positioning Speed iti 5 Speed limit value 20 occurs and the axis is controlled by the control perc pou speed limit value switching control Current value changing Setting value invalid ZA O O Out of speed range warning warning code JOG operation Pr 5 Speed limit value 20 occurs and the axis is controlled by the speed limit value Always set Setting not required Setting value is invalid Use the initial values or setting values within a range where no error occurs 11 1 11 1 11 SUB FUNCTION MELSEC Q 2 Setting the speed limit function To use the speed limit function set the speed limit value in the parameters shown in the following table and write it to the QD70D The speed limit value depends on the motor used Set it according to the motor used The setting is made valid when the Programmable controller READY signal YnO turns from OFF to ON Setting Factory set Setting item Setting details value initial value 5 Speed limit value NM Set the speed limit value max speed during control 10000 pulse s Refer to section 4 2 List of parameters for setting details 11 3 Speed change function The speed change function is used to change the speed a
134. PR speed is lower speed than Pr 6 Bias speed at start e The setting value of OPR 4 OPR speed is higher than Pr 5 Speed limit value e The setting value of OPR 5 Creep speed is outside the setting range Setting range outside creep e The setting value of OPR 5 Creep speed is higher speed than OPR 4 OPR speed The setting value of 5 Creep speed is lower The module READY signal XnO does not than Pr 6 Bias speed at start 5 Setting range outside The setting value of OPR 6 ACC DEC time at OPR ACC DEC time at OPR is outside the setting range Setting range outside The setting value of OPR 7 DEC STOP time at DEC STOP time at OPR OPR is outside the setting range 6 Setting range outside setting for the movement amount after near point dog ON The setting value of OPR 8 Setting for the movement amount after near point dog ON is outside the setting range Setting range outside stop The setting value of Pr 10 Stop mode during path mode during path control control is outside the setting range OPR retry setting out of The set value of OPR retry is outside the setting range range Acceleration Deceleration System Selection setting out of range The set value of Acceleration Deceleration System Selection is outside the setting range Pulse Output Method Signal
135. Position Ctrl The setting value of 1 Operation pattern is operation pattern outside the setting range Ata position control start IDa 5 Command speed of the positioning data is Start is not made Setting range outside The setting value of 2 Control method is outside control method the setting range Any of the OPR 6 ACC DEC time at OPR 2 Setting range outside JOG ACC time 3 ACC DEC time and Cd 8 ACC DEC time ACC DEC time at speed change setting values is outside the setting range Any of the OPR 7 DEC STOP time at OPR Setting range outside JOG 3 JOG DEC time Da 4 DEC STOP time DEC STOP time and 9 DEC STOP time at speed change setting values is outside the setting range Continuous path control not possible When Da 1 Operation pattern is Continuous path Illegal direction for control for position control Da 6 Positioning The axis stops as soon as the execution of the continuous path control address movement amount has been set to reverse preceding positioning data is completed the operation direction amount for continuous path control Da 6 Positioning address movement control amount is too small to form a constant speed part When Da 1 Operation pattern was Continuous pa
136. Positioning data No 2 E IK a Command speed of the Positioning termination positioning data No 1 b Command speed of the pissin sigtiel put positioning data No 2 Operation performed when axis stop signal is not input Same slope b Bias speed at start T n Deceleration stop time Acc Dec time p Fig 4 5 Deceleration stop when an axis stop signal is input during deceleration in continuous path control 4 14 4 14 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 Deceleration stop when an axis stop signal is input during S curve acceleration deceleration When an axis stop signal is input during S curve acceleration deceleration calculation is performed for S curve deceleration from the speed at the time to 6 Bias speed at start While the calculation is carried out Max 60 the axis is operated at the fixed speed Therefore it may actually stop at some position far away from the target position Refer to Fig 4 6 Depending on the setting the stop position may be out of the movable range defined for the system and a software stroke limit error may occur To prevent a software stroke limit error select 0 Position match stop for Deceleration stop method 1 Deceleration stop Timing at which the QD70D accepts the axis stop A signal input Operation without the axis stop signal input Stop operation by the axis stop signal input
137. R 3 OP address 23 123 223 323 423 523 623 723 24 124 224 324 424 524 624 724 OPR 4 OPR speed 25 125 225 325 425 525 625 725 26 126 226 326 426 526 626 726 sveca Hz Ed 227 327 427 527 627 Ed ata Secon s 128 728 OPR 6 ACC DEC time at OPR OPR 7 DEC STOP time at OPR OPR 8 Setting for the movement amount after near 31 131 231 331 431 531 631 731 point dog ON OPR 9 OPR dwell ime 10 QPR retry 34 134 234 334 434 533 634 734 to to to to to to to to Reserved Cannot be used 39 139 239 339 439 539 639 739 40 140 240 340 440 540 640 740 JOG 1 JOG speed A 241 341 441 541 641 PA 142 742 JOGdata Section 4 1 4 Reserved Cannot be used 149 249 349 449 549 649 749 1 Write to Reserved Cannot be used is prohibited 2 Addresses not given in the list is write disabled App 14 App 14 APPENDICES Buffer memory address Reference Axis Axis Axis Axis Axis Axis Axis Axis Item Memory area section Cd 4 Restart request 56 156 256 356 456 556 656 756 Axis control data Cd 7 New speed v
138. Use an external input signal as the zero signal lll Precautions during operation 1 If the zero signal is input before the workpiece stops at the stopper the workpiece will stop at that position and that position will become the OP 5 Creep speed Pr 6 Bias speed at start Zero signal Torque limit Machine OPR control start OFF Positioning start signal Y8 to YF OPR request flag Maz Status bO OPR complete flag Ma7 Status b1 Deviation counter clear output SPA Pr 8 Deviation counter clear signal output time Axis operation status Standby X During Standby Movement amountatter 0 00000 OO near point dog ON Current feed value Unfixed X Traveled value is stored X OP address Fig 8 9 When the zero signal is input before the stop at the stopper 2 Ifthe axis is started during zero signal ON the Zero signal ON error error code 202 occurs 8 OPR CONTROL MELSEC Q 8 2 7 OPR method 5 Count 1 The following shows an operation outline of the count 1 OPR method ll Operation chart Machine OPR control is started Acceleration starts the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR Near point dog ON is detected and deceleration starts at the time set OPR 6 ACC DEC time at OPR On detection of the first zero signal after the axis
139. X Secor Postion Speed Position Position X Standby 1 1 y 1 1 1 1 i oa Start complete signal 1 1 1 1 X n 1 0 to X n 1 7 15 16 gt i gt i Speed position switching control operation H j 1 Speed control Position control ish 1 1 H Speed control is exercised until the speed position External speed position switching command CHG T The movement amount of position control applies when the external speed position switching signal is input Positioning complete signal X n 1 8 to X n 1 F OPR complete flag Status b1 As set in 0 3 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms parameter A delay may occur in t1 depending on the operating conditions of the other axes App 4 App 4 APPENDICE MELSEC Q 5 Operation timing and processing time of JOG operation JOG start signal Y n 1 8 to Y n 1 F BUSY signal Xn8 to XnF 1 Axis operation JOG operation JG SIM OFF X Standby 1 1 status T Pulse output to outside o PULSE JOG operation Positioning complete signal X n 1 8 to X n 1 F 0 to 2 5ms A delay may occur in t1 depending on the operating conditions of the other axes App 5 App 5 APPENDICE as MELSEC Q Appendix 3 Connection examples with servo amplifiers manufactured by Mitsubishi Electric Corporation Appendi
140. Xn1 Cd 10 Target position change request 1 Cd 11 Target position change value 500000 1 1 Fig 7 9 Time chart for target position change 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Restart program This program is used to resume position control by 4 Restart request from the stop position to the end point of the positioning data when the axis has been stopped by the axis stop signal during operation under position control or speed control of speed position switching control excluding position control ll Data requiring setting Set the following data Caa Refer to Section 4 7 List of control data for more information on the setting details Start conditions When a restart is to be made Md 4 Axis operation status must be 1 Stopped and the following conditions satisfied Necessary conditions are included in the sequence program as interlocks Programmable Programmable controller controller READY YnO CPU ready signal Module READY signal ON 100700 ready Axis error occurrence OFF No error Xn1 signal Axis stop signal OFF Axis stop signal being OFF Y n 1 0 Y n 4 1 1 2 1 3 Y n 4 6 Start complete signal being Start complete signal OFF OFF X n 1 0 X n 1 1 X n 1 2 X n 1 3 X n 1 4 1 5 X n 1 6 X n 1 7 BUSY signa OFF 00700 not operating Xn8 xno xna XnB
141. XnC xne XnF Interface signal ll Restarting timing chart Dwell time Positioning start signal Yn8 to YnF Axis stop signal Y n 1 0 to 1 7 Programmable controller READY signal Yn0 Module READY signal Xn0 Start complete signal X n 1 0 to X n 1 7 BUSY signal Xn8 to XnF Positioning complete signal 1 8 to X n 1 F Axis error occurrence signal Xn1 Md 4 Axis operation status Cd 4 Restart request Fig 7 10 Restarting timing chart for position control 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q MEMO SECTION 2 CONTROL DETAILS AND SETTING Section 2 is configured for the following purposes shown in 1 to 3 1 Understanding of the operation and restrictions of each control 2 Carrying out the required settings in each control 3 Dealing with errors The required settings in each control include parameter setting positioning data setting control data setting by a sequence program etc Carry out these settings while referring to CHAPTER 4 DATA USED FOR POSITIONING Also refer to CHAPTER 7 SEQUENCE PROGRAMS USED IN POSITIONING CONTROL the sequence programs required in each control and consider the entire control program configuration when creating each program CHAPTER 8 XOPR GONTROL irte tette tts ce iet ee HO EU etae 8 1 to 8 21 CHAPTER 9 POSITIONIN
142. Y18 20 8 10 X18 J Tsar HE MS 1 1 MT ove 055 11 E ser ks i8 x20 DX18 At L MS uly Y18 18 MELSEC Q 7 13 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 8 JOG operation program AH No 9 Speed change program X3A I 9 18 IL 1 f f L M10 P K1 DMOVP 2000 J wov P 1000 Move K1000 ot H1 K56 D57 U1N gt D57 G56 TOP H1 K55 D56 U1N G55 KO RST MB UlN DMOVP 5000 G40 ul move K1000 G42 ul MOV P K1000 G43 X38 X39 x10 x18 ul Move KO G44 j j L sET M8 X38 x39 x10 x18 U1N H 1 4 RY tr K1 G44 sET 8 x38 x39 r4 K Kt 8 x38 x39 1 x38 x39 MB If 1 e x38 x39 9 M10 56 D57 059 D60 K4 K1 M10 ich duy dod dod MELSEC Q 7 14 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 10 ta No 11 Re No 12 Er E No 13 St rget position change program X3E Pus M16 x18 1 pw M17 t 4 MOVP 1 500000 1 2 D71 H1 K61 D70 U1lN G61 KO RST start program X3B t 4 11 UlV 1 d E 676 Kl ser M12 x18 ME vov P K
143. al X n 1 0 to X n 1 7 and positioning complete signal X n 1 8 to X n 1 F can be detected in the sequence program 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q ll Starting time chart The time chart for starting each control is shown below 1 Machine OPR control starting timing chart Near point dog Zero signal Positioning start signal Yn8 to YnF Programmable controller READY signal Yn0 Module READY signal Xn0 OFF Start complete signal 1 0 to X n 1 7 OFF BUSY signal Xn8 to XnF OFF Axis error occurrence signal Start method OPR request flag Status 60 OPR complete flag Md 7 Status b1 Fig 7 4 Machine OPR control starting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 2 Fast OPR control starting timing chart Positioning start signal Yn8 to YnF Programmable controller READY signal Yn0 Module READY signal Xn0 OFF Start complete signal 1 0 to X n 1 7 OFF BUSY signal Xn8 to XnF OFF Axis error occurrence signal Xn1 Start method Fig 7 5 Fast OPR starting timing chart 3 Positioning control starting timing chart Operation pattern Dwell time Positioning data No i 1 SS Positioning start signal Yn8 to YnF ON Programmable controller READY signal Yn0 _OFF JN Module READY signal Xno _OFF Start complete signal
144. al output from the drive unit after the near point dog has turned from OFF to ON and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP After deceleration is started when the near point dog turns from OFF to ON the axis is Stopper 1 brought into contact with the stopper at OPR 5 Creep speed to a stop After the stop the time preset in 9 OPR dwell time elapses and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP After deceleration is started when the near point dog turns from OFF to ON the axis is Stopper 2 brought into contact with the stopper at OPR 5 Creep speed to a stop After the stop the zero signal signal that is output on detection of contact with the stopper is detected and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP The axis starts at OPR 5 Creep speed from the beginning and is brought into contact Stopper 3 with the stopper at OPR 5 Creep speed to a stop After the stop the zero signal signal that is output on detection of contact with the stopper is detected and on completion of the deviation counter clear output machine OPR control is completed Deceleration is started when the near point dog turns from OFF to ON and the axis moves at 5 Creep spee
145. alue 57 157 257 357 457 557 657 757 1 2 3 4 5 6 Section 4 1 7 MELSEC Q 62 162 262 362 462 562 662 762 5 Cd 11 Target position change value 63 163 263 363 463 563 663 763 60 160 260 360 460 560 660 760 to to to to to to to to Reserved Cannot be used 69 169 269 369 469 569 669 769 70 170 270 370 470 570 670 770 Md 1 Current feed value 71 171 271 371 471 571 671 771 72 172 272 372 472 572 672 772 Md 2 Movement amount after near point dog ON 73 173 273 373 473 573 673 773 3 74 174 274 374 474 574 674 774 M Current speed 75 175 275 375 475 575 675 775 AUS Ionas scie 80 180 280 380 480 580 680 780 Ma 8 Extemai vO signa Md 9 Executing positioning data No 82 182 282 382 482 582 682 782 to to to to to to to to Reserved Cannot be used 99 199 299 399 499 599 699 799 1 Write to Reserved Cannot be used is prohibited 2 Addresses not given in the list is write disabled App 15 App 15 APPENDICE MELSEC Q Buffer memory address Reference Axis Axis Axis Axis Axis Axis Axis Axis Item Memory area Eclo 1 2 4 5 6 7 8 900 1000 1100 1200 1300 1400 1500 Da1 Operation pa
146. ange 105 The Programmable controller READY signal YnO READY OFF during turned OFF during operation 410 The Programmable controller READY signal YnO Ls dl READY OFF during writing turned OFF immediately after turning ON 13 3 13 3 13 TROUBLESHOOTIN MELSEC Q Related buffer memory address Setting range Remedy rome TE TETTE Check that there is no influence from noise e Check hardware for possibility of fault After switching power from OFF to ON resetting the programmable controller CPU turn ON the Programmable controller READY signal Yn0 again make sure that the module READY signal Xn0 is ON and then make a start The module is faulty if the Check whether the axis stop signal Y n 1 O to Y n 1 7 is ON or OFF and turn OFF the axis stop signal that is ON 1 Software stroke limit upper limit value At start Perform JOG operation Refer to 100 200 300 400 500 600 700 Chapter 10 to change Md 1 101 201 301 401 501 601 701 Current feed value to within the software stroke limit range Pr 2 Software stroke limit lower limit value Current value changing Change the new current value to 2147483648 to 2147483647 pulse m 2 402 202 302 402 502 602 702 within the software stroke limit 3 103 203 303 403 503 603 703 range Refer to Section 9 2 4 During operation Correct Da 6 Positioning Positioning address movement am
147. art complete signal will remain ON 3 Ifthe positioning start signal turns ON again while the BUSY signal is ON the warning operating start warning code 10 will occur 4 The process taken when positioning control is completed will differ according to case a and b below a When next positioning control is not to be carried out e After the preset time of the dwell time has elapsed positioning control is completed e On completion of positioning control the BUSY signal turns OFF and the positioning complete signal turns ON However it does not turn ON if the positioning complete signal output time is O e When the positioning complete signal output time elapses the positioning complete signal turns OFF b When next positioning is to be carried out e After the preset time of the dwell time has elapsed next positioning control is started Dwell time 1 Dwell time Dwell time Positioning control Positioning start signal Yn8 to YnF Start complete signal X n 1 0 to X n 1 7 BUSY signal Xn8 to XnF Positioning complete signal ore _ _____ X n 1 8 to X n 1 F Fig 7 3 ON OFF timing of each signal at start of positioning control The BUSY signal Xn8 to XnF turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program The ON status of the start complete sign
148. as turned ON e Stop due to target position change e Speed change to speed 0 pulse s when bias speed at start is 0 pulse s e Temporary stop due to OPR retry e Machine OPR control of count 2 2 Set deceleration stop time is any of the following e During positioning control Da 4 DEC STOP time e At speed change to speed 0 pulse s 9 DEC STOP time at speed change e During machine OPR control of count 2 OPR 7 DEC STOP time at OPR e During JOG operation 3 JOG DEC time 8 When the axis is decelerated to a stop by a speed change to speed 0 pulse s the BUSY signal does not turn OFF 4 The same operation is performed when an immediate stop cause occurs during machine OPR control except the case of count 2 Bl Precautions When 1 Fixed pulse output has been set take careful attention to the following 1 A short width pulse aborted during output may be recognized as one complete pulse and thereby incorrect positioning may occur 2 If the pulse output mode is set to A phase B phase multiple of 1 incorrect positioning may occur depending on the drive unit because the pulses of phases A and B turns off at the same time 3 A temporary deceleration stop is performed during execution of the target position change or OPR retry In such a case all of the pulse is output regardless of the setting 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 3 List of OPR data
149. ation before the axis is stopped by the axis stop signal The following shows operations under speed position switching control after restart a When the speed position switching signal CHG is OFF at restart The axis is started with speed control and position control of the movement amount set in Da 6 Positioning address movement amount is executed from the position where the speed position switching signal is turned ON Axis stop signal Restart request ON ON Speed control Position control Position control Speed control b When the speed position switching signal CHG is ON at restart The axis is restarted with speed control and then position control switched immediately and position control of the movement amount set in Da 6 Positioning address movement amount is executed from the position where the axis is restarted Axis stop signal Restart request ON Y Speed Position control control Position control 1 1 1 jt C O 11 17 12 COMMON FUNCTIONS MELSEC Q CHAPTER 12 COMMON FUNCTIONS This chapter details the common functions of the QD70D 12 1 Outline of common functions Common functions are executed according to the user s requirements regardless of the control system etc These common functions are executed by GX Developer For details of GX Developer refer to the GX Developer Operating Manual The f
150. been installed GX Configurator PT Abbreviation for GX Configurator PT SW1D5C QPTU E utility package for QD70D positioning module GX Developer Product name of MELSEC programmable controller software package GX Works2 DOS V personal computer PC AT and compatible DOS V compliant personal computer Personal computer Generic term for DOS V personal computer Generic term for moving body such as workpiece and tool and for various control targets Axis 1 axis 2 axis 3 Indicates each axis connected to QD70D axis 4 axis 5 axis 6 axis 7 axis 8 1 axis 2 axes 3 axes Indicates the number of axes Example 2 axes Indicates two axes such as axis 1 and axis 4 5 axes 6 axes 2 axis 2 and axis 3 and axis and axis 1 7 axes 8 axes Generic term for the following Microsoft Windows Vista Home Basic Operating System Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Business Operating System Microsoft Windows Vista Ultimate Operating System Microsoft Windows Vista Enterprise Operating System Generic term for the following Windows Microsoft Windows XP Professional Operating System Microsoft Windows XP Home Edition Operating System Generic term for the following Microsoft Windows 7 Starter Operating System Microsoft Windows 7 Home Premium Operating System Windows 7 Microsoft Windows 7 Professional Operating System
151. bottom part of the module QD70D8 RUN AXi AX6 AX2 AXT ERR AX8 QD70D8 AXT AX5 AX3 1 AX6 O O sum CN nu oo 00 nu nu nu 00 nu oo oo 00 nu nu nu nu nu nu 00 nu nu nu nu nu nu nu nu 00 nu nu nu nu nu nu nu nu nu nu nu nu nu nu nu nu nu nu nu Uu nu nu nu nu nu nu 00 nu nu nu 00 00 nu nu nu nu nu nu nu nu nu nu 00 nu nu nu nu nu nu nu nu Uu am TT SS pad Serial number Function version The serial number is displayed on the front of the module from December 2008 production Products manufactured during switching period may not have the serial number on the front of the module 2 SYSTEM CONFIGURATION a _ MELSEC Q c Checking the system monitor Product Information List To display the system monitor select Diagnostics System monitor and click the Product Information List button of GX Developer Function version Serial No Product No Product Information List 0 0 None 0 1 Intelli 0 p70D4 32 0010 090120000000000 B 0 2 None E 1 Displaying the product No Since the QD70D does not support the display function in the Product No field The serial number displayed on the Product Information L
152. ceeeeceeeneceeeeeeeeeeeceeseaeeceaeeecaeeeseneeseaeeteeetsueeseeess 8 2 8 2 2 Machine QPR method uitis eiit icta dle det ach ada geen n eda dented 8 3 8 2 3 OPR method 1 Near point dog method ssssssssseseeeneenem eene 8 5 8 2 4 OPR method 2 Stopper Terrissa pea kiia nnns 8 8 9 2 5 OPRmetlhiod 3 StOpDer 2 be gite dian ele tbt pedet hg ed tete feat 8 10 8 2 6 OPR method 4 Stopper 3 nennen nennen nennen nnne nnne 8 12 92 7 OPRimethod 5 Count nao aee aedem ann dus 8 14 8 2 8 OPR method 6 Count 2 eeeseeesese seen ete tete 8 16 eg Fas OPR Control ze PILAE 8 18 8 3 1 Outline of the fast OPR control Operation cccccceccceeseeeeeeeceeeeeeeeeeeeeeeseaeeseaeessaeeeceeseaneeseneeesaees 8 18 9 4 OPR retry TUNCUON te ia ieee ieee ia ieee iene 8 19 9 POSITIONING CONTROL 9 1109 18 9 1 Outline of positioning controls eeieeciseeieei eise aia tha data dns te n dn dna dn dod 9 1 9 1 1 Data required for positioning nennen nennen 9 1 9 1 2 Operation patterns of positioning 9 2 9 1 3 Designating the positioning address ssssssseeeneenenneneenen eene 9 8 9 1 4 Conf
153. chanical system inputs switches QD70D The input signals from the mechanical system inputs switches are entered into the QD70D via the external device connection connector e Near point dog signal DOG Mechanical system inputs switches e Speed position switching 1 PRODUCT TLINE xni Us MELSEC Q 1 2 Positioning control 1 2 1 Outline of starting The outline for starting each control is shown with the following flowchart It is assumed that each module is installed and the required system configuration etc has been prepared Flow of starting Installation and connection of module Preparation Setting of hardware Control Positioning control OPR control JOG operation functions Position control Machine OPR control Speed position switching control Current value Fast OPR control changing Parameter Set the parameters Pr 1 to 10 Set the OPR data OPR data OPR 1 to OPR 9 1 Positioning Set the positioning data data Da 1 to 7 Control data Set the start method Da 1 to Da 7 JOG d Set the JOG data ata Turn the QD70D JOG Positioning control can make a start signal ON from multiple axes simultaneous start the programmable controller CPU Refer to Section 9 3 for details Turn ON the QD70D start
