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QD74MH8/QD74MH16 User`s Manual (Details)

1. 0 64 12 mM CPU Universal model QCPU QOSUDECPU QO4UDEHCPU QO6UDEHCPU Q13UDEHCPU Q26UDEHCPU QO6CCPU V H01 C Controller module QO6CCPU V QO6CCPU V B Note 1 Limited within the range of I O points for the CPU module Applicable x Not applicable Note 2 Can be installed to any I O slot of a base unit 2 2 2 SYSTEM CONFIGURATION MELSEC Q b Installing MELSECNET H remote I O station Usable base unit N Usable network Number of installable Note 1 Main base unit of Extension base unit of modules remote station remote station QJ72LP25 25 QJ72LP25G Up to 64 QJ72BR15 Applicable x Not applicable Note 1 Limited within the range of I O points for the network module Note 2 Can be installed to any I O slot of a base unit The basic model QCPU and C Controller module cannot configure the MELSECNET H remote network system 2 Support of the Multiple CPU system When using the QD74MH in a Multiple CPU system refer to the QCPU User s Manual Multiple CPU system 3 Supported software packages GX Developer is required for use of the QD74MH The compatibility between the systems using the QD74MH and the software packages is shown below GX Developer Single PLC syst Version 7 or lat QO0JCPU QO0CPU Q01CPU mge SYST soe Multiple PLC system Version 8 or later Q02CP
2. 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 List of system monitor data Buffer memory address Symbol Buffer memory address Symbol 3300 Md 100 3350 3301 101 Axis warning status 3351 3302 Md 102 Number of write accesses to 3352 flash ROM Md 103 Forced stop input status Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC Q List of axis control data Axis No P fierimemon Parameter item address 2 3500103599 symbol Parameteritem Lc Paremeerien ____ 3 3600103699 misemorreset 3900 to 3999 stop 8 4100104199 B Unusable 4300 to 4399 4400104499 8 Forward rotation JOG stat ____ 4500104599 9 Reverse rotation JOG start ____ 4600 4699 10 Unusable 1 11 4700 to 4799 4800 to 4899 4900 to 4999 1 14 Unusabie 0 0 Cd 15 Speed change request 16 Cd 16 New speed value Cd 18 Acceleration time change request Cd 19 New acceleration time value Cd 20 Deceleration time change request Cd 21 New deceleration time value 22 1 0 Cd 23 Target position change request 24 a Cd 24 New target position value Unusable 26 4 30 Each axis servo OFF Unusable 46 Gain changing request D AJAJAJA gt 5 ILWlWlLWBlWlWlWIlWIWIWI WINy N 8 s e a s
3. 1000 5000 10000 Axis 1 Movement amount 9000 8 POSITIONING CONTROL MELSEC Q 8 3 5 Speed acceleration deceleration The speed of each axis in linear interpolation control is equal to the speed at which Da 4 Command speed set in the positioning data of reference axis is distributed with the movement amount AXIS 2 Axis 1 movement amount D1 Axis 2 movement amount D2 Axis 2 Speed F2 Da 4 Command speed F Axis 1 speed F1 012 022 F x D2 Axis 2 speed F1 D1 D2 Axis 1 Speed F1 Axis 1 Fig 8 1 Speed for linear interpolation control 1 The vector speed is limited by Pr 26 Linear interpolation speed limit value in the interpolation control 2 Also the speed of each axis is limited by the parameter Pr 10 Speed limit value of each axis In that case the speed for the other axes is also cramped to match the cramped axes Set the acceleration deceleration time to the positioning data of reference axis in the linear interpolation control Set Da 2 Acceleration time and Da 3 Deceleration time within the range of Pr 26 Linear interpolation speed limit value V A 26 Linear interpolation speed limit value Da 4 Command speed 1 axis speed 2 axis speed acceleration time deceleration time
4. screw lead 10 mm H EE Ex a Setting for the electronics gear Command unit O 1 u m Ball screw lead Pb 10 mm 100000 0 1 Encoder resolution Pt 262144 PLS rev Gear ratio n 1 1 AP Pt Pt 262144 8192 AL ZS nxPb 1 x 10000 3125 Pr 0 Electronic gear numerator 8192 Pr 2 Electronic gear denominator 3125 b Unit of the positioning address and command speed The command unit of the QD74MH is PLS only When an electronic gear is set programming in units of mm is possible When the command unit is O 1 um Da 6 Positioning address movement amount and Da 4 Command speed can also be set using units of 0 1 um When the command unit is O 1 um 1 PL S the ball screw lead of 10 mm is 100000 PLS When the electronic gear numerator AP and denominator AL are calculated by this value the command unit can be either PLS or 0 1 um APP 3 APPENDICES MELSEC Q c Setting for the speed limit value Motor s maximum velocity r min x Gear ratio n x Ball screw lead Speed limit value PLS s 60 s Example When the speed limit is set to match the motor s maximum velocity 6000 r min 6000 1 x 10 Speed limit value p 7 1000 mm s When the command unit is 0 1 um 1000 mm s 10000000 PLS s 10 x 10 PLS s Therefore set 10 so that the Pr 10 Speed limit value is
5. dud 10 7 10 3 2 Data used for coritrol tie Ra ERN HD lien MEG adici 10 8 10 4 Software Stroke Limit nennen nennen nnne nnne nnns inertes 10 9 10 41 Control detalls cet i eie eee amt Ao Ma R 10 9 10 4 2 Ristrictions at absolute position system use sssssssseeenemem emen 10 10 10 4 3 Data used ior control ito He steel tte 10 11 10 5 Backlash Compensation Function sse 10 12 10 5 1 Cotitrol details 2 2 tete et teet tette e dtes 10 12 10 5 2 te 10 12 10 6 Speed Limit Function essent nennt ntt nnm nn nnn eter 10 13 10 01 Control details 3 ERU ERE RII IBI ae eM 10 13 10 6 2 Data used for corittol airo ate e en d dt MEO MEG 10 14 10 7 Acceleration Deceleration Control cccccccccsccccsssescccssseeeessaeeeseseseeeesesseeeesesaeeesesssesesesaeeeseneaeeesessaeees 10 15 10 7T Control detalls 3 o LIE 10 15 10 7 2 Data used e eere HE Rer e D IE E ERA 10 16 10 8 Stop Gontrol i rte tidie abd db t a Hu ds ads 10 17 10 8 1 Control details nrs ea aai a E 10 17 10 8 2 Data used fot coritrol re tete i e eet eed 10 17 10 9 Sudden St
6. 1 1 1 2 Mechanism of Positioning Control enemies 1 4 1 3 Communicating Signals Between QD74MH and Each 1 5 1 4 Difference Between QD74MH and 5 2 2 2 0 00 00000000 1 7 2 SYSTEM CONFIGURATION 2 1 to 2 10 2 1 System Configuration esrin ea 2 1 2 2 Applicable Systers eet eem e e tare dee eter eem iere m deve iem ere an 2 2 2 3 RE EN 2 4 2 4 eter tea tia n teat M tute t 2 5 2 5 Basic Specifications tete t ats aes te teeta ten Meer te He re Mg teu 2 7 2 6 Forced Stop Input 2 4 21 00 100000000 2 8 2 7 Checking Function Version and Serial 2 9 3 DESIGN 3 1to3 8 3 1 tirs 3 1 3 2 Extemal Circuit Desig ee rera ornetur Peine 3 2 3 2 1 Power Supply circuit design isisisi nennen 3 6 3 2 2 Safety Crot gasigi eet he e rre Etre tu le re b te eta oe 3 7 4 INSTALLATION WIRING START UP AND MAINTENANCE 4 1to 4 24 4 4 Hatidling Precautlolis oir tote te i iol a bed
7. error This signal turns ON when the error occurs by axis of from Axis 1 to 16 It turns OFF by warning release of all axes in which the warning occurred Warning Confirm the axis warning status in 101 Axis warning status Warning detection occurrence Warnings of servo amplifier are automatically released by warning release No warning on the servo amplifier side also on the QD74MH side Therefore warnings are not released by error reset for an axis When Asynchronous is selected in the module synchronization setting of the CPU module this signal can be used as interlock for the access from a sequence program to the QD74MH After the system power supply ON or reset this signal turns ON if the access from the PLC CPU to the QD74MH is possible Module access enabled X Synchronization flag Mod le chest u disabled This signal turns ON at the start of positioning OPR and manual control BUSY ON BUSY It turns OFF at passage Dwell time after positioning stops OPR OFF Not BUSY completion and manual control completion It turns OFF at error completion or positioning stop ES EE 09 8 xu xw xw X11 X13 17 X Note 1 The BUSY signal turns even when position control of movement amount 0 is executed However since the ON tim
8. 246 12 24VDC FG OLG Forced stop Nete5 o EMI COM EMI E 24VDC 24v ol gt stop EMG Operation Operation Alarm ON olo Lo 7 MC SK 3 DESIGN MELSEC Q 1 Note 1 Configure up the power supply circuit which switch off the electromagnetic contactor MC after detection alarm occurrence on the PLC CPU 2 Note 2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake 3 Note 3 Set the servo amplifier by setting the rotary switch of servo amplifier referring Section 4 2 1 4 Note 4 It recommends using one leakage breaker for one servo amplifier When electric power is supplied to multiple servo amplifiers for one leakage breaker select the wire connected to the servo amplifier according to the capacity of the leakage breaker 5 Note 5 The status of forced stop input signal can be confirmed with Md 103 Forced stop input status NFB2 Note 4 9 V w 55 TN Note 3 D L21 O picow ALM DOCOM Electro Ground imagnetic Note 2 i T ere L1
9. 9 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 8 List of system control data Buffer memory address Symbol Buffer memory address Symbol 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 9 List of positioning data No address No address 1 2 5110105119 Symbo Parameter item 5120 to 5129 Operation pattem _____ Operation pattern 5130 to 5139 514010 5149 5150 to 5159 6 5790 to 5799 5170 to 5179 8 5810 to 5819 5190 5199 movement amount 0 5209 8 Dwelltime 21010 5219 Unusable o Unusable 5229 0 5239 0 5249 5259 0 5269 5279 0 5289 0 5299 5309 o 5319 o 5329 o 5339 o 5349 o 5359 o 5369 o 5379 o 5389 o 5399 o 5409 o 5419 o 5429 o 5439 o 5449 o 5459 o 5469 o 5479 6 6110106119 o 5489 o 5499 8 6130106139 o 5509 9 6140106149 0 5519 0 5529 0 5539 5549 0 5559 0 5569 0 5579 4 0 5589 5599 0 5609 0 5619 5629 0 5639 0 5649 5659 0 5669 5679 0 5689 0 5699 5709 o 5719 o 5729 o 5739 ELSE 5 5 5 5 5 5 m 5 ojo Oo GO A Oo N 2 5
10. 7 8 2 Setting range of shift amount Set Pr 60 OP shift amount within the range of from the detected zero point signal to upper lower limit switches If the outside the range is set an error code 1500 will occur and the OPR is not completed Setting range of negative Setting range of positive Pr 60 OP shift amount Pr 60 OP shift amount 5 Limit switch the opposite direction of OPR Pr 51 OPR direction gt Zero point Limit switch in the direction of OPR 7 OPR CONTROL MELSEC Q 7 9 OP Search Limit Function This function is that through movement operation in the opposite direction of OPR movement operation in the direction of OPR foe the limit switch combined type if the movement exceeds the parameter set in Pr 62 OP search limit an error code 1098 will occur and the OPR is terminated It stops by setting of sudden stop time This function is used to prevent over run in case the proximity dog signal and limit switch cannot detect correctly due to a failure The OPR methods corresponding to the OP search limit function are shown below Method OP search limit function Proximitydogtype Data set type x Dogeadegpe Limit switch combined type Scale origin signal detection type Possible X Not possible 7 9 1 Control details Operation for the OP search li
11. ON OFF ON OFF ON 8 POSITIONING CONTROL MELSEC Q 3 Continuous path The speed can be changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next The speed switching of next positioning data is executed after passing the point If a dwell time is set a deceleration stop is made and it starts to move to the next point after the specified time elapses In operation by continuous path the next positioning is automatically executed Always set the independent positioning in the last positioning data to complete the positioning If the independent positioning is not set an error code 1022 will occur at the switching to the 32 point and a deceleration stop is made Da 8 Dwell time 0 V Continuous path Continuous path Independent Continuous path positioning 1 Set 0 in Da 8 Set 0 in Da 8 Positioning start signal Y10 to Y1F BUSY signal X10 to X1F Positioning complete Md 10 Status 2 60 1 Do not reverse a movement direction in the positioning data of continuous path for 1 axis linear control If a direction is reversed an error code 1024 will occur and a deceleration stop is made A movement direction can be reversed in the continuous path at the interpolation control Set an address o
12. 44 APPENDICES MELSEC Q Buffer memory address Memory area Extension control parameters Servo parameter area 9 o 5 2 o 72 APP 45 APPENDICES MELSEC Q a esos est o esta Pesos re o Pr 506 PS14 esis Pene este o rs o Peso este een esta o o pects nen 0 Pr 514 522 10514 10814 11114 11414 11714 12014 0 Prste esos esis Psr o o eem esos 0 eem o ersz Pss 0 essa 0 ere o ves o Es 0 ves ese o ess ver o prs 0 eser pris pris erie ese por f o ese o es 0 esu o esee Pos o o es o Ese o esee o APP 46 APPENDICES MELSEC Q Buffer memory address Memory Special setting parameters Servo parameter area Other setting c 5 c APP 47 APPENDICES MELSEC Q Symbol No Default Item Buffer memory address 560 0 0 Pret Pon 0 562 12 0 Pr553 1 0 _ For manufacturer setting Pr 554 PO14 0 Press Pots o 556 Pote 0 APP 48 APPENDICES MELSEC Q
13. Forward rotation incremental feed operation 84 Incremental feedrate 0 X c E ON ae start BUSY signal X10 to X1F OFF Incremental feed operation can be used without completing OPR When both the forward rotation start and reverse rotation start are set simultaneously the forward rotation start is given priority Reverse operation cannot be executed after the forward incremental feed stop e Set except 0 in Pr 84 Incremental feedrate If is set the incremental feed operation is executed 9 MANUAL CONTROL MELSEC Q 9 2 2 Precautions for control If the following setting value is set that it decelerates at once after it reaches the specified JOG speed by acceleration and is set it does not reach the specified JOG speed and the constant speed section is caused 82 JOG operation acceleration time Pr 83 JOG operation deceleration time 80 JOG speed Pr84 Incremental feedrate If it does not reach the specified JOG speed because the setting value of positioning address movement amount is small it becomes operation similar to the above Da 4 Command speed Actual speed If the setting value of Pr 82 JOG operation acceleration time is short the constant speed section might become long 9 2 3 Data used for control The parameters and control data use
14. 5 JOPRdrecin 5 751 27 47 51 20 ose 49 99 Operation setting for incompletion of OPR RN PETUNT DE TE DAT 84 184 284 384 484 584 Pr 84 Incremental feedrate 85 185 285 385 485 585 External forced stop selection APP 18 APPENDICES MELSEC Q Buffer memory address Memory area 601 701 801 901 1001 1101 1201 1301 1401 1501 602 702 802 902 1002 1102 1202 1302 1402 1502 604 704 804 904 1004 1104 1204 1304 1404 1504 EEE 1006 1106 1206 1306 1406 1506 IE 10 R 1010 1110 1210 1310 1410 1510 620 720 820 920 1020 1120 1220 1320 1420 1520 1021 1121 1221 1321 1421 1521 1025 1026 1126 1226 1326 1426 1526 1027 1127 1227 1327 1427 1527 1031 1131 1231 1331 1431 1531 eo ro eo oo iso mso 1 s i50 652 752 852 952 1052 1152 1252 1352 1452 1552 RE IE TE 1054 1154 1254 1354 1454 1554 me ce m tis 1056 SS E m E E m 660 760 860 960 1060 1160 1260 1360 1460 1560 1062 1162 1262 1362 1462 1562 pes iss RETE 1166 1080 1180 1280 1380 1480 1580 ee ee 1082 RTT ETT RESTE 684 784 884 984
15. Command position 2 Cd 23 Target position change request L X Target position change e READY OFF Md 10 Status 2 b11 10 32 10 FUNCTION DETAILS MELSEC Q When the position change to the movement direction from the current value is executed in deceleration stop the axis is accelerated again and positioned Pr 10 Speed limit value Da 4 Command speed Cd 24 New target position value Positioning start signal Y10 to Y1F Cd 23 Target position change request Target position change READY Md 10 Status 2 b11 1 position Command position 2 Command position 2 OFF XX OFF fH The operation for when the axis passed the change position by position change or the deceleration stop position passes the change position can be selected in Pr 23 Target position change overrun processing selection Stop by the error or Return to change position after deceleration stop If Stop by the error is selected an error code 1024 will occur after turning the target position change READY ON at target position change request If Return to change position after deceleration stop is selected the operation is shown next page Pr 10 Command speed
16. 1 4 Difference Between QD74MH and QD75MH 1 Comparisons of performance specifications Number of control axes 8 axes 16 axes 1 axis 2 axes 4 axes Operation cycle Control unit mm inch degree PLS Number of positioning data 32 axis 600 axis Linear interpolation 2 3 4 axes Linear interpolation 2 3 4 axes Circular interpolation 2 axes Interpolation functions Speed Combined speed Speed Vector speed and reference axis Interpolation group Up to 4 groups Independent positioning Continuous positioning Continuous path Speed control Speed position switching Position speed switching lt ABS INC system 2147483648 to 2147483647 PLS lt ABS INC system 214748364 8 to 214748364 7 um 21474 83648 to 21474 83647 inch Positioning range Note 0 to 359 99999 degree 2147483648 to 2147483647 PLS 21474 83648 to 21474 83647 degree Fixed pitch feed only 0 01 to 20000000 00 mm min 0 001 to 2000000 000 inch min 0 001 to 2000000 000 degree min 1 to 10000000 PLS s Positioning that exceeds the positioning range cannot be executed Speed command range 5 to 2147000000 PL S s Proximity dog type Data set type Stopper type Dog cradle type Proximity dog type Count type 1 Limit switch combined type Count type 2 Data set type OPR Scale origin signal detection type control OP shift function 2147483648 to 2147483647 2147483648 to 2147483647 Retry functi
17. 11 11 11 TROUBLESHOOTING MELSEC Q Error detail of parameter errors Error code 2037 04 7 14 WE CNN 35 06 PC11 PD29 PBO7 PC12 PD30 08 PC13 PD31 PD32 09 14 10 15 100 20 150 12 17 0 0 0 0 210 214 14 19 SEE ge 1 NES MU 98 NE ae Em 11 12 531 532 11 TROUBLESHOOTING MELSEC Q 5 Servo warning 2100 to 2199 Refer to the Servo amplifier Instruction Manual for details of servo warning LED indicator of 5 Warning code 2 Warning name servo amplifier 2101 Main circuit device overheat warning 2100 96 Home position settingwaming ______ 9F Battery warning 244 t4 Parameterwaming ______ 26 JjSevofocedstpwamng O 247 4 7 JjConoleforedstopwamng 4 E6 E7 2148 E8 Cooling fan speed reduction warning 2149 E9 Main circuit off warning EB EC ED 2151 The other axis fault warning 2152 Overload warning 2 2153 ED Output watt excess warning 11 13 11 TROUBLESHOOTING MELSEC Q 6 Operation warnings 11000 to 11999 Warning Operation status at Error Error check Remedy code warning occurrence At flash ROM write The flash ROM write The flash ROM write request or request parameter initialization request turned ON ee Oe
18. 121 Dicom i CP3 Ae 24VDC Note 1 When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Example When the control power supply L11 L21 of servo amplifier in above IB figure is shut off it is also not possible to communicate with the servo amplifier El ir only a specific servo amplifier control power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 Note 2 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and QD74MH Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand Note 3 If the forced stop input signal by external 24VDC turns OFF when setting of Pr 101 External forced stop selection to 0 Valid servomotor is stopped with dynamic brake The LED display of servo amplifier indicates E7 Controller forced stop warning 3 3 3 DESIGN 3 phase 200 to 230VAC V MELSEC Q 2 Example when using the forced stop of the QD74MH and MR J3 B Power Supply Q61P O7 INPUT o 100 240VAC PLC CPU QnCPU Positioning Output module module QY41P QD74MH Yn CP2 0
19. 5 5 5 2 aA 5 6 DATA USED FOR POSITIONING CONTROL MELSEC Q List of positioning data Continued No No address No No address Symbo symbol Parameter item Operation pattern Operation pattern 6 8350 to 8359 8 8370108379 movement amount movement amount 0 7769 8 Dwelltime o 7779 Unusable o Unusable o 7789 o 7799 o 7809 o 7819 o 7829 o 7839 o 7849 o 7859 o 7869 o 7879 o 7889 o 7899 o 7909 o 7919 o 7929 o 7939 o 7949 o 7959 o 7969 o 7979 o 7989 o 7999 o 8009 o 8019 o 8029 o 8039 6 8670108679 o 8049 o 8059 8 8690108699 o 8069 9 8700108709 o 8079 o 8089 o 8099 o 8109 o 8119 o 8129 o 8139 12 o 8149 o 8159 o 8169 o 8179 o 8189 o 8199 o 8209 o 8219 o 8229 o 8239 o 8249 o 8259 o 8269 o 8279 o 8289 o 8299 2 7670 to 7679 7680 to 7689 o 7699 o 7709 o 7719 o 7729 o 7739 o 7749 o 7759 EXE TPR 5 5 alal ojo amp 5 5 31 co co o co
20. 9 MANUAL CONTROL MELSEC Q 9 2 Incremental Feed Operation In the incremental feed operation the constant feedrate set in Pr 84 Incremental feedrate is output to the servo amplifier by setting 1 Cd 8 Forward rotation JOG start or Cd 9 Reverse rotation JOG start While the positioning start signal 10 toY1F is ON forward rotation JOG start and reverse rotation JOG start for that axis are ignored regardless of positioning executing 9 2 1 Control details Operation procedure for incremental feed operation is shown below 1 When except is set in Pr 84 Incremental feedrate and 1 is set Cd 8 Forward rotation JOG start or Cd 9 Reverse rotation JOG start an acceleration is started by the specified direction and the acceleration time set in Pr 82 JOG operation acceleration time At this time the BUSY signal X10 to X1F changes from OFF to ON 2 When the command reaches the speed set in Pr 80 JOG speed the movement continues at this speed 3 Adeceleration is started by the deceleration time set in Pr 83 JOG operation deceleration time so that the movement amount that moved after operation start becomes the incremental feedrate 4 The operation stops when the speed becomes 0 At this time the BUSY signal X10 to X1F changes from ON to OFF Pr 80 JOG speed Stop after moving the movement amount set in Pr 84 Incremental feedrate
21. Da 2 Acceleration time Speed limit value Da 3 Deceleration time Command position 2 Command position at positioning start Cd 24 New target position value ON Positioning start signal Y10 to Y1F OFF Cd 23 Target position 0 X 1 P 4 0 Target position change ON READY OFF 10 Status 2 611 10 33 10 FUNCTION DETAILS MELSEC Q A Warning code 11014 will occur and the position change is not executed in the following cases n operation stop In decerelation by the stop command sudden stop command or alarm In JOG operation OPR n linear interpolation current value change In pausing 10 16 2 Data used for control Set the following parameters and control data for the target position change function Refer to Section 6 3 to 6 8 for the buffer memory address and details Symbol Parameter Pr23 Target position change overrun Set the process when a stop position exceeds a command position for processing selection position change Cd 23 Target position change request Execute the target position change request Control data He Cd 24 New target position value Set the target position after the change Check the following monitor data for the status of the target position change function Refer to Section 6 3 to 6
22. In pausing 10 27 10 FUNCTION DETAILS MELSEC Q 10 14 2 Precautions 1 The pausing command was given to make a stop after a speed change that had been made in position control After that the soeed when the paising is removed is the new speed value a i nn a Da 4 Command speed Speed change command 9 Cd 16 New speed value Pausing removal Pausing command 2 When the value set in Ca 16 New speed value is more than the speed limit value the speed is cramped with the speed limit value In this case a Warning code 11001 will occur at speed change request 3 Setthe required speed in the reference axis to change the speed at interpolation control 4 The new speed is valid in execution of the positioning data for which the speed was changed Even if the speed is changed to the new speed by executing the speed change at continuous positioning control and continuous path control the control is executed with the previously set speed at the changeover to the next positioning data 10 14 3 Data used for control Set the following control data for the speed change function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Cd 15 Speed change request Execute the speed change request Control data Cd 16 New speed value Set the speed after the change Check the following monitor data for the status of the speed change
23. Set the switch of PLC CPU module to STOP and turn ON the system power supply PLC parameter setting Set the parameter setting using GX Developer Turn ON power supply again Turn ON again the power supply or reset of system Check I O module Check the wiring of I O modules 1 Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection for installation of module Z DANGER Be sure to ground the controllers servo amplifiers and servomotors Ground resistance 100 or less Do not ground commonly with other devices ANCAUTION Check that the combination of modules is correct Wrong combination may damage the modules Refer to Section 4 2 1 Z CAUTION When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fires Z CAUTION Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to op
24. Slight vibration suppression control selecon 00081 0000ho 0031h Peas rormanutacurerseting Pr358 10358 300n PB26 changing selection 000 0000 00 Pr359 10359 300n PB27 CDL changing condition 10 009999 Pr 361 10361 300n PB29 2 changing ratio of load inertia moment to 70 107 0103000 servomotor inertia moment Pr 362 10362 300n PB30 PG2B Gain changing position loop gain 1to 2000 Pr 363 10363 300n PB31 VG2B Gain changing speed loop gain 823 rads 201050000 Pr 364 10364 300n 2 VICB changing speed integral compensation Gain changing speed integral compensation 337 x10 ms 1 to 50000 Pr 365 10365 300n PB33 vRr1B 8 changing vibration suppression control 1000 x10 Hz 1 to 1000 vibration frequency setting 366 10366 300n PB34 8 changing vibration suppression control 1000 x10 Hz 1 to 1000 resonance frequency setting Pr367 1036743000 35 Pr 368 10368 300n PB36 Pr 369 1036943000 7 _ 370 10370 300n PB38 Pr 371 10371 300 PB39 Pr 372 10372 300 40 For manufacturer setting Pr 373 10373 300n PB4t Pr 374 10374 300n PB42 Pr 375 10375 300n 4 Pr 376 10376 300n PB44 1
25. ne 11 1050 to 1079 OPR acceleration time 1 1150 to 1179 OPR deceleration time 1250 to 1279 Pr60 OP shift amount 1350 to 1379 1450 to 1479 ae Pr 62 OP search limit omm 1550 to 1579 Operation setting for incompletion of OPR m m IN IN IN IN IN IN gt DOIN ID oO BEEN 187 3 EX 240521 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 3 List of manual control parameter Axis No Buffer memory address Parameter item 1 80 to 99 180 to 199 Symbol 2 480 to 499 JOG operation acceleration time 580 to 599 JOG operation deceleration time Unusable 1380 to 1399 1480 to 1499 1580 to 1599 7 10 11 12 13 14 15 16 A ee ae o o 5 o E 6 DATA USED FOR POSITIONING CONTROL Buffer memory address 1600 601 0 1603 1604 1605 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 621 1622 1623 624 1625 1626 1627 1628 629 1630 1631 632 1633 1634 1635 1636 1637 1638 1639 640 1641 1642 643 1644 1645 1646 1647 1648 1649 4 List of system parameter Symbol Unusable Pr 101 External forced stop selection Unusable Buffer memory address 1650 o o ayo 1653 1654 1655 1656 1657 1658 1659 660 1661 1662 6
26. 11 1 4 Resetting errors Refet to Section 10 20 for the error reset 11 3 11 TROUBLESHOOTING 11 2 List of Errors System errors 1 to 999 MELSEC Q Error Error Operation status at Error Error check Remedy code detail error occurrence 1 FlashROMenor 1 SSCNETII communication send buffer error SSCNETII communication IC receive 7 1 buffer error At power supply ON Board information error CPU error Instruction code error at 400 ES power Em ON 4 _ error Instruction code error 5 CPUemor Wathdog 1 Setting for Pr 300 Servo series differs from the connecting status of 400 1 servo amplifier 2 Communication was cut off by the After PLC READY servo amplifier s power supply OFF Always 401 4 SSCNETII communication error CRC error SSCNETII communication error Data ID error Setting for Pr 300 Servo series differs from the connecting type of servo 406 55 communication error Connector not connected error 407 4 No response from the servo amplifier and a communication time out occurred At PLC READY ON Always 11 4 After PLC READY ON Replace the QH74MH Unit READY does not turn ON Set Clear for QD74MH in Error time output mode of the parameter Check the influence of noise Unit READY turns Replace the hardware Execute the power cycle after checking the followings 1 Setting for Pr 300
27. Buffer memory address Memory area 12354 12654 12954 13254 13554 13854 14154 14454 14754 15054 Option unit Servo parameter area APP 49 APPENDICES MELSEC Q MEMO APP 50 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 term 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
28. MR J3 DJB gt 3 08 Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft Forced stop input cable 0 5m 1 64ft 1m 3 28ft 3m 9 84ft 5m 16 40ft 10m 32 80ft Note 1 Q170DEMICBLLIM 15m 49 20ft 20m 65 62ft 25m 82 02ft 30m 98 43ft Connector for forced stop Q170DEMICON Connector for forced stop input cable production input cable Note 1 O Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft MR J3BUSLIM 55 cable MR J3BUSOM B 0 8 2 SYSTEM CONFIGURATION MELSEC Q 2 4 Name of Parts This section explains the names and LED display of the QD74MH 1 Name of parts Side Front 6 _ gt 10 7 ob 1 ERRD4 2 10 0 8 QD74MH16 Application T0 Lit Power supply ON 1 RUN indicator LED green Not lit Power supply OFF MAP Lit Flashing Error occurrence 2 ERR indicator LED red error Not lit Normal operation SSCNETII cable connector 3 Note 1 Connector to connect the servo amplifier
29. errors 1000 to 1899 Error Error Operation status at Error Error check Remedy code EA error occurrence axis axis stop commandis ON command is ON E The axis sudden stop command is ON 1 The forced stop was input in positioning 2 The operation was started in forced stop In pausing An error occurred for the interpolation group configured axis The command speed is 4 PLS s or less The positioning data number set in 2 Start method is outside the range All Da 0 Operation pattern for from the positioning data number to final positioning data No 32 set in 2 Start method are set to the continuous positioning or continuous path only 1 The control method was changed in positioning 1 axis linear lt gt Linear interpolation 2 The manual control start or OPR start was requested in positioning 3 The positioning start or OPR start was requested in manual control 4 The positioning start or manual control start was requested in OPR control At positioning start At OPR start At manual operation start positioning control or at positioning start OPR control or at OPR start manual control or at The operation does not start In start Forced stop At strat The operation does not start manual control start At positioning start At OPR start At manual operation start At interpolation control st
30. COININININININININ NI Oo O1 S e dvojo oj o 5 e dvjo o o o hN ojoj ojo ojojojojojo ojo WLOTWININININININININ 5 5 5 5 o o Jo 4 o NS ala 316 oo ojo ojo 5 NIN lo ojo 6 DATA USED FOR POSITIONING CONTROL MELSEC Q List of positioning data Continued No address No No address 1 2 895010 8959 Symbol Parameter item 8960 to 8969 Operation pattem Operation pattem 8979 0 8989 0 8999 6 9630109639 o 9019 8 9650109659 o 9039 movement amount movement amount o 9049 8 Dwelltime o 9059 Unusable o Unusable o 9069 o 9079 o 9089 o 9099 o 9109 o 9119 o 9129 o 9139 o 9149 o 9159 o 9169 o 9179 o 9189 o 9199 o 9209 o 9219 o 9229 o 9239 o 9249 o 9259 o 9269 o 9279 o 9289 o 9299 o 9309 o 9319 6 9950109959 o 9329 o 9339 8 9970to9979 o 9349 9 9980to 9989 o 9359 9990 to 9999 o 9369 10000 to 10009