154. chine OPR control of count 2 5 Set deceleration stop time is any of the following e During positioning control Da 4 DEC STOP time e Atspeed change to speed 0 pulse s 9 DEC STOP time at speed change e During machine OPR control of count 2 OPR 7 DEC STOP time at OPR e During JOG operation 3 JOG DEC time 6 When the axis is decelerated to a stop by a speed change to speed 0 pulse s the BUSY signal does not turn OFF 7 The same operation is performed when an immediate stop cause occurs during machine OPR control except the case of count 2 8 Pulse output can be set to stop at the point of time when Preset deceleration stop time is elapsed For details refer to section 4 1 Type of data Pr 12 Pulse output method stop signal enabled 2 SYSTEM CONFIGURATION m MELSEC Q CHAPTER 2 SYSTEM CONFIGURATION This chapter explains the system configuration of the QD70D 2 1 General image of system The following is the general configuration including the QD70D programmable controller CPU peripheral device and others The numbers in the sketch correspond to the Nos in the table in Section 2 2 Component list on the next page Peripheral device Personal computer i GX Developer SW LID5C GPPW E em GX Configurator PT Eroinlcncis o eiccrsdbascncA SW LID5C QPTU E Power supply module 2 Main base unit 2 Extension cable
155. chine dwells after the position control stop pulse output stop to the output of the positioning complete signal 2 g D c o tm 2 Da 7 Dwell time 500ms 2 efer to Section 4 5 List of positioning data for the setting details POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 2 1 axis linear control INC ll Operation chart In incremental system 1 axis linear control addresses established by a machine OPR control are used Position control is carried out from the current stop position start point address to a position at the end of the movement amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Start point address current stop position Reverese direction Forward directior Movement direction for Movement direction for a negative movement amount a positive movement amount When the start point address is 5000 and the movement amount is 7000 position control is carried out to the 2000 position I i I I i Address after positioning control Start point address 1 i current stop position 1 I i I i 1 3000 2000 1000 1000 2000 3000 4000 5000 6000 p control in the reverse direction movement am
156. commanded Forward run JOG command Forward run JOG operation being commanded Reverse run JOG operation Reverse run JOG command being commanded Speed change being Restart command Restart being commanded X 9S UJ Error reset being commanded Stop command Stop being commanded Target position change Target position change command command Current value changing Current value changing command command X xX 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 2 Internal relays Device Applicaton ENT Parameter OPR data setting complete complete OPR request OFF command OPR request OFF command OPR request OFF command OPR request OFF command Fast OPR control being Fast OPR control command Fast OPR control command Positioning control start Positioning control start command storage command held Speed change command Target position change Target position change command pulse commanded Target position change Target position change command storage command held 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 3 Data registers for Axis 1 Device Pr 1 Software stroke limit upper limit value 100000000pulse Pr 2 Software stroke limit lower limit value 100000000pulse Pr 3 Software stroke limit valid invalid setting 0 Valid N eo a 2 6 Bias speed at star
157. ct Do not twist the cable with force Do not forcibly pull on the cable e Do not step on the cable Do not place objects on the cable Do not damage the cable sheath Installation environment Do not install the module in the following type of environment e Where the ambient temperature exceeds the 0 to 55 C range e Where the ambient humidity exceeds the 5 to 9596 RH range e Where there is sudden temperature changes or where dew condenses e Where there is corrosive gas or flammable gas e Where there are high levels of dust conductive powder such as iron chips oil mist salt or organic solvents e Where the module will be subject to direct sunlight e Where there are strong electric fields or magnetic fields e Where vibration or impact could be directly applied onto the main body 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 2 Procedures before operation This section gives the procedure up to the operation of the QD70D Start Module installation Install the QD70D in the specified slot Wiring Wire the external device to the QD70D Refer to Section 5 4 Intelligent function module switch setting Make setting using GX Developer Refer to Section 5 6 Connection confirmation Confirm connection using GX Developer or GX Configurator PT Refer to Section 5 5 Drive unit operation confirmation Make confirmation with a simple program in t
158. ction connector An incomplete soldering could lead to malfunctioning Make sure that foreign matter such as cutting chips and wire scraps does not enter the QD70D Failure to observe this could lead to fires faults or malfunctioning A protective label is attached on the top of the QD70D to avoid foreign matter Such as wire scraps from entering inside during wiring process Do not remove the label until the wiring is completed Before starting the system however be sure to remove the label to ensure heat radiation Securely mount the external device connection connector to the connector on the QD70D with two screws Do not disconnect the external wiring cable connected to the QD70D or drive unit by pulling the cable section When the cable has a connector be sure to hold the connector connected to the QD70D or drive unit Pulling the cable while it is connected to the QD70D or drive unit may lead to malfunctioning or damage of the QD70D drive unit or cable Do not bundle or adjacently lay the connection cable connected to the QD70D external input output signals or drive unit with the main circuit line power line or the load line other than that for the programmable controller Separate these by 100mm as a guide Failure to observe this could lead to malfunctioning caused by noise surge or induction If cables to connect to QD70D absolutely must be positioned near within 100mm the power line use a general shielded cable The shiel
159. d OFF Details Select input Select Error Reset Request Monitoring Setting range Error Reset Complete Error Reset Request Error Reset Request Place cursor at Error Reset Request Details Select input Monitoring Setting range Error Reset Complete Error Reset Request Execute test Click Execute test Closes the currently open screen and returns to the previous screen 6 UTILITY PACKAGE GX Configurator PT MELSEC Q MEMO 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the QD70D 7 1 Precautions for creating program 1 System configuration Unless otherwise specified in this section and later the sequence programs shown are those for the following system Refer to Section 7 2 for the applications of the devices used X30 to X3F LL N 2 9 e 2 Communication with QD70D There are two methods for communication with QD70D using the sequence program a method using an intelligent function device and a method using a FROM TO command When using the FROM TO command for communication with QD70D change the circuit incorporating the intelligent function device as follows a When the circuit uses the int
160. d After the axis has moved the distance preset in OPR 8 Setting for the movement amount Count 1 after near point dog ON from the position where the near point dog turned from OFF to ON it stops on detection of the zero signal one pulse of which is output when the motor rotates one revolution e g Zero signal output from the drive unit and on completion of the deviation counter clear output machine OPR control is completed Deceleration is started when the near point dog turns from OFF to ON and the axis moves at OPR 5 Creep speed Count 2 The axis stops after moving the distance preset in OPR 8 Setting for the movement amount after near point dog ON from the position where the near point dog turned from OFF to ON and on completion of the deviation counter clear output machine OPR control is completed ll Wiring of signals required for each OPR method method Near point NEC dog method Stopper 1 Stopper 2 Stopper 3 Count 1 Count 2 Zero signal PGO g e oa dec p me Near point dog DOG suec o o o O Near point dog method Deviation counter clear CLEAR Retry switch signal RTRYY A J Wiring required A Wiring may be required Wiring not required The retry switch signal is needed for the OPR retry function For details refer to Section
161. d at 4 3 Pr 7 Positioning complete signal output time Index 3 IPr 9 PULSE SIGN method selection setup hold tlie tatit cet tem tetto ta 4 3 10 Deceleration stop method 4 3 Pr 11 Acceleration deceleration system Selection irt tore e aD 4 3 Pr 12 Pulse output method stop signal enabled x M MA Le rdi Me T Tue 4 3 Precautions Handling precautions 5 1 Confirmation items at completion of wiring 5 12 Precautions for creating program 7 1 Wiring precautions 5 7 Precautions for creating 7 1 Procedures before operation 5 3 Processing time Operation timing and processing time of JOG Q R Operation eant App 5 Operation timing and processing time of fast OPR ocontrol ssssssssses App 2 Operation timing and processing time of machine OPR control App 2 Operation timing and processing time of position Control comen App 3 Operation timing and processing time of speed position switching control App 4 Program 7 16 Program example Error reset 7 15 JOG operatio
162. d change cannot be made during the following deceleration The speed change request is ignored e During deceleration started by turning ON the axis stop signal e During deceleration started by turning OFF the JOG start signal 4 In the following cases Speed change not possible Warning code 22 is issued and the speed cannot be changed e During position control in the speed position switching control e During the OPR control When speed change disables the operation stop at Da 6 Positioning address movement amount during position control Operation pattern Positioning termination b If the value set in Cd 7 New speed value is equal to or higher than 5 Speed limit value the Outside speed warning warning code 20 occurs and the speed is controlled at Pr 5 Speed limit value If the value set in Cd 7 New speed value is lower than Pr 6 Bias speed at start the Outside speed warning warning code 20 occurs and the speed is controlled at Pr 6 Bias speed at start 11 4 11 4 11 SUB FUNCTION _ MELSEC Q 6 Ifthe axis is stopped by the axis stop signal after a speed change has been made during speed control of speed position switching control the speed at a restart is as set in Da 5 Command speed F Command speed Speed change command JN Restart New speed value Stop command command gt t
163. d in sequence programs refer to the MELSEC Q L Programming Manual Common Instruction and the QnACPU Programming Manual Common Instructions 7 2 7 2 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 2 List of devices used In Section 7 4 Positioning control program examples the used devices are assigned as indicated in the following table The I O numbers for QD70D indicate those when QD70D is mounted in the O slot of the main base If it is mounted in the slot other than the O slot of the main base change the I O number to that for the position where QD70D was installed In addition change the external inputs internal relays and data resisters according to the system used 1 Inputs outputs external inputs of QD70D Appiiceton PRAIS WETON ae as X10 Module READY signal QD70D ready X12 Inputs dn OPR request OFF being X30 OPR request OFF command Machine OPR control Machine OPR control being command commanded Fast OPR control bein Fast OPR control command Positioning control start Positioning control start being command commanded Speed position switching Speed position switching control command control being commanded Speed position switching Speed position switching enable command enable being commanded Speed position switching Speed position switching disable command disable being commanded a Positioning control start signal Positioning control start signal command being
164. d must be grounded on the QD70D side Wiring examples are given on the following pages 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Wiring example using shielded cables The following are the wiring examples for noise reduction when the AGCON1 connector is used Connector A6CON1 To external devices Drive unit device A To drive unit dad S Use the shortest possible length to ground the 2mm or more FG wire The shield must be grounded on The length between the connector and the shielded the 00700 side cables should be the shortest possible Processing example of shielded cables Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Coat the wire with insulaing tape Solder the shield of any one of the shielded cables to the FG wire MELSEC Q 5 SETUP AND PROCEDURES BEFORE OPERATION Assembling of connector AGCON1 Wrap the coated parts with a heat contractile tube iy 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 9 The cables connected to the QD70D should be placed in a duct or fixed Not doing so can cause the QD70D drive unit or cables to be damaged when the cables swing move or are pulled carelessly for example or to malfunction due to poor cable connection 10
165. d the original point even if machine zero return is attempted depending on the work position such as a case where the work has passed the original point in positioning control If this occurs usually the work must be moved to a position before the near point dog by JOG operation and machine zero return must be restarted Using the OPR retry function enables machine zero return wherever the work is located Descriptions on The OPR retry function are given in the following 1 Control details 2 Precautions 3 The OPR retry function setting 8 OPR CONTROL MELSEC Q 1 Control details The operation by the OPR retry function is shown below 1 When the work is at a position beyond the near point dog and before the Retry switch 1 Start the machine OPR to move the work in the OPR 2 OPR direction 2 The Retry switch signal turns ON and the movement is decelerated and stopped 3 At OPR 4 OPR speed move the work in a direction opposite to 2 OPR direction 4 Decelerate and stop it by turning OFF the near point dog 5 Perform the machine zero return in the direction of OPR 2 OPR direction n steps 2 and 4 when the time set in OPR 9 OPR dwell time has elapsed after deceleration stop the next action is started V Starting point Near point dog Retry switch 2 When the work is positioned on the near point dog ON 1 Start the machine zero
166. deceleration speed is Pr 6 Bias speed at start 1pps the actual deceleration time will exceed the preset deceleration time In this case the actual deceleration time can be shortened by setting any other than Opps for the Pr 6 Bias speed at start The set acceleration deceleration time is the actual acceleration deceleration time and 5 Speed limit value does not influence the acceleration deceleration time e The acceleration deceleration time slope varies if the setting of Pr 6 Bias speed at start is changed e The set acceleration time and set deceleration time are available individually for the functions For details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Jog operation Set acceleration time JOG 1 JOG ACC time set deceleration time JOG 2 JOG DEC time Positioning control Operation pattern Positioning termination continuous positioning control Set acceleration time 3 ACC DEC time set deceleration time Da 4 DEC STOP time Fig 11 6 Operation by Bias speed at start Target speed Acceleration time and Deceleration time 11 11 11 11 11 SUB FUNCTION MELSEC Q Slope of acceleration deceleration The slope of acceleration deceleration is calculated by the following expression Target speed bias speed at start Set acceleration time set deceleration time
167. dress or movement Target position change request e amount is changed during position control Set a value to change the positioning address or movement amount Target position change value e during position control 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 2 List of parameters Item Setting value setting range Default value Setting value buffer memory address ing valu i ult valu 1 Soft troke limit oftware stroke limit upper 2147483647 100 200 300 400 500 600 700 limit value 2147483648 to 101 201 301 401 501 601 701 Software stroke limit lower 2147483647 pulse 2147483648 102 202 302 402 502 602 702 limit value 103 203 303 403 503 603 703 Software stroke limit Vali MN 4 104 204 304 404 504 604 704 valid invalid setting Current feed value during speed control 2 Clear to 0 and no update Pr 5 Speed limit value 1 to 4000000 pulse s 10000 9 209 08 S09 006 RUD 06 T 107 207 307 407 507 607 707 108 208 308 408 508 608 708 6JB d at start 7 Positioning complete signal 0 to 65535 ms 110 210 310 410 510 610 710 output time 8 Deviation counter clear 1 to 32 ms 111 211 311 411 511 611 711 signal output time Positio
168. e QD70D and programmable controller CPU communicate the following data via the base unit QD70D gt E Programmable controller CPU QD70D Communication Programmable controller CPU Signal indication QD70D state Signal related to commands e Module READY Xn0 e Programmable controller READY Yn0 e Axis error occurrence Xn1 e Positioning start Yn8 to YnF e Axis warning occurrence Xn2 e Axis stop Y n 1 0 to Y n 1 7 e BUSY Xn8 to XnF e JOG start 1 8 to Y n 1 F e Start complete 1 0 to 1 7 e Positioning complete 1 8 to e Parameter e Parameter e OPR data e OPR data Data read write e Positioning data e Positioning data e Control data e Control data e Monitor data QCPU Peripheral device GX Configurator PT The QCPU and peripheral device make the following communications Refer to Chapter 6 for details QCPU Peripheral device Peripheral device QCPU Communication e Initial setting Data e Auto refresh setting e Monitor data QD70D buffer Operation monitor memory XY devices E QD70D Drive unit The QD70D and drive unit communicate the following data via the external device connection connector MEA QD70D gt Drive unit Drive unit gt QD70D Communication Signals related to commands Signal indicating OP e Deviation counter clear signal e Zero signal PGO CLEAR e Pulse train output PULSE F Pulse train PULSE R ll Me
169. e QD70D stops and machine OPR control is completed 1 Stopper 1 1 Start machine OPR control Start movement at the OPR 4 OPR speed in the IOPR 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate OPR 5 Creep speed and move with the creep speed At this time a torque limit is needed for the motor If there is no torque limit the motor may fail at 4 4 The axis contacts against the stopper at OPR 5 Creep speed and then stops 5 When the near point dog turns ON and the OPR 9 OPR dwell time is passed the pulse output from the QD70D stops and machine OPR control is completed 2 Stopper 2 1 Start machine OPR control Start movement at the OPR 4 OPR speed in the IOPR 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to 5 Creep speed and move with the creep speed At this time a torque limit is needed for the motor If there is no torque limit the motor may fail at 4 4 The axis contacts against the stopper at OPR 5 Creep speed and then stops 5 When the zero signal signal output on detection of contact with the stopper is detected after a stop the pulse output from the QD70D stops and machine OPR control is completed MELSEC Q V OPR 4 OPR speed OPR
170. e applicable parameters and positioning data 13 15 13 TR BLESH TIN MBs rd us MELSEC Q 13 5 Confirming the error definitions using system monitor of GX Developer Choosing Module s detailed information in the system monitor of GX Developer allows you to confirm the error code at axis error occurrence 1 Operation of GX Developer Choose Diagnostics System monitor QD70D module and choose Module s Detailed Information 2 Confirmation of error code The error code stored in Md 5 Axis error code appears in the latest error code field Any of axes 1 to 8 By pressing the button the error code of the error that has occurred in each axis is displayed in order of axes 1 to 8 Note that this display does not give a history Module s Detailed Information Module Module Name 007008 Product information 080410000000000 B 120 Address 10 Implementation Position Main Base 1Slot Module Information Module access Possible 140 Clear Hold Settings Status of External Power Supply Noise Filter Setting Fuse Status Input Type Status of 120 Address Verify Agree Remote password setting status Error Display Display format 103 i Present Eno 103 ig Display format 2 35 is Select Decimal The display sequence ol the error history is from the oldest error The error codes indicated in The latest error is display amp d in the line as under Section 13 2 List of er
171. e positioning data preceding that illegal setting value Refer to Section 9 1 2 3 For position control you can make parameter setting to select the stopping method position match stop or deceleration stop Refer to Section 4 2 ll Stop after multiple axes simultaneous start under positioning control The axes started will not stop simultaneously The stop command axis stop signal ON must be given to each axis 1 PRODUCT TLINE vali MELSEC Q ll Pulse output operation at stop When the axis stops due to stop cause occurrence if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop the output as much as 1 pulse will be done The following shows the pulse output operation at deceleration stop Stop cause occurrence Start of deceleration stop V A Bias speed at start gt t 5bi 1 D 1 deceleration st p uius Pulse that is being output when set deceleration stop time has elapsed Will be output 7 1 1 VA Pulse output 1 1 pulse D 1 i ON i 1 1 1 BUSY signal OFF 4 Stop cause indicates any of the following e Error occurred in the programmable controller CPU or QD70D e JOG start signal Y n 1 8 to Y n 1 F has turned OFF during JOG operation e Axis stop signal 1 0 to Y n 1 7 has turned ON e Speed change to speed 0 pulse s when bias speed at start is 0 pulse s e Ma
172. ecuting positioning data No is 1 rewrite the positioning data No 10 Refer to Section 4 6 List of monitor data for details of Md 9 Executing positioning data No When the time required to execute the positioning data No 1 to No 10 continuously is assume to be a a maximum of delay a will occur if a is small until the new positioning data is made valid Hence set Da 5 Command speed and Da 6 Positioning address movement amount so that the execution time of each positioning data is 2ms or more POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 1 3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data E Absolute system Positioning control is carried out to a designated position absolute address having the OP as a reference This address is regarded as the positioning address The start point can be anywhere e Start point End point Address 100 Address 150 Address i 300 Address 150 Address 100 Address 150 1 1 i 1 i i e T 1 1 1 MM r OP 100 300 Reference point point B point C point Within the stroke limit range Fig 9 5 Absolute system positioning control E Incremental system The position where the machine is currently stopped is regarded as the start point and positioning co
173. ed within the range of I O points for the network module 2 Can be installed to any I O slot of a base unit The Basic model QCPU or C Controller module cannot create the MELSECNET H remote I O network 2 SYSTEM CONFIGURATION Si cde m MELSEC Q 2 Support of the multiple CPU system When using the QD70D in a multiple CPU system refer to the following manual first QCPU User s Manual Multiple CPU System a Supported QD70D The function version of the QD70D has been B from the first release product supporting the multiple CPU system b Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD70D 3 Supported software packages Relation between the system containing the QD70D and software package is shown in the following table GX Developer or GX Works2 is necessary when using the QD70D lE E Software Version GX Developer GX Configurator PT GX Works2 Q00J Q00 Q01CPU Version 1 15R or later Q02 Q02H Q06HY Q12H Q25HCPU Single CPU system Version 1 21X or later Q02PH QO6PHCPU Version 8 68W or later Multiple CPU system Single CPU system cannot be used Q12PH Q25PHCPU Version 7 10L or later Multiple CPU system Q12PRH Q25PRHCPU Redundant CPU system Version 8 45X or later Single CPU system Q00UJ Q00U Q01UCPU Version 8 78G or later Multiple CPU system Q02U Q03UD Single CPU system QO4UDH Version 8 48A or later QO6UDHCPU Multiple CPU system Sin