31. DOG FLS RLS Negative logic Data set method OPR gt OP address 0 JOG speed 250mm s gt Incremental feedrate 0 gt APPENDICES MELSEC Q No 1 4 Servo parameter Pr 300 to Pr 599 Axis 1 PAO2 to PA15 setting example MO 1 UO 89 34 K1 610300 lt MR J3 B selection E UO K1 010303 Absolute position system d UO _ MOVP HO 610304 H Servo amplifier forced stop input Valid UO _ K1 610308 Auto tuning mode 1 gt UO x 1 12 610309 H Response 12 gt UO P jMOVP KO G10314 H Motor rotation direction CCW gt No 2 Parameter setting complete program Set the basic parameter OPR parameter manual control parameter and system parameter ahead of this step MO SM403 22 1 lt Parameter setting complete gt M1 No 3 Positioning data setting program Positioning data setting flag ON 0 132 2 J No 3 1 Positioning data point 1 M2 a UO _ 17 K1 65100 Operation pattern Continuous positioning gt UO P KO 6514 H ABS linear E UO 2 K1000 65102 Acceleration time 1000ms gt H UO jMOVP K1000 G5103 Deceleration time 1000ms gt r UO 1000000 65104 Command speed 100mm s gt o UO E j DMOVP 5000000 65106 Positioning address movement amount 500
32. LIDH At magnetic pole detection current detection 50 to 100 EE Identification signal amplitude Pr 504 10504 300n For manufacturer setting 1 1 e When using the linear servo set 0040h Pr 301 Control mode When using the linear servo the default value of servo amplifier differs from the default value of QD74MH Set an appropriate value referring to the servo amplifier instruction manual The servo amplifier does not operate normally with the default value of QD74MH Refer to the servo amplifier instruction manual Servo amplifier type Instruction manual name SSCNETII Compatible Linear Servo MR J3 L1B RJOOA4UT I Instruction Manual SH 030054 MR J3 L B RJ004 6 52 7 OPR CONTROL MELSEC Q 7 OPR CONTROL 7 1 Outline of OPR Control In OPR control a position is established as the starting point when executing positioning control The six methods of OPR control are shown below Through use of any of the methods the current position becomes the value set in Pr 52 OP address at OPR completion and the OPR complete Md 9 Status 1 61 turns ON OPR complete turns OFF at the next operation start The OPR retry in the negative direction is executed at the hardware stroke limit detection for some OPR methods Presence absence of retry is also shown below Table 7 1 OPR method list are A method where deceleration being when the proximity dog turns ON an
33. The start point address is 1000 1000 and the end point address is 10000 4000 Axis 2 Start point address Current stop position End point address Positioning address 1 1 1 1 1 1 1 1 1 1 Axis 2 Movement amount 4000 1000 3000 1 1 1 1 1 1 1 1 1 1 1 1 1 0 Axis 1 Movement amount 10000 1000 9000 8 POSITIONING CONTROL MELSEC Q 2 INC linear In incremental system 2 axes linear interpolation control linear interpolation positioning is executed from the start point address current stop position to a position at the end of the movement amount set in Da 6 Positioning address movement amount by using addresses established by OPR are used The movement direction is depended by a sign of movement amount 2 axes linear interpolation control Forward direction Y axis 4 Start point address X1 Y1 Current stop position e EE Y axis Movement amount Operation by linear interpolation for X axis and Y axis 1 Reverse direction Forward direction X axis X axis Reverse direction Movement amount The start point address is 1000 4000 the movement amount of axis 1 is 9000 and the movement amount of axis 2 is 3000 Axis 2 Start point address 4000 Current stop position Axis 2 2E Movement amount 3000 Stop address after the 1000 X MM positioning control
34. aA 5110105119 5120105120 513010 5139 514010 5149 5150105159 5160105169 5170105179 519010 5199 31 5400 to 5409 a N alan WIN ojo 6 DATA USED FOR POSITIONING CONTROL MELSEC Q List of positioning data Continued No address No address 1 2 6390 to 6399 Symbol Parameter item 6400 to 6409 Operation pattem o Operation pattem 410 to 6419 0 6429 0 6439 6 7070 to 7079 0 6459 8 7090 to 7099 z o 6479 movement amount movement amount 0 6489 8 Dwelltime 0 6499 Unusable o Unusable 6509 o 6519 o 6529 o 6539 o 6549 o 6559 o 6569 o 6579 o 6589 o 6599 o 6609 o 6619 o 6629 o 6639 o 6649 o 6659 o 6669 o 6679 o 6689 o 6699 o 6709 o 6719 o 6729 o 6739 o 6749 o 6759 6 7390107399 o 6769 o 6779 8 7410107419 o 6789 9 7420107429 o 6799 o 6809 o 6819 o 6829 o 6839 o 6849 o 6859 o 6869 o 6879 o 6889 o 6899 o 6909 o 6919 o 6929 o 6939 o 6949 o 6959 o 6969 o 6979 o 6989 o 6999 o 7009 o 7019 ees 5 5 5 WINININININ ND ojo gt 6390 to 6399 6400 to 6409 31 6680 to 6689
35. 0 x D b0 Positioning complete b1 Command in position b2 Pausing b3 Operation complete b8 Speed change READY b9 Accerelation time change READY b10 Decerelation time change READY b11 Target position change READY 60 Positioning complete This signal turns ON at the positioning control 1 axis linear control Interpolation control complete It turns OFF at the next start 1 axis linear control Interpolation control OPR Manual control The BUSY signal X10 to X1F OFF and this signal ON can be executed at the same timing b1 Command in position This signal turns ON when the remaining distance is equal to or less than Pr 20 Command in position range and it turns OFF at the positioning control start OPR start and manual control start b2 Pausing This signal turns ON after sudden stop by pausing command This signal turns OFF by pausing release b3 Operation complete This signal turns ON at the positioning completion as the following cases and it turns OFF at next positioning start After the JOG stop After the incremental feed completion Positioning control completion Only the final positioning data completion at execution of the continuous positioning or continuous path control After the stop by the stop signal After the sudden stop by the sudden stop signal After the stop by the hardware stroke limit Servo alarm occurrence Not after the stop After the s
36. 1 100 numerator AP applied to position command 5 Pr2 2 100 Electronig gear Seta denominator of electronic 1 to 32768 1 3 100 denominator AL gear applied to position command 4 100 Soltware Stroke limit Set the upper linit vale for 2147483648 to PLC READY ON 2000000000 PLS 5 100 upper limit value software stroke limit 2147483647 First time only 6 100n Software stroke limit the lower limit value for 2147483648 to Pr 6 UN 22 2000000000 PLS 7 100 lower limit value software stroke limit 2147483647 Set the backlash compensation Backlash Pr8 8 100 7 amount Set it by the encoder 0 to 65535 PLS compensation amount pulse unit 10 100n Yu Set the maximum speed for each x10 Pr 10 Speed limit value 1 to 2147 10 11 100n axis PLS s 0 Linear acceleration Acceleration Select the deceleration 15 15 100n deceleration method method 1 S curve acceleration deceleration S curve acceleration n Set the time constant for S curve Pr 16 16 100 deceleration time ms acceleration deceleration constant PLC READY ON Sudden sto Set the deceleration time to Parameter Pr 17 17 100 P 0 to 20000 1000 ms deceleration time execute a sudden stop change request Set the remaining distance that turns the command in position 0 to 2147483647 ON Target position change Set the process when
37. 422 10422 300n Poio Pr423 10423 300 Po For manufacturer setting Pr424 104245300 PD12 oon Pr426 10426 300 PD14 FunconselecionD 3 oooontoo10on o For manufacturer setting 6 DATA USED FOR POSITIONING CONTROL MELSEC Q e Extension control parameters Buff Factory default Symbol eee Symbol Name Sine A aan Unit Setting range address of QD74MH omn 2 Pr 446 10446 300 PEO2 Pr447 10447 300n Pr448 10448 300n Pr449 10449 300n PEOS Pr450 10450 300n 06 Pr 451 104518300 7 Pr452 10452 300 PEO8 Pr453 10453 300n PEO9 Pr 454 10454 300n 0 Prass 10455 300n Pett Prase 10456 300n 2 Pr457 10457 300n For manufacturer setting Pr458 10458 300n 459 10459 300n Pets Pr 460 10460 300n 6 461 10461 300n E EN Pr 462 10462 300n rie Pr 463 10463 300n _ Pr464 10464 300n PE20 Pr465 10465 300n PE21 Prase 10466 300n 22 ___ 467 10467 300n 23 Pr468 10468 300n 4 27 5 27 46
38. I d E 7 14 7 8 1 Gontrol detalls e ete teu em uM ud er e datur 7 14 7 8 2 Setting range of shift amount eeaeeeaeeeaeeeaeeeaeseaeeeaeeeaeeeaeesaeeeaeeeaeeeaeeeaeesas 7 15 7 9 OP Search Limit 7 16 TON GOMWONMGSAIS ois t tees Mat Die ia 7 16 8 POSITIONING CONTROL 8 1 to 8 16 8 1 Outline of Positioning Controls 8 1 8 1 1 Data required for positioning control 8 1 8 1 2 Operation patterns of positioning controls sss 8 2 8 1 3 Designating the positioning address sssssseeeeeeeeeeneen nennen nennen 8 5 9 2 taxis LINEAR Control aene ERREUR IeU 8 6 9 2 1 Star ng diei eed re sd eR 8 6 9 22 Control detalls ott tee ete atr tre debut odere ue UR toate 8 7 8 2 3 Restrictions for 1 aixs linear 2 8 8 8 3 Linear Interpolation Control ssssssssssssssssseeeeneeeeeennn nennen nennen nennen 8 9 8 3 1 Data used Tor cohtrol scents Sic x ir 8 9 8 3 2 Setting of linear interpolation enne nre 8 10 9 3 3 Starting method deir re e HR E REP ES Iu d 8 11 8 3 4 Control details dete ced iren ete een
39. Note It cannot communicate with that the connection of CN1A and CN1B is mistaken Table 4 1 List of SSCNETIII cable module name N Cable length 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft mM MR J3BUSLIM Standard cord for inside panel 1 1m 3 28ft 3m 9 84ft e QD74MH lt gt MR J3 5m 16 4ft 10m 32 81ft 20m 65 62ft Standard cable for outside panel MR J3 LIB lt gt MR J3 MR J3BUSCIM B 30m 98 43ft 40m 131 23ft 50m 164 04ft Long distance cable Note 1 Cable length 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 3 Setting of the axis number and axis select rotary switch of servo amplifier Axis number is used to set the axis numbers of servo amplifiers connected to SSCNETII connector CN1 in the program Axis number of 1 to 16 can be set for QD74MH16 and axis number of 1 to 8 can be set for QD74MH8 Set the axis number by using the axis select rotary switch of servo amplifier Axis number and number of axis select rotary switch is allocated as shown in the table below Set not to overlap the axis number of servo amplifier Wrong setting of servo amplifier may not operate normally Table 4 2 Correspondence between axis number and axis select rotary switch Axis select rotary switch aec 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 Preca
40. RH temperature in the board Measure corrosive gas becomes the ambient temperature Atmosphere No corrosive gases P Measure a voltage across the 85 to 132VAC Power voltage terminals of 100 200VAC and 170 to 264VAC Change the power supply Ambient environment 24VDC 15 6 to 31 2VDC Retighten the screws Move the module to check for The module must be installed If the CPU I O or power supply Looseness rattlin SM 5 looseness and rattling solidly module is loose fix it with screws Adhesion of dirt and Dirt and foreign matter must not Check visually Remove and clean foreign matter be present Looseness of terminal Try to further tighten screws with a Screws must not be loose Retighten the terminal screws Screws screwdriver Proximity of solderless Solderless terminals must be Check visually Correct terminals to each other positioned at proper intervals Looseness of Retighten the connector fixing Check visually Connectors must not be loose connectors Screws Installation Connection 5 SPECIFICATIONS AND FUNCTIONS 5 SPECIFICATIONS AND FUNCTIONS MELSEC Q This section describes the input output signals with PLC CPU and functions 5 1 Specifications of Input Output Signals 5 1 1 List of input output signals The QD74MH uses 32 input points and 32 output points for exchanging data with the PLC CPU The input output signals when the QD74MH is mounted i
41. X29 450 PLS M9 lt Acceleration time change request memo pulse gt 9 80 10 457 p move K10000 03419 Axis 1 Acceleration time 10000s gt U0 _ K1 G3418 Axis 1 Acceleration time change request ON 80 Axis 1 Acceleration time change request memo ON gt 80 169 2 472 4 MOVP KO 03418 Axis 1 Acceleration time change request OFF gt X29 M163 _ 80 lt 1 Acceleration time change request memo OFF gt No 19 Deceleration time change program X2A 485 PLS M5 H lt Deceleration time change request pulse gt M5 M96 X10 492 11 K10000 63421 H Axis 1 Deceleration time 10000s gt E K1 G3420 Axis 1 Deceleration time change request ON 96 H Axis 1 Deceleration time change request memo ON gt M96 M170 507 63420 Axis 1 Deceleration time change request OFF gt X2A M163 96 lt Axis 1 Deceleration time change request memo OFF gt No 20 Target position change program X31 520 PLS M29 H lt Target position change request pulse gt M29 M112 X10 527 14 10000 63424 Axis 1 Target position 10000PLS gt 2 K1 63422 Axis 1 Target position change request ON gt SET M112 lt 1 Target position ch
42. seso 5950 6270 650 690 5314 5634 5954 6274 6594 6914 Da 4 Command speed 5315 5635 5955 6275 6595 6915 Da 6 5316 5636 5956 6276 6596 6916 5317 5637 5957 6277 6597 6917 0 Operation pattem 5320 seso 5960 6280 6600 6920 23 5324 5644 5964 6284 6604 6924 Da 4 Command speed 5325 5645 5965 6285 6605 6925 n 5326 5646 5966 6286 6606 6926 Positioning address movement amount 5327 5647 5967 6287 6607 6927 Dwell time 5328 5648 5968 6288 6608 6928 Operation pattern 5330 5650 5970 6290 6610 6930 Control system 5331 5651 5971 6291 6611 6931 24 5334 5654 5974 6294 6614 6934 Command speed 5335 5655 5975 6295 6615 6935 me 5336 5656 5976 6296 6616 6936 Positioning address movement amount 5337 5657 5977 6297 6617 6937 Dwell time 5338 5658 5978 6298 6618 6938 Operation pattern 5340 5660 5980 6300 6620 6940 Control system 5341 5661 5981 6301 6621 6941 Deceleration time Da 4 25 5344 5664 5984 6304 6624 6944 Da 4 Command speed 5345 5665 5985 6305 6625 6945 Da 8 Positioning address movement amount uh 5346 5666 5986 6306 6626 6946 Positioning address movement amount 5347 5667 5987 6307 6627 6947 Das Dwelime 5949 568 5088 6308 6628 698 32 APPENDICES MELSEC Q Buffer memory address Memory 7226 7546 7866 8186 8506 8826 9146 9466 9786 10106 7234 7554 7874 8194 8514 8834 9154 9474 9794 10114 7236 7556 7876 8196 8516 8836 9156 9476 9796 10116 7237
43. 1 12 Forward rotation torque limit value and Cd 13 Reverse rotation can be separately set in the torque limit function However Cd 11 Torque limit request is valid to both of the forward rotation reverse rotation so set the same value normally to both of them 2 When Ca 11 Torque limit request is the torque limit value is set to the motor maximum torque 10 25 10 FUNCTION DETAILS MELSEC Q 10 13 2 Data used for control Set the following control data for the torque limit function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Cd 11 Torque limit request Command the torque limit request F limit val Set the limiting torque generated in the CW direction when the servo Control data oui ou P motor is executing in the CCW direction Set the limiting torque generated in the CCW direction when the servo Cd 13 Reverse rotation torque limit value 3 TN 5M motor is executing in the CW direction Check the following monitor data for the status of the torque limit Refer to Section 6 3 to 6 8 for the buffer memory address and monitor details _ Symbol Monitor data Md 40 Servo status 1 b13 Torque limit 10 26 10 FUNCTION DETAILS MELSEC Q 10 14 Speed Change Function This function is used to change the speed in control to a newly designated speed at any timing 10 14 1 Control details The relation between the speed
44. 1 1 60 0 Oo O S jeje Nl e oP EN 4 gt N NJN ojo ala N 9379 10010 to 10019 o 9389 10020 to 10029 9399 10030 to 10039 9409 10040 to 10049 9419 10050 to 10059 16 9429 10060 to 10069 o 9439 10070 to 10079 9449 10080 to 10089 9459 10090 to 10099 o 9469 10100 to 10109 o 9479 10110 to 10119 o 9489 10120 to 10129 o 9499 10130 to 10139 o 9509 10140 to 10149 o 9519 10150 to 10159 o 9529 10160 to 10169 o 9539 10170 to 10179 o 9549 10180 to 10189 9559 10190 to 10199 9569 10200 to 10209 o 9579 10210 to 10219 5 5 5 5 5 5 5 o o ojo o o NIQ ojo 6 DATA USED FOR POSITIONING CONTROL 9 List of servo parameter MELSEC Q Axis Buffer memory 5 Parameter item No address 6 1180010 12099 8 1240010 12699 9 127001 12999 10 13000 13299 14800 10 15099 No Parameteritem _____ 0 Pr300 Sewoseries Pr 306 PA06 For manufacturer
45. Cd 23 Target position change request f Servo status 1 b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO b0 READY ON b1 Servo ON b7 Servo error Servo alarm b12 In position b13 Torque limit b14 Absolute position lost b15 Servo warning b0 READY ON The servo READY ON OFF status is indicated b1 Servo ON The servo ON OFF status is indicated b7 Servo error Servo alarm This signal turns ON in the servo error occurrence b12 In position The dwell pulse turns ON within the servo parameter Pr 310 In position range b13 Torque limit This signal turns ON when the servo amplifier is having the torque restricted 6 33 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 b14 Absolute position lost This signal turns ON in Error code 2025 and Warning code 2143 occurrence 7 b15 Servo warning This signal turns ON in servo warning occurrence f Servo status 2 b15b14b13b12b11b10 69 68 b7 b6 65 64 b3 52 61 bO Zero point pass b3 Zero speed 1 bO Zero point pass This signal turns ON if the zero point of the encoder has been passsed even once 2 b3 Zero speed This signal turns ON when the motor speed is lower than the servo parameter Pr 387 Zero speed 2 Axis monitor data MR J3 LIB RJOOG6 use Buffer memory Details Updated cycle Unit address b5 The switching status of the semi c
46. Cd 5 Pausing Pr 17 Da 2 Sudden stop Acceleration deceleration time time Pr 10 Speed limit value Da 4 Command speed 5 Pausing Pausing 10 Status 2 b2 OFF POINT When the sudden stop time is longer than the stop time Pr 83 JOG operation deceleration time Pr 59 OPR deceleration time a Warning code 11002 will occur at axis sudden stop command and the sudden stop time is cramped with the stop time 10 23 10 FUNCTION DETAILS MELSEC Q When the pausing is removed in deceleration the positioning is resumed without waiting for the stop At this time Pausing Md 10 Status 2 b2 does not turn ON A Da 4 Command speed NUA Cd 5 Pausing 0 x x 0 Pausin Md 10 Status 2 b2 OFF 1 When Ca 3 Axis stop or 4 Axis sudden stop is executed in pausing the positioning does not resume even if the pausing is removed If S curve acceleration deceleration are set the S curve acceleration deceleration time constant are always valid Therefore the sudden stop or acceleration will use S curve acceleration deceleration If the positioning is started by setting 1 in 5 Pausing an error code 1013 will occur and the operation does not start Start after removing the pausing It is ignored even if t
47. DMOVP K1000 D24 lt Incremental feedrate 1000PLS gt APP 13 APPENDICES No 9 Execution operation for JOG operation Incremental feed operation X2E x0 X10 UO 274 1 yt D24 94 X2F SET M128 X2E M128 288 U0 G3408 0 X2F M128 294 KS R II ni 3409 0 X2E X2F M128 ELL RsrT 128 300 No 10 OPR selection program X35 305 MOVP K9000 D31 No 11 Current value change selection program X34 312 MOVP K9003 D31 UO DMOVP KO G3428 No 12 Positioning selection program X33 325 4 MOVP K1 D31 No 13 Positioning start program The input signal is made to the pulse This pulse signal is used for each axis start operation X20 332 PLS M63 M63 10 X10 M7 341 SET M64 Y10 X10 347 RST Y10 X20 U0 G1710 3 64 10 356 314 Wy MOVP D31 G3402 SET 10 RST M64 APP 14 MELSEC Q lt Set the incremental feedrate gt lt JOG Incremental feed operating flag ON gt lt Forward rotation JOG Forward rotation incremental feed ON gt lt Reverse rotation JOG Reverse rotation incremental feed ON gt lt JOG Incremental feed operating flag OFF gt lt OPR command No 9000 gt lt Axis 1 Current value change No 9003 gt lt Axis 1 Current position 0 gt lt Point 1 specification gt lt Positioning start pulse gt
48. Da 2 Da 3 Acceleration time Deceleration time Fig 8 2 Acceleration deceleration time for linear interpolation control 8 14 8 POSITIONING CONTROL 8 3 6 Restrictions 3 MELSEC Q Up to 4 groups can be set in Pr 25 Interpolation group For 16 axes control it cannot be used as 2 axes interpolation x 8 groups In the following cases an error code 1040 will occur in reference axis and the linear interpolation cannot be started One group is defined with 5 or more axes linear interpolation is started with a group number that exceeds the valid group number In the following cases an error code 1041 will occur in reference axis and an error code 1016 will occur in interpolation axis and the linear interpolation cannot be started There is an axis whose amount of movement exceeds the maximum of 999999999 in one axis An error code 1042 will occur in reference axis and the linear interpolation cannot be started if it is started while the busy signal is ON or an alarm is set in the linear interpolation control A corresponding error in the axis that caused the error and an error code 1016 in the other axes will occur if an error will occur in the linear interpolation control start An error code 1501 in the corresponding axis and an error code 1016 in the other axes will occur if there is an axis that moves from within software stroke limits to outside the limi
49. Refer to Section 6 3 to 6 8 for the buffer memory address and monitor details _ Symbol Monitor data Md 10 Status 2 b8 Speed change READY 10 28 10 FUNCTION DETAILS MELSEC Q 10 15 Acceleration Deceleration Time Change Function 10 15 1 Control details The relation between the acceleration deceleration time change function and the each control is shown below Acceleration deceleration Control Set time change function OPR control OPR control ositionin osition 9 New acceleration time value control control Wee interpolation control Cd 21 New deceleration time value Manual JOG operation Q control Incremental feed operation Valid Invalid When 1 is set in Cd 18 Acceleration time change request or Cd 20 Deceleration time change request it is changed to the acceleration deceleration time set in Ca 19 New acceleration time value or Cd 21 New deceleration time value The acceleration deceleration time change can also be implemented in acceleration or operation 1 When the acceleration time is changed in acceleration Da 2 Acceleration time Acceleration Pr 10 Speed limit value Da 4 Command speed Cd 19 New acceleration time value Positioning start signal Y10 to Y1F Cd 18 Acceleration time change request Accerelation time change READY Md 10 S
50. Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor Electro magnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement Z CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the module or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static elect
51. Z CAUTION Check the followings by making the machine operate with the JOG operation 1 Machine operates correctly no vibration hunting etc 2 Stroke limits operate correctly 3 Machine stops by the emergency stop or forced stop The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Execute the test operation in the system that it is low speed as much as possible and put forced stop and confirm the operation and safety Check OPR Check the followings by executing the OPR 1 OPR direction 2 OPR data 3 Proximity dog position Check sequence program Set the switch of PLC CPU module to RUN and check that all positioning controls by sequence programs are correct Check by automatic operation Check the sequence operation by executing the sequence program using an actual external input 1 Make note of servomotor module names before the servomotor is mounted on a machine The servomotor name plate may not be visible after the motor is mounted 2 When the servo amplifier servomotor is first turned on check the operation before the servomotor is mounted on a machine to avoid an unexpected accidents such as machine breakage 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 5 Maintenance 4 5 1 Precautions for maintenance The precautions
52. eeu ERR ae 8 12 8 3 5 Speed acceleration deceleration sse 8 14 823 6 8 15 9 MANUAL CONTROL 9 1t09 6 OGJODSratiom 9 1 9 1 1 Control detailss ices ee hr rte e a 9 2 9 1 2 Data used for 9 4 9 2 Incremental Feed 9 5 2 52 MN CON IE M MM I PM DUM Mr HUM Ir 9 5 9 2 2 Precautions for control nennen net enne tren entren nennen 9 6 9 2 3 Data used for control ee e ete p ette beste eq stet bed ute vin ade 9 6 10 1 Servo ON OFF ie i oh em ad te eo de vce ete e n e e s 10 1 10 11 Control deta S 2 75 1 onte Pad e ud e e a te A 10 1 10 1 2 Data used for Controls iere pl en d ld n ides 10 2 1051 9 Follow Up TUMCUO Mi tede abusat dab 10 2 10 2 Electronic Gear Function ccccccccccccsssseeccssseeceessseeesesseeeeesseeecessseeeseseeeesesaeeesesseesesesaeeesesaeeesessaeees 10 3 10 22 ControlidetallS nnum 10 3 10 2 2 Data used for control ent re taeda 10 6 10 3 Hardware Stroke Limit Function 10 7 10 3 1 Control details 5 ene RR t
53. is inserted in the mark Representation of numerical values used in this manual e Buffer memory addresses error codes and warning codes are represented in decimal e X Y devices are represented in hexadecimal e Setting data and monitor data are represented in decimal or hexadecimal Data ended by H or h are represented in hexadecimal Example 10 Decimal 10h Hexadecimal Compliance with the EMC and Low Voltage Directives 1 For programmable controller system To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller EMC and Low Voltage Directives compliant into other machinery or equipment refer to Chapter 9 EMC AND LOW VOLTAGE DIREVTIVES of the QCPU User s Manual Hardware Design Maintenance and Inspection The CE mark indicating compliance with the EMC and LOW Voltage Directives is printed on the rating plate of the programmable controller 2 For programmable controller system For the compliance of this product with the EMC and Low Voltage Directives refer to Section 4 2 Wiring of the chapter 4 And refer to the EMC Installation Guidelines IB NA 67339 for the servo amplifiers or servo motors Generic Terms and Abbreviations Unless specially noted the following generic terms and abbreviations are used in this manual The module type is described to indicate a specific module Peripheral device Generic term for DOS V p
54. limit switch detection 1 1 Mechanical stopper Movement ae Movement Mechanical stopper direction direction lt pe Mel Lower limit Upper limit switch switch Servo amplifier QD74MH The deceleration stop is executed by setting the sudden stop deceleration time Keep enough distance between the limit switch and the mechanical stopper in consideration of a distance necessary for the stop 10 7 10 FUNCTION DETAILS MELSEC Q The relation between the hard ware stroke limit and the each control is shown below At the start 1 axis linear control Positioning control 2 to 4 axes linear interpolation control JOG operation Incremental feed operation Proximity dog type Refer to Section 7 OPR CONTROL Data set type Stopper type Dog cradle type Limit switch combined type Scale origin signal detection type If the limit switch of positioning direction is in operaion an error code 1500 will occur and the operation does not start If the limit switch of positioning direction is in operaion an error code 1500 will occur in the axis that the stroke limit is detected an error code 1016 will occur in the other axes and then the operation does not start If the limit switch of positioning direction is in operaion an error code 1500 will occur and the operation does not start If the upper or lower limit
55. lt Positioning start ON gt lt Set the start number gt lt Positioning start signal ON gt lt Positioning start OFF gt APPENDICES MELSEC Q No 14 Stop program No 14 1 Axis stop for each axis x21 367 U0 G3403 0 H Axis stop signal ON OFF gt No 14 2 Axis sudden stop for each axis X23 376 U0 G3404 0 lt Axis sudden stop signal ON OFF gt No 14 3 Pausing for each axis X22 0634050 lt Pausing signal ON OFF gt No 15 Error reset program X26 0234000 H Error reset ON OFF gt No 16 Flash ROM write program X28 YO X10 3941 W W sET M4 Flash ROM write memo ON UO MOVP K1 G5000 Flash ROM write request ON M4 UO 407 KO G5000 RST M4 Flash ROM write memo OFF No 17 Speed change program X2B 414 5 8 H lt Speed change request memo pulse gt M8 M47 X10 UO 421 H H DMP K10000 G3416 Axis 1 New speed value 10000PLS s UO MovP K1 63415 Axis 1 Speed change request ON sET M47 H Axis 1 Speed change request memo ON M47 M168 UO 437 _ 03415 Axis 1 Speed change request OFF X2B M163 _ yt RST M47 Axis 1 Speed change request memo OFF APP 15 APPENDICES MELSEC Q No 18 Acceleration time change program
56. memory address Symbol Details Set the operation pattern for the continuous positioning data M 5100 320n Operation pattern 5101 320n Control system Set the positioning control System 5102 320 Acceleration time Set the acceleration time 0 to 20000 5103 320n Deceleration time Set the deceleration time 0 to 20000 5104 320 51054320n Set the positioning speed Command speed Set the positioning address movement amount Mem Set an absolute address in 5106 320n Positioning address 5107 320n movement amount a movement amount with sign in the incremental system Set the time from when the Da 8 5108 320n Dwell time positioning data ends to when the positioning completes the absolute system and set MELSEC Q Setting range Fetch timing 0 Independent positioning Positioning complete 1 Continuous positioning 3 Continuous path 0 ABS linear 1 1 INC linear 1 2 ABS linear interpolation 3 INC linear interpolation Factory default ms 5 to 2147000000 Positioning PLS s data execution 1 axis linear control 2147483648 to 2147483647 Interpolation control 999999999 to 999999999 0 to 65535 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 8 Servo Parameter Buffer Items Details Setting range Fetch timi Factory y g rang etch timing e t address Set the servo amplifier series connected to QD74MH EOIN
57. 1 It moves in the opposite direction against of direction set in Pr 51 OPR direction at the speed set in Pr 54 OPR speed 2 Ifthe zero point is passed with the proximity dog OFF a deceleration stop is made If the zero point is not passed it continues to move until the zero point is passed and then a deceleration stop is made 3 After deceleration stop it moves in the direction of OPR at the speed set in Pr 56 Creep speed and the OPR completes at the first zero point after proximity dog ON V Pr 51 OPR direction gt Pr 56 Creep speed Pr 54 OPR speed Zero point 4 limit switch is detected at start up position If a limit switch in the direction of OPR is ON the OPR is executed in operation of this section 2 If the limit switch in the opposite direction against of OPR is ON the OPR is executed in operation of this section 1 7 OPR CONTROL MELSEC Q 7 6 Limit Switch Combined Type The limit switch sensor in the opposite direction of the home sensor is used for OPR This method moves towards the limit switch and beings decelerating when the sensor turns on Movement then reverses and the home position is the first Z pulse after the sensor turns back off Operation outline is shown below 1 It moves in the opposite direction against of direction set in Pr 51 direction at the speed set in Pr 54 OPR spee
58. 1084 1184 1284 1384 1484 1584 685 785 885 985 1085 1185 1285 1385 1485 1585 1601 Basic parameters Parameter area o 2 5 G na Q Manual control parameter System parameters APP 19 APPENDICES MELSEC Q Appendix 3 2 Monitor data area Symbol Item Buffer memory address 1700 1800 1900 2000 2100 2200 Current feed value 1701 1801 1901 2001 2101 2201 1702 1802 1902 2002 2102 2202 Feedrate 1703 1803 1903 2003 2103 2203 Md4 Extemalingtsigna 1704 1804 1904 2004 2104 2204 Positioning data No being executed 1705 1805 1905 2005 2105 2205 6 _ 1706 1806 1906 2006 2106 2206 Error detail 1707 1807 1907 2007 2107 2207 Wamigcode 1708 1808 1908 2008 2108 2208 1726 1826 1926 2026 2126 2226 26 Real current value 1727 1827 1927 2027 2127 2227 1728 1928 2028 2128 2228 28 Deviation counter value 1729 1929 2029 2129 2229 Md 31 Motor current value 1731 1931 2031 2131 2231 a ss Dmm ums Md 32 Motor rotation speed 1733 833 1933 2033 2133 2233 APP 20 APPENDICES MELSEC Q Buffer memory address Memory area 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 2302 2402 2502 2602 2702 2802 2902 3002 3102 3202 2326 2426 2526 2626 2726 2826 2926 3026 3126 3226 2328 2428 2528 2628 2728 2828 2928 3028 3128 322
59. 1550 3415 100n Cd 15 Speed change request 3415 100x15 4915 range n 0 to 7 of axis No 1 to 8 is valid for the QD74MH8 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 1 List of basic parameter Buffer memory address Parameter item 01049 2 1000149 Symbol 20010249 Electronic gear numerator 4 300 to 349 5 _ ____4001 449 H 500 to 549 o 2724 600 10 049 Software stroke limit upper limit value 700 to 749 e awos 900 to 949 1000 to 1049 LL Backlash compensation amount 1100 to 1149 0 0 0 0 0 13 1200 to 1249 10 9 EUM Pr10 Speed limit value 1300 to 1349 1400 to 1449 1500 to 1549 Unusable Electronic gear denominator AL Software stroke limit lower limit value S curve acceleration deceleration time constant cT 2 e M La O E menusane Em Unusable 32 33 34 35_ 36 37 38 39 a Unusable 42 43 44 45 46 47 48 49 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 List of OPR parameter Parameter item wee 22 2 Parameteritem 29029 5 2 3 350 0 379 54 OPR direction __________________ 5 450 to 479 m Pr52 OP address 550 to 579 650 to 679 m Pr54 OPR speed 750 to 779 850 to 879 Creep speed 950 to 979
60. 2 Transmitting the servo parameters from servo amplifier to buffer memory of QD74MH The parameters changed in the servo amplifier can be automatically transmitted to the buffer memory of QD74MH However they cannot be transmitted to the flash ROM of QD74MH Since the contents changed is lost by turning OFF of the system power supply or reset of the PLC CPU execute the flash ROM write if required There is a limitation in the write count to the flash ROM Refer to Section 10 22 Transmitting procedure is shown below 1 The parameters can be changed by MR Configurator or the parameters such as gain by auto tuning 2 The servo parameters changed in procedure 1 can be automatically transmitted to the buffer memory of QD74MH 3 When 1 is set in the Cd 100 Flash ROM write request in the sequence program the buffer memory data can be transmitted to the flash ROM PLC CPU TO P instruction DTO P instruction FROM P instruction DFRO P instruction MOV P instruction DMOV P instruction MOV P instruction DMOV P instruction 3 Flash ROM write request ON QD74MH Internal memory PLC READY ON Buffer memory System power supply ON Flash ROM Parameter Parameter Reset of the PLC CPU Parameter Positioning data Positioning data Servo parameter 4 is set in Cd 100 Flash Servo parameter Monitor data ROM write request Control data 3 Flash ROM write operat
61. 5708 6028 6348 6668 6988 Operation pattern 5390 5710 6030 6350 6670 6990 Control system 5391 5711 6031 6351 6671 6991 Deceleration time Da 4 30 5394 5714 6034 6354 6674 6994 Da 4 Command speed 5395 5715 6035 6355 6675 6995 Da 8 Positioning address movement amount uh 5396 5716 6036 6356 6676 6996 Positioning address movement amount 5397 5717 6037 6357 6677 6997 Das Dwelime 598 sne 608 6358 6678 69 APP 34 APPENDICES MELSEC Q Buffer memory address Memory 7276 7596 7916 8236 8556 8876 9196 9516 9836 10156 7284 7604 7924 8244 8564 8884 9204 9524 9844 10164 7286 7606 7926 8246 8566 8886 9206 9526 9846 10166 7287 7607 7927 8247 8567 8887 9207 9527 9847 10167 7294 7614 7934 8254 8574 8894 9214 9534 9854 10174 7296 7616 7936 8256 8576 8896 9216 9536 9856 10176 7304 7624 7944 8264 8584 8904 9224 9544 9864 10184 7306 7626 7946 8266 8586 8906 9226 9546 9866 10186 7315 7635 7955 8275 8595 8915 9235 9555 9875 10195 7317 7637 7957 8277 8597 8917 9237 9557 9877 10197 Positioning data Positioning data area APP 35 APPENDICES MELSEC Q Data Symbol Buffer memory address No 0 Operation pattem 5400 5720 6040 6360 6680 7000 Command speed 5406 5726 6046 6366 6686 7006 Positioning address movement amount 5407 5727 6047 6367 6687 7007 Das Dwelltime smo srao exo eeo 7010 5414 5734 6054 6374 6694 70
62. 6 8 for the buffer memory address and details _ Symbol Control data Parameter change request Execute the parameter change request 10 46 11 TROUBLESHOOTING MELSEC Q 11 TROUBLESHOOTING 11 1 Error and Warning Details 11 1 1 Errors Outline for the error codes and warning codes detected by the QD74MH are shown below Erroriwarning code 1 to 999 System error Operation error 1000 to 1899 1200s errors are used for errors for the absolute position system 1900 to 1999 Interface error 2000 to 2099 Servo error 2100 to 2199 Servo warning 11000 to 11999 Operation warning Types of errors are shown below System errors by hardware failure etc Operation errors at operation start or in operation Interface errors Servo errors detected by servo amplifier Error code 6 and error detail 7 are represented in decimal Confirm the error codes by the decimal in the buffer memory Axis cannot be started in error occurrence Eliminate the error cause and then start the axis after resetting the error If the axis is started in error occurrence the error code is unchanged 1 System errors Error code 1 to 999 The system errors occur by hardware failure etc The system errors cannot be reset If the multiple system errors occur simultaneously the smallest number is given to priority 2 Operation errors Error code 1000 to 1899 The operation errors occur at the following
63. 7134 7454 7774 8094 8414 8734 9054 9374 9694 10014 7136 7456 7776 8096 8416 8736 9056 9376 9696 10016 7137 7457 7777 8097 8417 8737 9057 9377 9697 10017 7144 7464 7784 8104 8424 8744 9064 9384 9704 10024 7146 7466 7786 8106 8426 8746 9066 9386 9706 10026 7154 7474 7794 8114 8434 8754 9074 9394 9714 10034 7156 7476 7796 8116 8436 8756 9076 9396 9716 10036 7165 7485 7805 8125 8445 8765 9085 9405 9725 10045 7167 7487 7807 8127 8447 8767 9087 9407 9727 10047 Positioning data Positioning data area APP 29 APPENDICES MELSEC Q seso ss so eso cem 16 5254 5574 5894 6214 6534 6854 Command speed 5255 5575 5895 6215 6535 6855 6 Da 4 TEC 5256 5576 5896 621 6536 6856 0 Operationpatten 5260 5580 5900 6220 6540 6860 5264 5584 5904 6224 6544 6864 Da 4 Command speed 5265 5585 5905 6225 6545 6865 Da 6 5266 5586 5906 6226 6546 6866 5267 5587 5907 6227 6547 6867 Dao Operation pattem 5270 590 540 6230 6560 6870 18 5274 5594 5914 6234 6554 6874 Da 4 Command speed 5275 5595 5915 6235 6555 6875 n 5276 5596 5916 6236 6556 6876 Positioning address movement amount 5277 5597 5917 6237 6557 6877 Dwell time 5278 5598 5918 6238 6558 6878 Operation pattern 5280 5600 5920 6240 6560 6880 Control system 5281 5601 5921 6241 6561 6881 5284 5604 5924 6244 6564 6884 Command speed 5285 5605 5925 6245 6565 6885 me 5286 5606 5926 6246 6
64. 7557 7877 8197 8517 8837 9157 9477 9797 10117 7244 7564 7884 8204 8524 8844 9164 9484 9804 10124 7246 7566 7886 8206 8526 8846 9166 9486 9806 10126 7254 7574 7894 8214 8534 8854 9174 9494 9814 10134 7256 7576 7896 8216 8536 8856 9176 9496 9816 10136 7265 7585 7905 8225 8545 8865 9185 9505 9825 10145 7267 7587 7907 8227 8547 8867 9187 9507 9827 10147 Positioning data Positioning data area APP 33 APPENDICES MELSEC Q Operaonpatem seso ss seo osso eem 26 5354 5674 5994 6314 6634 6954 Command speed 5355 5675 5995 6315 6635 6955 6 Da 4 TEC 5356 5676 5996 631 6636 6956 0 Operationpattem 5360 seso 600 6320 6640 690 5364 5684 6004 6324 6644 6964 Da 4 Command speed 5365 5685 6005 6325 6645 6965 Da 6 5366 5686 6006 6326 6646 6966 5367 5687 6007 6327 6647 6967 Dao Operation pattern 5370 5690 600 6330 660 6970 28 5374 5694 6014 6334 6654 6974 Da 4 Command speed 5375 5695 6015 6335 6655 6975 n 5376 5696 6016 6336 6656 6976 Positioning address movement amount 5377 5697 6017 6337 6657 6977 Dwell time 5378 5698 6018 6338 6658 6978 Operation pattern 5380 5700 6020 6340 6660 6980 Control system 5381 5701 6021 6341 6661 6981 29 5384 5704 6024 6344 6664 6984 Command speed 5385 5705 6025 6345 6665 6985 me 5386 5706 6026 6346 6666 6986 Positioning address movement amount 5387 5707 6027 6347 6667 6987 Dwell time 5388
65. 8 Dwell time Set only Da 6 Positioning address movement amount for the all axes of the same group for the interpolation control 1 Always set the basic parameter Pr 25 Interpolation group to execute the interpolation When 0 is set to interpolation group an error code 1040 will occur The interpolation group becomes valid by input from the buffer memory at the PLC READY ON Do not turn ON the positioning start signal Y10 to Y1F of the interpolation axis except reference axis at the interpolation control start An error may occur at the start 4 The linear interpolation can be started for the axes that set the same value to the interpolation group A part of the axes cannot be started among those axes 5 Asingle axis can be started by setting the ABS linear interpolation or INC linear interpolation in Da 1 Control system even if Interpolation group is set 8 POSITIONING CONTROL MELSEC Q 8 3 3 Starting method The starting method for linear interpolation control is shown below 1 Set parameters required for linear interpolation control 2 Set the items of positioning data Set the all items for reference axis and set only Da 6 Positioning address movement amount for interpolation axis 3 Set the starting positioning data No in Cd 2 Start method of reference axis 3 Turn the positioning start signal Y10 to Y1F ON of reference axis 4 The BUSY signal X10 to X1F both of refer
66. 8 for the buffer memory address and monitor details Monitor data Status 2 b11 Target position change READY 10 34 10 FUNCTION DETAILS MELSEC Q 10 17 Current Value Change Function This function is used to change the current position of stopped axis to the address set in Cd 28 New current value 10 17 1 Control details Set the new address in Cd 28 New current value The current value is changed by setting 9003 in Cd 2 Start method to turn the positioning start signal Y10 to Y1F ON If the data outside the stroke limit is set in new current value an error code 1501 will occur Command speed Start of data No 9003 0 Current feed value Positioning address new address ON Positioning start signal Y10 to Y1F OFF Positioning complete 10 Status 2 0 OFF Cd 2 Start type X Data No during positioning execution xX 9003 Cd 28 New current value 1 1 1 1 1 i 1 1 1 1 1 1 xX new address 1 1 If the system s power cycle is executed after current value change the absolute position system it returns to the address before current value change NCAUTION If the operation to one direction within the software stroke limit repeats using the current value change function the current value may not be correctly restored in the
67. 8626 8946 9266 9586 9906 7034 7354 7674 7994 8314 8634 8954 9274 9594 9914 7036 7356 7676 7996 8316 8636 8956 9276 9596 9916 7044 7364 7684 8004 8324 8644 8964 9284 9604 9924 7046 7366 7686 8006 8326 8646 8966 9286 9606 9926 7054 7374 7694 8014 8334 8654 8974 9294 9614 9934 7056 7376 7696 8016 8336 8656 8976 9296 9616 9936 7065 7385 7705 8025 8345 8665 8985 9305 9625 9945 7067 7387 7707 8027 8347 8667 8987 9307 9627 9947 c g t 5 A Positioning data area APP 25 APPENDICES MELSEC Q Data Symbol Buffer memory address No 0 Operation pattem 5150 5470 5790 6110 6430 6750 Deceleration time 5153 5473 5793 6433 6753 6 5154 5474 5794 6114 6434 6754 5155 5475 5795 6115 6435 6755 6 5156 5476 5796 611 6436 6756 py HERE HE HIE 0 Operation pattern 560 5480 5800 6120 640 6760 5164 5484 5804 6124 6444 6764 Da 4 Command speed 5165 5485 5805 6125 6445 6765 Da 6 Da 4 Command speed Da 8 5166 5486 5806 6126 6446 6766 5167 5487 5807 6127 6447 6767 Dao Operation pattem 510 590 540 6130 640 6770 5174 5494 5814 6134 6454 6774 Da 4 Command speed 5175 5495 5815 6135 6455 6775 n 5176 5496 5816 6136 6456 6776 Positioning address movement amount 5177 5497 5817 6137 6457 6777 Dwell time 5178 5498 5818 6138 6458 6778 Operation pattern 5180 5500 5820 6140 6460 6780 Control s
68. 9 379 380 3 Pr 383 PCO 7 7 7 7 7 7 7 7 1 7 8 Error excessive alarm level 2 Electromagnetic brake sequence output 8 Encoder output pulses selection 4 Function selection C 1 Function selection C 2 unction selection C 3 PI P Pr 384 P 06 Zero speed 8 8 8 8 3 4 5 7 8 9 1 2 3 5 7 0 1 2 3 4 5 6 7 8 1 2 4 5 7 8 3 31 3 3 3 3 3 1 45 01 0 3 0 05 06 07 08 8 6 DATA USED FOR POSITIONING CONTROL MELSEC Q Fees e __Parametertom Pr 446 PEO2 Pr 447 148 448 4 For manufacturer setting 165 Pr 465 PE21 PE26 PE27 Filter coefficient 2 2 28 Filter coefficient 2 3 PE29 Filter coefficient 2 4 1 2 PE33 14500 to 14799 14800 to 15099 List of servo parameter Continued No address 90 Pr390 10 Analogmonitor2output 6 1180010 12099 93 Pr393 PC13 Analog monitor feedback position output standard data Low 8 12400 to 12699 PC14 Analog monitor feedback position output 9 12700 to 12999 standard data High 10 F facti tti se 396 99 Pr 399 PC19 For manufacturer setting 112 Pr 412 PC32 For manufacturer setting symbol No Parameter item 13000
69. Cd 100 Flash ROM write request Flash ROM write process QD74MH Md 102 Number of write accesses to flash ROM 1 Do not turn the system power supply OFF or reset the PLC CPU while writing to the flash ROM If the system power supply is turned OFF or the PLC CPU is reset to forcibly end the process the data backed up in the flash ROM will be lost Do not write the data to the buffer memory before writing to the flash ROM is completed The number of the flash ROM write with the sequence program after the single system power supply ON or single PLC CPU reset is limited to up to 25 Writing of the 26th times will cause an error code 1902 The number of writes to the flash ROM after the system power supply ON can be monitored in Md 102 Number of write accesses to flash ROM The flash ROM write can be executed after the system s power supply ON and the PLC READY signal YO ON If the flash ROM write is executed without turning ON the PLC READY signal YO after the system s power supply ON a warning code 10001 will occur and the flash ROM write cannot be executed 6 DATA USED FOR POSITIONING CONTROL MELSEC Q b Parameter initialization request Set 1 in Ca 101 Parameter initialization request in the state of the PLC READY signal YO OFF Process of the parameter initialization can be executed 0 can be automatically set in Cd 101 Parameter initialization request with the process
70. Input connector to stop all axes of servo amplifier in a lump EMI ON opened Forced stop Forced stop input connector EMI EMI OFF 24VDC input Forced stop release Note It can be invalidated by the software setting aJ s z Poe Note 1 Put the SSCNETII cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNETII connector Note 2 As for the connection to common both are possible 2 5 2 SYSTEM CONFIGURATION MELSEC Q 2 LED display The LED displays by the state of the QD74MH follows LED displa If RUN LED green is OFF RUN RUN LED green is OFF Hardware failure exchange the unit because it ERR O ERR LED red is OFF System error Error code 100 might be a failure RUN E Steady RUN green LED display The module operates normally ERR O ERR LED red is OFF Check the error in the buffer RUN E Steady RUN LED green display System error Except error code 100 Exchange the unit for ERR m Steady ERR LED red display Hardware failure hardware failure because it might be a failure Check the error in the buffer RUN E Steady RUN LED green display Operation error Interface error memory and correct the ERR
71. MELSEC Q 3 Parameters and positioning data Types of parameters include Basic parameters OPR parameters Manual control parameters and Servo parameters The parameters to be changed are shown below Add and change the parameters and positioning data according to the system Table 2 1 Parameters for 1 axis Symbol Value for 1 axis Basic Electronic gear numerator AP 8192 U0 G0 100n Set these parameters Electronic gear denominator AL 3125 U0 G2 100n according to the system Software stroke limit upper limit value 2 819100000 00 64 100 Set these parameters oM according to movement Pr 6 Software stroke limit lower limit value 2 819100000 U0 G6 100n range for the system 10 Speed limit value Cd Pr25 Interpolation group a 1 Linear interpolation speed limit value UO G26 100n Po HO Negative logic Pr 31 External input signal logic selection 1 HO U0 G31 100n Nn H111 Positive logic OPR method UOG50 100n Data set type OP address 2 0 ___ Cd JOG speed 250000 __ Manual 280 Incremental feedrate 2 o U0 G84 100n Set 0 at JOP operation Servo Pr 300 U0 G10300 100n_ MR J3 B Pr 303 03 Absolute position detection system U0 G10303 100n Absolute position system HO Forced stop Valid Pr 304 PAO04 Function selection 1 1 U0 G10304 100n H100 Forced stop Invalid Pr 308 08 Auto tuning mo
72. MR J3 B U 12 1 E a ith R VN Note 3 Electro N L11 A Ground magnetic L21 7 brake DICOM Note 2 il ALM DOCOM LL NS Mig RD RE 4 L1 MR J3 B U y 12 1 ka ER T Electro i AN L11 3 Ground gt brake _ T DICOM L wen Le tae CN1A o CP3 DOCOM lt T gt o gt Note 1 When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Example When the control power supply L11 L21 of servo amplifier in above IB figure is shut off it is also not possible to communicate with the servo amplifier ir only a specific servo amplifier control power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 Note 2 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and QD74MH Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand Note 3 The dynamic brake is operated and servomotor occurs to the free run when EM1 forced stop of
73. a Turn OFF All axis servo ON signal Y1 LED indication of servo amplifier 60 3 Each axis servo OFF Servo operation disabled The above Note 3 a Turn ON All axis servo ON signal Y1 b Set 1 in Cd 30 Each axis servo OFF LED indication of servo amplifier Thereafter the servo operation enabled if 0 is set again in 30 Each axis servo OFF 10 1 10 FUNCTION DETAILS MELSEC Q If the servomotor is rotated by external force during the servo OFF status the follow up processing is executed error code 1702 will occur and the operation does not start if the OPR control positioning control or manual control is started in servo OFF An error code 1703 will occur and the servo OFF can be executed after sudden stop If the servo OFF is executed in the positioning The positioning interrupted by servo OFF cannot be resumed even if the servo OFF is executed again When the servo OFF is executed to all axes All axis servo ON signal Y1 is applied even if all axis servo ON command is turned ON to OFF with Cd 30 Each axis servo OFF set 0 10 1 2 Data used for control Set the following data for the servo ON OFF Refer to Section 5 1 Specifications of Input Output Signals and Section 6 3 to 6 8 for the buffer memory address and details Details Input output The servo for all servo amplifiers connected to the QD74MH is turned
74. a serious accident 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 6 Daily Inspection The items that must be inspected daily are shown below Table 4 4 Daily inspection Check that the fixing screws are not loose Retighten the The screws cover must be mounted securely and the cover is not screws Mounting of base unit dislocated Check that the module i Securely engaged is not dislocated and The module fixing hook must engaged and installed ie Installation of I O module EIN the module fixing the unit fixing hook is correctly hock engaged securely Check for loose Retighten the Screws should not be loose 7 terminal screws terminal screws Check for distance proper clearance should provided between between solderless 3 Connecting conditions solderless terminals terminals Correct Retighten the Connections should not be loose connector fixing Screws Check the connector part of the cable Check that the LED is The LED must be ON green Abnormal if the LED is OFF or ON red Refer to the QCPU User s Manual Function MODE Check that the LED is The LED must be ON green Explanation LED ON Abnormal if the LED is OFF or flickering RUN LED Check that the LED is The LED must be Fundamentals PLC CPU ON in RUN status Abnormal if the LED is OFF module Check that the LED is The LED mu
75. ata te iato aa le aste uda te 4 1 4 2 WIFIIig En ED ren EU ne st eire 4 3 42 1 SSCNETII cable nitet tte ete tte e te cente 4 4 4 2 2 Forced stop input 2 41 11 1 22000 entnehmen nennen ennt nnns 4 15 4 3 Confirming the Installation and nennen 4 17 4 3 1 Items to confirm when installation and wiring are 4 17 AA SIart p d ei 4 18 44 1Checklist e usn 4 18 4 4 2 Trial operation and adjustment procedure 4 19 4 5 Maintenance in eed seca se i sv sad mv sr nir set sen eed eds 4 22 4 5 1 Precautions for TalhntemabiCe ee him i al ae 4 22 4 5 2 Disposal instructions 4 22 4 6 Daily IMSPOCtOn E 4 23 4 Inspection ii eR n b RD GP ADD 4 24 5 1 Specifications of Input Output Signals sse eene 5 1 5 1 1 Ust of input output signals ertet 5 1 5 1 2 Inputisignals QD74AME PLC CPU iei ere ier
76. axis linear control i ya INC linear 1 start address current stop position to the designated position Using the designated 2 to 4 axes which group is set by parameter linear interpolation control can be executed out from the start address current stop position to the designated position POINTI Up to 4 groups can be set as a group for combination of interpolation axis Interpolation 2 to 4 axes linear ABS linear interpolation control interpolation control INC linear interpolation 8 1 1 Data required for positioning control Positioning data used for positioning controls are shown below The positioning data of 32 points can be set for each axis Refer to Section 6 3 to 6 8 for the buffer memory address and details Deas 22 Da Operation pattern Set the operation pattem of continuous positioning data Positioning data Command speed Set the Set the speed of positioning ___________________ of positioning Positioning address movement Set the positioning address movement amount of positioning amount Dwell time Set the time from ue completion 9t positioning data until the judgment of the QD74MH positioning completion 8 POSITIONING CONTROL MELSEC Q 8 1 2 Operation patterns of positioning controls Da 0 Operation pattern can be set to designate whether to continue executing positioning data after the started positioning data The following 3 types can be set in Da 0 Operation
77. be set in the system settings X20 ve Itis also possible to use the forced stop signal of the servo amplifier Refer to manual of the servo amplifier about servomotor capacity Operation status of the forced stop and the forced stop are as follows Operation of Item Remark the signal ON Shut off the power supply to the external servo amplifier Emergency stop ae KEAR HE d Servo OFF y external circuit make the servomotor stopped The servomotor is stopped according to the stop Forced stop instruction from QD74MH to the servo amplifier 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 INSTALLATION WIRING START UP AND MAINTENANCE This section describes the installation wiring start up and maintenance of the product 4 1 Handling Precautions 1 2 Main body main body case is made of plastic Take care not to drop or apply strong impacts onto the case Do not remove the PCB from the case Failure to observe this could lead to faults Cable Do not press on the cable with a sharp object Do not twist the cable with force Do not forcibly pull on the cable 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 Where the ambient temperature exceeds the 0 to 55 C range e Where the ambient humid
78. change function and the each control is shown below Speed Change function OPR control OPR control 1 axis linear control Positioning Position control control New speed value interpolation control Manual JOGoperation o control Incremental feed operation Valid X Invalid When 1 is set in Cd 15 Speed change repuest it is changed to the speed set in Ca 16 New speed value The speed change fnction can also be implemented in acceleration or deceleration Da 2 Da 3 Da 2 Acceleration Deceleration Acceleration time time Pr 10 Speed limit value 4 Command speed 3 eee eee ee eee Da 4 Command speed Command speed 2 TM x I i 1 1 Cd 16 New speed value X Command speed 2 X Command speed 3 Positioning start signal Y10 to OFF Cd 15 Speed change request Speed change READY Md 10 Status 2 b8 Warning code 11011 will occur and the speed change does not execute in the following cases n operation stop In decerelation by the stop command sudden stop command or alarm OPR current value change
79. circuit a The forced stop of all servo amplifiers is possible in a lump by using the EMI forced stop input by external 24VDC of QD74MH After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The forced stop input can be selected valid invalid in the parameter setting Make the forced stop input cable within 30m 98 43ft The wiring example for the forced stop input of QD74MH is shown below Q61P PLC CPU QD74MH Forced stop EMI a EMI COM 24756 Positioning gt 24ypc Nete 1 EMI COM Forced stop Note The forced stop input can be selected valid invalid in the parameter settings Note 1 Both of positive common and negative common can be used 3 7 3 DESIGN MELSEC Q b The forced stop of all servo amplifiers is possible in a lump by using the forced stop input signal Y2 of QD74MH After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop The wiring example and program example that uses the forced stop input of input module QX10 is shown below PLC CPU IQD74MH QX10 EMI COM Input module QX10 Program example EMI 100VAC 24VDC 100VAC TB17 QX10 Internal circuit Forced stop Note The forced stop input can
80. continues the positioning positioning is executed At continuous path last after immediately stop Set the positioning data required point to execute the deceleration stop At Incremental feed operation The machine immediately stopped with the specified address in positioning because the movement amount required to execute the deceleration stop from the currend speed cannot be secured The speed change request was executed in the following cases operation stop deceleration by stop command sudden stop command or error At speed change request occurrence OPR current value change The speed change Change the speed when the not executed speed change can be executed pausing The acceleration speed change request was executed in the following cases operation stop SNA The acceleration time the acceleration time 3 At acceleration time n deceleration when the speed change can be change request executed current value change pausing The deceleration speed change request was executed in the following cases operation stop c The deceleration time Change the deceleration time At deceleration time deceleration when the speed change be change request executed current value change pausing 11 14 11 TROUBLESHOOTING MELSEC Q Operation warnings
81. direction and the acceleration time set in Pr 82 JOG operation acceleration time At this time the BUSY signal X10 to X1F changes from OFF to ON 2 When the command reaches the speed set in Pr 80 JOG speed the movement continues at this speed 3 When the JOG start is changed from 1 to 0 a deceleration is started by the deceleration time set in Pr 83 JOG operation deceleration time from the current speed 4 The operation stops when the speed becomes 0 At this time the BUSY signal X10 to X1F changes from ON to OFF Pr 80 JOG speed Deceleration set in Pr 83 JOG operation deceleration time Forward rotation JOG operation Acceleration set Pr 82 JOG operation acceleration time Reverse rotation JOG operation Cd 8 Forward rotation X JOG start Reverse rotation JOG start Cd 0 ON BUSY signal X10 to X1F OFF f JOG operation be used without completing OPR Set 0 in Pr 84 Incremental feedrate If except is set the incremental feed operation is executed 9 MANUAL CONTROL MELSEC Q 1 When 1 is set in both the forward rotation JOG start and reverse rotation JOG start simultaneously When 1 is set in both Ca 8 Forward rotation JOG start and Cd 9 Reverse rotation JOG start simultaneously for one axis the forward rota
82. dog turns back OFF Operation outline is shown below 1 There is a proximity dog in the direction of OPR 1 Start the OPR It starts to accelerate at the time set in Pr s8 OPR acceleration time to the direction set in Pr 51 OPR direction and it moves at the speed set in Pr 54 OPR 2 The proximity dog ON is detected and it starts to decelerate at the speed set in Pr 56 Creep speed 3 It decelerates to the creep speed and subsequently moves at the creep speed 4 It stops with the proximity dog OFF Thereafter it restarts and the OPR completes at the first zero point y 51 OPR direction Pr 54 OPR speed 56 Creep speed 14 Proximity dog Zero point 2 OPR start 7 OPR CONTROL MELSEC Q 2 There is a proximity dog in the opposite direction against of OPR 1 Start the OPR It starts to accelerate at the time set in Pr s8 OPR acceleration time to the direction set in Pr 51 OPR direction and it moves at the speed set in Pr 54 OPR 2 Itstops at the time set in Pr 17 Sudden stop deceleration time with the limit switch detection of OPR direction 3 After stop it moves in the opposite direction against of OPR at the OPR Speed 4 Ifthe zero point is passed with the proximity dog OFF a deceleration stop is made If the zero point is not p
83. 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 have 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 from Mitsubishi 7 Any other failure found to not 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
84. for the software stroke limit function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Software stroke limit upper limit Set the upper limit value for software stroke limit value Software stroke limit lower limit f Pr 6 aids Set the lower limit value for software stroke limit Parameter NCAUTION The unlimited length feed cannot be executed in QD74MH The software stroke limit cannot be invalidated The moveable range of QD74MH is 2147483648 to 2147483647 Return to within the moveable range by JOG etc if it exceeds the moveable range If the upper software stroke limit value is the lower value or less an error code 1504 will occur at positioning start 10 11 10 FUNCTION DETAILS MELSEC Q 10 5 Backlash Compensation Function This function is used to compensate the backlash amount in the mechanical system 10 5 1 Control details When the backlash compensation amount is set an extra amount of command aquipment to the set backlash amount is output every time the movement direction changes The backlash compensation is executed at OPR control Feed screw Workpiece Pr 8 Backlash compensation amount Set Pr 8 Backlash compensation amount by encoder pulse unit PLS unit of instruction to servo amplifier 10 5 2 Data used for control Set the following parameters for the backlash compensation function Refer to Sectio