174. eed change program This program is used to change the speed within the Pr 5 Speed limit value range at any point during speed control of speed position switching control or during JOG operation Set the new speed in Cd 7 New speed value A speed change is executed according to 6 Speed change request The acceleration and deceleration times after speed change are the values set in Cd 8 ACC DEC time at speed change and 9 DEC STOP time at speed change Refer to Section 11 3 Speed change function for details of the speed change function lll Data requiring setting Set the following data Setting item Setting value Buffer memory address Axis 1 Axis 2 Cd 6 Speed change request t With speed change 156 256 356 456 556 656 756 Cd 7 New speed value 2000pulse s 157 257 357 457 557 657 757 ACC DEC time at speed Cd 8 1000ms 258 358 458 558 658 758 change DEC STOP time at Cd 9 1000ms 59 159 259 359 459 559 659 759 speed change Refer to Section 4 7 List of control data for more information on the setting details lll Speed changing timing chart Positioning start signal Yn8 to YnF OFF ON Programmable controller READY signal OFF ON Module READY signal Xn0 OFF Start complete signal X n 1 0 to X n 1 7 OFF BUSY signal Xn8 to XnF OFF Positioning complete si
175. eed control is not switched to position control Always make connection confirmation not only when the positioning control system has been configured but also when any modifications have been made to the system e g modules have been changed or the system has been rewired 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 6 Switch setting for intelligent function module By making the intelligent function module switch setting the QD70D allows you to set the pulse output mode external I O signal logic and rotation direction However setting the logic of the speed position switching signal CHG Retry switch signal RTRY is not allowed It is fixed at the negative logic Make the intelligent function module switch setting in the I O assignment setting PLC parameter of the QCPU using GX Developer e There are intelligent function module switches 1 to 5 which are set with 16 bit data e When you do not make the intelligent function module switch setting switches 1 to 5 default to 0 The settings made with the intelligent function module switches are made valid after power on or programmable controller CPU reset You cannot change the settings during operation Switch No Setting item Setting details bit assignment Default value Switch 1 Pulse output mode 1 to 8 indicate the axis Nos 0000 00 CW CCW mode 01 PULSE SIGN mode Pulse output logic selection 7 6 5 4 3 2 1 7 6 5 4 3 2
176. elligent function device on the destination D side of a MOV command change the command to a TO command Intelligent function device x UO m CMOVP K1 G50 y x21 L n n LK TOP HO K50 K1 K1 i Designated Designated value value Number of at UO at G50 write data 1 b When the circuit uses the intelligent function device on the source s side and the destination D side of a MOV command change the command to a FROM command and a TO command X15 X0C UO Ue 1 LMOVP G79 G1 y Set the same X ER X15 NP ats ap i mnm 1 1 TOP K1 D100 K1 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q c When the circuit uses the intelligent function device for a COMPARISON command change the command to a FROM command and a COMPARISON command MO UO m KO 1 4 RST MO MO 5 1 FROMP HO K51 D102 K1 Kk Dat d out ae D102 KO 1 8 000 RST MO d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND command M2 UOV WAN Ka H1 DO M2 ny 1 FROMP 79 D101 K1 Data read out WANDP D101 H1 DO For the intelligent function devices refer to the QnUCPU User s Manual Function Explanation Program Fundamentals and the Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals For details on commands use
177. em check the operation of the drive unit Make this check after making sure that the installation wiring intelligent function module switch setting and connection confirmation of the QD70D are normal For details of the drive unit refer to the manual of the drive unit used The following is the way to perform simple reciprocating operation 1 Operation method Using a sequence program perform forward run reverse run of JOG operation Refer to Chapter 10 for details of JOG operation 2 Setting items Set JOG data in the sequence program The other data parameters positioning data etc may be initial values Change the JOG data setting values according to the machine specifications JOG data Setting value Setting details addresses ing valu i i s Ass Ass nes ves ve e is ri Set the speed for JOG 40 140 240 340 440 540 640 740 JOG 1j JOG speed 5000pulse s operation 41 141 241 341 441 541 641 741 N Set the acceleration time JOG 2 JOG ACC time 1000ms 42 142 242 342 442 542 642 742 for JOG operation BEEN Set the deceleration time JOG 3 JOG DEC time 1000ms 43 143 243 343 443 543 643 743 for JOG operation M NM 0 Forward run JOG Set the rotation direction JOG 4 JOG direction flag 44 144 244 344 444 544 644 744 1 Reverse run JOG for JOG operation Refer to Section 4 4 List of JOG data for more information on
178. emorstusofeachaxs O 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 7 Type and roles of control data Operation of the positioning control system is achieved through the execution of necessary controls Data required for controls are given through the default values when the power is switched ON which can be modified as required by the sequence program Controls are performed over system data or machine operation Controlling the operation Setting operation parameters changing speed during operation restarting operation through the axis control data Cd 1 to Cd 11 Refer to Section 4 7 List of control data for details of the control data Control data Clear reset the axis error code 5 and warning code Md 6 Issue instruction to change speed in operation to Cd 7 value Speed change request Made valid during speed control of speed position switching control or during JOG operation New speed value Set new speed when changing speed during operation ACCIDEC time at speed change Set the time taken at a speed change to reach the new speed from the old speed Set the time taken at axis stop factor occurrence axis stop signal ON DEC STOP time at speed change or error occurrence to make a stop after reaching Pr 6 Bias speed at start from the speed after a speed change i Issue a command by which the positioning ad
179. ence s bO Zero signal ON b1 Near point dog signal ON b2 Speed position switching signal OFF b3 Deviation counter clear signal OFF Set the buffer memory address of External I O signal of Axis 1 in decimal The states of the external I O signals can also be checked by system monitor For details refer to Section 12 3 External I O signal monitor function 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 2 Method using GX Configurator PT Monitor the external I O signal states on the Monitor Test screen For details refer to Section 6 6 Monitor test Example Checking the external I O signals of Axis 1 1 Axis OPR Monitor GX Configurator PT display screen Axis 1 OPR Monitor Module information Module type 0070 Model Module Start 1 0 No 0010 Module model name 007008 Setting item Current value Setting value Status OPR Complete Flag External 1 0 Signal Zero Signal Extemal 1 0 Signal Near Point Dog Signal Extemal 120 Signal Deviation Counter Clear Flash ROM setting Details Current value isplay Monitoring Cannot execute test Make text file Stop monitor If the QD70D is faulty or does not recognize necessary signals such as the near point dog and speed position switching signals an unexpected accident e g the axis collides with the stopper without decelerating at the near point dog during machine OPR control or sp
180. ence and conditions i as sequence program Adding in GX Configurator PT i enables initial setting of parameters and data Stores the created program i The QD70D outputs the positioning start signal and axis stop signal following the stired program 00700 errors etc are detected Programmable controller CPU Input near point dog signal and speed i position switching signal retry switch A i iis to QD70D j lt Mechanical QD70D system inputs positioning Switches module f Stores the parameter and data Y i Outputs to the drive unit according to the i instructins from the programmable i controller CPU Dive unit 1 Receives pulses commands from QD70D and drives the motor E Motor f Caries out the actual work according to commands from the drive unit j Workpiece 1 PRODUCT TLINE vali MELSEC Q The principle of position control and speed control operation is shown below Bl Position control The total No of pulses required to move the designated distance is obtained in the following manner Total No of pulses Designated distance No of pulses required to move 1 required for motor to designated distance Movement amount of machine load rotate once side when motor rotates once The No of pulses required for the motor to rotate once is the encoder resolution described in the motor catalog specification list W
181. equence program set them in the QD70 using the TO command from the PLC CPU Carry out the settings while the PLC READY signal Y10 is OFF When setting the parameters or data with the GX Configurator PT the No 1 to No 3 No 1 Parameter setting program 8M402 PA Teve K100000000 oMove K 100000000 Mov K0 vov KO fpmove 100000 No 2 OPR data setting program 8M402 DMove 100 100 ev P K10 pi ev P KO H1 KO D0 move Prove s K20000 s a K1000 K1000 Move K1000 K3000 Move K100 H1 K20 D14 SET L 5 D6 D8 D12 MO 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q No 3 Positioning data setting program 1 For positioning data No 1 5 402 KO D27 K1 D28 K1000 D29 K1000 D30 K30000 031 K250000 D33 100 D35 D27 K9 2 For positioning data No 2 sM402 Move KO D36 f MOVP K3 D37 hove K1000 D38 Hove K1000 D39 move K30000 D40 250000 D42 Hove K100 D44 fror H1 K810 D36 K9 3 For positioning data No 3 3M402 MOVP KO D45 Hove KS D46 K300000 D51 TOP H1 K820 D45 K9 7 11 7 11 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
182. esponse time voltage current range current current 3 5VDC or more 1 0VDC or less 5VDC 13mA 4 75 to 5 5VDC Approx 3900 0 1ms or less or more 0 5mA or less ON Zero signal PGO 3us or less gt 3us or less Near point dog signal DOG 17 5VDC or Y PEE 7VDC or less Speed position switching 24VDC 5mA 19 2to 26 4VDC more 3mA or dom orl ss Approx 6 8kQ 1ms or less signal CHG Retry switch more signal RTRY Output specifications Max load current rush current e Defferential receiver equivalent to Am26L S32 Compliant with RS 422 standard Set the pulse output mode and pulse output logic selection in intelligent function module switch setting Refer to Section 5 6 The following are the relationships between pulse outputs depending on the pulse output mode and pulse output logic selection Rated load Working load voltage voltage range Max voltage Leakage current Signal name drop at ON at OFF Response time Pulse output logic selection Pulse output Positive loai Negative lodi mode ositive logic egative logic Pulse output Forward run Reverse run Forward run Reverse run CW PULSE A phase Pulse sign CCW SIGN B phase Deviation counter clear 0
183. ess or Section movement amount by turning the speed position switching signal ON Changes the Current feed value Md 1 to the address set in Section Current value changing SEE the positioning data 2 MAU Chapter JOG operation Outputs a pulse to drive unit while the JOG start signal is ON If the command speed exceeds Pr 5 Speed limit value Speed limit function during control this function limits the commanded speed to within the Pr 5 Speed limit value setting range The speed can be changed at any given time point during control This function is valid during position control with operation Section pattern set to Positioning termination during speed control 11 3 in the speed position switching control or during JOG operation Sub If a command outside of the upper lower limit stroke limit function Software stroke limit function setting range set in the parameters is issued this function will not execute positioning for that command The positioning address or movement amount can be changed at any given time point during control Section This function is valid during position control with operation 11 5 pattern set to Positioning termination Acceleration deceleration This function adjusts the acceleration deceleration Section processing function processing of control Restart This function resumes positioning control during a stop of the Section axis from where it had stopped This
184. f modules Extension base CPU type CPU model Main base unit it uni QO3UDECPU QO6UDEHCPU Q10UDEHCPU Programmable cas Q13UDEHCPU Up to 32 controller CPU xs Q20UDEHCPU Q26UDEHCPU Q50UDEHCPU ETT AL Safety CPU 8001 CPU porc V H E V C Controller module Up to 32 BENE V B 120 _ V Applicable X N A 1 The CPU modules can be mounted within the range of each number of I O points 2 The CPU modules can be mounted on any I O slots of the base units 3 Use the QD70D whose serial No first five digits is 09012 or later 4 The safety CPU cannot be connected with extension base units For the use of the C Controller module refer to the C Controller Module User s Manual 2 SYSTEM CONFIGURATION Si cde Z MELSEC Q b Mounting to a MELSECNET H remote I O station The table below shows the network modules and base units applicable to the QD70D and quantities for each network module model Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Pay attention to the power supply capacity before mounting modules and if the power supply capacity is insufficient change the combination of the modules Applicable network module No of modules Main base unit of Extension base unit of remote I O station remote I O station QJ72LP25 25 QJ72LP25G QJ72LP25GE QJ72BR15 Applicable X N A 1 Limit
185. firm the input specifications of the servo amplifier and perform the logical setting on the QD70D a When a photocoupler is used for input on the servo amplifier side M QD70D Servo Amplifier When the QD70D uses negative true logic the OFF status of the photocoupler is defined as Output signal OFF When it uses positive true logic the ON status of the photocoupler is defined as Output signal OFF b When a differential receiver is used for input on the servo amplifier side QD70D Servo Amplifier When the QD70D uses negative true logic the L state of the differential receiver is defined as Output signal OFF When it uses positive true logic the H state of the differential receiver is defined as Output signal OFF Example When output signals are set to negative true logic and CW CCW Pulse train is output so that when the output signal turns off the photocoupler turns off or the differential receiver is in L state OFF QD70D s output signal CW Pulse train output from QD70D s outoput MET SE BE i gt PULSE F as lt lt _ 2 OFF QD70D s output signal ON CWW Pulse train output from QD70D s outoput terminal PULSE R TE gt PULSER Forward fotation Reverse rotation PULSE and PULSE R waveforms based on PULSE COM and PULSE R COM respectively 4 DAT
186. function changes the external I O signal logic to match External I O signal logic switching the externally connected device Section function It can be changed by making the intelligent function module Common switch setting function Section This function monitors the external I O signal states using GX 5 5 Developer Section 12 3 Section Section 9 2 2 Position control 1 axis linear control Positioning control Speed position switching control N T wo N A Section 11 2 Speed change function Section 11 4 Target position change function N ooo E External I O signal monitor function 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q With the positioning control whether or not to continuously execute the positioning data can be set with the operation pattern Outlines of the operation patterns are given below When Positioning termination is set for the operation pattern Positioning termination of the started positioning data only the designated positioning data will be executed and then the positioning control will end When continuous positioning control is set for the operation pattern of the started positioning data after the designated positioning data is executed the program will stop once and then the next following positioning data will be executed Continuous positioning control When continuous path control i
187. g to the error definition is stored e If another error occurs during axis error occurrence the latest error code is ignored However if a system affecting error error code 800 to 840 has occurred the old error code is overwritten by the newest error code which is stored code e The error codes 800 to 840 are stored into Md 5 for all axes e When Cd 1 Axis error reset axis control data of the corresponding axis is turned ON the axis error code is cleared to zero Refer to Section 13 2 for details of the error codes feed value Movement point dog speed status Axis error 4 DATA USED FOR POSITIONING CONTROL MELSEC Q itam Storage details Default Storage buffer memory address i value At axis warning occurrence the warning code corresponding to the warning definition is stored e The latest warning code is always stored When Md 6 Axis a new axis warning occurs the old warning code is overwritten warning e When 1 Axis error reset axis control data code of the corresponding axis is turned ON the axis warning code is cleared to zero Refer to Section 13 3 for details of the warning codes The ON OFF states of the following flags are stored The following items are stored e OPR request flag Refer to Chapter 8 for details This flag turns ON at power on or at machine OPR control start and
188. gle CPU system Q10UDH Q20UDHCPU Version 8 78G or later Multiple CPU system Version 1 23Z or later Version 1 15R or later Q13UDH Version 8 62Q or later Q26UDHCPU QO3UDE Q04UDEH Single CPU system QO6UDEH Q13UDEH Version 8 68W or later Q26UDEHCPU Multiple CPU system Q10UDEH Single CPU system Version 8 78G or later Q20UDEHCPU Multiple CPU system QSOUDEH Single CPU system Multiple CPU system Version 1 13H or later Q00UDEHCPU If installed in a MELSECNET H remote I O station Version 6 or later Version 1 21X or later Version 1 40S or later 2 SYSTEM CONFIGURATION Si cde m MELSEC Q 2 4 Using QD70D with Redundant CPUs This section explains use of the QD70D with the Redundant CPUs 1 GX Configurator PT connection GX Configurator PT cannot be used when the Redundant CPUs are accessed from GX Developer via an intelligent function module on an extension base unit Connect a personal computer with a communication path indicated below JE Main base unit E E N icum 06910990 0691690 ajes ry d SST 8975 Extension base unit GX Configrator PT cannot be used e Direct connection to the CPU Connection through an intelligent function module on the main base unit Through Ethernet module MELSECNET H module or CC Link module 2 SYSTEM CONFIGURAT
189. gnal PULSE F PULSE R logic and deviation counter clear output signal CLEAR logic according to the externally connected device 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Switch 3 Zero signal input logic selection rotation direction setting Zero signal input logic selection Set the zero signal PGO input logic according to the externally connected device Rotation direction setting Set the relation of the motor rotation direction and current value address increment decrement Setting procedure 1 Set 0 and carry out forward run JOG operation 0 is set as the default value 2 When the workpiece W is moving toward the address increment direction the current setting is O K When the workpiece W is moving toward the address decrement direction set 1 3 Carry out forward run JOG operation again and if W moves toward the increment direction the setting is complete Address decre Address incre QD70D 1 Forward run pulse ment direction 2 ment direction Workpiece Switch 4 Near point dog signal input logic selection Set the near point dog signal DOG input logic according to the externally connected device Incorrect setting of any I O signal logic may disable normal operation Make the setting carefully when changing the initial setting 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Operating procedure Using GX Developer
190. gnal X n 1 8 to X n 1 F Axis error occurrence signal Xn1 Cd 7 New speed value 6 Speed change request 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Target position change program This program is used to change the target position at any given timing when the positioning pattern is set to Positioning termination With a new positioning address movement amount set in Cd 11 Target position change value turning ON Cd 10 Target position change request will change the target position For details on the target position change function refer to Section 11 5 Target position change function lll Data requiring setting Set the following data Setting item Setting value Buffer memory address T t positi h request Target position change 62 162 262 362 462 562 662 762 Cd 11 500000pulse value 63 163 263 363 463 563 663 763 Refer to Section 4 7 List of control data for more information on the setting details Time chart for target position change When the target position is not changed Positioning start signal Yn8 to YnF Programmable controller READY signal YnO OFF Module READY signal Xn0 Start complete signal X n 1 0 to X n 1 7 OFF Y BUSY signal Xn8 to XnF OFF Positioning complete signal X n 1 8 to X n 1 F i Axis error occurrence signal
191. he auto refresh settings become effective by turning the power OFF and then ON or resetting the CPU module after writing the intelligent function module parameters to the CPU module e The auto refresh settings cannot be changed from sequence programs However processing equivalent to auto refresh can be added using the FROM TO instruction in the sequence program 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 6 Monitoring Test 6 6 1 Monitoring Test screen Purpose Start buffer memory monitoring testing and I O signal monitoring testing from this Screen Refer to Section 4 6 List of monitor data for details of monitor data Operating procedure Select monitor test module screen Start I O No Module type gt Module model name Monitor test Enter the start I O No hexadecimal The screen can also be started from System monitor of GX Developer Version 6 or later Refer to the GX Developer Operating Manual for details Setting screen Axis Monitor Test OPR Monitor Monitor Test Module information Module type 0070 Model Module Start 140 No Module model name 007008 Selling item Current value ine val WT Monior Test 1 MonitoTest Axis 1 Monitor Asis 1 OPR Monitor 2 Montor Test 2 Montor Test 2 Monitor Avis 2 Monitor Axis 3 Monitor Test Avis 3 Monitor Test Select items to be moved Avis Monitor 3 OPR
192. he current pulse at the time the specified deceleration stop time is elapsed 0 Fixed pulse output Output all of the pulse being output at the time the deceleration stop time is elapsed 1 Fixed deceleration time Stop the pulse output at the time the deceleration stop time is elapsed 0 Fixed Pulse Output Stop cause occurrence 1 X Start of deceleration stop Bias speed at start gt t Pulse that is being output when set Set deceleration deceleration stop time has elapsed stop time 2 1 Will be output 4 Pulse output ON gt I BUSY signal 6 OFF Time for max 1 pulse output 250ms to 1s Depending on Bias speed at start l l l 1 l l i T i 1 Fixed Deceleration Time Stop cause occurrence 1 Start of deceleration stop Bias speed at start gt t Stops current pulse output when specified deceleration stop time is elapsed Set deceleration stop time 2 Pulse output I 1 1 ON BUSY signal 6 Fig 4 7 Pulse output at deceleration stop 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 1 Stop cause indicates of the following e Error occurred in the programmable controller CPU or QD70D e JOG start signal 1 8 to Y n 1 F has turned OFF during JOG operation e Axis stop signal 1 0 to Y n 1 7 h
193. he factory set status Refer to Section 5 7 Do you use Yes GX Configurator PT No Initial setting Initial setting Using the FROM TO instructions create Using GX Configurator PT make initial setting an initial value write sequence program Refer to Section 6 4 Refer to Chapter 7 Do you make auto refresh setting Auto refresh setting Using GX Configurator PT make auto refresh setting Refer to Section 6 5 SS v Programming debugging Create and confirm a sequence program Refer to Chapter 7 System operation 5 SETUP AND PROCEDURES BEFORE OPERATION 5 3 Part Names 1 The following is the part names of the QD70D 1 RUN indicator LED ERR indicator LED QD70D8 ERR AX8 2 Axis display LED 07008 AX1 to only for the QD70D4 AX5 AX3 AX AX8 AX6 AX O O O u 00 0 u nn 0 0 143 1 3 External device connection connector 40 pins For details refer to Section 3 4 2 Signal layout for Da external device connection connector uer A UN d RUN indicator LED ERR indicator LED Refer to the next page 2 Axis display LED Axn n Axis No 3 External device connection Connector for c
194. he near point dog ON 5 Creep speed Pr 6 Bias speed at start Adjust so the near point dog OFF position is as close as possible to the center of the zero signal HIGH level If the near point dog OFF position overlaps with the zero signal the machine OPR control Stop position may deviate by one motor rotation One motor rotation Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status b0 OPR complete flag Status b1 Deviation counter clear output Axis operation status Movement amount after near point dog ON Current feed value Fig 8 2 Near point dog method machine OPR control PR NTROL Saec udo ass MELSEC Q Bl Restrictions A pulse generator with a zero signal is required When using a pulse generator without a zero signal generate a zero signal using an external signal ll Precautions during operation 1 When the near point dog is ON at start an error Start during near point dog ON Error code 201 occurs Perform JOG operation to move the axis to the position where the near point dog turns OFF If the OPR retry function is used however no error will occur It starts at the creep speed and performs the OPR control Start the operation at creep speed to perform zero return Refer to Fig 8 2 3 to 5 2 The near point dog must be ON during deceleration from OPR 4 OPR speed IOPR 5 Creep speed The fol
195. he operation starts according to the speed and direction set in the OPR data 1 to OPR 9 The OP is established by the method set in OPR 1 OPR and the machine stops Refer to sections 8 2 2 to 8 2 8 If a is set as OPR 3 OP address a will be stored as the current position in the Md 1 Current feed value which is monitoring the position The machine OPR control is completed Refer to Section 4 3 List of OPR data for details of OPR data The OPR 3 OP address is a fixed value set by the user 77777777777777774_ Machine OPR control i Near point dog Fig 8 1 Example of a machine OPR control PR NTROL Masc do ass MELSEC Q 8 2 2 Machine OPR method The method by which the machine OP is established method for judging the OP position and machine OPR completion is designated in the machine OPR control according to the configuration and application of the positioning control system The following table shows the six methods that can be used for this OPR method The OPR method is one of the items set in the OPR data It is set in OPR 1 OPR method of the OPR data Deceleration starts when the near point dog turns from OFF to ON Speed is decreased to IOPR 5 Creep speed The axis stops on detection of the first zero signal one pulse of which is output when the motor turns one revolution e g Zero sign
196. he point when the pulse output from QD70D is completed Thus even if the QD70D s positioning complete signal turns ON the system may continue operation 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 3 Details of output signals Programmable controller CPU QD70D The ON OFF timing and conditions of the output signals are shown below Programmable controller OFF a This signal notifies the QD70D that the programmable controller READY Programmable CPU is normal controller It is turned ON OFF with the sequence program READY OFF The Programmable controller READY signal is turned ON ON during positioning control OPR control and JOG operation Programmable b When parameters and OPR data are changed the controller Programmable controller READY signal is turned OFF READY ON c The following processes are carried out when the Programmable controller READY signal turns from OFF to ON e The parameter and OPR data setting range is checked e The module READY signal XnO turns ON d The following processes are carried out when the Programmable controller READY signal turns from ON to OFF In these cases the OFF time should be set to 100ms or more e The module READY signal Xn0 turns OFF e The operating axis stops Positioning start OFF e OPR control and positioning control is started Positioning start not e The positioning start signal is valid at the rising edge and the requested operation is started ON e When the
197. he specified movement amount Md 1 i Current value changing Current value changing address set 9 1 1 Data required for positioning control Position control 1 axis linear control ABS 1 axis linear control 1 axis linear control INC Speed position switching Speed Position Ctrl Forward Speed Position Ctrl Reverse The following table shows an outline of the positioning data configuration and setting details required to carry out the positioning controls Setting item Setting details Set how consecutive positioning data example positioning data No 1 No 2 No will be controlled Refer to Section 9 1 2 Control method Set the control method defined for positioning control Refer to Section 9 1 ACC DEC time Set the acceleration deceleration time for positioning control DEC STOP time Set the deceleration stop time for positioning control Command speed Set the speed for exercising control Set the target value or movement amount for position control or the movement amount or new current value for position control of speed position switching control Refer to Section 9 1 3 Dwell time Set the time taken from when the workpiece has stopped on completion of position control until the QD70D judges completion of position control The setting details of Da 1 to Da 7 vary with Da 2 Control method in whether setting is required or not and details Refer to
198. hen this total No of pulses is issued from the QD70D to the drive unit control to move the designated distance can be executed The machine side movement amount when one pulse is issued to the drive unit is called the movement amount per pulse This value is the min value for the workpiece to move and is also the electrical positioning control precision ll Speed control Though the above total No of pulses is an element needed to control the movement amount speed must be controlled to perform equal speed operation This speed is controlled by the pulse frequency output from the QD70D to the drive unit Pulse frequency This area is hte total pps No of commanded pulses Positioning Servo Servo module amplifiter motor Detector Pulse encoder Speed Pulses frequency Feedback pulses Movement amount No of puleses Feedback pulses Pulses generated by detector i Movement amount t 2 Fig 1 1 Relationship between position control and speed control e The movement amount per pulse is the value determined on the machine side Refer to Section 1 1 3 e The QD70D uses the total No of pulses to control the position and uses the pulse frequency to control the speed 1 PRODUCT TLINE aid MELSEC Q 1 1 3 Outline design of positioning control system The outline of the positioning control system operation and design using the QD70D is shown
199. ime will be ignored even if set c In operation performed by continuous path control operation pattern 2 the positioning control of the next data No is automatically exercised Always set the operation pattern O in the last positioning data to terminate the positioning control If the operation pattern is continuation 1 or 2 operation will continue until the operation pattern O is found If the operation pattern O is not found operation is performed up to the positioning data No 10 If the operation pattern of the positioning data No 10 is not terminated operation is started again from the positioning data No 1 d Aspeed change at positioning data No switching is made at the beginning of the next positioning control Continuous path 1 control 2 Continuous path Dwell time control 2 Positioning Address direction Address direction Positioning start signal Yn8 to YnF OFF Start complete signal X n 1 0 to X n 1 7 OFF BUSY signal Xn8 to XnF OFF Positioning complete signal X n 1 8 to X n 1 F OFF Fig 9 3 Operation for continuous path control POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 2 Errors If any of the following errors occurs during operation in the operation pattern of 2 Continuous path control the axis stops immediately on completion of executing the previous positioning data a The moving direction in the currently executed positioni
200. ing cesses see nnne nnne nnne a enne nnne 5 12 5 5 1 Confirmation items at completion of wiring seen 5 12 5 6 Switch setting for intelligent function module ssssssseeeeeeneeneenenneneeeenenenen 5 14 5 7 Simple reciprocating operation rnnt terere nnen 5 19 6 UTILITY PACKAGE GX Configurator PT 6 1 to 6 19 6 1 Utility package functions na 6 1 6 2 Installing and Uninstalling the Utility Package een 6 2 6 2 1 Handling precautions rna reae 6 2 6 2 2 Operating environment witcha ertet e re Pre te d ee ga Prud LO eO a a 6 4 6 3 Utility Package Operation ssssssesseeeeeeeneneenneenen nennen nennen nnne nnne 6 6 6 3 1 Common utility package operations sssssssseseeeneenenneneenne nennen nennen nnns 6 6 6 3 2 Operation overview cecccceccecesceeseceeseneeeeneeceaeecsaceceaneesaeeseaeecaaeessaneeseaeeseaeeseaeessaneeseneeeneeseeessieees 6 8 6 3 3 Starting the Intelligent function module utility esseeeennnnnn 6 10 6 4 Initial e Ett ret P ter t ERR te ieee 6 12 6 5 Auto refresh setting inane n Ie da RI ei HR Leti n He Io e HR Led i Ho Do EL 6 14 6 6 Monitoririg test a cte hes aa tenda
201. input is x DOG Switch 4 logic selection 00C3H Positive logic Negative logic 5 14 5 14 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Switch 1 Pulse output mode Set the pulse output mode that matches the drive unit used Use Switch 2 to change between the positive logic and negative logic of the pulse The following are pulse output mode examples 1 CW CCW mode During forward run the forward run feed pulse CW will be output During reverse run the reverse run feed pulse CCW will be output Positive logic Negative logic cw _ cw Forward Reverse run run a a Forward Reverse run run CW is output from the PULSE F external I O signal CCW from PULSE R Refer to Section 3 4 3 2 PULSE SIGN mode Positive logic Negative logic Forward run and reverse run are controlled with the ON OFF Forward run and reverse run are controlled with the ON OFF of the direction sign SIGN of the direction sign SIGN e The motor will forward run when the direction sign is HIGH e The motor will forward run when the direction sign is LOW e The motor will reverse run when the direction sign is LOW e The motor will reverse run when the direction sign is HIGH purse TIU purse SIGN A SIGN Forward Reverse Forward Reverse run run run run lt gt lt gt
202. ion Microsoft Windows 95 Operating System English version Microsoft Windows 98 Operating System English version Microsoft Windows Millennium Edition Operating System English version Microsoft Windows NT Workstation Operating System Version 4 0 English version Microsoft Windows 2000 Professional Operating System English version Microsoft Windows XP Professional Operating System English version Microsoft Windows XP Home Edition Operating System English version Microsoft Windows Vista Home Basic Operating System English version Operating system Microsoft Windows Vista Home Premium Operating System English version Microsoft Windows Vista Business Operating System English version Microsoft Windows Vista Ultimate Operating System English version Microsoft Windows Vista Enterprise Operating System English version Microsoft Windows 7 Starter Operating System English version Microsoft Windows 7 Home Premium Operating System English version Microsoft Windows 7 Professional Operating System English version Microsoft Windows 7 Ultimate Operating System English version Microsoft Windows 7 Enterprise Operating System English version 1 Install GX Configurator PT in GX Developer Version 4 or higher in the same language GX Developer English version and GX Configurator PT Japanese version cannot be used in combination and GX Developer Japanese version and GX Configurator PT Engl
203. ion Decremented gt Previous target New target position position Incremented 11 9 11 9 11 SUB FUNCTIONS 11 10 MELSEC Q 2 Precautions during control When utilizing the target position change function pay attention to the following 1 The target position can be changed any number of times during a control 2 When changing the target position several times during 1 axis linear control INC a newly specified target position is always identified as the movement amount from the start address If the work is under acceleration to the commanded speed at the point where the target position request is input after the commanded speed is reached perform positioning for the newly specified target Actions shown in 1 or 2 After acceleration however if deceleration to stop is started without Switching to the commanded speed positioning for the newly specified target must be done after completion of the deceleration stop If the target position change request is input several times during acceleration or during deceleration stop positioning is performed to the target position set in Cd 11 Target position change value at the last time the request is input 4 When using the target position change function and the speed change function together pay attention to the following a When Cd 10 Target position change request turns ON during speed control the processing f
204. ion start or positioning control start is made Use GX Developer to set the intelligent function module switches For details refer to Section 5 6 Switch setting for intelligent function module 4 DATA USED FOR POSITIONING CONTROL Monitor data Control data MELSEC Q H Axis monitor data Data related to the operations of the running axes e g the current positions and speeds are monitored 1 to Md 9 Storage destination QD70D buffer memory Module information monitor data The error status and warning status of the QD70 are monitored Storage destination QD70D buffer memory Md 10 to Md 11 operation related settings and exercise such control as speed changing during operation and operation restart Ca 1 to Cd 11 Storage destination QD70D buffer memory How to set setting data Setting means Sequence program GX Configurator PT GX Developer Parameters o Omas OPR data O initial setting E JOG data Positioning data l 0 O initial setting Intelligent function module x je switches Initial setting is made to the intelligent function module parameters of the QCPU Can be set Can be set in the I O assignment setting PLC parameter of the QCPU X Cannot be set 1 The setting data is created for each axis
205. irection at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR Near point dog ON is detected and deceleration starts at the time set OPR 6 ACC DEC time at OPR 3 The machine decelerates to the OPR 5 Creep speed and subsequently moves at that speed As soon as the axis has traveled the movement amount set OPR 8 Setting for the movement amount after near point dog ON after near point dog ON the pulse output from the QD70D stops at this time the axis decelerates to a stop from 5 Creep speed at the time set in 7 DEC STOP time at OPR and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status 60 turns from ON to OFF Deceleration at the near point dog ON 4 speed OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed 1 Pr 6 Bias speed at start Leave sufficient distance from the OP position to the near point dog OFF Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Status b1 Deviation counter clear output
206. irming the current value nen 9 9 9 2 Setting the positioning data rte t aet tetas R EE 9 10 9 2 1 Relation between each control and positioning data 9 10 9 2 2 1 axis linear Control iei te dne e De t e e cL MOT el Io PE ee a Yd eco 9 11 9 2 3 Speed position switching control sss enne 9 13 9 2 4 Current value changing ricchi dee Dae deo eu dena ee e ed e Doa da 9 16 9 3 Multiple axes simultaneous start control ssssssssssssssssssseseseeneenene 9 17 10 JOG OPERATION 10 1to 10 6 10 1 Outline of JOG operation sessssssssssssssesssseseeeeneennee nne 10 1 10 2 JOG operation execution procedure ccceccceecceeeceeeeeeeeeaeeeeaeeececeeseaeeeeneeseaeeeeeeeteneeseaeeseueetsieeneeess 10 3 10 3 JOG operation example ete attese te tue alius e e aes 10 4 _ 1 _ 1 N 11 SUB FUNCTIONS 11 1 Outline of sub functions A 8 A 8 11 2 Speed limit function sese entente nre nnns 11 1 11 3 Speed charnge function 3 Ere Ene Ene t EO tie o ER ak nx 11 2 11 4 Software stroke limit functlori ite ee teta ed bead eb del tele telae Pius 11 5 11 5 Target position change function ssss
207. is less than 6 Bias speed at start positioning control will be carried out at the bias speed at start Da 6 Positioning address movement amount Set the address or movement amount as the target value of positioning control The setting value differs in the setting range depending on Da 2 Control method 1 to 3 1 1 axis linear control ABS current value changing Set the value positioning address for 1 axis linear control ABS or current value changing using the absolute address address from the OP Stopping position positioning control starting address 1000 1000 3000 lt gt Movement Movement amount 2000 amount 2000 4 32 4 32 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 1 axis linear control INC Set a signed movement amount as the setting value movement amount for 1 axis linear control INC When the movement amount is positive The axis moves in the positive direction address increasing direction When the movement amount is negative The axis moves in the negative direction address decreasing direction Stopping position positioning control starting position Movement amount Movement amount 30000 30000 gt Movement in Movement in negative direction positive direction gt lt 3 Speed Position Ctrl Forward Reverse Set the movement amount value more than 0 after speed co
208. ish version cannot be used in combination 2 GX Configurator PT is not applicable to GX Developer Version 3 or earlier 3 When Windows 7 is used install GX Developer Version 8 91V or later 4 When Windows Vista or Windows 7 is used resolution of 1024 768 dots or more is recommended 6 UTILITY PACKAGE GX Configurator PT MELSEC Q Operating system and performance required for personal computer Performance required for personal computer Operating system Memory Windows 95 Pentium 133MHz or more 32MB or more Windows 98 Pentium 133MHz or more 32MB or more Windows 150MHz or more 32MB or more The functions shown below are not available for Windows XP Windows Vista and Windows 7 If any of the following functions is attempted this product may not operate normally Start of application in Windows compatible mode Fast user switching Remote desktop Large fonts Details setting of Display Properties e Use a USER authorization or higher in Windows Vista and Windows 7 When Windows 7 is used the following functions are not available Windows XP Mode Windows Touch 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 Utility Package Operation 6 3 1 Common utility package operations 1 Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below EE Application Cancels the current entry in a cell
209. ist screen of GX Developer may differ from that on the rating plate and on the front of the module The serial number on the rating plate and front part of the module indicates the management information of the product The serial number displayed on the Product Information List dialog box of GX Developer indicates the function information of the product The function information of the product is updated when a new function is added is displayed 2 Checking the software version of GX Configurator PT The software version of GX Configurator PT can be checked by selecting Help Product information of GX Developer Product information Programming and Maintenance tool p GX Developer Version 8 270 SW8D5C GPPW E COPYRIGHT C 2002 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED This Product is licensed to Name MITSUBISHI Company MITSUBISHI ELECTRIC CORPORATION ProductlD List of version information on Add in software GX Configurator PT Version 21 pw 1D5C GPTU E COPYRIGHT C 208 ELECTRIC CORPORATION ALL RIGHTS RESERVED Software version Warming This product is protected by copyright law and intemational treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extension possible under the law 2 SYSTEM CONFIGURATION MELSEC Q MEMO 3 SPECIFICATIONS AND FU
210. it the motor torque after the OPR 5 Creep speed is reached If the torque is not limited the motor may fail when the machine presses against the stopper Refer to section 12 4 2 Torque limit function For a torque limit refer to the manual of the drive unit used ll Precautions during operation 1 Seta value in the OPR 9 OPR dwell time that is equal to or higher than the movement time from the near point dog ON to the time the machine presses against the stopper 2 The following is the operation performed if OPR 9 OPR dwell time elapses during deceleration from 4 OPR speed OPR 4JOPR speed Deceleration started when near point dog turns ON Dwell time out during deceleration Pr 6 Bias speed at start Torque limit Near point dog OFF OPR dwell time out DES SN T OPR dwell time counting Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Status b1 Deviation counter clear output counter clear signal output time Axis operation status Standby X During OPR K Standby Movement amount after unixed X 6 near point dog ON Current feed value Unfixed X Traveled value is stored X OP address Fig 8 5 Operation when the dwell time elapses during deceleration from the OPR speed 3
211. ition control start has been speeded up to shorten the start processing time of one axis to 0 1ms At a simultaneous start of multiple axes the positioning start signals are turned ON at the same time within one scan there are no starting delays between the axes High speed pulse output and longer connection distance to a drive unit By using differential driver output the speed of pulse command has been improved Max 4 Mpps and longer connection distance to a driver unit Max 10m has been enabled Ease of maintenance In the QD70D error definitions have been subdivided to improve maintenance performance Easy setting using GX Configurator PT With optional GX Configurator PT the QD70D settings can be configured on screen This reduces a load on sequence programs and makes checking the settings and operating status of the module easier 1 PRODUCT OUTLINE MELSEC Q 1 1 2 Mechanism of positioning control Positioning control using the QD70D is exercised using pulse signals The QD70D is a module that outputs pulses In a positioning control system using the QD70D a variety of software and external devices are used to play their roles as shown below The QD70D imports various signals parameters and data and exercises control with the programmable controller CPU to realize complex positioning control Peripheral device GX Developer GX Configurator PT Using GX Developer create control sequ
212. l ror reset program X11 U1N F WANDP 61600 Hl ul D61 Kl ove G77 SET xac 215 M14 M13 L3 K HK eve K1 M14 UlN moer G1600 Hl esT op program ii Prs M15 X18 H p X3D X18 Af est M16 M17 D70 D71 K1 M17 M11 M12 ul G53 M12 61 M13 M14 ul G50 D61 M13 M15 20 v20 fe ND MELSEC Q 7 15 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 5 Program details 7 5 1 Initialization program OPR request OFF program This program forcibly turns OFF the OPR request flag 7 Status b0 which is ON When using a system that does not require OPR control assemble the program to cancel the OPR request made by the QD70D when the power is turned ON etc E Data requiring setting Set the following data to use the OPR request flag OFF request Setting item Setting details Buffer memory address OPR t flag OFF req a Mic Ud vd Refer to section 4 7 List of control data for details on the setting details lll OPR OFF requesting timing chart Programmable controller READY signal Yn0 Module READY signal XnO OPR request flag Md 7 Status 60 OPR request flag OFF request 0 Fig 7 1 OPR OFF requesting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 5 2 Start method setting program
213. l terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 These are limit switches for servo amplifier for stop 3 For details of connection refer to the MR J2 series Servo Amplifier Instruction Guide MR J2S series Servo Amplifier Instruction Manual 4 This indicates the distance between the QD70D and servo amplifier App 7 App 7 APPENDICES Appendix 3 3 Connection example of QD70D and MR HLIA Configure a sequence to turn off MC MELSEC Q at alarm or emergency stop Servo motor c p pn _ 3d ih ie U U 1 Power supply eh MR HOA V 3 phase 200VAC 5g W W 1 1 i i i 1 1 Within 10m 4 i i 1 1 CN1 ui Detector 3 CN2 QD70D0 SG 16 1 1 Exens mrss 40 Doo Le Speed position switchin TORT ON EM 46 CHG1 BS posi 9 s Seno ON son 12 i RTRY1 A2 Fety swite svg goo Reset _ RES 15 COM1 A6 TL 13 24VDC 2 Forward run stroke end LSP 38 ith 50ms Ju Sess SSeS 2 Reverse run stroke end LSN 39 co VIN 20 ered eee EE VDD 22 CLEAR1 A13 m CR 37 CLEAR1 COM 14 SG 17 CN3 Monitor output