85. is 1 12 lt AP AL lt 10000 An error code 1037 will occur and the unit READY does not turn ON if the electronic gear is 1 12 or less 1 Setting example when the command unit is um for a machine that uses ball Screws a Machine specifications Ball screw lead Pb 10 mm 10000 um Reduction ratio n 1 2 Encoder resolution Pt 262144 PLS rev _ Pt Pt 262144 262144 32768 AL AS nx Pb 15 10000 5000 625 Note AS is the movement amount for 1 revolution of the servomotor Deceleration ratio n 1 2 Servomotor Ball screw lead Pb 10 mm Encoder resolution GE 262144 10 3 10 FUNCTION DETAILS MELSEC Q 2 Setting example when the gear s value is outside the settable range a Machine specification Ball screw lead Pb 10 mm 10000 um Reduction ratio n 1 6 Encoder resolution Pt 262144 PL S rev 262144 x 6 32768 x 3 AP Pt Pt 262144 16 _ 32768 3 _ 5 AL 76 nxPb 1 x 10000 10000 625 525 19660 8 19660 125 7 125 When the electronic gear s value is outside the settable range or contains a decimal point calculate the denominator and numerator according to the following procedure lt Procedure for setting the numerator and denominator gt The calculated value after reduction must be as close as possible to the origial value 1 Reduce both the numerator and denominator to as small an integer as possible In thsi case the minimum integer value is found by re
86. length is not found in our products fabricate the cable on the customer side Make the forced stop input cable within 30m 98 43ft a Q170DEMICBLLIM 1 2 Model explanation Q170DEMICBLLJM Symbol Cable length m ft 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 15 15 49 21 20 20 65 62 25 25 82 02 30 30 98 43 Connection diagram CPU module side Solderless terminal Cc O 5556PBTL Terminal 5557 02 210 Connector Solderless terminal size R1 25 3 5 EMI COM CO EMI com EMI EMI J Twisted pair cable Note Use a cable of wire size AWG24 Forced stop input connector Molex Incorporated make Type Connector 5557 02R 210 Terminal 5556TLPBTL Unit mm inch 54 10 6 025 0 42 NA 9 86 T e cg 3 5 pem 14 o8 0 14 e 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 3 Confirming the Installation and Wiring 4 3 1 Items to confirm when installation and wiring are completed Confirm the wiring after installation and wiring Confirm the following points in the buffer memory using GX Developer Are the servo amplifiers correctly connected Are the servo amplifiers and servomotors correctly connected Are the externa
87. movement amount was moved from the position which detected the zero point signal can be regarded as home position The OPR methods corresponding to the OP shift function are shown below OPR Method OP shift function Proximity dog type ee Data set type Dogcradietye 0 Limit switch combinedtype_ _____ Scale origin signal detectiontype ______ Possible X Not possible 7 8 1 Control details Operation for the OP shift function is shown below 1 OP shift amount is positive value When a positive value is set in Pr 60 OP shift amount it moves in the direction set in Pr 51 OPR direction V Pr 51 OPR direction 54 OPR speed Pr 56 Creep speed Pr 60 OP shift amount OP OPR start Proximity dog Zero point 7 OPR CONTROL MELSEC Q 1 OP shift amount is negative value When a negative value is set in Pr 60 OP shift amount it moves in the opposite direction against of direction set in Pr 51 OPR direction v 51 OPR direction gt 54 OPR speed Pr 60 OP shift amount 1 1 Jh Pr 56 Creep speed OPR start Pr 56 Creep speed Proximity dog Zero point
88. not touch the heat radiating fins of module or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the module and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the module servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module base unit and positioning module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot
89. occur and the unit READY does not turn ON in the following cases servo amplifiers corresponding to servo amplifier series cannot be connected power supply of servo amplifiers are OFF The communication does not start and the error reset cannot be executed even if the power supply of servo amplifier is turned ON Turn the PLC READY ON after the power supply ON for all axes The communication continues even if the PLC READY is turned OFF after communication start with the servo amplifiers The servo amplifier series cannot be changed after the PLC READY ON Set it before PLC READY ON in the following procedure Write the data to the flash ROM beforehand Set the servo amplifier series before the PLC READY ON after turning ON OFF of the system power supply or reset of the PLC CPU If the power supply of the servo amplifier is turned OFF after communication start with the servo amplifiers an error code 400 will occur and the unit READY turns OFF The communication does not start and the error reset cannot be executed even if the power supply of servo amplifier is turned ON It is not necessary to set every time if the flash ROM write is executed once after setting of the servo amplifier series 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 2 3 Exchange of the servo parameters This section describes the exchange of the servo parameters 1 Writing the servo parameters from QD74MH to se
90. problem or fault 2 The Mitsubishi general purpose programmable logic controller has been designed and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in which a special quality assurance system is required such as for Railways companies or Public service purposes shall be excluded from the programmable logic controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable logic controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the projects and providing that all parties concerned agree to the special circumstances solely at the users discretion Microsoft Windows Windows NT registered trademarks of Microsoft Corporation the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of their respective owners QD74MH Positioning Module User s Manual Details MITSUBIS
91. 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 to 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 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 6 Product application 1 In using the Mitsubishi MELSEC programmable logic controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device and that backup and fail safe functions are systematically provided outside of the device for any
92. reset of the PLC CPU Therefore back up the data required for positioning using the flash ROM write function Refer to Section 10 22 for the flash ROM write function 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 2 Data Transmission Process 6 2 1 Data transmission process for operation PLC CPU FROM P instruction DFRO P instruction TO P instruction DTO P instruction MOV P instruction DMOV P instruction MOV P instruction DMOV P instruction QD74MH Internal memory Parameter Reset of the PLC CPU Parameter d v Buffer memory Flash ROM PLC READY ON System power supply ON Parameter change request Positioning data Positioning data 08 Servo parameter 1 is set in Cd 100 Flash Servo parameter Monitor data ROM write request Control data Interface for communication with servo amplifier Servo parameter change Note 1 Communication start with servo amplifier PLC READY ON First time only Servo amplifier Note 1 When the parameters are chenged by the auto tuning or MR Configurator the servo parameters are read to the buffer memory of QD74MH The data can be transmitted with steps 1 to 6 shown below 1 Transmitting data when power is turned ON or PLC CPU is reset a Data stored backed up in the flash ROM can be transmitted to the buffer memory Refer to Section 10 22 Communication with servo a
93. safety rules etc apply to the system using the module servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking NCAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characterist
94. servo amplifier turn OFF At the time the display shows the servo forced stop warning E6 During ordinary operation do not used forced stop signal to alternate stop and run The service life of the servo amplifier may be shortened 3 5 3 DESIGN MELSEC Q 3 2 1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit 1 Separation and protective coordination leakage current protection over current protection of power supply lines Separate the lines for PLC system power supplies from the lines for I O devices and servo amplifiers as shown below When there is much noise connect an insulation transformer Main power PLC power supply supply F4 ZU UN ZTN PLC 100 200VAC e 0 4 System power Ap supply O equipment CP Motor power supply AN gt Motor equipment CP Main circuit power supply for servo amplifier a 200VAC gt NFB Control power supply for servo amplifier Qi 9 gt CP Servo amplifier Grounding The PLC system may malfunction as it is affected by various noises such as electric path noises from the power supply systems radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing grou
95. signals Y10 to Y1F Positioning start signal ositioning start signals PLC CPU QD74MH Data to be written to buffer memory Parameter Write data Basic OPR Manual control System Servo Control data Positioning data Signal indicating QD74MH state X0 Unit READY signal e X1 Error detection signal X2 Waming detection signal X2 Synchronization flag signal X10 to X1F Busy signal Data to be read from buffer memory Parameters Basic OPR Manual control System Servo Monitor data Control data Positioning data Status signal QD74MH PLC CPU Read data 2 QD74MH Servo amplifier The QD74MH and servo amplifier communicate the following data via the 55 Signal direction Command signals to servo amplifier Position commands Control commands Servo parameters Control signals of SSCNETII QD74MH gt Servo amplifier Monitor information of the servo amplifier Operating information of the servo amplifier eats SSCNERI Se Parametar LANO tuning rarer Servo amplifier gt QD74MH change by MR Configurator etc External input signals DOG FLS RLS of the servo amplifier 3 QD74MH Forced stop input signal The QD74MH and forced stop input signal communicate the following data via the forced stop input connector Signal direction Forced stop input signal Forced stop input signal to QD74MH Forced stop input QD74MH 1 OVERVIEW MELSEC Q
96. stroke limit gt lower stroke limit The operation does At positioning start not start The axis not to set the servo series was The operation does At positioning start P Set Pr 300 Servo series started not start At strat The operation does not start In start Stop by dynamic brake At positioning start In positioning 1 Remove the servo alarm 2 Turn the main circuit ON At strat The operation does not start In start Stop by dynamic brake At positioning start In positioning Enter the servo ON At all axis servo OFF in positioning At Each axis servo OFF ON in positioning Sudden stop The operation does At positioning start not start Servo forced stop Remove the servo warning Stop by dynamic brake In positioning 11 9 11 TROUBLESHOOTING MELSEC Q Interface errors 1900 to 1999 Error Error Operation status at Error Error check Remedy code detail error occurrence Data is not written to the flash ROM 1901 i Replace the QH74MH while data At flash ROM write S function use The flash ROM write EC RUE Review the sequence program Over 25 times flash ROM write and At parameter parameter initialization EXE not to exceed 25 times flash parameter initialization were executed initialization is not executed 1902 1 ROM write and parameter from the sequence pro
97. stroke limit lower limit Note 1 y Electronic gear denominator 52 OP address n Note 2 gt _ Pr 0 Electronic gear numerator value Electronic gear numerator s Electronic gear denominator Pr4 Software stroke limit upper limit value Note 2 2147483648 Prs2 OP address 4969 lt or 2147483647 Frs2 OP address 99 6 Software stroke limit lower limit Note 2 value Note 1 Fractions omitted Note 2 2147483648 to 2147483647 can be set when the calculated result is outside the settable range 2147483648 to 2147483647 Note 3 Use Pr 52 OP address set at OPR for the setting range check at first PLC READY 10 10 10 FUNCTION DETAILS MELSEC Q An error will occur if the outside the settable range is set The error occurrence timing and the operation are shown below 1 At OPR start The above setting range is checked An error code 1101 will occur if the outside the settable range is set and the OPR does not start OPR request Ma 9 Status 1 bO turns ON 2 Atfirst PLC READY ON OPR completion in the absolute position system The above setting range is checked An error code 1101 will occur if the outside the settable range is set and the current value is not restored The current value is set to 0 and OPR request Md 9 Status 1 60 turns ON 10 4 3 Data used for control Set the following parameters
98. switch off the electromagnetic contactor MC after detection alarm occurrence on the PLC CPU Note 2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake 3 Note 3 It is also possible to use forced stop signal of the servo amplifier Note 5 The status of forced stop input signal can be confirmed with 103 Forced stop input status Note 6 It recommends using one leakage breaker for one servo amplifier When electric power is supplied to multiple servo amplifiers for one leakage breaker select the wire connected to the servo amplifier according to the capacity of the leakage breaker 6 4 Note 4 Set the servo amplifier by setting the rotary switch of servo amplifier referring Section 4 2 1 5 Note 6 gt 9 L2 ae 38 E L3 w Electro di L11 T Ground magnetic X L21 0 i brake DICOM Note 2 SSCNET II iu kA gt 24 NFB3 vir LR EEUU j MR J3 B 9 Ge V 5 38 w Wa Electro si aie Ground magnetic brake e ee 5 Noes 24 4 ________ LAD Ln nns 4 d L11
99. system is At strat The operation Set Da 1 Control system wrong 426 does not start correctly At positioning start In control At positioning data change Positioning end Set Da 0 Operation pattern Immediate stop correctly continuous path Set Da 6 Positioning At positioning data address movement amount change of continuous not to reverse path Deceleration stop 2 Execute the position command At target position in which minimum required chnage deceleration distance to stop was secured Setting of Da 0 Operation pattern is g t p 1 8 A negative value Pr 84 he operation does Set 0 to 2147483647 i Pr S 84 Incremental feedrate not start Incremental feedrate operation start Unit READY turns OFF Set the parameters within the operation does not start At PLC READY ON At parameter change request Set the group formation up to 4 axes Review the setting of linear interpolation group There is an axis whose movement amount exceeds the maximum of At linear interpolation 999999999 in the group start The linear interpolation cannot be started because the interpolation axis is in operation Review the setting for movement amount The operation does not start Start after making sure all axes in the group formation are OFF The linear interpolation cannot be started because an error has set f
100. the parameters can be changed by the auto tuning etc of servo amplifier the servo parameters can be read automatically from the servo amplifier to the buffer memory Make the writing operation to the flash ROM to write the servo parameters to the flash ROM Refer to Section 10 22 6 Writing the flash ROM by PLC CPU request The data can be backed up from the buffer memory to the flash ROM by setting to 1 in 100 Flash ROM write request 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 2 2 Setting of servo amplifier series Up to 8 axes servo amplifies in QD74MH8 and up to 16 axes servo amplifies in QD74MH16 be connected Set the servo amplifier series the servo parameter for each axis Table 6 2 Setting of servo amplifier series Symbol Setting range 0 None Servo amplifier 1 MR J3 B series 3 MR J3 B Fully closed loop control 4 MR J3 B Linear Set the servo amplifiers connected to QD74MH Communication with servo amplifiers is possible setting by the servo amplifier series The procedure to communicate with servo amplifiers is shown below Turn ON the system power supply Y Set the servo amplifier series Turn ON the control power supply of servo amplifier Turn ON the PLC REDEY Communiction start with servo amplifier 1 The communicate with servo amplifiers can be executed at the first PLC READY ON after the system power supply ON An error code 400 will
101. then execute the error reset after confirming the warning release of the servo amplifier side If the other warnings occur at servo warning occurrence the warning code is updated 2 Operation warnings Warning code 11000 to 11999 The operation warnings occur when the operation is limited by the wrong positioning setting value at operation start or in operation The positioning can be executed or continued However the intended operation may not execute by the warnings Execute the error reset after eliminating the error cause If the other warnings occur at operation warning occurrence the warning code is updated 11 1 3 Confirming the error and warning definitions The error detection signal X1 turns ON at error occurrence Simultaneously the bit corresponding to axis No of axis that caused the error of the buffer memory Ma 100 Axis error status turns ON The error codes are stored in buffer memory Ma 6 Error code and the numbers of error details are stored in buffer memory Md 7 Error detail of axis that caused the error Confirm the errors using these information The warning detection signal X2 turns ON at warning occurrence Simultaneously the bit corresponding to axis No of axis that caused the warning of the buffer memory 101 Axis warning status turns ON The warning codes are stored in buffer memory Md 8 Warning code of axis that caused the warning Confirm the warnings using these information
102. time ER Same NDS er Positioning Deceleration time Set the deceleration time ositionin 1 data a Command speed Set the positioning speed Eee o mmm i Positioning address Set the positioning address movement amount movement amount 4 Set the time from when the positioning data Da Dwell time ends to when the positioning completes O Must be Must be not set 8 POSITIONING CONTROL MELSEC Q 8 3 2 Setting of linear interpolation axis Always set the basic parameter Pr 25 Interpolation group to execute the linear interpolation The interpolated axis can be set to interpolation group Set the same value to interpolation group of interpolated axes Up to 4 axes can be set to one group and up to 4 groups can be set The interpolation control can be executed for the axes that set the same value to the interpolation group When the ABS linear interpolation or INC linear interpolation is set in Da 1 Control system of reference axis and the positioning start signal Y10 to Y1F is turned ON the all axes of same interpolation group can be started to execute the interpolation control The data of reference axis are used in the following positioning data The value set in the positioning data of the interpolation axis is ignored Da 0 Operation pattern e Da 1 Control system 2 Acceleration time Da 3 Deceleration time Da 4 Command speed
103. timing If the other errors occur at operation error occurrence the error code is updated a At PLC READY ON The parameters are checked at leading edge OFF to ON of PLC READY signal ON YO at parameter change request An error code 1037 will occur if there is a mistake in the parameter setting details At that time the Unit READY signal X0 does not turn ON Correct the parameters and then turn ON the PLC READY signal YO after resetting the error 11 1 11 TROUBLESHOOTING MELSEC Q b At operation start or in operation The errors are detected at operation start or in operation such as OPR control positioning control and JOG operation If this error occurs at interpolation operation the error number is stored in both the reference axis and interpolation axis Release the errors by error reset after eliminating the error cause 3 Interface errors Error code 1900 to 1999 4 The interface errors occur when the interface with hardware or CPU such as the errors at FLASH ROM writing or PLC CPU failure is abnormal The interface error is detected as the error for Axis 1 Execute the error reset for Axis 1 after eliminating the error cause If the other errors occur at interface error occurrence the error code is updated Servo errors Error code 2000 to 2099 The servo errors occur when the hardware such as servo amplifier and servomotor or the servo parameter are abnormal The axis stops by servo OFF at e
104. to 13299 95 395 15 98 Pr 398 Pc18 For manufacturer setting 182 132 432 20 185 485 For manufacturer setting For manufacturer setting 135 Pr435 PD23 188 488 189 192 195 6 DATA USED FOR POSITIONING CONTROL MELSEC Q List of servo parameter Continued Axis Buffer memory Parameter item No address 1 10300 to 10599 6 1180010 12099 8 1240010 12699 5 127 io 12909 13000 13299 symbol No Parameteritem _____ 203 503 PS11 220 520 528 For manufacturer setting No Parameteritem _____ 255 555 272 572 For manufacturer setting 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 4 Parameter Data The setting value of parameters basic OPR system is checked at the PLC READY ON The manual control parameters cannot be checked If the setting value is outside the range the error code will occur and the unit READY cannot be turned ON The parameter number outside the range can be stored in the error details 6 4 1 Basic parameter Buffi hid m Factory Symbol memory Items Details Setting range Fetch timing default Unit address eau 0 100n Electronic gear Set a numerator of electronic gear 0 1 to 32768 1
105. type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect NCAUTION Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instructio
106. type proximity dog stopper or limit switch Limit switch combined type Scale origin signal detection type Chapter 7 OPR control Linear control 1 axis linear control 2 axis linear interpolation control This function executes the positioning to a target position in a linear path by the 3 axis linear interpolation address or movement amount set in the positioning data control Chapter 8 Positioning control Position control 4 axis linear interpolation control This function executes the positioning at the specified speed while the JOG start JOG operation 9 1 signal is ON 3 This function executes the positioning corresponding to minute movement Incremental feed operation amount by manual operation Servo ON OFF This function executes the all axes servo ON OFF or each axis servo ON OFF This function changes the machine movement amount per commanded pulse by Electronic gear function setting of the movement amount per pulse This function executes a deceleration stop with the limit switch input via servo Hardware stroke limit function amplifier ifier If a command outside of the upper lower limit stroke limit setting range set in the parameters is issued this function will not execute positioning for that command 9 2 10 1 10 2 10 3 0 4 Software stroke limit function 1 This function compensates the mechanical backlash amount Feed pulses Backlash compensation function equivalent to the set
107. x10 PLS s unit APP 4 APPENDICES MELSEC Q Appendix 2 2 Creating the program This section describes the operation program actually used for positioning control Add the monitor program according to the system to monitor the control 1 Program configuration Creating the program No 1 Parameter setting program No 1 1 Basic parameter 0 to Pr 31 No 1 2 OPR parameter Pr 50 to Pr 66 No 1 3 Manual control parameter Pr 80 to Pr 84 No 1 4 Servo parameter Pr 300 to Pr 599 Program to set the parameters No 2 Parameter setting complete program No 3 Positioning data setting program No 3 1 Positioning data point 1 No 3 2 Positioning data point 2 Program to set the positioning data No 4 PLC READY signal YO ON program No 5 All axis servo ON signal Y 1 ON program Monitor program No 6 Monitor program 6 1 System monitor Md 100 to Md 103 The monitor information of QD74MH is led No 6 2 Axis monitor Md 0 to Md 41 before the manual ccontrol positioning control and each change program No 7 JOG operation setting program No 8 Incremental feed operation setting program Program requierd for manual control No 9 JOG operation Incremental feed operation execute program 1 APP 5 APPENDICES MELSEC Q 1 10 OPR selection program No 11 New current value selecti
108. 0377 300n e 6 DATA USED FOR POSITIONING CONTROL MELSEC Q c Expansion setting parameters Buff Factory default Symbol Symbol Name Dine A alan Unit Setting range address of QD74MH Pr 382 10382 300n PCO2 MBR Electromagnetic brake sequence output o ms t0 1000 P383 10383 300n PCO3 ENRS Encoder output pulses selection 1 0000 oooon to 0021n Pr384 10384 300 04 1 Function selection c 1 O0000htoii10h Pr385 10385 300n pcos Function selectionc 2 7 _ 0000h to 11 10h Pr386 10386 300n 06 Function selectionc 3 0000h to 302th pr 388 10388 300 pcos Formanufacturerseting J o _ Pr 389 10389 300n PCO9 1 Analog monitor 1 output ___ O000htoo41Fh Pr 380 10390 300n PC10 MOD2 Analog monitor 2 output 7 ooo _ 0000h to 041F Pr 391 10391 300n PC11 Analog monitor 1 offset o 999 to 999 Pr 392 10392 300n 12 2 Analog monitor 2 offset o 999 to 999 Analog monitor feedback position output Pr 393 10393 300 PC13 MOSDL PLS 9999 to 9999 standard data Low Analog monitor feedback position output Pr 394 10394 300n 14 MOSDH 10000PLS 9999 to 9999 standard data High 305 10395 300n o For manuf
109. 10 to Y1F 5 The outline of the signal communication between the QD74MH positioning module and PLC CPU peripheral device and servo amplifier etc is shown below PLC READY signal All axis servo ON signal Forced stop input signal Positioning start signal Unit READY signal Error detection signal 1 2 4 Warning detection signal X3 Syncronization flag signal BUSY signal X10 to X1F je module Basic parameters OPR parameters c CET MES Manual control parameters System parameters Servo parameters Control data Positioning data Monitor data QD74MH 5 9 E 2 n A n Buffer memory Servo amplifer interface External interface Position commands Control commands Servo parameters gt Operating information of the servo amplifer Servo parameters External input signal of the servo amplifier DOG Proximity dog signal FLS Upper stroke limit signal RLS Lower stroke limit signal Forced stop lt Servo amplifer Servo motor External signal 1 OVERVIEW MELSEC Q 1 QD74MH PLC CPU The QD74MH and PLC CPU communicate the following data via the base unit Signal direction Signal related to commands YO PLC READY signal Control signals Y1 All axis servo ON signals Y2 Stop
110. 11000 to 11999 continued Error Error check Remedy code warning occurrence The target position change request was executed in the following cases n operation stop deceleration by stop command sudden stop command or error At target position change In JOG operation request OPR In linear interpolation current value change The target position Change the target position when the speed change can be executed pausing 11 15 11 TROUBLESHOOTING MELSEC Q MEMO 11 16 APPENDICES MELSEC Q APPENDICES Appendix 1 External Dimension Drawing 1 QD74MH8 ger di 8 e 8 D 23 0 91 90 3 54 sl 27 4 1 08 g 2 QD74MH16 Sa TU e ex 8 x oy D 23 0 91 90 3 54 27 4 1 08 g APP 1 APPENDICES MELSEC Q Appendix 2 Sample Program Appendix 2 1 Sequence program Creation procedure for the standard sequence program of QD74MH is shown below NCAUTION The sequence program of this appendix is used to make operate the servo motor for 1 axis When diverting the programs examples introduced in this manual to the actual system fully verify that there are no problems in the controlla
111. 14 Command speed 5415 5735 6055 6375 6695 7015 Positioning address movement amount APP 36 APPENDICES MELSEC Q Buffer memory address Memory 7326 7646 7966 8286 8606 8926 9246 9566 9886 10206 7334 7654 7974 8294 8614 8934 9254 9574 9894 10214 7335 7655 7975 8295 8615 8935 9255 9575 9895 10215 Positioning data Positioning data area APP 37 APPENDICES MELSEC Q Appendix 3 5 Servo parameter area Item Buffer memory address value pr300 0 Senoseres 10300 10600 10900 11200 11500 11800 305 5 o For manufacturer setting For manufacturer setting 314 0 Rotation direction selection 10314 10614 10914 11214 11514 11814 316 6 0 Adaptive filter 1 Vibration suppression control Pr 334 2 0000h tuning mode advanced vibration 10334 10634 10934 11234 11534 11834 suppression control 335 PBO3 0 For manufacturer setting 10335 10635 10935 11235 11535 11895 Pr336 PBO4 0 Feedforwardgain 10336 10636 10936 11236 11536 11836 servo motor inertia moment 344 PB12 0 Formanufacturersetting 10344 10644 10944 11244 11544 11844 Machine resonance suppression Pr 345 PB13 4500 filter 1 10345 10645 10945 11245 11545 11845 Machine resonance suppression 347 15 4500 filter 2 10347 10647 10947 11247 11547 11847 i Pr349
112. 18 989788 or neremental o to 2147483647 7978 tee PLS 85 100n feed start 6 4 4 System parameter Buffer m Factory memory Details Setting range Fetch timing detal address efault Select Valid Invalid of the forced stop input by external 24VDC Forced stop input signal Y2 Pr 101 4601 External forced stop does not velit 0 valig PLC READY ON selection If the value outside setting range 1 Invalid is set the error code 1037 will occur and it operates considering that it is 0 Valid 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 5 Monitor Data 6 5 1 Axis monitor data 1 Axis monitor data Buffer Symbol memory Details Updated cycle Unit address The currently commanded address can be stored When the current value is changed with the current value Current feed value change function the changed value can be stored PLS It returns to the address before change by the system power supply ON OFF The command output speed of operating axis can be stored The command speed of each axis at the interpolation operation 1702 100n A feedrate calculated from movement amount for every Feedrate PLS s 1703 100n axis can be stored The movement amount might not steady at the fixed speed either because of the fractions generated when operating Therefore a value different from the speed set in the positioning might be stored The ON OFF state of
113. 2161 12461 12761 13061 13361 13661 13961 14261 14561 14861 12165 12465 12765 13065 13365 13665 13965 14265 14565 14865 12166 12466 12766 13066 13366 13666 13966 14266 14566 14866 12182 12482 12782 13082 13382 13682 13982 14282 14582 14882 12193 12493 12793 13093 13393 13693 13993 14293 14593 14893 12194 12494 12794 13094 13394 13694 13994 14294 14594 14894 APP 41 Gain filter parameters Servo parameter area 2 2 5 o c o c g x APPENDICES MELSEC Q Symbol No Default Item Buffer memory address Praes 5 0 Seer ee Pr 399 PC19 0000h For manufacturer setting Pr 407 PC27 0000h 10407 10707 11007 11307 11607 11907 For manufacturer setting cc APP 42 APPENDICES MELSEC Q Buffer memory address Memory APP 43 Extension setting parameters Servo parameter area setting parameters APPENDICES MELSEC Q value Pr 449 05 Prass PEM 0 457 PE13 FFFEh For manufacturer setting 10457 10757 11057 11357 11657 11957 Praze 0 479 0 Prago Pese 0 481 0 482 0 483 0 Prasa 40 0 soe 495 503 0 Pr496 PSO4 0 497 505 0 Prass 506 0 Pra99 507 0 Pre 508 0 501