214. le Start 1 0 No Module type boo Model Module Module model name 8 Parameter setting module Intelligent function module parameter Start 1 0 No Module model name Initial setting Auto refresh lt Available Initial setting Auto refresh Refer to Section 6 3 Enter Start I O No and select Module type and Module model name 1 Auto refresh Auto refresh setting screen Initial setting X Auto refresh setting Module information Module type 0070 Model Module Start 1 0 No 0010 Module model name 007008 Module type 0070 Model Module Start 1 0 No 0010 Module model name 007008 Module information Setting item Setting value Axis 1 Parameter Setting Axis 1 Parameter Setting Say Setting item reps Leda Axis 2 Parameter Setting Axis 2 Parameter Setting word count Axis 2 Data Setting Axis 2 Data Setting Axis 3 Parameter Setting Axis 3 Parameter Setting Warming Status Axis 3 Data Setting Axis 3 OPR Data Setting Axis 1 Current Feed Value 4 Parameter Setting Axis 4 Parameter Setting Axis 1 Current Speed Axis 1 Axis Operation Status Axis 1 Axis Error Code Axis 1 Axis Warming Code Elm Axis 2 Current Feed Value Make text file End setup Make text file End setup Refer to Section 6 4 Refer to Section 6 5 6 UTIL
215. le insert the module fixing tab into the fixing hole in the base unit until it stops Then securely mount the module with the fixing hole as a supporting point Improper loading of the module can cause a malfunction failure or drop For use in vibratory environment tighten the module with screws Tighten the screws within the specified torque range Undertightening can cause a drop short circuit or malfunction Overtightening can cause a drop short circuit or malfunction due to damage to the screws or module e Before installing or removing the module be sure to shut off all phases of the external power supply used in the system Failure to do so may cause damage to the product e Do not directly touch the conductive section and electronic parts of the module Failure to observe this could lead to module malfunctioning or trouble Wiring Precautions N WARNING e Always confirm the terminal layout before connecting the wires to the module e Make sure that foreign matter such as cutting chips or wire scraps do not enter the module Failure to observe this could lead to fires trouble or malfunctioning Startup Maintenance Precautions N WARNING e Before cleaning or retightening the mounting screws be sure to shut off all phases of the external power supply used in the system Failure to turn all phases OFF could lead to electric shocks Startup Maintenance Precautions N CAUTION e Never disassemble or m
216. led information 5 18 Initialization 7 16 Monitoring test seseeeeeee 6 16 Input output interface internal circuit 3 12 Movement amount per pulse 1 4 Input output interface specifications 3 7 Multiple CPU system 2 6 Installing and uninstalling 6 2 Multiple axes simultaneous start control 9 17 Intelligent function module parameter 6 6 Interrial circuit ete 3 12 N Internal current consumption 3 1 Near point dog method machine OPR control 8 5 J Near point dog 3 7 JOG operation 10 1 No of Control 3 1 JOG operation program 7 14 N of modules eme eedem 2 3 JOG operation starting timing chart 10 1 No of occupied I O points 3 1 JOG start 3 6 JOG JOG teet 4 5 O JOG 2 JOG ACC 4 5 OPR complete 4 35 JOG 3 JOG DEC 4 5
217. lowing is the operation performed if the near point dog turns OFF before deceleration to the creep speed OPR 4 OPR speed Deceleration started when near point dog turns ON Near point dog turns OFF during deceleration IMd 2 Movement amount after near point dog ON 1 Pr Bias Speed at start Near point dog OFF Machine OPR control start OFF Positioning start signal Y8 to YF OPR request flag Md 7 Status bo OPR complete flag Md 7 Status b1 Deviation counter clear output Axis operation status Movement amount after near point dog ON Current feed value Fig 8 3 Operation when the near point dog is turned OFF before the creep speed is reached 8 6 8 6 8 OPR CONTROL MELSEC Q 3 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at 8 OPR CONTROL MELSEC Q 8 2 4 OPR method 2 Stopper 1 The following shows an operation outline of the stopper 1 OPR method lll Operation chart Machine OPR control is started Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 speed Speed is reduced to OPR 5 Creep speed and the axis then moves at the creep speed At this time the motor torque m
218. ls Current value 7 display Cannot execute test Cannot execute test Monitoring Monitoring Current value display Make text file Make text file Stop monitor Stop monitor 6 UTILITY PACKAGE GX Configurator PT MELSEC Q lt X Y Monitor Monitor Test X Y Monitor Module information Module information Module type 0070 Model Module Start 1 0 No Module type 0070 Model Module Start 1 0 No 0010 Module model 007008 Module model 007008 Move to Setting Current value TII sub window Setting item Current value Setting value Avis 4 Monitor Test Axis 4 Monitor Test X0 Module READY Prepared KT Avis error occurrence Normal Axis fM Monitor Axis 84 OPR Moritor X Y Monit Avis 5 Monitor Test Axis 5 Moritor Test X2Awis warning occurence Nowe onitor X8 Avis rl BUSY OFF Axis 5 Monitor Axis 5 OPR Monitor X8 Asis 2 BUSY OFF 3 BUSY OFF Monitor Test Axis 6 Moritor Test 6 OPR Monitor Axis I6 Monitor Axis 87 Monitor Test Axis 87 Monitor Test xB Awe 4 BUSY DER Avie 7 Monitor Axis 87 Monitor 5 BUSY OFF Axis 8 Monitor Test 6 BUSY OFF Axis 8 Monitor Test Mentor Axis 8 OPR Monitor Select items IKE Avis T BUSY OFF X Y Monitor XZY Monite r XF Axis 8 BUSY OFF to be moved Flash ROM
219. m after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment f
220. make settings starting with the QCPU PLC parameter I O assignment setting screen Qni Parameter assignment setting screen Specify the following for the slot where the QD70D is mounted Switch setting Detailed seting Type Select Intelli Model name Enter the module s model name Points Select 32 points inion ae ree Statt XY Enter the start I O signal for the Base mode QD70 D Auto C Detail 8 Slot Default 12 Slot Default Import Multiple CPU Parameter Read PLC data Multiple CPU settings Defaut Check End Cancel Switch setting for 1 0 and intelligent function module b Switch setting for I O and intelligent function Input format module Click on Switch setting on the I O assignment setting screen to display the screen at left and set switches 1 to 4 The setting can easily be done if values are entered in hexadecimal Change the input format to hexadecimal and enter values The values set in the I O assignment setting PLC parameter of the QCPU can be confirmed using the module s detailed information that can be displayed on the system monitor of GX Developer Refer to Section 12 3 for details 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 7 Simple reciprocating operation Before operating the syst
221. mplete flag Status b1 Deviation counter clear output Axis operation status Movement amount after near point dog ON Md 1 Current feed value Unfixed X Traveled value is stored 1 Fig 8 10 Count 1 machine OPR control 8 OPR CONTROL MELSEC Q Bl Restrictions A pulse generator with a zero signal is required When using a pulse generator without a zero signal generate a zero signal using an external signal ll Precaution during operation 1 If OPR 8 Setting for the movement amount after near point dog ON is less than the deceleration distance from OPR 4 OPR speed to OPR 5 Creep speed machine OPR control is completed normally 2 When the near point dog is ON at start an error Start during near point dog ON Error code 201 occurs Perform JOG operation to move the axis to the position where the near point dog turns OFF Refer to Section 8 4 OPR retry function 3 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR PR NTROL Sas MELSEC Q 8 2 8 OPR method 6 Count 2 The following shows an operation outline of the count 2 OPR method The count method 2 method is effective when a zero signal cannot be received ll Operation chart Machine OPR control is started Acceleration starts the direction set in OPR 2 OPR d
222. n 7 14 OPR data setting program 7 10 OPR request OFF program 7 12 PLC READY signal YnO ON program 7 12 Parameter setting program 7 10 Positioning control start program 7 12 Positioning data setting program 7 11 Restart program 7 15 Speed change program 7 14 Start method setting program 7 12 Stop program stake ied kee eas 7 15 QDTOD nito en A 11 QD70D features 1 1 uini eie A 10 Rated 2 9 Remote I O station 2 5 Index 3 Restart function aniser 11 15 S Restart program 7 15 Restarting timing 7 25 Serial number esses 2 9 Setting 4 1 Setting items for OPR data 4 4 Setting items for parameters 4 3 Setting items for positioning 4 6 Setting the positioning data 9 10 Signal Axis error occurrence signal 3 5 Axis stop
223. n match stop Pr 10 Deceleration stop method 13 113 213 313 413 513 613 713 Deceleration stop PULSE SIGN method selection setup hold time System selection S curve acceleration deceleration Trapezoidal acceleration 117 217 317 417 517 617 717 Acceleration deceleration deceleration Pulse output method Fixed Pulse Output stop signal enabled Fixed Deceleration Time 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 1 Software stroke limit upper limit value Set the upper limit for the machine s movement range Pr 2 Software stroke limit lower limit value Set the lower limit for the machine s movement range Software stroke Software stroke limit lower limit limit upper limit Emergency sto Emergency sto Cs 98 Machine movement range Je PR limit switch limit switch Fig 4 1 Software stroke limit setting example 1 Generally the OP is set at the lower limit or upper limit of the stroke limit 2 By setting the upper limit value or lower limit value of the software stroke limit overrun can be prevented in the software However an emergency stop limit switch must be installed nearby outside the range Pr 3 Software stroke limit valid invalid setting Set whether to validate the software stroke limit 0 Valid 1
224. ng data differs from the moving direction in the next positioning data Illegal direction for continuous path control error error code 510 b The movement amount to be executed in the next positioning data is small and a constant speed status does not exist Insufficient movement amount for continuous path control error error code 511 c The movement amount in the currently executed positioning data is small and the calculation of the next positioning data cannot be performed until completion of positioning control Not complete calculation for continuous path control error error code 512 In the positioning data whose operation pattern is 2 Continuous path control set Da 5 Command speed and Da 6 Positioning address movement amount so that the execution time of that data is 2ms or more and a constant speed part is formed y Positioning data Positioning data 1 No 2 it gt Da 5 1 Continuous path control 3 Speed changing a If the command speed of the positioning data currently executed differs from that of the positioning data to be executed next acceleration or deceleration is made on completion of the positioning control of the positioning data currently executed to switch to the speed set in the positioning data to be executed next b The acceleration deceleration processing to the command speed set in the positioning data to be exec
225. ntrol has been Switched to position control Speed Movement amount setting control Time rete tm switching command Da 7 Dwell time When the dwell time is set the setting details of the dwell time will be as follows according to Da 1 Operation pattern 1 When Da 1 Operation pattern in O Positioning termination Position control Set the time from when the positioning control ends to when the positioning complete signal turns ON as dwell time Positioning complete signal OFF 3 Dwell time V Pa 2 When Da 1 Operation pattern is 1 Continuous positioning control Position control TS Next position Setthe time from when position control ends to when _ control the next position control start as the dwell time Dwell time 3 When Da 1 Operation pattern is 2 Continuous path control Position control Next position The setting value irrelevant to the control control The dwell time is Oms No dwell time 0ms 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 6 List of monitor data 4 6 1 Axis monitor data item Storage details Default buffer pes address i e The current position using the position when OPR is completed as the base is stored Update timing 1ms for QD70D4 2ms for QD70D8 e On completion of machine OPR control the OP address is stored e Under speed control of speed position switching
226. ntrol is carried out for a designated movement amount in a designated movement direction Movement amount Start point Movement amount 100 gt End point 100 Movement amount 100 Movement amount 100 T Movement amount 150 a SS Movement amount 100 Movement amount 50 m 100 150 300 Reference point A point point C point Within the stroke limit range Fig 9 6 Incremental system positioning control POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 1 4 Confirming the current value ll Values showing the current value The following address is used as value to show the position in the QD70D This address current feed value is stored in the monitor data area is used in monitoring the current value display etc e This is the value stored in Md 1 Current feed value e This value has an address established with a machine OPR control as a reference but the address can be changed by changing the current value Current feed value to a new value e Update timing QD70D4 ims QD70D8 2ms Current value is changed to 20000 by current value changing gt t Address after current value changing is stored Current feed value ox 1 to 10000 gt lt 20000 Fig 9 7 Current feed value Bl Restrictions 1 Ifthe current feed value stored is used for control an error of 1ms for the QD70D4 or 2ms for the QD70D8 is produced at the update timing of
227. o 3 Positioning control to address C at command speed Operation pattern 1 Continuous positioning control No 4 Positioning control to address D at command speed Operation pattern 1 Continuous positioning control No 5 Positioning control to address E at command speed Operation pattern 0 Positioning termination No 6 Positioning control to address F at command speed Operation pattern 2 Continuous path control Operation pattern DE 11 00 Speed JT The machine stops and X771 then continues the next positioning control Speed is changed without stopping a Positioning control is terminated Time No 2 No 3 No 4 No 5 9 Ned B D E F Address Positioning data Direction in which axis 1 addresses increase For 1 axis linear control ABS One motor is driven and positioning control is carried out to an addresses designated in one direction e To start from an arbitrary positioning data set a desired positioning data No 1 to 10 in Cd 3 Start method If 0 is set the operation will start from positioning data No 1 e The BUSY signal Xn8 to XnF turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 1 Positioning termination Set this to carry out only the positioning control
228. odify the module Failure to observe this could lead to trouble malfunctioning injuries or fires e Before installing or removing the module be sure to shut off all phases of the external power supply used in the system Failure to turn all phases OFF could lead to module trouble or malfunctioning e Do not install remove the module to from the base unit more than 50 times after the first use of the product IEC 61131 2 compliant Failure to do so may cause malfunction e Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately if a hazardous state occurs e Always make sure to touch the grounded metal to discharge the electricity charged in the body etc before touching the module Failure to do so may cause a failure or malfunctions of the module Disposal Precautions N CAUTION e When disposing of the product handle it as industrial waste e CONDITIONS OF USE FOR THE PRODUCT e 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT The PRODUCT has been designed and manufactured for the pur
229. ollowing table shows the functions included in the common functions This function changes the external I O Switch setting on the QCPU PLC parameter I O signal logic according to the device assignment screen using GX Developer External I O signal logic switchin 9 connected to the QD70D Intelligent function module switches This function monitors the external I O signal monitor This function monitors the states of the information in the module s detailed information External I O signal monitor f external I O signals which can be displayed on the system monitor of GX Developer 12 2 External I O signal switching function This function switches the signal logic according to the equipment connected to the QD70D The following external I O signals can be changed in logic I O class Symbol Remarks Zero signal Near point dog signal Pulse output F Pulse output R Deviation counter clear CLEAR L of the symbol indicates the axis No 1 to 8 The following will be described for the external I O signal logic switching function 1 Setting details 2 Precautions for setting Setting details Make switch setting intelligent function module switches of the I O assignment screen PLC parameter of the QCPU using GX Developer For details of the setting refer to Section 5 6 Switch setting for intelligent function module 2 Precautions for setting 1 The values set are made valid af
230. on When performing JOG operation near the moving range provide a safety circuit externally If an external safety circuit is not provided the workpiece may exceed the moving range causing accidents JOG operation is a control method to move a workpiece by only desired movement amount without using the positioning data the pulse is kept output while the JOG start signal is ON It is used to move the workpiece to within the software stroke limit range if operation has been stopped by the positioning control system connection confirmation or by the software stroke limit function lll JOG operation In JOG operation turning ON the JOG start signal Y n 1 8 to Y n 1 F outputs pulses from the QD70D to the drive unit while it is ON to move the workpiece in the direction set in JOG 4 JOG direction flag The following is an example of JOG operation Turning ON the JOG start signal starts acceleration in the direction set in JOG 4 JOG direction flag at the acceleration time set in JOG 2 JOG ACC time At this time the BUSY signal turns from OFF to ON When the accelerating workpiece reaches the speed set in JOG 1 JOG speed the workpiece continues moving at this speed The workpiece moves at constant speed at 2 to 3 Turning OFF the JOG start signal starts deceleration from the speed set in JOG 1 3JOG DEC time When the speed falls to 0 the workpiece stops At this time the BUSY signal turns from ON
231. on the axial direction set to the positioning data When the speed position switching signal is input position control of the movement amount set in Da 6 Positioning address movement amount is exercised Speed position switching control is available in two different types Speed Position Ctrl Forward which starts the axis in the forward direction and Speed Position Ctrl Reverse which starts the axis in the reverse direction ll Switching over from speed control to position control 1 The control is switched over from speed control to position control by the external signal speed position switching signal CHG 2 To switch from speed control to position control Cd 5 Speed position Switching request must be turned ON in addition to the setting of the positioning data If 5 Speed position switching request and the speed position switching signal are ON at a start only position control is carried out lll Operation chart The following chart shows the operation timing for speed position switching control Da 5 Command speed Movement amount set in Da 6 Positioning address movement amount gt t start Speed control Position control Dwell time mie gt 7 Positioning start signal Y8 to YF BUSY signal X8 to XF Positioning complete signal X18 to X1F Speed position switching signal CHG Cd 5 Speed p
232. onnection of the drive unit and connector mechanical system inputs Serial number plate Indicates the serial No of the QD70D 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 2 The LED display indicates the following operation statuses of the QD70D and axes Display Attention point Display Attention point RUNO AX50 1 RUN is OFF Ax50 LIAX1 d AX6L LIAX2 JERR and AX1 Hardware AX6L LIAX2 AX1 to AX8 are stopped or on AXTL lto AX8 states failure 7 1 OFF standby are unfixed ERR L AX80 4 AX80 LIAX4 1 Ax50 1 RUN The module AXeL 2 6 1 LIAX2 AX1 orother corresponding illuminates operates iP AXTLI IAX3 JERR is OFF normally AXTL laxis illuminates is in operation 1 4 d piam An error occurs ERR flashes onthe System error AXA or other illuminates corresponding axis flashes n axis The symbols in the Display column indicate the following statuses LI Turns OFF llluminates Flashes 3 The interface of each QD70D is as shown below QD70D
233. operation The upper and lower limits of the moveable range of the workpiece are set in Pr 1 Software stroke limit upper limit value Pr 2 Software stroke limit lower limit value 11 5 11 5 11 SUB FUNCTION a ee MELSEC Q The details shown below explain about the software stroke limit function 1 About movable range 2 Software stroke limit check details 3 Relation between the software stroke limit function and various controls 4 Precautions during software stroke limit check 5 Setting the software stroke limit function 1 About movable range The following drawing shows the moveable range of the workpiece when the software stroke limit function is used Workpiece moveable range Limit switch for Limit switch for emergency stop emergency stop Software stroke limit lower limit value Software stroke limit upper limit value Fig 11 5 Workpiece moveable range 11 6 11 6 11 SUB FUNCTION MELSEC Q 2 Software stroke limit check details Check details Md 1 Current feed value outside the software stroke limit range is defined as an error An error occurs Da 6 Positioning address movement amount New current value Error code 103 104 outside the software stroke limit range is defined as an error 3 Relation between the software stroke limit function and various controls The following are the rela
234. or the OP address varies depending on the setting in Pr 3 Software stroke limit valid invalid setting 0 Valid 0 to 2147483647 pulse 1 Invalid 2147483648 to 2147483647 pulse When the set value is outside the above range an OP address setting out of range error Error code 912 will occur 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 4 OPR speed Set the speed for OPR control Note e Set the OPR speed to less than Pr 5 Speed limit value If the speed If the speed limit value is exceeded the Setting range outside OPR speed error error code 913 will occur e Set the OPR speed to a value not less than Pr 6 Bias speed at start If itis less than the bias speed at start the Setting range outside OPR speed error error code 913 will occur OPR 5 Creep speed Set the creep speed after near point dog ON the low speed just before stopping after decelerating from the OPR speed The creep speed is set within the following range OPR 4 speed gt OPR 5 Creep speed gt Pr 6 Bias speed at start Note e The creep speed is related to the detection error when using the OPR method with zero signal and the size of the collision if a collision occurs during OPR using the stopper Set the creep speed to a value not more than OPR 4 speed If the OPR speed is exceeded the Setting range o
235. or the target position change is performed after completion of the speed change If the speed change value is Opps however only the target position is changed with no movement When the speed is changed to other than Opps next time positioning is performed to the target position b When Cd 6 Speed change request and Cd 10 Target position change request turn ON at the same time Speed change not possible Warning code 22 is generated 5 At the point where Cd 10 Target position change request turns ON the software stroke limit check is performed on the value set for Cd 11 Target position change value If the Cd 11 Target position change value is more than the upper limit value or less than the lower limit value the target position is not changed and the positioning performed before the change request is continued In this case Cd 6 Speed change request and Cd 10 Target position change request will not be accepted after that 6 The target position change function is not allowed in the following cases a While the axis operation is stopped or is in standby status Cd 10 Target position change request is ignored b When the target position change is requested after restart Target position change not possible Warning code 25 is generated c When the target position change is requested in other than position control Operation pattern
236. or use Refer to Chapter 6 App 12 App 12 APPENDICE ce MELSEC Q Comparison of acceleration deceleration processing function method QD70D Refer to Section 11 5 for details Position control in Speed change operation pattern of Machine OPR control continuous path control Other than the three items on the left Set Time taken to reach Time taken to reach Time taken to reach lerati th d limit val Pme aren to reach the OPR d fi the set d from th oo eration e speed limit value Time taken to reach the new speed from the e speed from Set speed from the time from speed 0 the bias speed at start bias speed at start the new speed from the command speed Time taken to reach Time taken to reach Set Time taken to reach SNC old speed before positioning data deceleration speed 0 from the the creep speed the bias speed at start No changing time speed limit value the OPR speed from the set speed Operation of acceleration deceleration processing function of QD70 Speed limit value Target speed x When bias speed at start is i than 0 When bias speed at start is 0 t Actual acceleration time Actual deceleration time Bias speed at start is O Bias speed at start is 0 Actual acceleration time Actual deceleration time Bias speed at start is other than 0 Bias speed at start is other than 0 ee Set acceleration Set deceleration time time
237. osition switching request Fig 9 8 Speed position switching control operation timing POSITIONIN NTROL 9 POSITIONING CO MELSEC Q ll Current feed value during speed position switching control INC mode The following table shows the Md 1 Current feed value during speed position switching control corresponding to the 4 Current feed value during speed control settings Pr 4 Current feed value during speed control setting The current feed value at control start is maintained during 0 No update speed control and updated from the switching to position control Current feed value The current feed value is updated during speed control 1 Update and position control 2 Clear to 0 and no update The current feed value is cleared set to 99 control start and updated from the switching to position control Speed p Speed control Position control F control Position control Speed _ Speed control Position control gt t ood t gt t X Maintained X Updated X Updated X 0 X Updated from 0 a Current feed value not updated b Current feed value updated c Current feed value zero cleared lll Speed position switching signal setting Set the following item to use the speed position switching signal CHG Setting item Setting Setting details Bune i miernoty address value m Me Set 1 Validates enables the Speed
238. ot BUSY This signal turns ON at the start of positioning control OPR control or JOG operation i BUSY It turns OFF when the Da 7 Dwell time has passed after positioning control stops This signal remains ON during positioning control This signal turns OFF at error or stop Start Start This signal tums ON when the positioning start signal turns ON and the QD70D complete incomplete starts the positioning control process Start The start complete signal also turns ON during OPR control complete ON Positioning start signal Yn8 OFF Start complete signal X n 1 0 OFF Positioning Positioning e This signal turns ON for the time set in Pr 7 Positioning complete signal output complete 2 incomplete time from completion of position control of the corresponding axis Positioning It does not turn ON if 0 is set in 7 Positioning complete signal output time complete While ON this signal turns OFF if a positioning control start including OPR control or JOG operation start is made e This signal does not turn ON at the termination of JOG operation e This signal does not turn ON if position control is stopped midway Important 1 The BUSY signal turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program Position control complete of the QD70D refers to t
239. ount 7000 lll Positioning data setting example The following table shows setting examples when 1 axis linear control INC is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Positioning Set Positioning termination assuming the next positioning data will not termination be executed control INC 3 ACC DEC time 1000ms Set the acceleration deceleration time for position control 1 axis linear Da 2 Control method Set incremental system 1 axis linear control Da 4 DEC STOP time 1000ms Set the deceleration stop time for position control Da 5 Command speed 50000pulse s the speed during movement Positioning address 7000pulse Set the movement amount movement amount F Set the time the machine dwells after the position control stop pulse Da 7 Dwell time 500ms SUN output stop to the output of the positioning complete signal S z S t E c bz o o a e 2 gt lt lt 2 efer to Section 4 5 List of positioning data for the setting details POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 2 3 Speed position switching control In speed position switching control 2 Control method Speed Position Ctrl Forward Speed Position Ctrl Reverse the pulses of the speed set in 5 Command speed are kept output
240. ount address movement amount Refer to Section 4 5 Refer to Section 4 5 Review the sequence program that turns ON OFF the Programmable controller READY signal YnO 13 4 13 4 13 TROUBLESHOOTIN _ MELSEC Q Error name Operation status at error occurrence With OPR 1 OPR method being any of near point dog method count 1 and count 2 machine OPR control was started when the near point dog was ON Start during near point dog 201 ON Machine OPR control is not carried out With OPR 1 OPR method being either of stopper 2 202 Zero signal ON and stopper 3 the zero signal is input when machine OPR control is started Fast OPR control was started though machine OPR control was not yet carried out 203 Machine OPR not execute Fast OPR control is not exercised When starting the OPR control by the near point dog method The OPR retry not operated During the OPR retry operation Decelerates to stop Both the near point dog signal and the retry switch 204 Retry signal error signal are ON 13 5 13 5 13 TROUBLESHOOTING MELSEC Q Related buffer memory address buffer memory address Setting range Remedy Perform JOG operation Refer to Chapter 10 to move the axis to the position where the near point dog turns OFF and then start machine OPR control Refer to Section 8 2 3 Section 8 2 7 and Section 8 2 8 After turning OFF
241. output signal with Programmable Controller CPU 3 4 3 3 1 List of input output signals with programmable controller 3 4 3 3 2 Details of input signal QD70D Programmable controller CPU 3 5 3 3 3 Details of output signals Programmable controller CPU gt QD70D sese 3 6 3 4 Specifications of input output interfaces with external device 3 7 3 4 1 Electrical specifications of input output signals sse 3 7 3 4 2 Signal layout for external device connection connector sesssseeeeennn 3 8 3 4 3 List of input output signal details ssssssssssssssseseeneeeneeneeeenen nen ener 3 10 3 4 4 Input output interface internal circuit sese 3 12 A 6 A 6 4 DATA USED FOR POSITIONING CONTROL LIST OF BUFFER MEMORY ADDRESSES 4 1 to 4 38 4 ype of dala i endete edad tt adhe tama tiui ish a ber 4 1 4 1 1 Parameters and data required for CONtIOI ccccccceeceeeeeeececeeeeeeeeeaeeesseeeeaeeseaeeseeeesieeeseaeesereesaees 4 1 4 1 2 Setting tems for parameta Sesinin onneni annaa nean Ea ERRE etre teeth treten ete eadeni 4 4 1 3 Setting items for OPR data trate ntn nn 4 4 4 1 4 Setting item
242. output time Set the output time of the positioning complete signal X n 1 8 to X n 1 F output from the QD70D Positioning complete indicates that the preset dwell time has elapsed after the QD70D ended pulse output If the setting value is 0 ms or if the axis stop signal was used to make a stop during JOG operation or speed control of speed position switching control the positioning complete signal is not output Programmable controller QD70D rn Positioning Positioning control l Positioning start signal Yn8 to YnF complete signal X n 1 8 to X n 1 F Positioning start signal Start complete signal Positioning complete signal after elapse of dwell time BUSY signal Positioning complete signal B utput time Fig 4 2 Positioning complete signal output time Pr 8 Deviation counter clear signal output time Set the duration of the deviation counter clear signal output during a machine OPR control operation using any of the following methods the near point dog method stopper 1 to 3 and count 1 For details refer to your drive unit manual 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 9 PULSE SIGN method selection setup hold time Set the setup hold time when PULSE SIGN is selected in the pulse output mode to output inverted pulses 0 10us 1 100 5 2 1ms 3 2ms The following is an example for negative logic
243. peed 4 4 Max connection distance 3 1 OPR 6 ACC DEC time at OPR 4 4 Max output 3 1 OPR 7 DEC STOP time at OPR 4 4 1 Current feed value 4 7 OPR 8 Setting for the movement amount after Md 2 Movement amount after near point dog ON near point dog ON 4 4 MEINE TOR I M A M EON 4 7 OPR 9 OPR dwell time 4 4 Md 3 Current 4 7 10 OPR 4 4 Index 2 Index 2 Operating environment 6 4 P Operation pattern 9 2 Operation timing and processing time of JOG an da b ten App 5 Operation timing and processing time of fast OPR Control cs acta ded App 2 Operation timing and processing time of machine OPR control ret App 2 Operation timing and processing time of position App 3 Operation timing and processing time of speed position switching control App 4 Outline design of positioning control system mc M PE ak Mer ek oe Te ie 1 5 Outline of OPR
244. pose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its
245. position indicated by a positioning data 3 Continuous path control Positioning control is carried out successively in order of data Nos with one start signal The operation does not stop at each positioning data Note Refer to CHAPTER 9 POSITIONING CONTROL for details of the operation pattern 4 30 4 30 4 DATA USED FOR POSITIONING CONTROL Pr 6 MELSEC Q Da 2 Control method Set the control method for positioning control 0 No control method 1 1 axis linear control ABS 2 1 axis linear control INC 3 Speed Position Ctrl Forward Speed position switching control forward run 4 Speed Position Ctrl Reverse Speed position switching control reverse run 5 Current value changing Note e Refer to CHAPTER 9 POSITIONING CONTROL for details of the control method e Setting 0 No control method will result the Setting range outside control method error error code 506 Da 3 ACC DEC time Da 4 DEC STOP time 4 31 Bias speed at start Set the acceleration deceleration time for positioning control 1 Operation pattern is 0 Positioning termination or 1 Continuous positioning control Da 3 ACC DEC time Set the time taken to reach Da 5 Command speed from Pr 6 Bias speed at start Da 4 DEC STOP time Set the time taken to make a stop after reaching Pr 6 Bias speed at start from Da 5 Command
246. positioning module Appendix 4 1 Comparisons with type QD70P positioning module e Pulse output method Differential output Open callector output CW CCW mode PULSE SIGN mode CW CCW mode A phase B phase mode multiple of 1 PULSE SIGN mode A phase B phase mode multiple of 4 Speed command value 0 to 4000000 pps 0 to 200000 pps S curve acceleration deceleration function x OPR retry function Q x Available in the following controls e Positioning control with the operation Available in the following controls pattern set to Positioning termination e Speed control in the speed position e Speed control in the speed position switching control switching control e JOG operation e JOG operation Pulse output mode Speed change function Target position change function Setting a positioning No 1 to 10 of any desired positioning data for Start method enables the system to start the operation from any given number Arbitrary positioning data setting for start Always starts from positioning data No 1 When Continuous positioning control or Continuous path control is selected for the operation pattern S curve acceleration deceleration is not available App 10 App 10 APPENDICE MELSEC Q Appendix 4 2 Comparisons with type QD75 positioning module QD75P1 QD75P2 QD75P4 QD70D4 QD70D8 QD75D1 QD75D2 QD75D4 Number of positioning data iti 2 axes linear interpolation d ABS
247. program 7 17 Start 7 17 Starting the Intelligent function module utility 6 10 Stop 7 15 Stop settling 1 6 Stopper 1 machine OPR control 8 8 Stopper 2 machine OPR control 8 10 Index 4 Stopper machine OPR control 8 12 Sub functions 11 1 Switch setting for intelligent function module 5 14 T Timing chart Fast OPR control starting timing chart 7 21 JOG operation starting timing chart 10 1 Machine OPR control starting timing chart uds ei 7 20 OPR OFF requesting timing chart 7 16 Positioning control starting timing chart 7 21 Restarting timing chart 7 25 Speed changing timing chart 7 23 Speed position switching control starting timing chal 7 22 Torque limit n 8 8 Types and roles of control data 4 8 Types and roles of monitor data 4 7 Types of data esee 4 1 Types of errors 13 1 Types of 5 13 2 U Utility
248. put time The setting value of Pr 8 Deviation counter clear signal output time is outside the setting range 13 9 13 9 13 TROUBLESHOOTING MELSEC Q Related buffer memory address buffer memory address Setting range Remedy Change the setting of the Error time output mode of PLC parameter to Clear Refer to the QCPU User s Manual Set the intelligent function module Switches to within the setting ranges refer to Section 5 6 Switch power from OFF to ON or reset programmable controller CPU Refer to the QCPU User s Manual Make setting to satisfy upper limit value 2147483648 to 2147483647 pulse lower limit value Pr 2 Software stroke limit lower limit value Refer to Section 11 4 2 102 202 302 402 502 602 702 3 103 203 303 403 503 603 703 Pr 9 PULSE SIGN method selection setup hold time 12 112 212 312 412 512 612 712 0 10 1 100us 2 1ms 3 2ms Pr 3 Software stroke limit valid invalid E 4 104 204 304 404 504 604 704 setting Change the setting to within the setting 0 Valid 1 Invalid range and turn the Programmable controller READY signal YnO from OFF Pr 4 Current feed value during speed to ON control 5 105 205 305 405 505 605 705 0 No update 1 Update 2 Clea
249. r select Online Read from PLC Write to PLC Intelligent function module parameters Alternatively from the intelligent function module selection screen of the utility select Online Read from PLC Write to PLC Text files a A text file can be created by clicking the Make text file button on the initial setting Auto refresh setting or Monitor Test screen The text files can be utilized to create user documents P GX Developer GX Configurator PT Intelligent function module parameters B Data saved by Make text file Figure 6 1 Correlation chart for data created with the utility package 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 2 Operation overview GX Developer screen mode MAIN 35 Step EES window Help Check program Confirm project memory size Merge Check parameter Transfer ROM gt Delete unused comments Clear all parameters IC memory card gt Start ladder logic test Set TEL data gt Intelligent Function utility Utility list Change display color Options Create start up setting file Tools Intelligent function utility Start Screen for selecting a target intelligent function module Intelligent function module utility D WELSECYGPPWYPT C fE fX Intelligent function module parameter Online Tools Help r Select a target intelligent function modu
250. r PT MELSEC Q 6 4 Initial setting Purpose Make initial setting axis by axis for the QD70D to operate The following items are data that need initial setting e Parameters e OPR data Positioning data This initial setting makes sequence program setting unnecessary For more information on the setting details refer to UHAPTER 4 DATA USED FOR POSITIONING CONTROL Operating procedure Start I O No gt Module type Module model name Initial setting Enter the start I O No in hexadecimal Setting screen Initial setting of parameters and OPR data Initial setting Module information Module type 0070 Model Module Start 1 0 No 0010 Module model name 907008 Setting item Setting value Axis 1 Parameter Setting Axis 1 Parameter Setting Avis 1 OPR Data Setting Axis 1 OPR Data Setting 4 Axis 2 Parameter Setting Axis 2 Parameter Setting Aris 2 Data Setting dais 2 Data Selling Select items to be moved Axis 3 Parameter Setting Axis 3 Parameter Setting to sub window Axis 3 Data Setting Axis 3 OPR Data Setting Axis 4 Parameter Setting Asis 4 Parameter Setting Details Mave to sub window Make text fle End setup Move to sub window Axis 1 Parameter Setting Axis 1 OPR Data Setting Axis 1 Parameter Setting X Axis 1 OPR Data Setting Module information Module information Module type 9070 Model Module Start 1 0 No 0
251. r PT is as shown below Target module Initial setting Auto refresh setting QD70D4 12 Fixed 26 Max QD70D8 24 Fixed 50 Max Example Counting the number of parameter settings in Auto refresh setting Auto refresh setting Module information Module 0070 Model Module Start 1 0 No Module model 907008 PLC side Setting item Transfer Device word count Error Status Warning Status ES 1 ERN NES E This one row is counted as one setting wis 4i Cunen Speed i Blank rows not counted ORE Eh oie Sie x Count up all the setting items on this screen 1 Axis Error Code and add the total to the number of settings for Axis 1 Axis Warming Code other intelligent function modules to get a grand Axis 1 Executing Positioning Data No total Axis 2 Current Feed Value Make text file End setup Cancel 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 2 2 Operating environment This section explains the operating environment of the personal computer that runs GX Configurator PT Installation Add in target i Add in to GX Developer Version 4 English version or later A personal computer with the operating systems below CPU Refer to Operating system and performance required for personal computer on the Required memory next page Hard disk For installation 65 MB or more space 10 MB or more Display 800600 dots or more resolut
252. r point dog OFF Machine OPR control start Positioning start signal Y8 to YF OPR request flag Md 7 Status bO OPR complete flag Status b1 Deviation counter clear output p Pr 8 Deviation counter clear signal output time iat 4 Axis operation status Standby X During OPR X Standby 1 2 Movement amount after near point dog ON 1 Current feed value Fig 8 6 Stopper 2 machine OPR control 8 OPR CONTROL MELSEC Q Bl Restrictions 1 Always limit the motor torque after the OPR 5 Creep speed is reached If the torque is not limited the motor may fail when the machine presses against the stopper For a torque limit refer to the manual of the drive unit used 2 Use an external input signal as the zero signal ll Precautions during operation 1 Input a zero signal from an external source after the machine presses against the stopper The following is the operation performed if the zero signal is input before deceleration to OPR 5 Creep speed Deceleration started when near point dog turns ON Zero signal input during deceleration OPR 5 Creep speed Zo Stopper OPR 4 OPR oma Pr 6 Bias speed at start Zero signal Torque limit Near point dog OFF i Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Statu
253. r to 0 and no update 6 106 206 306 406 506 606 706 5 Speed limit value 7 107 207 307 407 507 607 707 1 to 4000000 pulse s Pr 5 Speed limit value 6 106 206 306 406 506 606 706 1 to 4000000 pulse s Change nl to EE 7 107 207 307 407 507 607 707 range andio nor moreman Speed limit value and turn the Pr 6 Bias speed at start Programmable controller READY signal 108 208 308 408 508 608 708 0 to 4000000 pulse s Yn0 from OFF to ON 109 209 309 409 509 609 709 Pr 8 Deviation counter signal output Change the setting to within the setting 11 111 211 311 411 511 611 711 time range and turn the Programmable 1 to 32 ms controller READY signal YnO from OFF 13 10 13 10 13 TROUBLESHOOTIN ue MELSEC Q Error name Operation status at error occurrence Setting range outside OPR The setting value of OPR 1 OPR method is outside method the setting range 910 Setting range outside OPR The setting value of OPR 2 OPR direction is direction outside the setting range 911 OP address setting out of The set value of OP address is outside the range setting range e The setting value of OPR 4 OPR speed is outside the setting range Setting range outside OPR e The setting value of OPR 4 O
254. range to 4000000 pulse s Cd 8 ACC DEC Setthe time taken at a speed change to reach the new speed from the old speed Setting range 0 to 32767ms 1000 58 158 258 358 458 558 658 758 time at speed change et the time taken at axis stop factor occurrence axis stop signal ON or error occurrence to make Maree a stop after reaching 6 Bias speed at start 1000 59 159 259 359 459 559 659 759 speed from the speed after a speed change change Setting range 0 to 32767 ms Set 1 to change the positioning Cd 10 Target address movement amount to the value set for 11 Target position change value during position position control when the operation pattern is set change to Positioning termination request Upon acceptance of the target position change request it automatically returns to 0 Set a new positioning address movement amount Cd 11 Target value during position control when the operation pattern is set to Positioning termination e For the ABS control set a target positioning change address value e For the INC control set a movement amount from the positioning start address position 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION This chapter describes the procedure up to the operation of the QD70D and the part identifica
255. red Start was made when the QD70D was not ready Start is not made A start request was given when the axis stop signal Stop signal ON at start Y n 1 0 to Y n 1 7 is ON e Positioning control was carried out a position in At start Start is not made excess of Pr 1 Software stroke limit upper limit At current value changing analysis value Current value changing is not made Software stroke limit e Md 1 Current feed value or Da 6 Positioning During operation address movement amount New current value has During speed control including speed exceeded Pr 1 Software stroke limit upper limit control of speed position switching control value or JOG operation the axis decelerates to a stop as soon as Md 1 Current feed value e Positioning control was carried out in a position in exceeds the software stroke limit range excess of Pr 2 Software stroke limit lower limit During position control including position value control of speed position switching control Software stroke limit Md 1 Current feed value or Da 6 Positioning the axis decelerates to a stop as soon as address movement amount New current value has 1 Current feed value or Da 6 exceeded Pr 2 Software stroke limit lower limit Positioning address movement amount value exceeds the software stroke limit r
256. return to move the work in a direction opposite to OPR 2 OPR direction at OPR 4 OPR speed 2 The near point dog turns OFF and the movement is decelerated and stopped 3 Perform the machine zero return in the OPR 2 OPR direction In step 2 when the time set in OPR 9 OPR dwell time has elapsed after deceleration stop the next action is started V 4 Starting point Near point dog Fig 8 13 OPR retry operation PR NTROL Sas udo ass MELSEC Q 2 Precautions 1 In the OPR retry function the Retry switch RTRY is used to detect the work position when it has gone beyond the original point Note that while this function is used turning ON the speed position switching signal CHG is recognized as turning ON the Retry switch signal Place the Retry switch in a position beyond the original point viewing from the OPR 2 OPR direction Also keep an adequate distance between the Retry switch and the near point dog switch so that both ON areas are not overlapped If both the near point dog signal and the Retry switch signal turn ON a Retry signal ON error Error code 204 may occur 3 The OPR retry function is enabled in the following e Near point dog method e Count 1 Count 2 S 3 The OPR retry function setting To use the OPR retry function set the following parameters and write them to the QD70D Setting item Setting value Setting details Factor
257. ring speed control of speed position switching control Check not carried out check invalid 11 7 11 7 11 SUB FUNCTIONS 11 8 4 Precautions during software stroke limit check MELSEC Q 1 A machine OPR control must be executed beforehand for the software stroke limit function to function properly 2 If an error is detected in the continuous path control operation pattern of positioning control the axis comes to an immediate stop upon completion of the execution of the positioning data that precedes the positioning data where the error occurred r Example m eeommme eee nn ss eee nnnm ss ns nn Operation pattern Continuous executed Positioning Positioning path control If the positioning address of positioning data No 8 is outside the software stroke limit range the operation immediately stops after positioning data No 7 has been Positioning date Immediate stop at error detection Operation pattern Continuous No 5 path contro Operation pattern Continuous No 6 path contro Positioning Positioning 5 Setting the positioning control dataNo 5 dataNo 6 data No 7 data No 8 Operation path contro 8 Operation pattern Continuous path contro 3 Positi trol 9 Axis operation arabes bh Emor Operation pattern Continuous status 1 software st