114. 3 BEEN a va MC D NECI ER cum NN NM LN 4 a Vio YO Y1 Y2 4 Y5 Y6 Y7 Y8 Y9 YA YB YC YD YE YF Y14 Y1A Positioning start Execution prohibition flag 1 10 1 OVERVIEW MELSEC Q 3 Comparisons of functions Communication start timing with the PLC READY ON First time only Control power supply ON of the servo amplifiers servo amplifier Servo ON OFF Electronic gear Denominator 32768 Denominator 200000000 9 32768 Numerator For setting units Hardware stroke limit function servo amplifier only Backlash compensation function 0 to 65535 PL S 0 to 65535 Set encoder pulse unit Set in the unit system Speed limit function 1000000 to 2147000000 PLS s In speed control flag None deceleration processing S curve acceleration deceleration S curve acceleration deceleration deceleration time Stop control 245 21 7 Sudden stop control _ Forced stop control Luc tp cd 206 079 Command in position control function poU O For command units Pausing function O Restart function Torque limit function O 0 1 unit 1 unit Speed change function O 5 to 2147000000 PLS s For command units Acceleration deceleration change Oto 20000 ms Oto 8388608 ms Target position change function Current value change function External signal selection function External signal selection
115. 300n PS27 Pr520 10520 30 528 Pr521 105214300 PS29 522 10522 300n 0 523 10523 300n PS31 avg 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 Servo parameters 3 006 use The parameters refer to this section 1 used in the MR J3 L1B besides the following parameters are required address of QD74MH sty Controlmode om 00000010 Pr316 10316 300n 16 ENR2 Encoderoutputpuses2 0065535 Pr383 10383 300n Encoder output pulses selection 0000hto0131h Pr406 10406 300n 26 COP amp Functonselecion 0100 11001 Pr407 10407 300 27 copo Function selectionc 9 __ 0 Pr414 10414 300 02 DIAZ Formanufactuerseting EE PEOL E E Fully closed loop selecton2 0000h 1013h Fully closed feedback pul lect gear numerator 1 Pr449 10449 300n 5 FBD Fully Closed IDUD feedback pulse electronic 1 4 to 65535 gear denominator 1 450 10450 300n Fully closed loop control speed deviation error iin 1 to 50000 detection level 40451 300n Fully closed loop control position deviation error 4 to 20000 detection level Pr 452 10452 300n 8 closed loop dual feedback filt
116. 4 axes interpolation control x JOG operation Manual control Incremental feed operation Control details Limit switch combined type Scale origin signal detection type Current value change O Applicable X Not applicable 10 37 10 FUNCTION DETAILS MELSEC Q 10 19 2 Data used for control Set the following parameters for the operation setting for incompletion of OPR function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Operation setting for incompletion Set whether the positioning control is executed or not When the OPR Parameter Pr 66 pov i of OPR request Md 9 Status 1 60 is ON 10 38 10 FUNCTION DETAILS MELSEC Q 10 20 Axis Error Reset 10 20 1 Control details The error status is removed after executing the following processing by setting 1 in Cd 0 Axis error reset of the buffer memory for axis error reset Error detection signal X1 OFF 6 Error code clear Md 7 Error detail clear Bit OFF correcponding axis of error reset command set in Md 100 Axis error status Error reset transmission to the servo amplifier Warning detection signal X2 OFF 8 Warning code clear Bit OFF correcponding axis of error reset command set 101 Axis warning status NCAUTION The error reset cannot be executed for some servo errors The error detection of QD74MH cannot be removed even if the
117. 485 6805 Da 4 6165 MS 5206 5526 5846 6166 6486 6806 Ses Soy mz mr mer sar Dao Operationpatten 5210 5530 5850 emo 6490 6810 5214 5534 5854 6174 6494 6814 Da 4 Command speed 5215 5535 5855 6175 6495 6815 Da 6 5216 5536 5856 6176 6496 6816 5217 5537 5857 6177 6497 6817 Dao Operation pattem 5220 5540 5860 6180 6500 6820 13 5224 5544 5864 6184 6504 6824 Da 4 Command speed 4 5225 5545 5865 6185 6505 6825 rr 5226 5546 5866 6186 6506 6826 Positioning address movement amount 2 5227 5547 5867 6187 6507 6827 Dao Operation pattern 5230 55 500 6100 6510 esso 14 5234 5554 5874 6194 6514 6834 Command speed 5235 5555 5875 6195 6515 6835 me 5236 5556 5876 6196 6516 6836 Positioning address movement amount 5237 5557 5877 6197 6517 6837 Dwell time 5238 5558 5878 6198 6518 6838 Operation pattern 5240 5560 5880 6200 6520 6840 Control system 5241 5561 5881 6201 6521 6841 Deceleration time Da 4 15 5244 5564 5884 6204 6524 6844 Da 4 Command speed 5245 5565 5885 6205 6525 6845 Da 8 Positioning address movement amount uh 5246 5566 5886 6206 6526 6846 Positioning address movement amount 5247 5567 5887 6207 6527 6847 Das Dwelime 5248 598 sese 6208 6528 6848 APP 28 APPENDICES MELSEC Q Buffer memory address Memory 7126 7446 7766 8086 8406 8726 9046 9366 9686 10006
118. 566 6886 Positioning address movement amount 5287 5607 5927 6247 6567 6887 Dwell time 5288 5608 5928 6248 6568 6888 Operation pattern 5290 5610 5930 6250 6570 6890 Control system 5291 5611 5931 6251 6571 6891 Deceleration time Da 4 20 5294 5614 5934 6254 6574 6894 Da 4 Command speed 5295 5615 5935 6255 6575 6895 Da 8 Positioning address movement amount uh 5296 5616 5936 6256 6576 6896 Positioning address movement amount 5297 5617 5937 6257 6577 6897 Das Dwelime 52 598 6258 6578 6898 APP 30 APPENDICES MELSEC Q Buffer memory address Memory 7176 7496 7816 8136 8456 8776 9096 9416 9736 10056 7184 7504 7824 8144 8464 8784 9104 9424 9744 10064 7186 7506 7826 8146 8466 8786 9106 9426 9746 10066 7187 7507 7827 8147 8467 8787 9107 9427 9747 10067 7194 7514 7834 8154 8474 8794 9114 9434 9754 10074 7196 7516 7836 8156 8476 8796 9116 9436 9756 10076 7204 7524 7844 8164 8484 8804 9124 9444 9764 10084 7206 7526 7846 8166 8486 8806 9126 9446 9766 10086 7215 7535 7855 8175 8495 8815 9135 9455 9775 10095 7217 7537 7857 8177 8497 8817 9137 9457 9777 10097 Positioning data Positioning data area APP 31 APPENDICES MELSEC Q operan panem sso exo eso eooo 21 5304 5624 5944 6264 6584 6904 Command speed 5305 5625 5945 6265 6585 6905 Da 4 TEC 5306 5626 5946 6266 6586 6906 m om oe m mm 0 Operationpattem 5310
119. 63 1664 1665 1666 1667 1668 1669 1670 671 1672 1673 674 1675 1676 1677 1678 679 1680 1681 682 1683 1684 1685 1686 1687 1688 1689 690 1691 1692 693 1694 1695 1696 1697 1698 1699 MELSEC Q Symbol Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 5 List of axis monitor data Axis No P flerimemon Parameter item address 1700 to 1799 1800101899 Symbol Symbol Parameteritem 192010 1599 Md 0 Current feed value 2000 to 2099 210010 2139 Md 2 2200 to 2299 6 3 8 2400102499 9 250002599 6 Emrcodle 7 7 Error details 11 2700 10 2799 Md 8 Warning code 12 2800 to 2899 tatus 1 13 2900 to 2999 Md 10 Status 2 14 3000 to 3099 Unusable Unusable 15 3100 to 3199 Real current value 16 3200 to 3299 Md 28 Deviation counter value 501 Unusable Md 31 Motor current value Md 32 Motor rotation speed Md 34 Regenerative load ratio Md 35 Effective load torque ratio Md 36 Peak torque ratio Unusable ervo status 1 ervo status 2 Unusable 5 5 5 5 00 02 amp amp 5 5 5 9 amp o 5
120. 6388 6708 Operation pattern 5110 5430 5750 6070 6390 6710 Control system 5111 5431 5751 6071 6391 6711 a 4 Deceleration time 5114 5434 5754 6074 6394 6714 D Command speed 5115 5435 5755 6075 6395 6715 S 5116 5436 5756 6076 6396 6716 Positioning address movement amount 5117 5437 5757 6077 6397 6717 Dwell time 5118 5438 5758 6078 6398 6718 Operation pattern 5120 5440 5760 6080 6400 6720 Control system 5121 5441 5761 6081 6401 6721 5124 5444 5764 6084 6404 6724 Command speed 5125 5445 5765 6085 6405 6725 4 5126 5446 5766 6086 6406 6726 Positioning address movement amount 5127 5447 5767 6087 6407 6727 Dwell time 5128 5448 5768 6088 6408 6728 Operation pattern 5130 5450 5770 6090 6410 6730 Control system 5131 5451 5771 6091 6411 6731 Da 4 5134 5454 5774 6094 6414 6734 Da 4 speed 5135 5455 5775 6095 6415 6735 X 5136 5456 5776 6096 6416 6736 Positioning address movement amount 5137 5457 5777 6097 6417 6737 Dwell time 5138 5458 5778 6098 6418 6738 Operation pattern 5140 5460 5780 6100 6420 6740 Control system 5141 5461 5781 6421 6741 Da 4 8 ee ses 5145 5465 5785 6105 6425 6745 6106 E 6427 6747 108 P 5146 5466 5786 6426 6746 Positioning address movement amount 5147 5467 5787 APP 24 APPENDICES MELSEC Q Buffer memory address Memory 7024 7344 7664 7984 8304 8624 8944 9264 9584 9904 7026 7346 7666 7986 8306
121. 8 2332 2432 2532 2632 2732 2832 2932 3032 3132 3232 3300 Axis monitor data Monitor data area 3301 3302 9 E E 2 gt no 3303 APP 21 APPENDICES MELSEC Q Appendix 3 3 Control data area EE 16 New speed value 3417 3517 3617 3717 3817 3917 3424 3524 3624 3724 3824 3924 Cd 24 New target position change value 3425 3525 3625 3725 3825 3925 3428 3528 3628 3728 3828 3928 Cd 28 New current value 3429 3529 3629 3729 3829 3929 Cd 30 Each axis servo OFF 3430 3530 3630 3730 3830 3930 Cd 46 Gain changing request 3446 3546 3646 3746 3846 3946 5000 Cd 100 Flash ROM write request Cd 101 Parameter initialization request 5001 APP 22 APPENDICES MELSEC Q Buffer memory address Memory 4016 4116 4216 4316 4416 4516 4616 4716 4816 4916 4024 4124 4224 4324 4424 4524 4624 4724 4824 4924 4028 4128 4228 4328 4428 4528 4628 4728 4828 4928 5000 Axis control data Control data area 5001 5 2 gt no APP 23 APPENDICES MELSEC Q Appendix 3 4 Positioning data area im No 0 Operation pattern 5100 5420 5740 660 6380 6700 5104 5424 5744 6064 6384 6704 Da 4 Command speed 5105 5425 5745 6065 6385 6705 me 5106 5426 5746 6066 6386 6706 Positioning address movement amount 5107 5427 5747 6067 6387 6707 Dwell time 5108 5428 5748 6068
122. 9 10469 300n 25 Pr474 10474 300n URC25 Fiter coefficient 2 5 owon _ oooontorrrrn 478 10478 300n PE34 6 4 10479 300n PE35 Prago 10480 300 6 481 10481 300n PES7 Pr482 10482 300n PE38 Pr 483 10483 300n EM For manufacturer setting LE 6 DATA USED FOR POSITIONING CONTROL MELSEC Q f Special setting parameters mbol Pe e a e pee address of QD74MH 494 10494 300n 502 495 10495 300n 5 3 4 10496 300n 504 497 10497 300n 505 498 10498 300n 596 499 10499 300n 607 500 10500 300n psos 501 105014300 5 Pr502 10502 300n PS10 Pr s03 10503 300n PS11 Pr s04 10504 300n PS12 505 10505 300n 513 Pr 506 10506 300n Pr so7 10507 300 15 508 10508 300 Em For manufacturer setting Pr510 10510 300n 18 Pr511 105114300 Pr512 10512 300 PS20 Pr513 10513 300n PS21 Pr514 105144300 PS22 Pr515 105154300 PS23 Pr516 10516 300n PS24 Pr517 10517 300n PS25 Pr518 10518 300n ps26 519 10519
123. All axis servo ON signal Y 1 signal ON or OFF Control data Cd 30 Each axis servo OFF Execute the servo ON OFF for each axis 10 1 3 Follow up function If the servomotor is rotated by external force during the servo OFF status the follow up processing is executed The follow up processing monitors the number of motor rotations real current value with the servo OFF and reflects the value in the Current feed value Therefore even if the servomotor rotates while the servo OFF the servomotor will not just rotate for the quantify of droop pulses the next time the servo turns ON but positioning can be performed from the stop position follow up processing is executed if QD74MH and the servo amplifier is turned ON and servo OFF regardless of the presence of the absolute position system 10 2 10 FUNCTION DETAILS MELSEC Q 10 2 Electronic Gear Function This function is used to adjust the position command units at positioning command to QD74MH The machine can be moved using an arbitrary multiplication constant for the movement amount by changing the electronic gear 10 2 1 Control details The position in which the value of an electronic gear is multiplied by the command value to the QD74MH are output to the servo amplifier The electronic gear is shown by the following expression Electronic gear numerator AP Electronic gear Electronic gear denominator AL The setting range of the electronic gear
124. CBLOM USB RS 232 LJ Personal computer IBM PC AT Forced stop input 24VDC ji SSCNETII cable 8 SSCNET cable GX Developer SWOD5C GPPW Extension cable External input signal of servo amplifier Extension base uni 0608 Proximity dog Upper stroke limit Lower stroke limit 6 3 model Servo amplifier QD74MH16 Up to 16 axes QD74MH8 Upto 8 axes Up to 7 extensions 2 SYSTEM CONFIGURATION MELSEC Q 2 2 Applicable System The QD74MH can be used in the following system 1 Applicable modules and base units The table below shows the CPU modules and base units applicable to the QD74MH and quantities for each CPU module However the power capacity may be insufficient depending on the combination with the other installed modules and the number of installed modules Be sure to check the power capacity when installing the modules a Installing toa CPU module Usable CPU modules Number of installable Usable base units 92 Note 1 CPU type CPU module modules 9 Extension base unit PLC um Q00JCPU OE to 8 Basic model QCPU TERR to 24 oue High Performance aseru ___ Up to 64 model j lQi2HcPU i Q25HCPU
125. Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in damage to the module Because the connector has its orientation check it before attaching or detaching the connector straight from the front Unless it is properly installed a poor contact may occur resulting in erroneous input and output 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 securely install the module with the fixing hole as a supporting point Incorrect installation of the module can cause an operation failure damage or drop When using the module in the environment of much vibration or impact tighten the module with a screw Tighten the screw in the specified torque range Under tightening may cause a drop short circuit or operation failure Over tightening may cause a drop short circuit or operation failure due to damage to the screw or module Lock the control panel and prevent access to those who are not certified to handle or install electric equipment 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 2 Wiring The precautions for wiring are given below NDANGER Completely turn off the externally supplied power used in the system before installation or wiring Not doing so could result in electric shock or damage to the product Z CAUTIO
126. EADY b11 Target position change READY PLS PLS The motor current can be stored 107 10 r min 1 The effective load torque be stored The average value of the load rates for the past 15 96 seconds to the rated torque stored as percentage rated torque being 100 The maximum torque can be stored The peak value for the past 15 seconds can be stored rated torque being 100 1 The ON OFF state of various signals be stored b15 tob12b11to b8b7 to 6463 to 50 t b0 READY ON b1 Servo ON b7 Servo error Servo alarm b12 In position b13 Torque limit b14 Absolute position lost b15 Servo warning The ON OFF state of various signals can be stored b15tobi2biito 6867 to b4b3 to 50 n Zero point pass b3 Zero speed 6 DATA USED FOR POSITIONING CONTROL MELSEC Q a Current feed value Md 26 Real current value 28 Deviation counter value Feedrate The following relations exist between Md 0 Current feed value 26 Real current value Md 28 Deviation and Md 2 Feedrate Command value _ t feed val Electronic gear numerator to servo amplifier PSD eee Nave Electronic gear denominator Electronic gear denominator x 7 Real current value Feedback value Electronic gear numerat
127. ERR LED red remains flashing Servo error parameter or positioning data OFF m ON Flashing 2 SYSTEM CONFIGURATION MELSEC Q 2 5 Basic Specifications 1 Module specifications QD74MH8 QD74MH16 Internal current consumption VDC A Mass kg Exterior dimensions mm inch 98 3 85 H x 27 4 1 08 W x 90 3 54 D Positioning control specifications Interpolation functions 2 to 4 axes linear interpolation Up to 4 groups Basic parameters OPR ae Manual control Back up System parameters Servo parameters and Positioning parameters can be saved in the flash ROM Battery less PTP control Incremental method Absolute method Positioning methods Locus control Incremental method Absolute method Absolute method 2147483648 to 2147483647 PLS Positioning range Incremental method 2147483648 to 2147483647 PLS Note Positioning that exceeds the positioning range is impossible Positioning Speed command range 5 to 2147000000 PLS s oe Linear acceleration deceleration S curve acceleration deceleration 0 to 20000 ms Lena Sudden stop deceleration time deceleration time 3 axes linear control axis linear control 2 axes linear Zeres earner car control Start time 0 88 ms 4 axes linear ae E control Number of SSCNETII Number of 55 systems 1 system Number of write accesses to flash ROM Up to 100000 Number of occup
128. HI 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 MODEL QD74MH U S E MODEL uen 1XB938 When exported from Japan this manual does not require application to the IB NA 03001 47 1 11 2 Ministry of Economy Trade and Industry for service transaction permission IB NA 0300147 B 1112 MEE Specifications subject to change without notice
129. N MELSEC Q 2 Checking function version on the system monitor screen Module s System Monitor Installed status MasterPLC gt Detailed Information Select Module s Detailed Information button on the system monitor screen displayed on Diagnostics System monitor of GX Developer The function version can be checked in Product Information displayed on the Module s Detailed Information screen Base Base Module L Main base QOBUDHCPU Unmo Unmo Unmo Unmo unti unti unti unti ng ng jng ng EERE EES BEER EES Parameter status Mode 120 Address System monitor Powe rsu QO6BUDHCPU pply li None None None None None 5 gent Diagnostics 16 1 16pt 15pt 16 1 Module s Detailed Information Base Information Status ig Module system error a Module change Product Inf List Module error B Module warning Detailed inf of power supply Stop monitor Lo ___ Function version Module s Detailed Information Module Module Name QD74MH16 Product information 10051 0000000000 1 0 Address 0 Implementation Position Main Base OSlot Module Information Module access Possible 1 0 Clear Hold Settings Fuse Status Noise Filter Setting Status of 120 Address Verify Agree Input Type Remote
130. N Check the layout of the terminals and then properly route the wires to the module Solder connector for external input signal cable properly Insufficient soldering may cause malfunction Be careful not to let foreign matters such as sawdust or wire chips get inside the module These may cause fires failure or malfunction The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring Do not remove this film until the wiring is complete Before operating the system be sure to remove the film to provide adequate ventilation When removing the cable or power supply cable from the module do not pull the cable When removing the cable with a connector hold the connector on the side that is connected to the module Pulling the cable that is still connected to the module may cause malfunction or damage to the module or cable The external input signal cable of the QD74MH and SSCNETII cable should not be routed near or bundled with the main circuit cable power cable and or other such load carrying cables other than those for the PLC These cables should be separated by at least 100mm 3 94inch or more They can cause electrical interference surges and inductance that can lead to mis operation The shielded cable for connecting QD74MH can be secured in place If the shielded cable is not secured unevenness or movement of the shielded cable o
131. Not accessible Monitor data area Control data area Positioning data area Servo parameter area E g 1 Details of areas a Parameter area The parameters such as basic parameters OPR parameters manual control parameters or system parameters required for positioning control can be set and stored b Monitor data area The operation state for the common monitor or axis monitor can be stored c Control data area The data for positioning such as common control data or axis control data and for some sub functions can be set and stored d Positioning data area The positioning data No 1 to 32 can be set and stored e Servo parameter area The parameters required for positioning control on servo amplifier can be set and stored 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 Reading writing data from buffer memory Read and write the data from the buffer memory in the following method a Reading 1 Sequence program 1 word Use FROM instruction or intelligent function device 2 word Use DFRO instruction or intelligent function device b Writing 1 Sequence program 1 word Use TO instruction or intelligent function device 2 Word Use DTO instruction or intelligent function device 3 Saving data Data of the buffer memory cannot be backed up and the all data are transmitted from FLASH ROM at the system power supply ON or
132. OPR completes at the first zero point after proximity dog ON V Pr 51 OPR direction gt 54 OPR speed Pr 56 Creep speed OPR start Zero point 7 OPR CONTROL MELSEC Q 2 There is a proximity dog in the opposite direction against of OPR 1 Start the OPR It starts to accelerate at the time set in Pr s8 OPR acceleration time to the direction set in Pr 51 OPR direction and it moves at the speed set in Pr 54 OPR 2 Itstops at the time set in Pr 17 Sudden stop deceleration time with the limit switch detection of OPR direction 3 After stop it moves in the opposite direction against of OPR at the OPR speed 4 Ifthe zero point is passed with the proximity dog OFF a deceleration stop is made If the zero point is not passed it continues to move until the zero point is passed and then a deceleration stop is made 5 After deceleration stop it moves in the direction of OPR at the speed set in Pr 56 Creep speed and the OPR completes at the first zero point after proximity dog ON V 2 51 OPR direction 56 Creep speed 1 start Pr 54 speed Limit switch Proximity dog I Zero point 7 OPR CONTROL MELSEC Q 3 The start position is on a proximity dog
133. PB17 ____ 10349 10649 10949 11249 11549 11849 Pr 351 PB19 1000 1072007 suppression control 10351 10651 10951 11251 11554 11851 vibration frequency setting Vibration suppression control Pr 352 PB20 1000 10352 10652 10952 11252 11552 11852 resonance frequency setting APP 38 APPENDICES MELSEC Q Buffer memory address Memory ouem 12134 12434 12734 13034 13334 13634 13934 14234 14534 14834 12138 12438 12738 13038 13338 13638 13938 14238 14538 14838 12145 12445 12745 13045 13345 13645 13945 14245 14545 14845 12147 12447 12747 13047 13347 13647 13947 14247 14547 14847 12151 12451 12751 13051 13351 13651 13951 14251 14551 14851 12152 12452 12752 13052 13352 13652 13952 14252 14552 14852 APP 39 5 Es o Servo parameter area Gain filter parameters APPENDICES MELSEC Q Symbol No Default Buffer memory address ME Pr 363 PB21 0 0 Slight vibration suppression Pr 356 PB24 0000h 10356 10656 10956 11256 11556 11856 control selection Pr 357 PB25 0000h For manufacturer setting 10357 10657 10957 11257 11557 11857 Pr 358 PB26 0000h Gain changing selection 10358 10658 10958 11258 11558 11858 Pr 359 PB27 Gain changing cond
134. Pr 56 Creep speed 5 It decelerates to the creep speed and subsequently moves at the creep Speed 6 It stops with the proximity dog OFF Thereafter it restarts and the OPR completes at the first zero point V Pr 51 OPR direction gt Pr 54 OPR speed 5 NI Pr 56 Creep speed 1 16 OPR start 2 Pr 54 OPR speed 5 Proximity dog Zero point 4 A limit switch is detected at the start up position If a limit switch in the direction of OPR is ON the OPR is executed in operation of this section 2 If the limit switch in the opposite direction against of OPR is ON the OPR is executed in operation of this section 1 7 OPR CONTROL MELSEC Q 7 3 Data Set Type A method which uses the JOG operation to move to any arbitrary position and then sets that position as the home position A proximity dog is unnecessary OP is the commanded position at the OPR operation V The commanded position at the OPR start is OP OPR start Positioning start signal ON When the hardware stroke limit is detected at the OPR start an error code 1500 will occur and the OPR is not completed 7 OPR CONTROL MELSEC Q 7 4 Stopper Type To set the OP first set the torque limit to a value in which the stopper will not be damaged Next perform a JOG operation and continue to JOG until the torque limit is reached due to the stop
135. Servo series matches to the connecting status and rotary Switch of servo amplifier 2 Power supply status to servo amplifier 3 SSCNETII cable connection status 4 Discconection of SSCNETII cable Note Turn the servo amplifire s Forced stop for except power supplies on the axis that caused the communication route ON error and unit READY Check the followings turns OFF 1 SSCNETII cable connection status 2 Discconection of SSCNETII cable Check the connected servo amplifiers Check the followings 1 Power supply status to servo amplifier 2 SSCNETII cable connection status 3 Discconection of SSCNETII cable 11 TROUBLESHOOTING MELSEC Q System errors 1 to 999 continued Error Error Operation status at Error Error check Remedy code detail error occurrence Unit READY does not Sum check error of parameter stored in tum ON the FLASH ROM The system s power Note At power supply supply was turned OFF in FLASH ROM FALSH ROM write Return to the parameters at factory default using the parameter initialization function write parameter initialization function can be used At FALSH ROM write parameter initialization FALSH ROM write function use after the parameter initialization Replace the QH74MH system error cannot be executed occurrence Data cannot be written to the FLASH ROM 11 5 11 TROUBLESHOOTING 1010 2
136. TI 0 First PLC Set correctly the servo amplifier series 1 MR J3 B READY ON to match the number of axes and axis Pr 300 10300 300n Servo series 3 MR J3 B Fully closed after the number to be connected Us n loop control System power If the servo amplifier series setting is not 4 MR J3 B Linear supply ON corresponding to the actual number of axes an error will occur and the system cannot be started Refer to the servo amplifier instruction manual Instruction Manual list is shown below Servo amplifier type Instruction manual name 3 08 SSCNETI Compatible MR J3 L1B Servo Amplifier Instruction Manual SH 030051 MR J3 CIB RJOO4 SSCNETII Compatible Linear Servo MR J3 OB RJ004U0 Instruction Manual SH 030054 MR J3 CIB RJOO6 SSCNETII Fully Closed Loop Control MR J3 L1B RJO06 Servo Amplifier Instruction Manual SH 030056 Parameters whose symbol is followed by or become valid as follows Set the parameter value and transmit the parameter to servo amplifier from QD74MH with the PLC READY ON And then once execute the power cycle of servo amplifier to make the parameter setting valid Refer to Section 6 2 3 for details of change procedure 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 1 Servo parameter MR J3 L B use a Basic setting parameters or mxD e Symbol Symbol Name Unit Setting ran
137. Type QD74MH Positioning Module MITSUBISHI Changes for the Better Details Mitsubishi Programmable Controller MELSEC Q pi SAFETY PRECAUTIONS Please 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 Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION Indicates that incorrect handling may cause hazardous AN D A N G E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous T conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user Ms s E M m For Safe Operations 1 Prevention of electric shocks NDANGER Never open the front case or terminal covers while the power is ON
138. U Q02HCPU QO6HCPU Single PLC system Version 4 or later Q12HCPU Q25HCPU Multiple PLC system Version 6 or later Single PLC system Q02PHCPU Q06PHCPU Version 8 68W or later Multiple PLC system Single PLC system Q12PHCPU Q25PHCPU Version 7 10L or later Multiple PLC system Q02UCPU Q03UDCPU Q04UDHCPU Single PLC system Version 8 48A or later QO6UDHCPU Multiple PLC system Single PLC system Q13UDHCPU Q26UDHCPU Version 8 62Q or later Multiple PLC system QO3UDECPU Q04UDEHCPU QOGUDEHCPU Single PLC system Version 8 68W later Q13UDEHCPU Q26UDEHCPU Multiple PLC system For use MELSECNET H remote I O station Version 6 or later 2 SYSTEM CONFIGURATION MELSEC Q 2 3 Component List as i QD74MH8 Up to 8 axes SSCNETII compatible Positioning module QD74MH16 Up to 16 axes SSCNETII compatible GX Developer SWLID5C GPPW Refer to the GX Developer operating manual Personal computer Tm o 3 User prepared RS 232 cable QC30R2 PLC CPU Personal computer PLC CPU Personal computer USB cable User prepared Servo amplifier MR J3 L1B RJ004 Refer to the servo amplifier instruction manual MR J3 L1B RJO06 QD74MH MR J3 LIB e MR J3 DJB gt 3 08 Standard cord for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft QD74MH Note 1 MR J3 LIB MR J3 LIB Standard cable for inside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft QD74MH MR J3 LIB
139. a sed for control nct scr hein D Ded dina aee a ve e o 10 28 10 15 Acceleration Deceleration Time Change Function seen 10 29 10 15 1 Control details e ER RR EG eR a et e n a eet Duet 10 29 10 15 2 Precautions petente eee tete aa ei adie 10 30 10 15 3 Data used for CONTO e a E a a nennen nennen 10 31 10 16 Target Change FUNCION accionaria me e ittm ite m P cc m EE EO a 10 32 10 16 1 Control d tails mtr ete etes ed tr He os PED Ha reo a EE Ha deett 10 32 10 16 2 Data used for control 2 uin ae E im a n en a tete aet 10 34 10 17 Current Value Change Function sssssesssssseeeeeeeeenneen nennen 10 35 10 17 1 Control n n in bie d le REN Ries 10 35 10 17 2 Data used for conttol 2 ea e al e aatis 10 35 10 18 External Signal Logic Selection nennen nennen 10 36 10 18 1 Control detalle RR RR ee Ra nmn 10 36 10 18 2 Data used for control eet te c 10 36 10 19 Operation Setting for Incompletion of OPR Function 10 37 10 19 1 Gontrol detalls tere et me lese Mee ae E edd 10 37 10 19 2 Data sed for controli n ient ER GER ED EN MEO 10 38 10 20 AxIS ErrOrRReSet sine eise eene qe a eque en e egere qe evang 10 39 10 20 41 Control eet 10 39 10 20 2 Dat
140. a stop Return to Pr 23 23 100 processing position exceeds a command change selection position for position change position after deceleration stop 20 100n Command in position PLS 21 100n 6 DATA USED FOR POSITIONING CONTROL MELSEC Q Buffer X Factory memory Details Setting range Fetch timing efti address efault Set the group to specify the combination for axes to be 0 None interpolation controlled Single axis Set the same group number for 1 Group 1 25 100n Interpolation group PLC READY ON axes to be interpolation controlled 2 Group 2 Up to 4 axes can be set to one group Up to 4 groups can be set PLC READY ON 26 100n Linear interpolation Set the maximum speed at the n 3 1 to 2147 Parameter 10 27 100n speed limit value linear interpolation control change request Select the logic of the external input signal b15 tob12b11to b8b7 to b4b3 to 50 External input signal imi 2 i 31 100n 2 Pie ras bac Prozinity dog atve 096 PLC READY ON logic selection b4 Lower hardware 1 Positive logic strok limit b0 Upper hardware strok limit Note Set to for except the above bits 6 DATA USED FOR POSITIONING CONTROL 6 4 2 OPR parameter Symbol 1 OPR parameter Items Buffer memory address Details Select the OPR method 50 100n OPR method Set the direction to execute the m OPR for proximity dog
141. a used for control Rn e ec oe eee ee 10 39 10 21 Absol te positlon SYStem ete eee e rere Re Ret ent ernie 10 40 10 241 1 Control detalls cete tee t Pte UU a ote 10 40 10 22 Flash ROM Write Function ssssssssssssseseseeeneeenrennne nennen nnne te nennen 10 42 10 22 T Control detalls i4 315 art eee ee ee eater i d Made M ees EM anes 10 42 10 22 2 Datatused Tor control iia nte rn RR RR RR RUE AER AR AERE RR 10 43 10 23 Parameter Initialization Function sse nennen nennen 10 44 10 23 Control 4 Maciel 10 44 10 23 2 Data used for control ren een deett ree pea dap destin e ada 10 45 10 24 Parameter Change Function nennen nennen nre 10 46 10 24 1 Control details 42 1 21 2 1000 enne nennen terr rrr 10 46 10 242 Data uSed Tor control o eet ette 10 46 11 1 Error and Warning Details 4 2 a rr i e i e i e E Re e e V Roe v e s 11 1 AEA tt Pe Pile Gace ae eu ed e EXTR neater 11 1 Pie EP t bes 11 3 11 1 3 Confirming the error and warning definitions 11 3 TLE Resetting oror e etn teret venit ve en