258. roke limit function To use the software stroke limit function set the required values in the parameters shown in the following table and write them to the QD70D The set details are validated at the rising edge OFF ON of the Programmable controller READY signal YnO TE Setting Factory set Setting item Setting details YO value initial value Make setting so that the condition of lower limit value is satisfied Software stroke Pr 1 limit upper limit value Set the upper limit value of the moveable range 2147483647 e 2147483648 Set whether the software stroke limit is validated or Software stroke Pr 2 limit lower limit gt Set the lower limit value of the moveable rang value Software stroke 3 limit valid invalid O Valid invalidated setting Refer to section 4 2 List of parameters for setting details Pr 1 Software stroke limit upper limit value gt 0 valid Pr 2 Software stroke limit If the setting made does not satisfy the above condition the Software stroke limit upper lower limit value error error error code 901 occurs 11 8 11 SUB FUNCTIONS MELSEC Q 11 5 Target position change function The target position change function allows the target position to be changed at any given timing during execution of position control Operation pattern Positioning termination To use this function set a new target position in
259. rol to the end point of the positioning data from where it had stopped request For speed control of speed position switching control speed control is exercised at the speed used before the stop After completion of restart request acceptance the data changes to 0 automatically Set whether the speed position switching signal is made valid or not ca 8 Speed 0 Invalidates the speed position switching position signal Switching Disable request 1 Validates the speed position switching signal Enable Restart 4 DATA USED FOR POSITIONING CONTROL MELSEC Q iei Setting details Default E buffer address i i value axis 1 Ax Axis 6 Set 1 to request speed change processing after Cd 6 Speed Cd 7 Speed change value setting Enable the value during position control with the operation pattern set to Positioning termination during request speed control in the speed position switching control or during JOG operation Set a new speed during position control with the operation pattern set to Positioning termination during speed control in the speed position Switching control or during operation Cd 7 New speed teri Kor aUa JOG ti 156 P e Set the value not more than Pr 5 Speed limit pa value change value Set the value not less than 6 Bias speed at start Setting
260. rom Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice SH NA 080551ENG G SH NA 080551ENG G 1103 MEE MODEL QD
261. rors are in decimal HZW Information r Stop monitor Error display details Present Error Means error code 103 x Software stroke limit V Error code of Axis n Axis n 1 n 8 13 16 13 16 MELSEC Q APPENDICES APPENDICES Appendix 1 External dimension drawing 1 QD70D4 nn E 2588 8 allA EB esesssesuustudUGuUus PEA Ca X ol N g 2 Olaa Mo 8 N N Q y N e wo a o e a o y le gt 98 86 ee oN tee oe x ee ve 1 pt art ck iat et vty 1 i 1 1 1 1 t 1 1 1 i SS H 4 5 lO e e e L 2 e D Y Y Unit mm inch 2 QD70D8 PNE E K 5955 5 e muguEaueHuuUHSHHSd E38 Bee Se eas O 02
262. s When two or more Intelligent function module utility screens cannot be displayed side by side select a screen to be displayed on the top of others using the task bar a Start MELSOFT series XD Intelligent Function m c Intelligent Function m 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 Number of parameters that can be set in GX Configurator PT When multiple intelligent function modules are mounted the number of parameter settings must not exceed the following limit Maximum number of parameter settings When intelligent function modules are installed to Initial setting Auto refresh setting Q00J Q00 Q01CPU 512 256 Q02 Q02H Q06H Q12H Q25HCPU 256 Q02PH Q06PH Q12PH Q25PHCPU 512 256 Q12PRH Q25PRHCPU Q00UJ Q00U QO1UCPU QO2UCPU 2048 1024 QO03UD Q04UDH QO06UDH Q10UDH Q13UDH Q20UDH Q26UDH Q03UDE Q04UDEH QO06UDEH 4096 2048 Q10UEDH Q13UDEH Q20UDEH Q26UDEHCPU Q5OUDEH Q100UDEHCPU MELSECNET H remote I O station For example if multiple intelligent function modules are installed to the MELSECNET H remote I O station configure the settings in GX Configurator so that the number of parameter settings for all the intelligent function modules does not exceed the limit of the MELSECNET H remote I O station Calculate the total number of parameter settings separately for the initial setting and for the auto refresh setting The number of parameters that can be set for one module in GX Configurato
263. s b1 Deviation counter clear output E Deviation counter clear signal output time lt 1 4 Axis operation status Standby X During OPR X Standby i i 2 Movement amount after Unfixed X 0 i near point dog ON 1 1 Current feed value Unfixed X Traveled value is stored OP address i Fig 8 7 Operation performed if zero signal is input before deceleration to creep speed 2 The near point dog must be turned ON until it presses against the stopper 3 If the axis is started during near point dog ON it starts at OPR 5 Creep speed 4 Ifthe axis is started during zero signal ON the Zero signal ON error error code 202 occurs 5 If the axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR PR NTROL Saec udo ass MELSEC Q 8 2 6 OPR method 4 Stopper 3 The following shows an operation outline of the stopper 3 OPR method The stopper 3 method is effective when a near point dog has not been installed Note that the operation is carried out from the start at the 5 Creep speed so it will take some time until the machine OPR control completion lll Operation chart Machine OPR control is started Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at
264. s for JOG data ies edet ete dee Le dee ette dee ate do una dade te dn ds 4 5 4 1 5 Setting items for positioning data sssssssseseeeeeeeeneneneen nennen rennen nns 4 6 4 1 6 Type and roles of monitor data 4 7 4 1 7 Type and roles of control data sse eene nnne nennen ens 4 8 422 Listofiparameters er eee eere 4 9 4 3 Eist or OP R inier eerie iq itetiein laghed biettaled gel ettet el abate e galt 4 19 DU B No JOG daa PM 4 27 4 5 List of positioning data eco en aen aep tena ep alten ae penes venae 4 28 4 6 List ot monitor data 2 oS hits too Eee itenim nadie 4 34 4 6 1 Axis monitor data eret UR PR TRU ET OR UR DET C e E e OE 4 34 4 6 2 Module information monitor data ssssssseseseeeeeeenenenneeneee nene 4 36 4 7 List of control data nie liba a al HEO DL e D GL RV D HOO DR HR d 4 37 4 1 Axis coritroldata s iii ut Eg ud a 4 37 5 1 Handling precautions eiiiai aieia 5 1 5 2 Procedures before operation cceccccsecceeeseeeeseeeeaeeceaeeceeneeeeneeceneeseaeeseacesseneeseaeeseaeessaeeeseeeseeeeeneesenees 5 3 9 9 Part Names o oct t pt E t d P ED C t Eie Et P pte Eo a ties 5 4 Ey AVIA acne eter eee Es AER es ERR M e E emi ien 5 7 5 4 1 Wiring precautioris 1 iicet edid ai LE rn d 5 7 5 5 Confirming the wir
265. s position control at high speed without using the positioning data and near point dog zero and other signals The following is the operation performed at a fast OPR control start 1 Set 9001 in Cd 3 Start method and turn ON the positioning start signal Y8 to YF 2 Position control is started to reach Md 1 Current feed value according to the OPR data OPR 1 to OPR 10 defined when machine OPR control was carried out 3 Fast OPR control is completed OPR speed Position set up by machine OPR control Pre Bias speed at start Fast OPR control start UU ns Positioning start signal Y8 to YF Md 4 Axis operation status Standby X Fast OPR in progress Standby OP Position control to OP gt Fig 8 12 Fast OPR control lll Precautions for operation 1 Start fast OPR control after setting up the machine OP by exercising machine OPR control If fast OPR control is started without machine OPR control being exercised the Machine OPR not execute error error code 203 will occur 2 In fast OPR control the OPR compete flag Md 7 Status 61 and Md 2 Movement amount after near point dog ON are unchanged 3 On completion of fast OPR control OPR 3 OP address is not stored into Md 1 Current feed value PR NTROL Saec do ass MELSEC Q 8 4 OPR retry function The work may not move towar
266. s set for the operation pattern of the started positioning data the designated positioning data will be executed and then without decelerating the next following positioning data will be executed Continuous path control 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 Specifications of input output signal with Programmable Controller CPU 3 3 1 List of input output signals with programmable controller CPU The table below shows I O signals of the QD70D For the QD70D I O assignment the first16 points and other 32 points are reserved for free space and for intelligent function modules accordingly When the QD70D is installed to slot No 0 of the main base unit device No Xn0 is regarded as X10 Note that if O point is set for the first 16 points in the I O assignment setting of GX Developer device No XnO is n 0 QD70D Programmable controller CPU Programmable controller CPU QD70D 2 Axis warning occurrence Use prohibited 5 Use prohibited x6 Xn Aisi Axs2 Yn9 Axs2 Aise YE p Aise xS S Ear Eea E ec ITIN m Eee ea Positioning complete JOG start X n 1 F Important Yn1 to Yn7 and Xn3 to Xn7 are used by the system and cannot be used by the user If these devices are used the operation of the QD70D will not be guaranteed sla bee lS 5 5
267. setting Details Flash ROM setting Details to sub window Cariae display Cannot execute test Move to sub window Make text fle Make text file Stop monitor Stop monitor Explanation of items 1 Setting item list Setting item Module READY n indicates the axis No QD70D4 1to4 QD70D8 1 to 8 2 Items Setting item Displays I O signals and buffer memory names Current value Monitors the I O signal states and present buffer memory values Setting value Enter or select values to be written into the buffer memory for test operation Axis Error Reset 6 UTILITY PACKAGE GX Configurator PT 3 Command button Current value displa Make text file Start monitor Stop monitor Execute test MELSEC Q Displays the current value of the item selected This is used to check the text that cannot be displayed in the current value field However in this utility package all items can be displayed in the display fields Creates a file containing the screen data in text file format Selects whether or not to monitor current values Performs a test on the selected items Axis Error Reset Click this button after selecting Error Reset Request in the Setting value field of Axis Error Reset on the Axis monitor test sub window Error Reset Complete Except 0 Spee
268. sitioning control 9 4 Count 1 machine OPR control 8 14 Count 2 machine OPR control 8 16 Current feed value eee 9 9 Current value changing 9 16 Da 1 Operation 4 6 2 Control method 4 6 Da 3 ACC DEC 4 6 Da 4 DEC STOP time 4 6 5 Command 4 6 Da 6 Positioning address movement amount SM eA D Cu oU 4 6 Da 7 Dwell time sse 4 6 Deceleration 1 11 Details of input signals QD70D to programmable controller CPU Details of output signals programmable controller CPU to QD70D E F pn MO Saver 3 6 Deviation counter clear signal 3 7 Deviation counter droop pulse amount 1 7 Electrical specifications 3 7 Error and warning details 13 1 Error reset program 7 15 External I O logic switching function 12 1 External I O signal monitor 12 1 External device connection connector 5 6 External dimension drawing
269. sitioning control by continuous execution of multiple pieces of positioning data As the control method any of position control speed position switching control and current value changing may be specified in each positioning data The target position change function or the speed change function allows the position or speed change during positioning control The OPR Original Point Return Zero return control has been enhanced 1 The following six different OPR methods are available for machine OPRcontrol near point dog method one method stopper three methods and count two methods 2 The OPR retry function has been provided to realize the return from any given point to a mechanical origin Two kinds of the acceleration deceleration methods have been offered The trapezoidal and S curve acceleration deceleration As the speed changes gradually and smoothly this module is suitable for motor control When Continuous positioning control or Continuous path control is selected for the operation pattern S curve acceleration deceleration is not available You can change the I O signal logic according to the specifications of the external device This allows the input signals to be used with either of normally open and normally closed contacts and the output signals to be used according to the specifications of the drive unit 1 PRODUCT OUTLINE 3 6 MELSEC Q Fast start processing Processing at a pos
270. sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number 2006 SH NA 080551ENG A First edition May 2006 SH NA 080551ENG B Modifications Section 11 7 Appendix 3 1 Jun 2006 SH NA 080551ENG C Modifications Section 2 3 Section 4 6 1 10 1 11 2 Jan 2008 SH NA 080551ENG D Modifications GENERIC TERMS AND ABBREVIATIONS Section 2 3 to 2 6 Section 6 2 2 May 2008 SH NA 080551ENG E Modifications SAFETY PRECAUTIONS COMPLIANCWE WITH THE EMC AND LOW VOLTAGE DIRECTIVES Section 2 3 2 6 3 1 5 4 1 6 2 1 6 3 1 6 3 3 9 2 3 Jan 2010 SH NA 080551ENG F SAFETY PRECAUTIONS Section 1 1 1 2 3 2 4 2 6 3 1 5 1 5 4 1 5 3 6 2 1 7 1 Appendix 1 4 2 5 CONDITIONS OF USE FOR THE PRODUCT Mar 2011 SH NA 080551ENG G Modifications SAFETY PRECAUTIONS COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES GENERIC TERMS AND ABBREVIATIONS Section 1 1 4 2 3 3 1 3 3 3 5 4 1 6 2 6 2 2
271. ssssssseeseeeeenennennnen nennen nre nnne nnns 11 9 11 6 Acceleration deceleration processing function esssssseeeeeenen nennen 11 11 141 FEROS CACTI o io a 2o een it oup eua RM ei 11 15 12 COMMON FUNCTIONS 12 1to 12 3 12 1 Outline of common entrent ennt nnns 12 1 12 2 External I O signal switching function essen enne 12 1 12 3 External I O signal monitor function anene E 12 2 13 TROUBLESHOOTING 13 1to 13 16 19 1 Error and warning detalla nerd e a it e eite e eine e ele pe go gei 13 1 13 2 LSE Of GETOTS d cen el t alt dut n t eae 13 3 19 3 List of warnings tette edd tc n nde n cdi nda n ndn Hd e ndn D nda uL a ue nda uo e dnd 13 13 13 4 Error check by LED indication sess nennen nennen nnne nnne nennen nnne 13 15 13 5 Confirming the error definitions using system monitor of GX 13 16 APPENDICES App 1 to App 16 Appendix 1 External dimension drawing ssssssssssssssesesee eene enne nnne nnns App 1 Appendix 2 Operation timing and processing time in each control ssssssssssssssses App 2 Appendix 3 Connection examples with servo amplifiers manufactured by Mitsubishi Electric Corporations E E eL Mer Ne T rua I App 6 Appendix 3 1 Connection example of QD70D and MR J3 L1A
272. start point address to the address end point address set in Da 6 Positioning address movement amount When the start point address current stop position is 1000 and the end point address positioning address is 8000 position control is carried out in the positive direction for a movement amount of 7000 8000 1000 1000 8000 Ms Positioning control movement amount 7000 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Start point address End point address current stop position Pd positioning address 1 1 1 1 1 1 1 1 1 1 i 1 1 1 1 1 1 1 1 H Positioning data setting example The following table shows setting examples when 1 axis linear control ABS is set in positioning data No 1 of axis 1 Setting item Setting example Setting details z Positioning Set Positioning termination assuming the next positioning data will not Da 1 Operation pattern HEUS termination be executed 1 axis linear Control method control ABS Set absolute system 1 axis linear control 3 ACC DEC time 1000ms Set the acceleration deceleration time for position control Da 4 DEC STOP time 1000ms Set the deceleration stop time for position control Da 5 Command speed 50000pulse s Set the speed during movement to the positioning address Positioning address 8000pulse Setthe positioning address movement amount Set the time the ma
273. started Positioning control in the above example Enter the positioning start signal Yn8 Positioning data No 1 is started Fig 7 2 Procedures for starting control for axis 1 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q lll Starting conditions To start the control the following conditions must be satisfied The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied a P bl TOT Programmable controller Yno CPU ready Module READY signal QD70D ready Axis error occurrence _ OFF No error Xn1 ignal Axis stop signal OFF Axis stop signal being OFF Y n 1 0 Y n 1 1 Y n 1 2 Y n 1 3 1 4 1 5 Y n 1 6 1 7 Start complete signal lore oa complete signal being nonet 1 2 X n 1 3 1 4 1 5 1 6 1 7 c e 7 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q ll Operation when starting 1 When the positioning start signal turns ON the start complete signal and BUSY signal turn ON and the OPR control or positioning control starts It can be seen that the axis is operating when the BUSY signal is ON 2 When the positioning start signal turns OFF the start complete signal also turns OFF If the positioning start signal is ON even after OPR control positioning control is completed the st
274. t 100pulse s D22 OPR 6 ACC DEC time at OPR 1000ms D10 Pr 7 Positioning complete signal output time D11 Pr 8 Deviation counter clear signal output time D12 Pr 9 PULSE SIGN method selection setup hold time 0 105 013 10 Stop mode during path control 0 Position match stop D14 OPR 1 OPR method 0 Near point dog method D15 OPR 2 OPR direction 0 Forward direction D16 OPR 3 OP address Opulse D17 D23 OPR 7 DEC STOP time at OPR 1000ms Data register Pr 4 Current feed value during speed control 0 No update Parameter Pr 5 Speed limit value 100000pulse s D18 K557 DiS OPR 4 OPR speed 20000pulse s D20 OPR data OPR 5 Creep speed 1000pulse s D21 D24 DE OPR 8 Setting for the movement amount after near point dog ON 3000pulse D26 OPR 9 OPR dwell time D27 Da 1 Operation pattern 0 Positioning termination 28 Da 2 Control method 1 1 axis linear control ABS 29 Da 3 ACC DEC time 1000ms D30 Da 4 DEC STOP time 1000ms 031 Positioning as data No 1 Da 5 Command speed 30000pulse s 033 hans Da 6 Positioning address movement amount 250000pulse D35 Da 7 Dwell time D36 Da 1 Operation pattern 0 Positioning termination 3 Speed Position Da 2 Control method Ctrl Forward D38 Da 3 ACC DEC time 1000ms D39 Positioning Da 4 DEC STOP time 1000ms D40 data No
275. t a given point under any of the following controls A new speed must be within the setting range of 5 Speed limit value e Position control Operation pattern Positioning termination e Speed control in the speed position switching control e In JOG operation at fixed speed Set a new speed in 7 New speed value and make a speed change using Cd 6 Speed change request The acceleration and deceleration times after a speed change are the values set in 8 ACC DEC time at speed change 9 DEC STOP time at speed change The details shown below explain about the speed change function 1 Control details 2 Precautions during control 1 Control details The following is the operation performed during a speed change for JOG 11 operation Speed change to V2 Speed change to V3 Operation performed when speed SOS dede speed change is not made Acceleration made at Pr 6 Bias speed value set in at start 1 gt t QN JOG 2 JOG ACC time R Deceleration stop made at 1 value set in 9 9 JOG start Fig 11 1 Speed change operation 11 2 11 2 11 SUB FUNCTIONS MELSEC Q 2 Precautions during control 1 The time required to reach a new speed from an old speed at speed change is ICd 8 ACC DEC time at speed change For a deceleration stop made by axis stop signal ON or JOG start signal OF
276. tart complete signal f X n 1 0 to X n 1 7 i 5 Fast OPR control operation 0 3 10 0 5ms A delay may occur in t1 depending on the operating conditions of the other axes i i Md 4 Axis operation status Standby X Fast OPR X Standby 1 i i App 2 App 2 APPENDICE MELSEC Q 3 Operation timing and processing time of position control Positioning start signal t1 Yn8 toYnF 1 Pulse output to outside PULSE 12 13 gt 1 1 1 BUSY signal Xn8 to XnF H 1 1 Md 4 Axis operation status Standby position control Standby 1 1 1 1 IL t4 1 Start complete signal 1 0 to X n 1 7 Machine OPR control P MM operation Positioning complete signal X n 1 8 to X n 1 F OPR complete flag 7 Status b1 As set in 0 1 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms parameter at simultaneous start of multiple axes Number of started axes A delay may occur depending on the operating conditions and starting conditions control method bias speed ACC DEC time etc of the other axes App 3 App 3 APPENDICE MELSEC Q 4 Operation timing and processing time of speed position switching control Positioning start signal Yn8 to YnF Pulse output to outside PULSE BUSY signal Xn8 to XnF l 1 Axis operation status Standby
277. tates of the LEDs The operation and indications of the LEDs are as shown below Details of indication Goes OFF Goes ON Flashes 9 50 AX6L1 AXTL Points to be confirmed 1 Extinguishment of RUNLED The hardware is The states of ERR faulty 8 and 1 to AX8 are undefined Lighting of RUN LED Extinguishment of The nodules normal ERR LED Lighting of ERR LED System error Extinguishment of AX1 During axis stop during axis standby Lighting of AX1 Same During axis even if the other axis operation is lit Flashing of ERR LED Flashing of AX1 LED Same even if the 13 15 other axis flashes If the RUN LED does not light up even when the power is turned ON the module may be out of order Replace the module with a new one An operation condition setting error or installation programmable controller CPU type error occurs The setting and programmable controller CPU type are outside the specification range Set the programmable controller CPU type to a one contained in the specification This lights up from the positioning control start until the positioning control is completed stopped temporarily or stopped by error corresponding at a ratio of 1 1 to BUSY signals Check the error observed on the GX Configurator PT or the buffer memory batch processing monitor of the GX Developer and correct th
278. tected at a machine OPR control start e Machine OPR control is started in the position where the near point dog is OFF e The near point dog does not exist in the OPR direction as seen from the position where machine OPR control is started In these cases use the OPR retry function or JOG operation to move the work to some position before the near point dog viewing from the OPR direction For details on the OPR retry function and JOG operation refer to Section 8 4 and Chapter 10 respectively In deceleration operation from the OPR speed the data used as the deceleration time differs between deceleration made by turning ON the near point dog and deceleration made by turning ON the axis stop signal Refer to Section 4 3 List of OPR data for details Make setting with full consideration given to the influence on the machine ll Machine OPR operation In a machine OPR control a near point dog and zero signal are used to establish a machine OP None of the address information stored in the QD70D programmable controller CPU or drive unit is used at this time The position mechanically established after the machine OPR control is regarded as the OP to be the starting point for positioning control The method for establishing an OP by a machine OPR control differs according to the method set in OPR 1 OPR method The following shows the operation when starting machine OPR control The machine OPR control is started T
279. ter power on or programmable controller CPU reset They cannot be changed during operation 2 If each signal logic is set erroneously the operation may not be carried out correctly Before setting check the specifications of the equipment to be used 12 1 12 1 12 COMMON FUNCTIONS 12 3 External I O signal monitor function MELSEC Q The external I O signal monitor function monitors the module information external I O signal monitor information and intelligent function module switch setting states in the H W Information of the module s detailed information that can be displayed on the system monitor of GX Developer SW7D5C GPPW E or later Setting procedure Choose Diagnostics System monitor QD70D module and choose Module s detailed information H W Information H W Information Module Module 007008 H w LED Information Display format Product information 080410000000000 HEX C DEC H w SW Information Iten value Item RUN 0001 D0Gl 0000 DOGZ DOGS DOGS DOGG DOG DOGS CHGl 2802 CHG2 ZERO3 CHG3 ZER04 CHG4 ZEROS CHGS CHG6 CHG CHGS H W LED Information H W LED information displays the following information RUN LED of QD70D 0 LED off ERR LED of QD70D 1 LED on flicker ZERO Zero signal of Axis 1 ZERO2 Zero signal of Axis 2 ZEROS Zero signal of A