142. absolute position system Do not execute such positioning in the absolute position system 10 17 2 Data used for control Set the following control data for the current value change function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Start method Set the start method 9003 New current value Control data Cd 28 Set the address after change 10 35 10 FUNCTION DETAILS MELSEC Q 10 18 External Signal Logic Selection 10 18 1 Control details The upper hardware stroke limit FLS the lower hardware stroke limit RLS and the dog signal DOG can be input by using the input signal of the servo amplifier And the logic selection of input signal is possible Select the negative logic or positive logic in Pr 31 External input signal logic selection 1 Negative logic a Input signal is OFF 1 FLS RLS gt Limit switch is in operation Stroke prohibited area 2 DOG OFF b Input signal is ON 1 FLS RLS Limit switch is removed Stroke movement allowed area 2 DOG ON DOG ditection 2 Positive logic Opposite of the negative logic NCAUTION When the hardware stroke limit is required to be wired ensure to wire it in the negative logic using B contact If it is set in positive logic using A contact the hardware stroke limit may not be detected even if the signal wires are disconnected 10 18 2 Data used for control Set the following parameters for
143. acturer setting Pr397 10397 300n 17 4 ooon ooon to oooh Pr 398 10398 300n 18 Pr 399 10399 300n PC19 For manufacturer setting 400 10400 300n 20 pr4ot 10401 300n Alarm nistory cear oooh Pr402 104025300 22 Pr 403 10403 300n 23 Pr404 10404 300 pcza 405 10405 300n PC25 Praos 10406 300n pc26 Pr407 10407 300n 27 For manufacturer setting 408 10408 300n 28 Pr409 10409 300n Pozo Pr 410 10410 300 pratt 10411 300 Haj 6 DATA USED FOR POSITIONING CONTROL MELSEC Q I O setting parameters d address of QD74MH 414 10414 300n 02 415 10415 300n 03 For manufacturer setting 416 10416 300n Poos Pr417 10417 300n Poos 418 10418 300n PDo6 Pr419 10419 300n 7 DO1 Outputsignaldeviceselection i 0000hto003Fh Pr420 10420 300n 002 Output signal device selection2 1 0000hto003Fh Pr421 10421 300n 09 DOS Output signal device selections 0003 0000hto003Fh
144. address and details _ Symbol Control data Axis sudden stop Stop the operating axis suddenly 10 18 10 FUNCTION DETAILS MELSEC Q 10 10 Forced Stop Control 10 10 1 Control details Set the command speed to 0 at forced stop When the forced stop command is input to the servo amplifier ftrom the controller the base circuit is shut off and the dynamic brake operates to bring the servomotor to stop Refer to the Servo amplifier Instruction Manual for the dynamic brake characterisrics The current position is updated in forced stop Therefore the origin coordinate processing such as OPR is not necessary at forced stop removing Command speed E Actual speed ON Forced stop OFF gt Current position is updated according to movement in forced stop Stop using dynamic brake Tthe external forced stop input by external 24VDC or the forced stop input signal Y2 with input signal from PLC CPU is used to execute the forced stop Valid invalid of the external forced stop can be selected in 101 External forced stop selection The forced stop input signal Y2 with input signal from PLC CPU is valid regardless of valid Invalid of the external forced stop and it operates with positive logic The forced stop is operated by the signal ON and it is releaced by the signal OFF The operation when the stop or sudden stop is commanded in sudden stop control is shown below 1 set
145. after the power supply is switched on is C 4 not set in Pr 397 Function selection C 4 The OPR does not start The OPR request turns ON The OPR request turns ON The current value The setting value of software stroke limit exceeded the setting range at OPR At OPR start start Set the value of software stroke limit within the range The setting value of software stroke Refer to Section 10 4 2 limit exceeded the setting range at first At first PLC READY ON PLC READY ON does not restored The backup data for current value restoration is wrong The OPR has not been executed after The current value 1 ae At PLC READY ON Execute the OPR 1201 setting the absolute position system does not restored The servo parameter Pr 314 Rotation direction selection was changed The backup data for current value The OPR is not 2 At OPR completion Replace the QH74MH restoration cannot be saved normally completed 11 8 11 TROUBLESHOOTING MELSEC Q Oparation errors 1000 to 1899 Continued Error Error Operation status at Error Error check Remedy code detail error occurrence Note side limit switch is OFF at side positioning start side limit switch side positioning turned OFF in Note Upper hardware stroke limit swich side limit switch N is OFF at side positioning start side limit switch 99 turned OFF in side pos
146. ance between the QD74MH and servo amplifier servo amplifier and servo amplifier of the SSCNETII cable on the same bus was set to 50 164 04 m ft and the flexibility improved at the system design c The servo parameters can be set on the QD74MH side to write or read them to from the servo amplifier using the SSCNETII d The actual current value and error description contained in the servo can be checked by the buffer memory of the QD74MH e Wiring is reduced by issuing the external signal upper lower stroke limit signal proximity dog signal via the servo amplifier Easy application to the absolute position system a The absolute position corresponding servo motor and servo amplifier are used to have an application to the absolute position system b Once the OP have been established the OPR operation is unnecessary when the power is supplied c With the absolute position system the data set method OPR is used to establish the OP Easy maintenance Each QD74MH positioning module incorporates the following improvements in maintainability a Data such as the positioning data and parameters can be stored on a flash ROM inside the QD74MH eliminating the need of a battery for retaining data Refer to Section 6 1 b Error messages are classified in more detail to facilitate the initial troubleshooting procedure Refer to Section 11 1 1 OVERVIEW MELSEC Q 8 Addition of forced stop function As forced stop
147. ange request memo ON gt M112 M171 543 KO 03423 Axis 1 Target position change request OFF gt X31 M163 RST 112 H Axis 1 Target position change request memo OFF APP 16 APPENDICES MELSEC Q No 21 Torque limit program X30 556 MOVP K1000 G3412 Axis 1 Forward rotation torque limit value 100 090 MovP K1000 G3413 Axis 1 Reverse rotation torque limit value 100 090 K1 G3411 Axis 1 Torque limit value change request ON X30 576 wove KO G3411 lt Axis1 Torque limit value change request OFF gt No 22 Parameter change request program X27 582 K1 G3401 lt Parameter change request ON gt 590 END APP 17 APPENDICES MELSEC Q Appendix 3 List of Buffer Memory Address Appendix 3 1 Parameter area symbol Item Buffer memory address 100 104 Software stroke limit upper limit value 105 Pr8 Backlash Backlash compensation amount amount 110 210 310 0 0 Pr 10 Speed limit value cm 111 211 311 411 511 5 25 35 48 55 EU e E ER UR Tm m 20 120 220 320 420 520 20 Command in position range Target position change overrun processing selection Interpolation group External input signal logic selection OP mets o
148. art interpolation control At OPR start OPR speed and creep speed At positioning start At positioning data point change of positioning control At JOG operation start At incremental feed operation start The operation does not start At strat The operation does not start In control ecerelation stop At positioning start At point change Positioning end Immediate stop in continuous path At positioning data change 11 6 MELSEC Q Remove the axis Remove the axis stop Remove the axis sudden stop Remove the forced stop Remove the pausing Remove the error cause for the erroneous axis Set the command speed to 5 PLS s or more Set the 2 Start method within the setting range Set the final positioning data to the independent positioning in Da o Operation pattern 1 Review the positioning data Control system 2 Review the start timing of the positioning control manual control or OPR control 11 TROUBLESHOOTING MELSEC Q Oparation errors 1000 to 1899 Continued a Error Error check Remedy code detail error occurrence 1 The movement direction was reversed in the positioning data o the way continuous path 2 Stop by the error is set in Pr 23 Target position change overrun processing selection and the change position was passed by the target position change Setting of Da 1 Control
149. art At OPR start At manual operation start 10 11 2 Data used for control Set the following parameters for the command in position function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Command in position range Set the remaining distance that turns the command in position ON The command in position signal is stored in the following buffer memory address Refer to the Section 6 3 to 6 8 for the buffer memory address and monitoring details _ Symbol Monitor data Md 10 Status 2 b1 Command in position 10 22 10 FUNCTION DETAILS MELSEC Q 10 12 Pausing Function 10 12 1 Control details The relation between the pausing function and the each control is shown below Pausing function PENES 1 axis linear control l 0 Positioning 2 to 4 axes linear control interpolation control Pausing Manual JOG operation control Incremental feed operation X Proximity dog type Data set type Stopper type Dog cradle type Limit switch combined type Scale origin signal detection type Valid Invalid The positioning is paused by setting 1 Cd 5 Pausing Pausing 10 Status 2 b2 signal turns ON in positioning stop The operation is resumed by setting 0 Z CAUTION Do not command 5 Pausing for the control of pausing disable Operation may cause errors Deceleration is started according to the sudden stop time to stop by
150. assed it continues to move until the zero point is passed and then a deceleration stop is made 5 After deceleration stop it moves in the direction of OPR at the OPR speed 6 The proximity dog ON is detected and it starts to decelerate at the speed set in Pr 56 Creep speed 7 Itdecelerates to the creep speed and subsequently moves at the creep speed 8 It stops with the proximity dog OFF Thereafter it restarts and the OPR completes at the first zero point V Pr 51 OPR direction gt Creep speed gt Pr 54 OPR speed Limit swith 22 Salen ae WRIA 2 Zero point When the limit switch of OPR direction is detected again without the proximity dog ON after operation in 5 the above the retry continuation from operation in 2 is executed again 7 OPR CONTROL MELSEC Q 3 The start position is on a proximity dog 1 It moves in the opposite direction against of direction set in Pr 51 OPR direction at the speed set in Pr 54 OPR speed 2 Ifthe zero point is passed with the proximity dog OFF a deceleration stop is made If the zero point is not passed it continues to move until the zero point is passed and then a deceleration stop is made 3 After deceleration stop it moves in the direction of OPR at the OPR speed 4 The proximity dog ON is detected and it starts to decelerate at the speed set in
151. at worst Disposal When incinerating optical cable cord used for SSCNETII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas f Wiring process of SSCNETII cable Put the SSCNETII cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector Leave the following space for wiring Putting in the duct Top of panel or wiring duct Base unit lt 2 2 7 QD74MH 18inch Bomm 18inc 2 3 15 D J Door c Panel ZZ sj 2 LJ UL J ZA 70mm 98mm 2 76inch 3 86inch or more 1 22 2 5mm 0 20inch 5mm 0 20inch or more Nete 2 Note 1 For wiring duct with 50 mm 1 97 inch or less height 40 mm 1 58 inch or more for other cases Note 2 20mm 0 79inch or more when the adjacent module is not removed and the extensi
152. ave been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment design refer to the Installation Guidelines data number IB NA 67339 and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment Note that when the reference axis speed is designated for interpolation operation the speed of the partner axis 2nd axis 3rd axis and 4th axis may be larger than the set speed larger than the speed limit value Use the units with the following conditions 7 Corrective actions for errors Z CAUTION If an error occurs in the self diagnosis of the module or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally
153. backlash amount are output each time the movement direction change If the command speed exceeds Speed limit value during control this Speed limit function function limits the commanded speed within the setting range of Speed 10 6 limit value 107 108 10 9 to the forced stop input connector of QD74MH or input from PLC CPU This function calculates the remaining distance to reach the positioning stop Command in position function position at the automatic deceleration if the value is less than the set value the Command in position 10 Status 2 61 signal turns ON 2 This function pauses positioning or continues a positioning from the interruption Pausing function position ition If the torque generated by the servomotor exceeds the torque limit value during Torque limit function control this function limits the torque generated within the setting range of torque 10 13 limit value Speed change function This function changes the speed during positioning operation 10 14 Acceleration deceleration time 8 TET This function changes the acceleration deceleration time at the speed change 10 15 change function 59 28 os zo o c 9 2 P 2 2 o 5 SPECIFICATIONS AND FUNCTIONS MELSEC Q Reference Functions Details section Target position change function This function ee I ME S l the target position during positioning operation Era 16 Current value change function Thi
154. bility of the target system And add the interlock condition if required in the target system 1 JOG operation OPR operation positioning control and continuous path control can be executed by setting the data to the buffer memory in QD74MH The monitor data of the current value and error codes etc can be referred by reading the data of buffer memory Data is transferred via the buffer memory between the PLC CPU and QD74MH in the figure below Use the GX Developer to create the sequence program and debugging Gx Developer Sequence program Monitor ON OFF Current value UO G1700 10000000 U0 G1702 100000 Device PLC CPU QD74MH Buffer memory Parameter Sequence program C Transfer the parameters positioning data and control data to the buffer memory Monitor data Control data Positioning control Positioning data Servo parameter APP 2 APPENDICES MELSEC Q 2 System configuration The configuration figure for 1 axis absolute position system of 1 axis assumed by the sequence program is shown below Ig Equipment configuration Base unit Power supply module 6 PLC CPU module 5 QD74MH8 5 Servo amplifiers MR J3 10B E Servomoter HF KP13
155. can be executed in this control If a dwell time is set the positioning will complete after the specified time elapses MELSEC Q Positioning complete Md 10 Status 2 bO gt t V Independent positioning Da 8 Dwell time Nu B Positioning start signal lt Y10 to Y1F OFF BUSY signal X10 to X1F DEF 2 Continuous positioning It always automatically decelerates each time the positioning is completed Acceleration to operate the next positioning data is executed after the command speed reaches 0 If a dwell time is set acceleration to operate the next positioning data after the specified time elapses In operation by continuous positioning the next positioning is automatically executed Always set the independent positioning in the last positioning data to complete the positioning If the independent positioning is not set an error code 1022 will occur at the switching to the 32 point and the positioning cannot be started V Continuous positioning Continuous positioning Da 8 Da 8 Turn OFF at the next positioning start Dwell time Dwell time gt t Positioning start signal Y10 to Y1F BUSY signal X10 to X1F Positioning complete Md 10 Status 2 60 Set 0 in Independent positioning 4 1 1 1 f
156. ch as QD74MH or servo amplifier alarm or the emergency stop the circuit which avoids a malfunction while power is unstable at power on and the electromagnetic brake circuit for servomotors Layout design within control panel Layout design based on the design environment such as Refer to section 4 1 temperatures and vibrations in consideration of heat generated from modules and handling of module installation 3 DESIGN MELSEC Q 3 2 External Circuit Design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop When designing the main circuit of the power supply make sure to use a no fuse breaker NFB The outline diagrams of the internal circuits for the external device connection interface are shown below 2 VIG 1 Example when using the forced stop of the QD74MH NA o Power Supply PLC CPU Positioning Output module ES usi Q61P QnCPU module QY41P R s T __ 1 QD74MH INPUT NS o4 100 240VAC 12 24VDC O FG OLG Forced stop Emergency stop EMG 5 5 Operation Operation Alarm Raq OFF ON 1 dp A MC sk 3 DESIGN MELSEC Q 1 Note 1 Configure up the power supply circuit which
157. ck that the and MRJ3BUSLIM A do not come contact with wires cables that use materials where the plasticizing material is contained Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection Refer to the I O Module Type Building Block User s Manual Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 4 2 Trial operation and adjustment procedure Servo start up procedure Turn OFF PLC system power supply Check that the system power supply is OFF Check wiring and module installation 1 Check the installation position and condition of each modules 2 Check the connecting condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of servo amplifier etc 5 Check the servomotor wiring U V W 6 Check the regenerative resistor wiring 7 Check the circuit of emergency stop or forced stop Servo amplifier setting Set the axis number of servo amplifier Turn ON power supply
158. completion ON PLC READY signal YO VorF 101 Parameter initialization request 0 X 1 0 Parameter initialization process QD74MH 1 Execute the parameter initialization when the positioning control do not execute PLC READY signal YO OFF An error code 1903 will occur if it is executed at the PLC READY signal YO ON A writing to the flash ROM is up to 100 000 times If writing exceeds 100 000 times the writing may be become impossible and an error code 1901 will occur Be sure to turn the system power supply ON OFF or reset the PLC CPU after the parameter initialization The number of the flash ROM write with the sequence program after the single system power supply ON or single PLC CPU reset is limited to up to 25 Writing of the 26th times will cause an error code 1902 The number of parameter initialization after the system power supply ON can be monitored in Md 102 Number of write accesses to flash ROM The parameter initialization can be executed after the system s power supply ON and the PLC READY signal YO ON If the parameter initialization is executed without turning ON the PLC READY signal YO after the system s power supply ON a warning code 10001 will occur and the parameter initialization cannot be executed 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 7 Positioning Data The positioning data of 32 points can be set for one axis The positi
159. d 2 A deceleration stop is made with the limit switch detection of the opposite direction against of OPR 3 After deceleration stop it moves in direction of OPR at the speed set in Pr 56 Creep speed and it stops at the limit switch detection Thereafter it restarts and the OPR completes at the first zero point V Pr 51 OPR direction 54 OPR speed OPR start 56 Creep speed Zero point While it is moving in the direction of OPR at the speed set in Pr 56 Creep speed the OPR is executed by calculating the movement distance to OP even if the zero point in not passed at the limit switch OFF However it cannot be stopped to zero point securely in the incremental encoder 1 A limit switch is detected at the start up position If a limit switch of the opposite direction against of OPR is ON at the start the OPR is executed in operation of this section 3 7 OPR CONTROL MELSEC Q 7 7 Scale Origin Signal Detection Type The OPR is executed using a home position signal zero point on a linear scale The scale origin signal detection method beings deceleration upon the dog sensor ON Then movement is reversed and the system detects for the linear scale s OP signal Once detected the system decelerates to a stop and then returns to the scale s OP at the set creep speed For linear scales that have multiple home position signals the position o
160. d va 8 Warning code e Turn the bit of 101 Axis warning status OFF for target axis 0 Not requested Execute the parameter change 1 Requested request when the fetch timing of Note 0 can be Parameter change 9 the basic parameter OPR automatically request Cd 1 3401 100 parameter is set to parameter set after the change request change of parameter 1 to 32 Positionin 9 Leading edge data No to of the be started 3402 100n Start method Set the start method positioning 9000 OPR start signal 9003 New current Y10 to Y1F value 0 Not commanded Cd 3 3403 100n Axis esp Stop the operating axis 1 Commanded Stop the operating axis 0 Not commanded 4 3404 100 sudden stop suddenly 1 Commanded 0 Pausing release Cd 5 3405 100n Pausing Command the pausing 1 Pausing 0 88 ms Forward rotation JOG 0 Stop Cd 8 3408 100 Start the forward rotation JOG start 1 Start R tation JOG 0 St Cd 9 34094100n 256 TOf on Start the reverse rotation JOG 2r start 1 Start C d the t limit 0 Not ted Cd 11 3411 100 limit anc 16 torque mr bi ES request 1 Requested Note 1 Cycle of processing executed at free time except the positioning control It changes by status of axis start 6 36 6 DATA USED FOR POSITIONING CONTROL MELSEC Q Buffer Facto Symbol memory Items Details Setting range Fetch tim
161. d for incremental feed operation are shown below Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Incremental feedrate Set the feedrate for incremental feed 10 FUNCTION DETAILS MELSEC Q 10 FUNCTION DETAILS 10 1 Servo ON OFF This function is used to execute the servo ON or OFF of the servo amplifiers connected to the QD74MH By establishing the servo ON status with the servo ON command servomotor operation is enabled 10 1 1 Control details The following two types of servo ON or OFF can be used All axis servo ON signal Y 1 Each axis servo OFF A combination of the All axis servo ON signal Y1 and Cd 30 Each axis servo OFF is shown below Each axis servo OFF Set value LED indication of Set value 1 LED indication of servo amplifier servo amplifier ifi AlaxssewoON on Of xw signal Y1 gt O Servo ON Servo operation enabled X Servo OFF Servo operation disabled The procedure for servo ON OFF is shown below 1 Servo ON Servo operation enabled The above Note 1 a Make sure that the servo LED indicates bO b Set in Cd 30 Each axis servo OFF c Turn ON All axis servo ON signal Y 1 LED indication of servo amplifier 40 2 All axis servo OFF Servo operation disabled The above Note 2
162. d then the OP is Proximity dog type f Am defined as the first zero point after the proximity dog turns back OFF method which uses the JOG operation to move to any arbitrary position and then sets m that position as the home position A proximity dog is unnecessary To set the OP first set the torque limit to a value in which the stopper will not be Stopper type damaged Next perform a JOG operation and continue to JOG until the torque limit is reached due to the stopper The stopper type OPR is now set The dog cradle method performs a deceleration when the proximity dog turns ON Then movement direction is reversed until the dog turns back OFF At this point movement is again towards the dog sensor but at the set creep speed As soon as the dog turns back ON again movement stops and the OP is defined Dog cradle type The limit switch sensor in the opposite direction of the home sensor is used for OPR This method moves towards the limit switch and beings decelerating when the sensor turns on Movement then reverses and the home position is the first Z pulse after the sensor turns back off The scale origin signal detection method beings deceleration upon the dog sensor ON 7 Then movement is reversed and the system detects for the linear scale s signal Once detected the system decelerates to a stop and then returns to the scale s OP at the set creep speed Limit switch combined type Scale orig
163. ddress is 1000 and the end point address is 8000 Start point address End point address Current stop position Positioning address 4 Positioning control Movement amount 7000 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 i 0 1000 8000 i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 INC linear 1 In incremental system 1 axis linear control positioning is executed from the start point address current stop position to a position at the end of the movement amount set in Da 6 Positioning address movement amount by using addresses established by OPR are used The movement direction is depended by a sign of movement amount Start point address Current stop position Reverese Forward direction direction Negative movement amount Positive movement amount r Example The start point address is 5000 and the movement amount is 7000 Address after positioning control Start point address Current stop position I 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Movement amount 7000 Positioning control the reverse direction 8 POSITIONING CONTROL MELSEC Q 8 2 3 Restrictions for 1 aixs linear control 1 When the continuous positioning or continuous path is set in Da 0 Operation pattern and the ABS linear 1 or INC linea
164. de uo G10308 1000 ____________ Pr309 09 Auto tuning response UoG10309400n 0 CCW directi Pr314 14 Rotation direction selection 1 U0 G10314 100n 1 CW direction Table 2 2 Positioning data for 1 axis Symbol Value for 1 axis Point 1 Point 2 Dao Operation pattern __ 1 1 UOG5100 10n Continuous positioning Control system 1 0 0 JABSlneari 3 Deceleration time 2 a6 Posiiningaddressimovementamount 2 5000000 005106 101 Move to address 5O mm lunesios 10n s Das Dwel time 2 3008 07 Operation pattern o O U0 G5110 10n Independent positioning Positioning addressimovement amount 2 0 fuocs116 10n __ to address O mm Das 1 o juoGstt amp to bos APP 9 APPENDICES Appendix 2 3 Debugging 1 2 MELSEC Q Debugging GX Developer is used to create the sequence program and debug in QD74MH First create the device comment to create the sequence program The device comment is displayed by registering the devices to the entry data monitor It becomes easy to debug by the device and comment being displayed simultaneously Flash ROM write Execute the flash ROM write after completion of the adjustment for servo amplifier The following buffer memories of servo parameter are changed when the auto tuning mode is valid Ratio of load inertia moment to servo motor inertia momen
165. ducing the denominator and numerator by 16 2 Regarding the numerator and dinominator one must be a true integer and the othr should be rounded off to an integer Both must be a value equal to or less than 32768 a Calculated value without reduction Divide using simple division and keep the remainder after the decimal point 262144 x 6 AP _ 262144 262144 6 16 32768x3 _ AL 1 10000 10000 625 197 2864 6 x 10000 46 b Result of reduction when AL is chosen to be the true integer Reduce the denominator AL to an integer and keep the remainder after the decimal point 32768 x 3 AP _ 32768 3 5 19660 8 19660 A 8625 6s 425 7 125 V 5 Result of reduction when AP is chosen to be the true integer Reduce the numerator AP to an integer and keep the remainder after the decimal point 32768 x 3 AP _ 32768 3 3 32768 32768 _ AL 625 77 625 208 333 gt 208 197 9384 3 10 4 10 FUNCTION DETAILS MELSEC Q d Subtract the result of expression a above from that of c and b respectively and then compare the results as shown below b a 157 2800 157 2864 0 0064 c a 157 5384 157 2864 0 2520 From the above comparison it is easy to see that the calculation result of b is closer to the value of a 3 The value of the electronic gear has setting range and integer restrictions Therefore round down the calculated value of the numerator AP from expression 2 t
166. e MR J3BUS015M 0 15 0 49 MR J3BUS03M 0 3 0 98 Standard cord for MR J3BUS05M 0 5 1 64 Standard inside panel J3BUS1M 1 3 28 MR J3BUS3M J3BUS3M 3 9 84 MR J3BUS5M A 5 16 40 Standard cable for MR J3BUS MR J3BUS10M A 10 32 81 Standard outside panel MR J3BUS20M A 20 65 62 MR J3BUS30M B 30 98 43 MR J3BUS40M B 40 131 23 Long flex Long distance cable MR J3BUS50M B 50 164 04 Note 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative b Specifications VPE Description SSCNETII cable model MR J3BUSLIM MR J3BUSCIM A MR J3BUSLIM B SSCNETII cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 40 to 65 62 30 to 50 98 43 to 164 04 Minimum bend radius 25 0 98 Enforced covering 50 1 97 Enforced covering cord 50 1 97 mm inch Cord 25 0 98 Cord 30 1 18 Tension strength N 420 Enforced covering cord 980 Enforced covering cord T t emperature range 40 to 80 20 to 70 40 to 176 4 to 158 Indoors no direct sunlight No solvent or oil 2 2 0 07 0 17 0 004 External appearance 09 0 003 V mm inch 10 164 2 4 0 d 0 40 0 173 0 004 0 090 008 MO Ss ow Heg SiS S 2 20 07 0 090 003 0 24 0 008 0 302 0 02 Note 1 This temperature range
167. e cap and the tube for protecting light code end of SSCNETII cable in a plastic bag with a zipper of SSCNETIII cable to prevent them from becoming dirty 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 2 SSCNETII cable connector Unit mm inch 4 8 0 19 134 0 53 ____ 15 0 59 0 0 26 46 5 9 3 0 37 5 17 6 0 2 0 690 017 20 9 0 2 0 82 0 01 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 2 2 Forced stop input cable 1 Precautions for handling the forced stop input cable For connection or removal of the forced stop input cable do it surely while holding a connector of forced stop input cable I QD74MH Tab 2 Connection of the forced stop input cable For connection of a forced stop input cable to the QD74MH connect it surely to a EMI connector of QD74MH while holding a connector Be sure to insert it until it clicks 3 Removal of the forced stop input cable For removal of the forced stop input cable push a tab and pull out the cable while holding a connector Forcibly removal the forced stop input cable from the QD74MH will damage the QD74MH or forced stop input cable 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 Specifications of forced stop input cable Generally use the forced stop input cable available as our products If the required
168. e is short the ON status may not to be detected in the sequence program 5 SPECIFICATIONS AND FUNCTIONS MELSEC Q 5 1 3 Output signals PLC CPU QD74MH a This signal notifies the QD74MH that the PLC CPU is normal tis turned ON OFF with the sequence program b This signal turns OFF at the change of the basic parameters or OPR parameters ON PLC READY c The following processes are executed at the PLC READY signal ON ON setting range check of the basic parameters OPR parameters and YO PLC READY OFF PLC READY System parameters OFF Unit READY signal X0 ON d The following processes are executed at the PLC READY signal from ON to OFF Unit READY signal X0 OFF Sudden stop of operating axis ONES ON The servo ON OFF is executed for all servo amplifiers connected to the All axis servo ON DARN QD74MH OFF Servo OFF READY ON Servo ON READY OFF Servo OFF ON R ted Y2 Forced stop input DE The forced stop is requested from the PLC CPU to the QD74MH OFF Not requested Positioning Requested Positioning OPR and new current change is started OFF Not requested positioning start signal becomes valid at the leading edge and the operation is started Y1B 5 SPECIFICATIONS AND FUNCTIONS 5 2 Functions MELSEC Q 5 2 1 QD74MH control functions 1 OPR control OPR control is a function that established the start point for carrying out position
169. ence axis and interpolation axis are turn OFF by the positioning completion and the Positioning complete Ma 10 Status 2 bO is tums ON V Reference axis Interpolation axis Positioning data 2 Positioning data setting x 3 Starting positioning data No ON Reference axis Cd 2 Start type Reference axis Positioning start signal OFF 4 710 to Y1F ON Reference axis BUSY signal X10 to xtr Reference axis ON 5 Positioning complete OFF i 10 Status 2 b0 Interpolation axis BUSY signal X10 to xtr _OFF ON 5 Interpolation axis Positioning complete OFF Md 10 Status 2 00 8 POSITIONING CONTROL MELSEC Q 8 3 4 Control details 1 ABS linear interpolation In absolute system 1 axis linear control linear interpolation positioning is executed from the start point address current stop position to the end point address address set Da 6 Positioning address movement amount by using addresses established by OPR 2 axes linear interpolation control Forward direction Y axis Reverse direction Forward direction X axis 4 Start point address X1 Y1 Current stop position End point address X2 Y2 see ee Positioning address Operation by linear interpolation for X axis and Y axis Y1 x1 X2 Reverse direction
170. er ET 4500 Pr454 10454 300n PE10 FCT3 Fully closed loop selections 12001 Fully closed loop feedback pulse electronic 478 10478 300 PE34 FBN2 0 to 32767 gear numerator 2 Fully closed loop feedback pulse electronic Pr 479 10479 300n PE35 FBD2 0 to 32767 gear denominator 2 When using the fully closed loop control system set 0010h in Pr 301 Control mode When using the fully closed loop control system the default value of servo amplifier differs from the default value of QD74MH Set an appropriate value referring to the servo amplifier instruction manual The servo amplifier does not operate normally with the default value of QD74MH Refer to the servo amplifier instruction manual for details Servo amplifier type Instruction manual name SSCNETII Fully Closed Loop Control MR J3 L1B RJO06 Servo Amplifier Instruction MR J3 LI B RJ006 Manual SH 030056 6 51 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 3 Servo parameter MR J3 LB RJ004 use The parameters refer to this section 1 used in the MR J3 L1B besides the following parameters are required Buff Factory default Symbol E Symbol Name Unit Setting range address of QD74MH sty Pr 316 10316 300n 16 ENR2 Encoder output puses2 1toess Pr 383 10383 300n ENRS Encode
171. erate abnormally 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q Create PLC programs Z CAUTION Create the PLC programs using GX Developer e Set the following positioning parameters 1 Basic parameters 2 OPR parameters 3 Manual control parameters 4 System parameters 5 Control data A DAN G E R 6 Positioning data Set parameter values to those that are compatible with the controller servo amplifier servomotor and regenerative resistor model name and the system name application The protective functions may not function if the settings are incorrect 7 Servo parameter Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the controller and servo amplifier are charged Write sequence programs and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Write the sequence programs created to the PLC CPU module Turn ON power supply again Turn ON again or reset the power supply of tem Z CAUTION Always mount a leakage breaker on the controller and servo amplif
172. eration time Pr 10 Speed limit value Da 4 Command speed 2 S curve acceleration deceleration The smooth acceleration deceleration is executed by setting S curve acceleration deceleration At this time the actual acceleration and actual deceleration time make the profile be longer Actual Actual acceleration time deceleration time Pr 10 Speed limit value 4 lado cC QE Da 4 Command speed Pr 16 S curve acceleration Pr 16 S curve acceleration deceleration time constant deceleration time constant 10 15 10 FUNCTION DETAILS MELSEC Q 10 7 2 Data used for control Set the following parameters and control data used for the acceleration deceleration control Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Acceleration deceleration method Select the acceleration deceleration method S curve acceleration deceleration Pr 16 i Set the time constant for S curve acceleration deceleration time constant Parameter OPR acceleration time Set the acceleration time at the OPR Deceleration time 10 16 10 FUNCTION DETAILS MELSEC Q 10 8 Stop Control 10 8 1 Control details The operating axis stops by setting 1 in Cd 3 Axis stop Errors and warnings are not output The operation does not resume even if 1 is
173. error reset is executed at such the servo errors occurrence Refer to the Servo amplifier Instruction Manuals for details The servo warning cannot be reset even if the error reset is executed in servo warning occurrence Execute the error reset after eliminating the error cause and then clear the servo warning of QD74MH 10 20 2 Data used for control Set the following control data for the axis error reset Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Control data Release error that occurs in axis 10 39 10 FUNCTION DETAILS MELSEC Q 10 21 Absolute position system 10 21 1 Control details In the absolute position system if machinery position is determined at the system startup there is no need to execute the OPR because the absolute position is detected at system s power supply ON Use the OPR for the determination of machinery position While OPR request Status 1 60 in ON the current value becomes 0 at system s power supply ON and the current value is not restored Be sure to execute the OPR when the OPR request turned ON in the absolute position system NCAUTION When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return In the case of the absolute position system use the PLC program to check the home position return request before per
174. ersonal computer that can run the following GX Developer GX Developer Abbreviation for GX Developer SW4D5C GPPW E or later Servo amplifier Abbreviation for SSCNET II compatible servo amplifier DOS V personal computer and compatible DOS V compliant personal computer Including PC98 NX PC 98009 Abbreviation for PC 9800 series Excluding PC98 NX9 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 16 Indicates each axis connected to QD74MH Indicates the number of axes Example 2 axis Indicates two axes such as axis 1 and axis 2 1 axis 2 axis 16 4452 and axis 3 and axis 3 and axis 1 Abbreviation for Home position return Abbreviation for Home position 55 Po High speed synchronous communication network between QD74MH and servo amplifier Note SSCNET Servo System Controller NETwork Component List The table below shows the component included in respective positioning modules Module name Quantity QD74MH8 QD74MH16 QD74MH6 positioning module ae 4 QD74MH16 positioning module O l Before Using the Product 1 1 OVERVIEW MELSEC Q 1 OVERVIEW This User s Manual describes the hardware specifications and handling methods of the Q series high speed multi axis Positioning Module QD74MH8 QD74MH16 herein after refer
175. ess 0 Not requested Write the contents Basic 1 Requested parameters OPR parameters Note 0 can be Flash ROM write Manual control parameters System TS t arameters Positioning data and reques 3 P 3 stored after the servo parameters from the buffer P writing memory to the flash ROM completion Execute the parameter Basic 0 Not requested Main cycle parameters OPR parameters 1 Requested Note 1 Manual control parameters System Note 0 can be parameters Positioning data and automatically Parameter initialization servo parameters initialization stored after the Cd 101 5001 6 request request stored in the flash ROM initialization Note Initialization completion Also The setting data can be 0 can be stored returned to the factory at the initialization default error occurrence Note 1 Cycle of processing executed at free time except the positioning control It changes by status of axis start 6 DATA USED FOR POSITIONING CONTROL MELSEC Q a Flash ROM write request Number of write accesses to flash ROM Set 1 100 Flash ROM write request in the state of the PLC READY signal YO OFF 1 is added to Md 102 Number of write accesses to flash ROM and the value can be wrote to the flash ROM 0 can be automatically set in Cd 100 Flash ROM write request with the writing completion ON PLC READY signal YO OFF
176. execute the position control for 1 axis Control system 0 ABS linear 1 1 INC linear 1 8 2 1 Starting method The starting method for 1 axis linear control is shown below 1 Set the items of positioning data the starting positioning data No in Cd 2 Start method Turn the positioning start signal Y10 to Y1F ON The BUSY signal X10 to X1F is turns OFF by the positioning completion and the Positioning complete Md 10 Status 2 bO is turns ON AUN lt Continuous path Independent positioning Continuous path Positioning data X 1 Positioning data setting Cd 2 Start type 2 Starting positioning data No ON Positioning start signal Y10 to OFF 3 BUSY signal OFF X10 to X1F Y ON i 4 Positioning complete 10 Status 2 b0 OFF Md 5 Positioning data No Started positioning V Started positioning Started positioning 0 being executed data No data 1 data No 2 8 POSITIONING CONTROL MELSEC Q 8 2 2 Control details 1 ABS linear 1 In absolute system 1 axis linear control positioning is executed from the start point address current stop position to the end point address address set in Da 6 Positioning address movement amount by using addresses established by OPR o gt EXAMP era reserer The start point a
177. f parameter Monitor data Md 102 initializations after the system power supply ON can be stored 10 43 10 FUNCTION DETAILS MELSEC Q 10 23 Parameter Initialization Function This function is used to return the setting data set in the buffer memory of QD74MH and flash ROM to the factory default 10 23 1 Control details The parameter initialization is executed by setting 1 in Cd 101 Parameter initialization request 0 is automatically set in parameter initialization request by QD74MH after initialization Important Do not turn the system s power ON OFF or resetting PLC CPU in parameter initialization The flash ROM data may be corrupted The data that can be initialized by the parameter initialization are shown below Basic parameters OPR parameters Manual control parameters System parameters Positioning data Servo parameters 1 Cautions a Execute the parameter initialization when the positioning control do not execute PLC READY signal YO OFF An error code 1903 will occur if it is executed at PLD READY ON b A writing to the flash ROM is up to 100 000 times If writing exceeds 100 000 times the writing may be become impossible and an error code 1901 will occur c A PLC CPU reset or system s restart must be executed after the parameter initialization d The total number of the flash ROM write and parameter initialization with the sequence program after the error reset
178. f the home position signal that is nearest the proximity dog becomes the home position Operation outline is shown below NCAUTION Set Need to pass motor Z phase after the power supply is switched on in Pr 397 Function selection C 4 when using the OPR for scale origin signal detection type An error code 1100 will occur at the start of the OPR for scale origin signal detection type if Not need to pass motor Z phase after the power supply is switched on is set 1 There is a proximity dog in the direction of OPR 1 Start the OPR It starts to accelerate at the time set in Pr s8 OPR acceleration time in the direction set in Pr 51 OPR direction and it moves at the speed set in 54 OPR 2 The proximity dog ON is detected and a deceleration stop is made 3 After deceleration stop it moves in the opposite direction against of OPR at the OPR speed 4 After proximity dog ON a home position signal zero point on a linear scale is detected and a deceleration stop is made 5 After deceleration stop it moves in direction of OPR at the speed set in Pr 56 Creep speed and the OPR completes at the position of home position signal zero point V Pr 51 OPR direction gt Pr 54 OPR speed Pr 56 Creep speed 1 OPR start Limit swith PZ OP signal Zero point i _ 7 12 7 OPR CONTROL MELSEC Q 1 When a limit switch is detec
179. for servicing are given below Refer to this section as well as 4 1 Handling Precautions when carrying out the work NDANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws Not doing so could result in electric shock Z CAUTION Never try to disassemble or modify module It may cause product failure operation failure injury or fire Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock damage to the module or operation failure 4 5 2 Disposal instructions When you discard QD74MH servo amplifier a battery primary battery and other option articles please follow the law of each country area Z CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause
180. for use is the value for optical cable cord only Note 2 Dimension of connector fiber insert location The distance of two cords is changed by how to bend it 4 11 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q NCAUTION Use the processing method and the processing treatment device that exists in the connector when you fix the cord part of the SSCNETII cable to the connector It must not cut squarely when you cut the cord part of the SSCNETII cable the cutting edge side must not be made smooth and garbage etc must not adhere The damage etc must not adhere to the optical cord part when you peel off the film of the cable of the SSCNETII cable If the end face of cord tip for the SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Please do not add impossible power to the connector of the SSCNETII cable When incinerating the SSCNETII cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SSCNETII cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 1 MR J3BUSLIM a Model explanation Type MESISPUSUNEE Symbol Cable type None Standard cord for inside panel S
181. forming the positioning control Failure to observe this could lead to an accident such as a collision The OPR request 9 Status 1 bO turns ON in the following cases 1 The electronic gear Pr 0 Electronic gear numerator Pr2 Electronic gear denominator or the servo parameter Pr 314 Rotation direction selection are changed First PLC READY ON 2 Error code 2025 or Warning code 2143 occurred First PLC READY ON 3 Error code 1201 occurred First PLC READY ON 4 The OPR never is executed for the absolute position system First PLC READY ON 5 Change the servo parameter Pr 303 Absolute position detection system from 0 Invalid Used in incremental system to 1 Valid Used absolute position detection system First PLC READY ON 6 The OPR is started 7 The setting value of software stroke limit is outside the range First PLC READY ON When 0 Invalid Used in incremental system is set in Pr 303 Absolute position detection system of servo parameter the OPR request Md 9 Status 1 60 turns ON at every first PLC READY ON 10 40 10 FUNCTION DETAILS MELSEC Q Select 1 Valid Used absolute position detection system in Absolute position detection system of servo parameter to use as the absolute position system Be sure to install a battery for retaining the location of the OPR in the servo amplifier When the servo parameter Pr 303 Absolute position detection
182. from the buffer memory at PLC READY ON in QD74MH This function is used to change the part of these parameters in PLC READY ON 10 24 1 Control details The following parameters are changed by setting 1 in Parameter change request 0 will be automatically set in parameter change request by QD74MH after changing all parameters If there are parameters outside the range at parameter change request an error code 1037 will occur and the erroneous parameters cannot be changed In this case the all parameters within the setting range changed and 0 is set in parameter change request Parameters that can be changed by the parameter change request are shown below Software stroke limit upper limit value Software stroke limit lower limit value Speed limit value Acceleration deceleration method S curve acceleration deceleration time constant e Sudden stop deceleration time Command in position range Target position change overrun processing selection Linear interpolation speed limit value address OPR speed Creep speed e OPR acceleration time OPR deceleration time OP shift amount OP search limit Parameter change request is executed for every axis Set 1 in Ca 1 Parameter change request for target axes to change the parameters for the multiple axes 10 24 2 Data used for control Set the following control data for the parameter change function Refer to Section 6 3 to
183. fter turning 1095 1 b13 has not been turned ON at stopper type OPR AL96 has occuured in the servo amplifier and the OP setting has been x Adjust the servo amplifier so that it 1096 1 failed N stabilizes quickly at OPR stop Even after 1000 ms passed at OPR stop in position was not achieved The OPR is not completed 1 Reduce the OPR speed and E tier 4860 d at OPR At OPR stop creep speed en after ms passed a 1097 1 y ms p Before setting of the 2 Lengthen the OPR time stop in position was not achieved distance to 2 phase constant 3 Broaden the in position range When the dog cradle type proximity S When the movement dog type or limit switch combined type 1 Confirm the input status of amount of oppsite M OPR is used the movement amount proximity dog signal etc 1098 1 cor direction against of Sudden stop moved to detect the proximity dog 2 Confirm the setting value of OP OPR direction passed A signal or zero point exceeded the value p DEM serch limit 2 the OP search limit set in Pr 62 OP search limit When the scale origin signal direction type OPR or dog cradle type proximity dog type and limit switch combined type Set Need to pass motor Z phase using the incremental linear scale is The OPR does not after the power supply is switched 1100 2 At OPR start 4 5 used Need to pass motor 2 phase start on in Pr397 Function selection
184. ge address of QD74MH For manufacturer setting 0000hto0230h P302 10302 300n 02 REG Regenerative option oooontooo0An P303 10303 300n PAO3 ABS Absolute position detection system 0000 000040018 Pr 304 10304 300 4 AOP1 Function selection 1 0000h Pr 305 10305 300n 4f P306 1030643000 6 For manufacturer setting 0000h to 0110h ewm m 1 Pr 307 10307 300n 7 oai J Pr 308 10308 300n paos Auto tuning mode __ 00h to 0003h Pr309 10309 300n RSP Autotuningresponse 12 Pr 310 10310 300n range pr 311 10311 300n 10312 300n For manufacturer setting Pr 313 10313 300n Pr 314 10314 300n POL Rotation direction selection owm __ Pr316 10316 300 6 ees Prats 10318 300n pare seting Pr 319 10319 300n o0Bh l oo000htoFFFFh 6 DATA USED FOR POSITIONING CONTROL MELSEC Q Gain filter parameters Buffer memory Factory default ial of QD74MH wm aca c Pr 333 10333 300n PBO1 FILT Adaptive tuning
185. gram in power function use Re Nos Gaia he initialization in system s power m supply ON Th ter initialization i ted At The parameter Execute the parameter 4803 ee eee roe initialization is not initialization after PLC READY in PLC READY ON initialization request executed OFF In strat Deceleration The PLC CPU Refer to the QCPU User s error sto 1904 1 Manual Hardware Design Stop error At start The operation Maintenance and Inspection does not start 11 10 11 TROUBLESHOOTING MELSEC Q 4 Servo errors 2000 to 2099 Refer to the Servo amplifier Instruction Manual for details of servo error LED indicator of Error code Error detail Error name servo amplifier 2000 o Undvotege O 202 2 0 Memoryerror RAM 2015 15 0 Memory error 2 EEP ROM 2006 8 0 Encoder error 1 At power on 27 7 0 Boder O 209 0 Memoyemor3 Flae ROM 200 0 Emodremr2 22 4 24 0 JjMencmutemr Regenerativeeror 2030 Regenerative error 2031 31 Overspeed 266 _ 0 Overcurrent of Overvoltage 2 20 jReeveemri y O 205 35 0 Commandtrequencyenor 206 0 2 245 410 Manorcuitdeviceoverheat 26 6 0 Servomotor overheat 47 0 O 20
186. h control the control is executed with the previously set acceleration deceleration at the changeover to the next positioning data 2 Even if the acceleration deceleration time change is set to disable after the new acceleration deceleration time is validated the positioning data for which the new acceleration deceleration time was validated will continue to be controlled with that value The next positioning data will be controlled with the previously set acceleration deceleration time 10 30 10 FUNCTION DETAILS MELSEC Q 10 15 3 Data used for control Set the following control data for the acceleration deceleration time change function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Cd 18 Acceleration time change request Execute the acceleration time change request Control data Cd 19 New acceleration time value Set the acceleration time after the change Cd 20 Deceleration time change request Execute the deceleration time change request Cd 21 New deceleration time value Set the deceleration time after the change Check the following monitor data for the status of the acceleration deceleration time change Refer to Section 6 3 to 6 8 for the buffer memory address and monitor details _ Symbol Monitor data Md 10 Status 2 b9 Acceleration time change READY b10 Deceleration time change READY 10 31 10 FUNCTION DETAILS MELSEC Q 10 16 Target Position Change F
187. he positioning is started while paused in positioning control If 1 is set in pausing for even by 1 axis in the linear interpolation group all axes in one group are terminated And the operation resumes by removing the pausing of all axes in one group All axes in one group turn ON in pausing Pausing is also valid in positioning deceleration If pausing is turned OFF after the sudden stop by pausing the deceleration is started after the acceleration is executed to the speed in deceleration However because the acceleration deceleration for pausing is executed more extra than normal deceleration the sudden stop is executed when it reached the target position after pausing Pausing is also valid in deceleration by the axis stop The operation stops with the sudden stop by pausing After that the positioning does not resume even if the pausing is turned OFF 10 12 2 Data used for control Set the following control data for the pausing function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Control data Command the pausing The pausing flag is stored in the following buffer memory Refer to the Section 6 3 to 6 8 for the buffer memory address and monitoring details l Symbol Monitor data Md 10 Status 2 b2 Pausing 10 24 10 FUNCTION DETAILS MELSEC Q 10 13 Torque Limit Function This function is used to limit the generated torque to the torque limit value when the torque of the servo
188. hye Turn the PLC READY ON At parameter initialization initialization is not after the first PLC READY ON request At positioning start The speed is cramped PR The speed command that exceeds the At OPR start Set the speed within the speed we with the speed limit speed limit value was executed At manual control start BN value At speed change request limit value Shorten the setting of Pr 17 The speed is cramped Sudden stop deceleration time with the deceleration than the deceleration time time JOG operation JOG operation OPR deceleration time Pr 59 OPR deceleration time The setting of Pr 17 Sudden stop deceleration time is lager than the At axis sudden stop deceleration time Pr83 JOG operation command deceleration time 59 OPR At pausing command deceleration time At positioning start speed is cramped The speed command that exceeds the At OPR start Set the speed within the maximum with the maximum maximum motor speed was executed At manual control start motor speed motor speed At speed change request For the positioning data of continuous path completion the machine passed a Set the address movement command position and immediately In cotinuous path amount required to execute the stopped because the movement amount Immediately stop If _ deceleration stop was short the positioning data At independent
189. ics of the parts other than module servo amplifier and servomotor used in a system must be compatible with the module servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming Z CAUTION Set the parameter values to those that are compatible with the module servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder
190. ied points 32 points 1 allocation Intelligent function module 32 points Refer to the QCPU User s Manual Hardware Design Maintenance and Inspection for the general specifications 2 SYSTEM CONFIGURATION MELSEC Q 2 6 Forced Stop Input Terminal Sink Source type 19 2 to 26 4VDC Operating voltage range 4 10 20 ripple ratio 5 or less ON voltage current 17 5VDC or more 3 0mA or more OFF voltage current 7VDC or less 1 0mA or less Input resistance Approx 6 8kQ OFF to ON Response time 4ms or less ON to OFF External connector type Applicable wire size 0 3mm AWG22 2 SYSTEM CONFIGURATION MELSEC Q 2 7 Checking Function Version and Serial No The function version and serial No can be checked at the front of the QD74MH or the rating plate and on the system monitor screen in GX Developer 1 Checking function version and serial No at the QD74MH a Front of QD74MH The function version and serial No is printed in the projection parts forward of the lower side of QD74MH b Rating plate The rating plate is situated on the side face of the QD74MH t QD74MH8 RUN ERR I Rating plate Serial number First 6 digits Function version QD74MH8 Function version Serial number First 6 digits 2 SYSTEM CONFIGURATIO
191. ier power source Install emergency stop circuit externally so that Turn ON servo amplifiers power supply Check the emergency stop ON and forced operation can be stopped immediately and the stop ON and turn ON the power supply of power shut off servo amplifiers and servomotors Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fixed applications so use these with the conditions specified in the programming manual PLC READY ON Turn ON the PLC READY signal YO Check servo amplifier Check that the mounted servo amplifiers operate correctly Refer to Section 6 5 1 Z CAUTION If safety standards ex robot safety rules etc apply to the system using the controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the controller or servo amplifier if the abnormal 2 operation of the Motion controller or servo amplifier differ from the safety directive operation in the system Check external inputs Check that the following external inputs operate correctly 1 FLS Upper stroke limit input 2 RLS Lower stroke limit input 3 DOG Proximity dog signal 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 2
192. in 3 Axis stop is set in 1 is set in 3 Axis stop Cd 3 Axis stop Axis forced stop ix ca4 It is ignored control 1 is set in Ca 4 Axis sudden g 10 19 10 FUNCTION DETAILS MELSEC Q 10 10 2 Data used for control Set the following control data for the external forced stop control by external 24VDC Refer to Section 6 3 to 6 8 for the buffer memory address and details There set parameters for the forced stop input signal Y2 with input signal from PLC CPU _ Symbol Pr 101 External forced stop selection Select Valid Invalid of the forced stop input by external 24VDC Check the following monitor data for the status of the forced stop Refer to Section 6 3 to 6 8 for the buffer memory address and monitor details _ Symbol Monitor data Md 103 Forced stop input status The status of the forced stop input can be stored 10 20 10 FUNCTION DETAILS MELSEC Q 10 11 Command In position Function This function is used to check the remaining distance to the stop position at automatic deceleration of positioning control and to turn ON the signal This signal is called the Command in position Md 10 Status 2 b1 This signal is used as a front loading signal indicating beforehand the completion of the position control 10 11 1 Control details When the command remaining distance difference between the positioning address and feed current value becomes equal to or les
193. in signal detection type Possible X Not possible 7 1 1 Data used for control The parameters and control data used for OPR are shown below Refer to Section 6 3 to 6 8 for the buffer memory address and details Details Select the OPR method Set the direction to execute the OPR Set the OP address at the OPR completion Creepspeed Control data Parameter Creep speed Set the creep speed after proximity dog ON 7 OPR CONTROL MELSEC Q 7 1 2 Starting method of OPR Starting method of OPR is shown below 1 Set OPR control related parameters as shown Table 7 1 1 2 Set 9000 in ca 2 Start method 3 Turn the positioning start signal Y10 to Y1F ON 4 OPR request Md 9 Status 1 bO is turned OFF with the OPR completion and OPR complete Md 9 Status 1 b1 is turned ON Pr 51 OPR direction Pr 54 OPR speed gt Pr 56 Creep speed cab d C point OPR related parameter X 1 OPR related parameter setting 2 Start method 2 9000 ON Positioning start signal 3 Y10 to Y1F OFF ON OPR request 9 Status 1 bO OFF OPR complete Md 9 Status 1 b1 OFF 7 OPR CONTROL MELSEC Q 7 2 Proximity Dog Type A method where deceleration being when the proximity dog turns ON and then the OP is defined as the first zero point after the proximity
194. ing Warning Md 8 Md 101 Warning detection signal X2 OFF Warning code Axis warning status OFF d Status 1 b15b14b13b12b11b10 b9 68 b7 b6 65 64 b3 62 61 60 0 E OPR request b1 OPR complete b0 OPR request This signal turns ON when the OPR is required as the following cases and it turns OFF at OPR completion electronic gear Pr 0 Electronic gear numerator Pr 2 Electronic gear denominator or the servo parameter Pr 314 Rotation direction selection are changed First PLC READY ON Error code 2025 or Warning code 2143 occurred First PLC READY ON Error code 1201 occurred First PLC READY ON The OPR never is executed for the absolute position system First PLC READY ON Change the servo parameter Pr 303 Absolute position detection System from 0 Invalid Used in incremental system to 1 Valid Used absolute position detection system First PLC READY ON The OPR is started The setting value of software stroke limit is outside the range First PLC READY ON b1 OPR complete This signal turns ON at the OPR complete And It turns OFF at the positioning start 6 DATA USED FOR POSITIONING CONTROL MELSEC Q e Status 2 b15b14b13b12b11b10 69 68 67 b6 65 64 63 62 61 60