280. th control for position control positioning control Not complete calculation for ended soon since Da 6 Positioning continuous path control address movement amount in current execution was small and the calculation processing of the next positioning data was not in time The axis stops as soon as the execution of the preceding positioning data is completed Setting range outside movement amount at speed position switching control Da 2 At start Start is not made 2 Control method ot Lun operation ps Suc osition 6 g op g to p control the axis decelerates to a stop Switching control a negative value is set in Positioning address movement amount With S curve acceleration deceleration set for S curve acc dec setting pr 11 operation pattern error Acceleration deceleration system selection Start is not made continuous positioning control or continuous path Insufficient movement When Da 1j Operation pattern is Continuous path 511 13 7 13 7 13 TROUBLESHOOTING MELSEC Q Related buffer memory address buffer memory address Setting range Remedy Cd 3 Start method 0 to 10 Positioning control Set 3 Start method to within the 9000 Machine OPR control setting range Refer to Section 4 7 9001 Fast OPR control OPR
281. the setting details 3 Reciprocating operation program using JOG operation The following is a program example for Axis 1 When the QD70OD is installed in slot 0 of the main base unit Used devices Application ON details SM400 Normally ON _ el Special relay SM42 __ jONonescnaferRUN E mur X0 0 Module READY QD70D normal u P PS BUSY QD70D I O Programmable controller Programmable controller Output en CPU normal axis 1 JOG start Axis JOG starting Forward run JOG Forward run JOG LTM MEER JOG operation is disabled if command command being given External input command X38 and X39 are both ON Reverse run JOG Reverse run JOG operation or both OFF a command being given Internal relay M operation flag JOG operation in progress 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Reciprocating operation program using JOG operation JOGspeed 5000pulse s JOG ACC DEC time 1000ms X38i Forward run JOG command X39 Reverse run JOG command 7 n0 x 5 402 M8 Ul DMOVP K5000 G40 Ui MOVP K1000 G42 UlN MOVP 1000 X38 X39 X10 X18 Ul 0 4 G44 T Ser M8 7 x10 Xle UN fi 1 M Hove Xi 044 SET 1 RST 7 MB N 11 128 39 END 5 SETUP AND PROCEDURES BEFORE OPERATION
282. the zero signal start machine OPR control Refer to Section 8 2 5 and Section 8 2 6 5 152 252 352 452 552 652 752 Cd 3 Start method 0 to 10 Positioning control 9000 Machine OPR control 9001 Fast OPR control Before starting fast OPR control perform machine OPR control Refer to Section 8 2 Correct the retry switch position so that it will not overlap with the area where the near point dog signal may turn ON 13 6 13 6 13 TROUBLESHOOTING MELSEC Q Error name Operation status at error occurrence Setting range outside start The setting value of Cd 3 Start method is other than 901 I method 0 to 10 9000 and 9001 Partie notmade e Da 1 Operation pattern is Continuous path control in the positioning data whose Da 2 Control Niwedrentchance nat method is Current value changing 502 9 Da 2 Control method is Current value changing Current value changing is not made ibl possis in the positioning data following the positioning data whose Da 1 Operation pattern is Continuous path control e Da 1 Operation pattern is Continuous path control in the positioning data whose Da 2 Control method is Speed Position Ctrl e Da 1 Operation pattern is Continuous path control in the positioning data preceding the positioning data whose Da 2 Control method is Speed
283. ting value is ignored Positioning address 10000pulse the address to which address change is desired movement amount Set the time from completion of current value changing until the 500ms UNAM positioning complete signal is output Refer to Section 4 5 List of positioning data for the setting details 9 16 9 POSITIONING CONTROL MELSEC Q 9 3 Multiple axes simultaneous start control The QD70D allows the axes to be started simultaneously on a pulse level by turning ON the positioning start signals Yn8 to YnF within the same scan during positioning control Bl Precautions 1 The speed limit function is valid on an axis basis 2 To perform stop processing the stop command axis stop signal ON must be given to the corresponding axis Note that the axes do not stop simultaneously 3 JOG operation cannot start the axes simultaneously 4 If an error occurs in any axis note that it will be processed the corresponding axis 5 If the positioning start signals Yn8 to YnF are turned ON separately by the direct access output DY the axes may not be started simultaneously In that case it may take more time to start all of the axes Therefore do not turn ON OFF the signals by the direct access output DY 9 POSITIONING CONTROL MELSEC Q MEMO 1 PERATION MELSEC Q CHAPTER 10 JOG OPERATION This chapter details the JOG operation of the QD70D 10 1 Outline of JOG operati
284. tion nomenclature and setting and wiring methods of the QD70D 5 1 Handling precautions This section provides the precautions for handling the QD70D N WARNING e Before cleaning or retightening the mounting screws be sure to shut off all phases of the external power supply used in the system Failure to turn all phases OFF could lead to electric shocks N CAUTION e Use the programmable controller under the environment specified in the User s Manual of the CPU used Using the programmable controller outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration e Do not directly touch the conductive section and electronic parts of the module Failure to observe this could lead to module malfunctioning or trouble Make sure that foreign matter such as cutting chips or wire scraps do not enter the module Failure to observe this could lead to fires trouble or malfunctioning Never disassemble or modify the module Failure to observe this could lead to trouble malfunctioning injuries or fires Before installing or removing the module be sure to shut off all phases of the external power supply used in the system Failure to turn all phases OFF could lead to module trouble or malfunctioning e While pressing the installation lever located at the bottom of module insert the module fixing tab into the fixing hole in the base unit until it stops Then
285. tionships between the software stroke limit function and various controls when O Valid is set in Pr 3 Software stroke limit value valid invalid setting Software stroke limit check OPR contr Machine Fast OPR control Checks 1 and 2 in the previous section 2 are carried out At operation start The axis does not start if the software stroke limit range is exceeded During operation The axis stops immediately when it exceeds the range of the software stroke limit Control type Processing at check Position control 1 axis linear control For speed control Checks 1 and 2 in the previous section 2 are carried out At operation start The axis does not start if the software stroke limit range is exceeded During operation The axis decelerates to a stop when it exceeds the software stroke limit range For position control Checks 1 and 2 in the previous section 2 are carried out The axis decelerates to a stop when it exceeds the software stroke limit range Current value changing At operation start The axis can be started only toward the software JOG operation Ar stroke limit range movable range During operation The axis decelerates to a stop when it exceeds the software stroke limit range Check valid Check is not made if the current feed value is not updated Refer to 4 Current feed value during speed control O du
286. to OFF JOG 1 JOG speed Acceleration according to 2 JOG ACC time Forward run JOG operation 2 JOG speed at the deceleration time set in Bias speed at start Programmable controller READY signal YnO Module READY signal JOG start signal Y n 1 8 to 1 JOG 4 JOG direction flag 1 Reverse run JOG BUSY signal Xn8 to XnF Fig 10 1 JOG operation starting timing chart 10 1 10 1 1 PERATION MELSEC Q ll JOG operation monitor When using GX Developer to directly monitor the buffer memory refer to Section 4 6 List of monitor data When using the monitor function of GX Configurator PT to monitor refer to Section 6 6 Monitor test ll Precautions during operation Before starting JOG operation you must know the following information 1 Setthe JOG data before starting JOG Setting cannot be changed during JOG operation 2 Setting a great value to JOG 1JOG speed from the beginning is dangerous For safety set a small value at first and check the movement After that gradually increase the value and adjust the speed optimal for control 3 1 JOG speed is higher than the speed set in 5 Speed limit value operation is performed at Pr 5 Speed limit value and the Outside speed warning warning code 20 occurs 4 If JOG 1 JOG speed is lower than Pr 6
287. tput of a pulse train the servomotor decelerates as the pulse droop decreases and stops when the count drops to zero Thus the servomotor rotation speed is proportionate to the pulse frequency while the overall motor rotation angle is proportionate to the total number of pulses output by the QD70D Therefore when a movement amount per pulse is given the overall movement amount can be determined by the number of pulses in the pulse train The pulse frequency on the other hand determines the servomotor rotation speed feed speed 1 PRODUCT TLINE MELSEC Q b Pulse train output from the QD70D 1 Asshown in Fig 1 3 the pulse frequency increases as the servomotor accelerates The pulses are sparse when the servomotor starts and more frequent when the servomotor speed comes close to the target speed 2 The pulse frequency stabilizes when the motor speed equals the target speed 3 The QD70D decreases the pulse frequency sparser pulses to decelerate the servomotor before it finally stops the output There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the servomotor This difference called the stop settling time is required for gaining a stopping accuracy Servomotor speed Speed V eration setting time LI Pulse train Rough gt Rough Fig 1 3 QD70D output pulses 1 PRODUCT OUTLINE MELSEC Q
288. trol V Positioning data Positioning data Positioning data 1 Positioning data 1 1 1 1 1 1 No 1 1 No 2 No 3 No 4 I Continuous path control Positioning termination gt i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 D 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 faa from we Ne LENE ES REST IR the e ee RIAL RA EL TOI IT 1 1 1 1 1 1 1 T T T T T t I e id pid et 1 1 1 I 1 Dwell time For speed change under speed control of speed position switching control positioning data No 1 Refer to Section 11 3 for speed change during JOG operation i Speed control Position control gt t V 1 Speed change Speed change request 1 request 1 1 V2 4 3 1 1 J 1 1 1 1 P adipisa switching command 1 1 1 1 Vi puo MA oo 1 1 1 1 1 1 1 1 1 1 1 Da 5 f 1 1 1 Da 6 1 1 1 1 1 1 1 1 Cd 8 Cd 8 2 i i 1 1 1 E 1 1 1 1 Li 1 1 1 1 1 Pe f E oA en aaae 77 fff 7 T T T T Da 3 1 t2 i 1 Cd 9 1 Da 7 Dwell time Pr 6 Bias speed at start 3 ACC DEC time Da 4 DEC STOP time Da 5 Command speed Da 6 Positioning address movement amount
289. ttem 804 904 1004 1104 1204 1304 1404 1504 No 1 Da 5 Command speed 805 905 1005 1105 1205 1305 1405 1505 806 906 106 1206 1306 1406 1506 m Da 6j Positioning address movement amount 807 907 107 1207 1307 1407 1507 Da 7 06 1 1 07 808 1108 1208 1308 1408 1508 Da 7 Dwellime O 09 1109 1 1 o 1006 1 1007 1 1008 1108 1 909 1009 1109 1209 1309 1409 1509 Reserved Cannot be used 810 1010 1110 1210 1310 1410 1510 to o to 819 919 1019 1119 1219 1319 1419 1519 o 829 o o Positioning data Section 4 1 5 t t to to to 820 1020 1120 1220 1320 1420 1520 t t to to to to 1029 1129 1229 1329 1429 1529 1030 1130 1230 1330 1430 1530 t t to to to to 1039 1139 1239 1339 1439 1539 1040 1140 1240 1340 1440 1540 t t to to to to 1049 1149 1249 1349 1449 1549 1060 1160 1260 1360 1460 1560 to to to to to to 1069 1169 1269 1369 1469 1569 1070 1170 1270 1370 1470 1570 to to to to to to 1079 1179 1279 1379 1479 1579 1080 1180 1280 1380 1480 1580 to to to to to to 1089 1189 1289 1389 1489 1589 1090 1190 1290 1390 1490 1590 to to to to to to No 10 1099 1199 1299 1399 1499 1599 Error status No No No No No No
290. turns OFF on completion of machine OPR control e OPR complete flag Refer to Chapter 8 for details This flag turns ON on normal completion of machine OPR control and turns OFF at an OPR control positioning control or JOG operation start e 0 speed Refer to Section 11 3 for details This flag turns on when JOG operation or speed control of speed position switching control is started with the speed set to 0 When a speed change is made this flag turns ON when a speed change request of new speed value 0 is given and turns OFF when a speed change request of other than new speed value 0 is given b15 b12 b8 b4 Status Not used Storage item Meaning OPR request fla a 3 0 OFF OPR complete flag 1 0N The ON OFF states of the external I O signals are stored The following items are stored Zero signal e Near point dog signal e Speed position switching signal Retry switch signal e Deviation counter clear signal b15 b12 b8 b4 External I O signal Storage item Not used Zero signal Near point dog signal Speed position switching signal Retry switch signal Deviation counter clear signal e The positioning data No currently being executed is stored The stored value is held until the next start is executed e When JOG operation or
291. urrent feed value during speed control If the movement amount has exceeded the software stroke limit range during speed control at the setting of other than 1 Update the Software stroke limit error error code 103 or 104 occurs resulting in a deceleration stop If the setting value of Da 6 Positioning address movement amount is negative the Setting range outside error code 513 occurs 6 If the movement amount of position control set in Da 6 Positioning address movement amount is less than the deceleration distance from Da 5 Command speed deceleration processing is started at the input of the speed position switching signal 7 To suppress the variation of the stopping position after switching to position control turn ON the speed position switching signal in the stable speed region constant speed status 8 When the speed position switching control signal is turned on during acceleration position control is executed at the speed where the signal is turned on 9 If 0 has been set in 6 Bias speed at start starting operation at the setting of 0 in Da 5 Command speed for speed control of speed position switching control will result in the following 0 speed 7 Status b2 turns ON e Though the axis is at a stop Md 4 Axis operation status is Speed Position Speed and the BUSY signal remains ON Turning ON the axis stop signal turns OFF the BUSY signal and changes Md
292. ust be limited If the torque is not limited the motor may fail at 4 When 9 OPR dwell time elapses after near point dog ON the pulse output from the QD70D stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag Z Status b1 turns from OFF to ON and the OPR request flag Md 7 Status bO turns from ON to OFF DPR OPR Speed Deceleration at the near point dog ON Creep speed ea Stopper Pr 6 Bias speed at start gt t 5 6 1 Range in which the motor rotation gt is forcibly stopped by the stopper 1 1 T Torque limit Near point dog OFF OPR dwell time Time out of OPR dwell time measurement y Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag OFF Status b1 Deviation counter clear output Deviation counter clear signal output time Axis operation status Standby During OPR Standby Movement amount after i Unfixed 0 near point dog ons Current feed value Unfixed X Traveled value is stored OP address Fig 8 4 Stopper 1 machine OPR control 8 OPR CONTROL MELSEC Q Bl Restrictions 1 Always lim
293. ut before executing the fast OPR control in 2 ll When OPR control is not needed In the system that does not require OPR control setting 1 in 2 OPR request flag OFF request forcibly turns OFF the OPR request flag Md 7 Status bO When OPR control is not to be exercised operation starts using the position at power on Md 1 Current feed value as Also the OPR data OPR 1 to OPR 10 must all be set to the initial values or the values that will not result in an error OPR request The OPR request flag Md 7 Status signal 60 must be turned ON in the QD70D and a machine OPR control must be executed in the following cases e When the power is turned ON e When machine OPR control is started The OPR request flag turns OFF and the OPR complete flag Md 7 Status signal b1 turns ON if the machine OPR control is executed and is completed normally PR NTROL SES udo ass MELSEC Q 8 2 Machine OPR control 8 2 1 Outline of the machine OPR operation 1 Always set the OP in the same direction as viewed from any position in the workpiece moving area set the OP near the upper or lower limit of the machine 2 Correctly set the OPR direction as the direction in which the workpiece moves toward the OP 3 When the following two conditions hold operation is performed at the OPR speed since the near point dog is not de
294. uted next uses Da 3 ACC DEC time set in the positioning data to be executed next When the command speeds are the same speed changing is not made For details refer to Section 4 5 List of positioning data POSITIONIN NTROL 9 POSITIONING CO MELSEC Q Positioning control Operation pattern Positioning start signal Yn8 to YnF Start complete signal X n 1 0 to X n 1 7 BUSY signal Xn8 to XnF Positioning complete signal X n 1 8 to X n 1 F OFF Fig 9 4 Speed changing operation 4 Stopping method for continuous path control When the axis stop signal is input during operation in the operation pattern of 2 Continuous path control select the stopping method in Pr 10 Stop mode during path control For details refer to Section 4 2 List of parameters ll Continuous operation of more than 10 pieces of positioning data Since the number of positioning data that can be executed by the QD70D axis by axis is up to 10 pieces perform continuous operation of more than 10 pieces of data in the following procedure 1 Initial setting Set 1 Continuous positioning control or 2 Continuous path control in Da 1 Operation pattern of positioning data No 1 to No 10 2 Positioning data rewrite during operation During operation read 9 Executing positioning data No and rewrite the positioning data of the read value 1 No However when Md 9 Ex
295. utside creep speed error error code 914 will occur e Set the creep speed to a value not less than Pr 6 Bias speed at start If itis less than the bias speed at start the Setting range outside creep speed error error code 914 will occur OPR 4 OPR speed Machine OPR control start speed Pr 6 Bias speed at start Near point dog signal OFF i Zero signal 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 6 ACC DEC time at OPR Set the time taken under machine OPR control to reach OPR 4 OPR speed from 6 Bias speed at start or to reach OPR 5 Creep speed from OPR 4 speed When OPR method is other than Stopper 3 When OPR method is Stopper 3 V OPR 4 V A o U 2 a Pr 6 5 s M gt t gt t OPR 6 6 gt 6 h OPR 7 DEC STOP time at OPR Set the time taken to make a stop after reaching 6 Bias speed at start from OPR 5 Creep speed under Count 2 machine OPR control or to make a stop after reaching 6 Bias speed at start from the speed during machine control at axis stop factor occurrence axis stop signal ON or error occurrence
296. value changing cannot be set in Da 2 Control method of the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior positioning data For example if the operation pattern of positioning data No 1 is continuous path control current value changing cannot be set in positioning data No 2 If such setting has been made the New current change not possible error error code 502 occurs resulting in a deceleration stop 3 If the value set in Da 6 Positioning address movement amount New current value is outside the setting range of the software stroke limit upper and lower limit values 1 2 the Software stroke limit error error code 103 104 occurs and current value changing cannot be made H Positioning data setting examples The following table shows the setting examples when current value changing is set in the positioning data No 1 of axis 1 Setting example Setting details Set Positioning termination assuming that the next positioning data will be executed Continuous path control cannot be set by current value change Positioning termination Control method Current valle Set the current value changing changing ACC DEC time Setting not required Setting value is ignored DEC STOP time Setting not required Setting value is ignored Command speed Setting not required Set
297. x 3 1 Connection example of QD70D and MR J3 L A Configure a sequence to turn off MC at alarm or emergency stop _ P L1 1CNP1 CNP3 y Power supply lt T gt 2 3 phase 200VAC edd 1 L3 N 1 SS 1 PE P1 1 E1 M RE HR NE zo Ei eue ti TALIT CNP2 24VDC E2 Electromagne ic 0121 Cut off by Servo ON signal i OFF or by alarm signal a Detector 1i D 1 1 1 1 1 1 1 QD70DLI A AX Within 10m 4 1 A06 De DOG1 A03 Near point dog DW due CHG1 A05 Speed position switching CN1 3 RTRY1 A02 Retry switch 9v PG01 A09 PG01 COM A10 PULSE 1 PULSE F1 PULSE R1 Personal computer CLEAR1 COM 24VDC 0 3A 24VDC T power supply _ Monitor output 10kQ L2 Max 1mA meter needle swings in both directions Within 2m Zero speed detection During torque limiting In position Analog torque limit 10V max current 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal la
298. xis ZEROA Zero signal of Axis 4 ZEROS Zero signal of Axis 5 ZERO6 Zero signal of Axis 6 00A mor ooo Stop monitor Near point dog signal of Axis 4 Near point dog signal of Axis 5 Near point dog signal of Axis 6 Near point dog signal of Axis 7 Near point dog signal of Axis 8 Speed position switching signal Speed position switching signal Speed position switching signal of Axis 3 Speed position switching signal of Axis 4 Speed position switching signal of Axis 5 Speed position switching signal Speed position switching signal Speed position switching signal Signal name Value 0 OFF 1 ON 12 COMMON FUNCTION uci MELSEC Q HAN SW Information The setting states of the intelligent function module switches are displayed Corresponding switch PLS MODE Pulse output mode Switch 1 PLS OUT Pulse output logic selection 8 lower bits Switch 2 DCC CLR Deviation counter clear output signal logic selection 8 upper bits Refer to Section 5 6 Switch ZERO SIG Zero signal input logic selection suena 8 lower bits setting for intelligent function Switch 3 ROT DIR Rotation direction setting 8 upper bits module for details DOG SIG Near point dog signal input logic selection Switch 4 nop fo 12 3 12 3 13 TROUBLESHOOTING MELSEC Q CHAPTER 13 TROUBLESHOOTING This chapter describes the details of errors and warnings that may occur during use of the QD
299. y set initial value Set a stop time for deceleration stop during the OPR retry Any value within the range from 0 to 65535 ms OPR 9 OPR dwell time 10 OPR retry Set 1 Enable the OPR retry In setting on a sequence program enter the setting value as follows 0 to 32767 Enter in decimal format 32768 to 65535 Convert into hexadecimal POSITIONIN NTROL 9 POSITIONING CO MELSEC Q CHAPTER 9 POSITIONING CONTROL This chapter details the positioning control control functions using positioning data of the QD70D 9 1 Outline of positioning controls Positioning control uses the positioning data stored in the QD70D Position control speed position switching control and current value changing are executed by setting the necessary items of these positioning data As the control method of positioning control set the Da 2 Control method setting item of the positioning data Any of the following controls can be defined as positioning control depending on the setting of Da 2 Control method Positioning control Description 9 Da 2 Control method i Using the specified one axis positioning control is exercised from the starting point address current stop position to the specified position Speed control is first carried out and the speed position switching signal is then turned ON to perform position control positioning control of t
300. yout for external device connection connector 2 These are limit switches for servo amplifier for stop 8 For details of connection refer to the MR J3 LA series Servo Amplifier Instruction Manual 4 This indicates the distance between the QD70D and servo amplifier App 6 App 6 APPENDICE as MELSEC Q Appendix 3 2 Connection example of QD70D and MR J2 J2S L A Configure a sequence to turn OFF the HC MF HA FF MC at alarms and emergency stops series motor MR J2 J28 L A Power supply 3 phase 200VAC Cutoff by servo ON signal OFF alarm signal Detector Within 10m 4 QD70Dl CN1A 4 AX1 PULSE 1 PULSE R1 CLEAR1 CLEAR1 COM PG01 COM ME elc Ir QU E TEC TIAS gre X LG 1 o SD plate Commercially available Nearpontdog 2 1111 5 LG w personal Speed position switching 2 56 computer Retry switch External emergency stop RTRY1 1A02 itor output Max 1mA total 10kQ Two way deviation Zero speed detection During torque limiting Analog torque limit 10V max current Within 2m L 1 The logic of each I O terminal be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that al

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