195. ing bors address Set the limiting torque Forward rotation torque generated in the CW direction 5 12 3412 100 i 010 32767 107 limit value when the servo motor is Torque limit CON inet Note It is treated uest executing in the irection as 0 if the q Set the limiting torque R tation torque generated in the CCW direction eee 0 88 ms 1 everse ro Cd 13 3413 100 3 value is set 10 limit value when the servo motor is executing in the CW direction Execute th dch 0 Not ted Cd 15 3415 100n Speed change request 760446 18 speed change 0 88 ms request 1 Requested Speed 3416 100n New speed value Set the speed after the change 5 to 2147000000 change PLS s 3417 100n request Acceleration time Execute the acceleration time 0 Not requested Cd 18 3418 100 0 88 ms change request change request 1 Requested Acceleration New acceleration time Set the acceleration time after Cd 19 3419 100 0 to 20000 time change request Deceleration time Execute the deceleration time 0 Not requested Cd 20 3420 100 0 88 ms change request change request 1 Requested ae eer Deceleration Cd 21 3421 100 0 to 20000 time change ms request Target position change Execute the target position 0 Not requested 23 3423 100 0 88 ms request change request 1 Requested Target 3424 100n New target position Set the target position af
196. ing control and carries out positioning toward that start point This is used to return a workpiece located at a position other than the OP when the power is turned ON or after positioning stop to the OP The OPR control is preregistered in the QD74MH as the Positioning start data No 9000 OPR Refer to Chapter 7 OPR Control Major positioning control This control is carried out using the positioning data stored in the QD74MH Positioning control is executed by setting the required items in this positioning data and starting that positioning data An operation pattern can be set in this positioning data and with this whether to carry out control with continuous positioning data ex positioning data No 1 No 2 3 can be set Refer to Chapter 8 Positioning Control Manual control Use this manual control to move the workpiece to a random position JOG operation and to finely adjust the positioning incremental feed operation Refer to Chapter 9 Manual Control 4 Sub functions When executing the above functions control compensation limits and functions can be added Refer to Chapter 10 Function Details 5 SPECIFICATIONS AND FUNCTIONS MELSEC Q 5 2 2 Functions of QD74MH Functions of QD74MH are shown below Reference Functions Details section Proximity dog type Data set type Stopper type This function mechanically establishes the positioning start point using a Dog cradle
197. ing detection 1700 100n 1701 100n Md 2 Md 4 Md 5 d 7 6 DATA USED FOR POSITIONING CONTROL Buffer memory address 1709 100n Status 1 1710 100n Status 2 Md 10 Md 26 31 1732 100 Md 32 Motor rotation speed The motor rotation speed can be stored 1733 100n rate of regenerative power to the allowable Md 34 1734 100n Regenerative load ratio 5 regenerative power be stored Md 35 1735 100n load torque ratio Md 36 1736 100n torque ratio Md 40 1740 100n Servo status 1 Md 41 1741 100n Servo status 2 T0207 1008 Real current value The real current value can be stored 1727 100 1728 100n m The difference between the feed current value and real Md 28 Deviation counter value 1729 100n current value can be stored MELSEC Q Updated cycle Status change Details Unit The ON OFF state of various signals can be stored b15 tob12b11to 6867 to b4b3 to 60 The ON OFF state of various signals be stored b0 OPR request b1 OPR complete b15tob12b11to b8b7 to 6463 to 60 m 60 Positioning complete b1 Command in position Pausing Operation complete Speed change READY Accerelation time change READY b10 Decerelation time change R
198. input signal to the connector for external equipment connection is added batch forced stop is available for all axes of servo amplifier Refer to Section 10 10 Selection for Valid Invalid of the forced stop input signal by external 24VDC can be made with parameter 1 OVERVIEW MELSEC Q 1 2 Mechanism of Positioning Control In the positioning system using the QD74MH software and devices are used for the following roles The QD74MH realizes complicated positioning control when it reads in various signals parameters and data and is controlled with the PLC CPU Stores the created program The QD74MH outputs the start signal and stop signal following the stored program QD74MH errors etc are detected GX Developer PLC CPU Creates control order and conditions as a sequence program Stores the parameter and data Outputs data to the servo amplifier according to the instructions from pus the PLC CPU and external input signal Positioning module Receive positioning commands and control commands from QD74MH and drives the servo motor Outputs the positioning data of the servo motor and etc and external input signal of the servo amplifier to the QD74MH by the SSCNETII amplifier r Moves the machine according to commands from the servo amplifier Working parts of a machine 1 OVERVIEW 1 3 Communicating Signals Between QD74MH Each Module PLC CPU YO 1 2 Y
199. ion Interface for communication wit servo amplifier 2 Communication start with servo amplifier Servo parameter change PLC READY ON First time only Servo amplifier 1 MR Configurator Servo set up software 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 3 Buffer Memory Configuration This section describes the configuration and contents of the buffer memory Table 6 3 List of buffer memory Buffer memory address Buffer memory area configuration Manual control parameter 80 to 99 180 to 199 1580 to 1599 Montordataarea _ 1 1001o 1800 Lto 3100193190 sioe System monitor data monitor data 3300 to 3399 peronon control data 3400 to 3499 350013599 to 4800104899 4900 to 4999 Control data area System control data control data 5000 to 5099 Positioning data area Positioning data 32 data axis 5100105419 5420 to 5739 9580 to 9899 9900 to 10219 Unusable 10220 to 1299 Servo parameter area Servo parameter 10300 to 10599 10600 to 10899 14500 to 14799 14800 to 15099 15100 to 32767 Parameter area The range of axis No 1 to 8 is valid for the QD74MH8 In the buffer memory address n in 0 100 etc indicates a value corresponding to axis No such as the following tables Calculate as follows for the buffer memory address corresponding to each axis Example For axis 16 50 100n Pr 50 OPR method 50 100x15
200. ion time used for stopping for sudden stop axis is Pr 17 Sudden stop deceleration time If the axis sudden stop is executed in positioning the Positioning complete signal Md 10 Status 2 60 does not turn ON Pr 10 Speed limit value Command speed Operation does not resume Actual sudden stop deceleration time Pr 17 Sudden stop deceleration time Cd 4 Axis sudden stop 0 1 0 1 If S curve acceleration deceleration is set the S curve acceleration deceleration time constant is always valid Therefore sudden stop as well will use the S curve acceleration deceleration 2 The sudden stop control is executed by setting 1 in Cd 4 Axis sudden stop in deceleration stop of positioning 3 When the sudden stop time is linger than the stop time Pr 83 JOG operation deceleration time Pr 59 OPR deceleration time a Warning code 11002 will occur at axis sudden stop command and then the sudden stop time is cramped with the stop time The operation when the axis stop or forced stop is commanded in sudden stop control is shown below Axis sudden stop 1 is set in Ca 3 Axis stop It is ignored control The forced stop is commanded The forced stop control is executed 10 9 2 Data used for control Set the following control data for the sudden stop control Refer to Section 6 3 to 6 8 for the buffer memory
201. it Qe ree 5 2 5 1 3 Output signals PLC CPU 5 3 5 2 RUIN CUONMS Rei states tat terio Nest o bb m baat aste n ode netus deis etm tuin 5 4 5 2 1 QD74MH control functions nennen nennen nnne 5 4 5 2 2 Functions of QD74MH 4 nete nennen nnn nnne 5 5 6 1 Memory Configuration and Roles oiea ERR nnne nennen nennen nennen nnns 6 1 06 2 Data TransmissiOn 5 ae eir D e rU ata ee tle 6 3 6 2 1 Data transmission process for 6 3 6 2 2 Setting of servo amplifier series eene nennen 6 5 6 2 3 Exchange of the servo parameters sssssssssssseseeeeeeeen nennen nennen nennen 6 6 6 3 Buffer Memory nnne nnne nre nennen nnne 6 8 0 4 Parameter Data E Rn Eh 6 24 6 4 ates 6 24 0 4 2 OPR paramieter p ign pee en in i ag sll deni 6 26 6 4 3 Manual control 6 27 06 4 4 System parameter irai ld edd aic didi 6 27 6 5 Monitor Data 3 5
202. ition 10359 10659 10959 11259 11559 11859 Pr 360 PB28 Gain changing time constant 10360 10660 10960 11260 11560 11860 Gain changing ratio of load inertia Pr 361 PB29 70 moment to servomotor inertia 10361 10661 10961 11261 11561 11861 moment Gain changing speed integral Pr 364 PB32 337 10364 10664 10964 11264 11564 11864 compensation Gain changing vibration 365 PB33 1000 suppression control vibration 10365 10665 10965 11265 11565 11865 frequency setting Gain changing vibration Pr 366 PB34 1000 suppression control resonance 10366 10666 10966 11266 11566 11866 frequency setting 367 5 0 Praes pB36 0 Prazo Peas 0 371 PB39 0 372 PB40 0 For manufacturer setting 376 PB44 0 382 PCO2 I brake sequence 10682 10982 11282 11582 11882 Pr388 pcos 0 Formanufacturerseting 10388 10688 10988 11288 11588 11888 Praet 1 0 Analogmonitor 1 offset 10391 10691 1097 11291 11591 11891 Pr392 2 0 _ Analog monitor 2 offset 10392 10692 10992 11292 11592 11892 Analog monitor feedback position Pr 393 PC13 10393 10693 10993 11293 11593 11893 output standard data Low Analog monitor feedback position Pr 394 PC14 10394 10694 10994 11294 11594 11894 output standard data High APP 40 APPENDICES MELSEC Q Buffer memory address Memory 1
203. itioning 1500 1501 1502 1504 1700 1702 1703 1704 Note Lower hardware stroke limit swich Positioning outside the software stroke limit was set The software stroke limit has been reached 1 The operation started in servo ready OFF 2 The servo ready OFF mode was entered in positioning Servo amplifier status 1 Servo is OFF status at positioning start OPR start or manual operation start 2 The servo off mode was entered in positioning Servo amplifier status 1 The all axis servo ON command was turned OFF in positioing 2 1 is set in Ca 30 Each axis servo OFF The operation started in servo warinig 2146 2149 occurrence The servo warinig 2146 occuured in operation start The parameter settings for the software stroke limits is upper stroke limit lower stroke limit At strat The operation does not start Move in the opposite direction by At positioning start the JOG operation etc In control Sudden stop At strat The operation At positioning start does not start At manual control start In continuous path In continuous path Deceleration stop Set the movement command within the software stroke limit When the deceleration stop position from current value passed the software stroke Move in the opposite direction by Deceleration stop the JOG operation etc limit Set the parameter for the software stroke limit as such upper
204. itn vtr nitent 11 3 14 2 List of Errors naene I er eri re EU E P ER ENDE TO ER ETE RR RR RECHTE ne REDE ES 11 4 Appendix 1 External Dimension Drawing enne App 1 Appendix 2 Sample Progtram eI RR Mc t de t dne E Rt abt e E e Ete o eed App 2 Appendix 2 1 Sequence program nennen enne inniti tnter nennen App 2 Appendix 2 2 Creating the 2 2 4 1200004000000 nennen nnne nnns App 5 Appendix 2 3 Debugging ennt nnns inre App 10 Appendix 2 4 Positioning program example sse nennen App 11 Appendix List of Buffer Memory Address eene enne App 18 Appendix 3 1 Parameter 2 1 10 0000 000000000080 App 18 Appendix 3 2 Monitor datas area 2 ett te tete App 20 Appendix 3 3 Control data area sse eene nnne nnns App 22 Appendix 3 4 Positioning data area 24 Appendix 3 5 Servo parameter 2 2 1 0000 ener nnne nnns App 38 Using This Manual The symbols used in this manual are shown below Pr Fe etic deste Symbol indicating positioning parameter item Wd Sts RA LUE Symbol indicating positioning data item emere Symbol indicating monitor data item Symbol indicating control data item A serial No
205. ity exceeds the 5 to 9596 RH range Where there is sudden temperature changes or where dew condenses Where there is corrosive gas or flammable gas Where there are high levels of dust conductive powder such as iron chips oil mist salt or organic solvents Where the module will be subject to direct sunlight Where there are strong electric fields or magnetic fields Where vibration or impact could be directly applied onto the main body 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q NDANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws Not doing so could result in electric shock NCAUTION Use the programmable controller in an environment that meets the general specifications contained in CPU module User s Manual to use Using the programmable controller in an environment outside the range of the general specifications could result in electric shock fire operation failure and damage to or deterioration of the product Do not directly touch the module s conductive parts and electronic components Doing so may could cause an operation failure or give damage to the module Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure Never try to disassemble or modify module It may cause product failure operation failure injury or fire
206. l devices input signals correctly connected Are the forced stop inputs correctly connected Connection with the external devices input signals or forced stop inputs can also be confirmed by the following monitor data of GX Developer Connection with the external devices input signals External input signal e Connection with the forced stop Forced stop input status Important If the QD74MH is faulty or when the required signals such as the proximity dog signal and stop signal are not recognized unexpected accidents such as not decelerating at the proximity dog during OPR and colliding with the stopper or not being able to stop with the stop signal may occur The connection confirmation must be carried out not only when structuring the positioning system but also when the system has been changed with module replacement or rewiring etc 4 INSTALLATION WIRING START UP AND MAINTENANCE 4 4 Start up 4 4 1 Checklist before trial operation Table 4 3 Checklists before trial operation MELSEC Q Confirmation Items 1 Check that the main base unit has been suited with the CPU module to be used 2 Check that the model name of module is correct 3 Check that the installation order is correct Main base unit 4 Check that the damage for installed modules Extension base unit 5 Check that the modules are installed correctly 6 Check for looseness rattling
207. l to the cord part of SSCNETII cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part When keeping the QD74MH or servo amplifier be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNETII connector SSCNETII connector to connect the SSCNETII cable is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNETII cable Then when removing SSCNETII cable make sure to put a cap Keep the cap and the tube for protecting light cord end of SSCNETII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q NCAUTION When exchanging the QD74MH or servo amplifier make sure to put cap SSCNETII connector When asking repair of QD74MH or servo amplifier for some troubles make also sure to put a cap on SSCNETII connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required Forcibly removal the SSCNETII cable from the QD74MH will damage the QD74MH and 55 cables 5 Specifications of SSCNETIII cable Generally use the SSCNETII cables available as our products a Model Cable model Cable length m ft Flex lif
208. linear interpolation control 10 13 10 FUNCTION DETAILS MELSEC Q 10 6 2 Data used for control Set the following parameters for the speed limit function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Speed limit value Set the maximum speed for each axis Parameter Linear vc speed limit Pr 26 vc 5 Set the maximum speed at the linear interpolation control valu 10 14 10 FUNCTION DETAILS MELSEC Q 10 7 Acceleration Deceleration Control This function is used to adjust the acceleration deceleration when each control is executed 10 7 1 Control details The relation between the acceleration deceleration control and each control is shown below Acceleration deceleration Control Set item control OPR control OPR control Pr 58 OPR acceleration time 4 axis linear control axis linear control z 59 OPR deceleration time Positioning Position ol trol 2 to 4 axes linear Da2 Acceleration time contro contro interpolation control Da 3 Deceleration time Manual JOG operation JOG operation acceleration time control Incremental feed operation JOG operation deceleration time Valid 1 Linear acceleration deceleration The linear acceleration deceleration is executed as follows Set the time to reaching to Pr 10 Speed limit value in Da 2 Acceleration time or Da 3 Deceleration time Da 2 Da 3 Acceleration time Decel
209. logic function Operation setting for incompletion of OPR function Axis error reset Absolute position system Flash ROM write function Parameter initialization function Gain changing Start history 16 data Error history 16 data Warning history 16 data M code output function lt Provided X N A 1 11 1 OVERVIEW MELSEC Q 4 Comparisons of major monitor data Current feed value before electronic gear CWE i Machine feed value L X Jic us Feedrate before electronic gear es Positioning data No being executed Last executed positioning data No OPR request OPR complete Status Positioning complete Command in position Deceleration start x Movement amount after proximity dog ON x External signal E ped EE End MEN ACE a L Real curent eve fore 0 Servo READY ON o o power J oo ____ ___ __ 0 Provided X N A 1 12 2 SYSTEM CONFIGURATION MELSEC Q 2 SYSTEM CONFIGURATION This section describes the system configuration and configured equipments 2 1 System Configuration Positioning CPU module Main base unit 0308 Q6OP 0074 CPU MH module Intelligent function module 100 200VAC Forced stop input cable Q170DEMI
210. losed loop control fully closed loop control can be stored b15tob12b11to b8b7 to b4b3 to bO oe bO Fully closed loop 0 88 ms control switching 0 In semi closed loop control 1 In fully closed loop control Refer to the servo eer instruction manual Servo Servo amplifier type type Instruction manual name SSCNETII Fully Closed Loop Control MR J3 LIB RJ006 Servo Amplifier MR J3 L B RJ006 4 Instruction Manual SH 030056 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 5 2 System monitor data 1 System monitor data Buffer Symbol memory Items Details Updated cycle Unit address The bits corresponding to the axis that caused the error can be stored at the error occurrence The error status for the axis can be turned OFF by error reset for every axis b15tob12b11to 5857 to b4b3 to bO 0 00000 0 0 0 000 01 0 0 0 b0 Axis 1 b1 Axis 2 Status change b2 Axis 3 Error Md 100 3300 Axis error status b3 Axis 4 b4 Axis 5 occurrence b5 Axis 6 Error reset b6 Axis 7 b7 Axis 8 b8 Axis 9 b9 Axis 10 b10 Axis 11 b11 Axis 12 b12 Axis 13 b13 Axis 14 b14 Axis 15 b15 Axis 16 The bits corresponding to the axis in which the warning occurred can be stored at the warning occurrence The warning status for the axis can be turned OFF by the warning release b15tob12b11to b8b7 to b4b3 to bO Axis 1 Axi
211. mit function is shown below 1 OPR for dog cradle type ex The proximity dog OFF cannot be detected V Pr 51 OPR direction i cee Pr 54 OPR speed OPR start Alarm stop due to Pr 62 OP search limit being exceeded The proximity dog OFF cannot be detected for some reason 07 _____ Proximity dog Zero point 7 OPR CONTROL MELSEC Q 2 OPR for limit switch combined type ex The limit switch OFF cannot be detected Pr 51 OPR direction 54 OPR speed OPR start NC 56 Creep speed search limit being exceeded The proximity dog OFF cannot Alarm stop due to Pr 62 OP be detected for some reason sche Se ese PR Bae re Evatt es A aot Si Ne AD Zero point 7 OPR CONTROL MELSEC Q MEMO 8 POSITIONING CONTROL MELSEC Q 8 POSITIONING CONTROL 8 1 Outline of Positioning Controls Positioning controls can be executed using the positioning data stored in QD74MH It can be executed by starting the positioning data that set the required items Set the control system in Da 1 Control system of the positioning data Positioning control list is shown below Positioning control Details Control system ABS linear 1 Positioning of a designated 1 axis can be executed from the 1
212. mit in operation an error code 1502 will occur and the deceleration stop is made so as not to exceed the software stroke limit If the incremental feed amount that exceeds the software stroke limit is set an error Incremental feed operation f code 1501 will occur and the operation does not start Proximity dog type Data set type Stopper type TP The software stroke limit is not checked Dog cradle type Limit switch combined type JOG operation Scale origin signal detection type If the change address exceeds the software stroke limit at target position change Target position change function execution an error code 1501 will occur and the deceleration stop is made Other If the change address exceeds the software stroke limit an error code 1501 will occur Current value change and the current value change is not executed If a continuous path is set in Da 0 Operation pattern and the target address after changing the positioning data exceeds the software stroke limit an error code 1501 will occur at positioning data change and the deceleration stop is made At this time if a distance to software stroke limit is shorter than a distance that needed for deceleration the servo may stop outside the software stroke limit In an error set due to exceeding the software stroke limit the servo is stopped by Da 3 Deceleration time 10 9 10 FUNCTION DETAILS MELSEC Q If the current value is ou
213. mm UO Move KO G5108 lt Dwell time Oms gt APP 12 APPENDICES MELSEC Q No 3 2 Positioning data point 2 M2 177 4 95110 lt Positioning end gt KO G5111 lt ABS linear gt MovP K100 G5112 Acceleration time 100ms MovP K100 G5113 Deceleration time 100ms 2500000 65114 lt Command speed 250mm s gt DMOVP KO G5116 lt Positioning address movement amount Omm gt MovP KO G5118 lt Dwell time Oms gt No 4 PLC READY signal YO ON program M1 SM403 M4 X25 216 0 lt PLC READY program gt No 5 All axis servo ON signal Y1 ON program X3 X24 YO 223 11 11 11 v1 lt All axis servo ON command Y1 No 6 Monitor program No 6 1 System monitor Md 100 to Md 103 SM403 231 K3300 D3000 K4 lt System monitor Md 100 to Md 103 gt Mov D3000 4 10 lt Axis error M10 to 25 gt 03001 K4M30 lt Axis warning M30 to M45 gt No 6 2 Axis monitor Md 0 to Md 41 SM403 250 HO K1700 D100 K21 lt Axis monitor Md 0 to Md 41 gt SM403 258 D110 K4M160 lt Status 2 M160 to M175 gt No 7 JOG operation setting program X2C 262 4 DMOVP KO 024 lt OPLS at JOG operation No 8 Incremental feed operation setting program X2C 268
214. mode Adaptive filter 0000 0000 to 0002h Pr 334 10334 300n PBo2 breton suppression control tuning mode 0000h 0000h to 0002h Advanced vibration suppression control Pr 335 10335 300n PB03 For manufacturer setting Pr 336 10336 300n 04 Feed forward gain 0 to 100 Pr 337 10337 300n 05 For manufacturer setting ee eee Pr 338 10338 300n 6 2 Rato of load inertia moment to servo motor x10 times 3000 inertia moment Seep e ter ee Pr 343 10343 300n PB11 Speed differential compensation 90 00100 Pr344 10344 300 12 Formanufacturerseting J Pr 346 10346 300 14 1 Notch shape selectiont 7 O0000hto 0330h Pr 348 10348 300 16 2 Notch shape selection2 O0000hto0331h Pr 349 10349 300n PB17 Automaticseting parameter O0000hto03tFh 351 10351 300n 19 Vibration suppression control vibration 1000 x10 Hz 1101000 frequency setting Pr 352 10352 300n 20 2 Vibration suppression control resonance 1000 x10 Hz 1to 1000 frequency setting Praes 10353 300n PBI por manufacturer setina Pr354 10354 300 PB22 355 10355 300 23 Low pass filter selection 0000h 0000h to 0011h rase 10356 300n_ PB24
215. motor exceeds the torque limit value 10 13 1 Control details The relation between the torque limit fnction and the each control is shown below Torque limit function OPR control control l 0o 1 axis linear control ____ Positioning Position 2 to 4 axes linear Forward rotation torque limit value control control interpolation control Reverse rotation torque limit value Manual JOGoperation _ O control incremental feed operation o O Valid When 1 is set in Cd 11 Torque limit request the torque is limited by the torque limit values set in 12 Forward rotation torque limit value and Ca 13 Reverse rotation torque limit value At this time Torque limit 40 Servo status 1 b13 turns ON If the actual torque does not reach to the torque limit value even if torque limit request is 1 torque limit does not turn ON The torque limit fnction can also be implemented in acceleration or deceleration Also this function can be used in servo ON even not positioning gt lt gt lt gt lt gt 1 Control with motor maximum torque Motor maximum torque 4 4 2 Limit with torque limit value 1 p IT 3 Limit with torque limit value 2 Torque limit value1 80 Torque limit value2 50 Cd 11 Torque limit request 0 xX 1 ys 0 Torque limit value xX Torque limit value1 80 X Torque limit value2 50
216. mplifier cannot be executed at the system power supply ON The servo parameter can be transmitted from the flash ROM to the buffer memory at the system power supply ON however they can not be transmitted to the servo amplifiers Communication starts with servo amplifier at the PLC READY ON first time only 2 Transmitting data with command from PLC CPU The parameters or control data can be written from the PLC CPU to the buffer memory using the commands TO P instruction DTO P instruction MOV P instruction or DMOV P instruction 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 3 PLC READY ON a The buffer memory data of QD74MH can be taken to the internal memory Refer to Section 6 4 for the parameters taken at the PLC READY ON b The communication starts with servo amplifiers at the PLC READY ON first time only after the system power supply ON and the servo parameters to the buffer memory can be transmitted from QD74MH to the servo amplifier If the backup of parameters in the flash ROM is unnecessary set the parameters required to the buffer memory of QD74MH with the sequence program before the PLC READY ON after the system power supply ON 4 Accessing with command from PLC CPU The data can be read from the buffer memory to the PLC CPU using the commands FROM P instruction DFRO P instruction MOV P instruction or DMOV P instruction 5 Reading the servo parameter from the servo amplifier When
217. n 6 3 to 6 8 for the buffer memory address and details _ Symbol Backlash compensation amount Set the backlash compensation amount 10 12 10 FUNCTION DETAILS MELSEC Q 10 6 Speed Limit Function This function is used to limit the command speed to the speed limit value when the command speed in control exceeds the speed limit value 10 6 1 Control details The relation between the speed limit function and each control is shown below Speed limit function OPR control OPR control 0 Speed limit value 1 axis linear control 0 Positioning Position TE trol ir i 2 to 4 axes linear Speed limit value contro contro interpolation control Linear interpolation speed limit value Manual JOG operation a o 25 m pee Speed limit value control Incremental feed operation 0 O Valid 1 Speed clamp The each axis speed is limited with the speed limit value When the axis speed exceeds the speed limit value set in the each axis the axis speed is cramped with the speed limit value A warning code 11001 will occur by executing the speed cramp However a warning will occur at positioning start It will not occur when the speed reached the speed limit value Pr 10 Speed limit value Da 2 Da 3 Acceleration time Deceleration time ON Positioning start signal 5655550 Y10 to OFF Refer to Section 8 3 5 for the speed of the
218. n manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the module or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the module or servo amplifier never hold the front case as it may fall off When transporting installing or removing the module or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo amplifier module or servo amplifier and other devices Do not install or operate modules servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the servo amplifier servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module
219. n one group can be executed by setting the positioning address and command speed in the positioning data and by input the positioning start signal Control system 2 ABS linear interpolation 3 INC linear interpolation Afterwards the axis in which the positioning start signal is input is defined as the reference axis and the other axis is defined as interpolation axis 8 3 1 Data used for control There are data that set to both of reference axis and interpolation axis and data that set to only reference axis The parameters control data and positioning data used for the linear interpolation control are shown below Refer to Section 6 3 to 6 8 for the buffer memory address and details Reference Interpolation axis axis Speed limit value Set the maximum speed for each axis Set group to specify the combination for Pr 25 Interpolation group 9 P Parameter axes to be interpolation controlled Linear interpolation speed limit Set the maximum speed at the linear value interpolation control Pr 26 Set the starting positioning data No Set to only reference axis The positioning Control data Cd 2 Start method data of the same No as the interpolation axis are used to the interpolation axis Set the operation pattern for the continuous Operation pattern nap positioning data 8 Control system Set the positioning control system Acceleration time Set the acceleration
220. n slot No 0 of the main base unit are shown below Device X refers to the signals input from the QD74MH to the PLC CPU and device Y refers to the signals output from the PLC CPU to the QD74MH Signal direction QD74MH PLC CPU Signal direction PLC CPU QD74MH Signal name Signal name Unit READY PLC READY 5 6 Y6 Unusable ou 81 is 2 is 3 is 4 is 5 is 6 is 7 Axis 8 M BUSY Positioning start is 9 Axis 10 is 14 is 12 Axis 12 is 13 is 14 Axis 14 is 15 is 16 5 SPECIFICATIONS AND FUNCTIONS MELSEC Q 5 1 2 Input signals QD74MH PLC CPU Device No Signalname name Details When the PLC READY signal YO turns from OFF to ON the parameter setting range is checked If no error is found this signal turns ON It turns OFF when the PLC READY signal YO turns OFF READY Itturns OFF when the watch dog timer error occurs Not READY It is used for interlock in a sequence program etc Unit READY Watch dog ON Uer emer PLC READY signal Yo OFF 9 Unit READY signal x0 OFF We This signal turns ON when the error occurs by any axis of from Axis 1 to 16 It turns OFF by error reset of all axes in which the error occurred Confirm the axis error status in 100 Axis error status Start of positioning OPR or manual control cannot be executed for the axis in operation error occurrence Start after reset errors Error Error detection occurrence
221. n storing for a long time please contact with our sales representative Also execute a trial operation sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard Not doing so could lead to a poor connection resulting in erroneous input and output According to each instruction manual According to each instruction manual 4 Wiring NCAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble NCAUTION Q Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier 24VDC Control output Control output signal signal DICOM For the sink
222. nd of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to common impedances 100 200VAC Line noise filter 3 6 PLC system SSCNETII Servo amplifier 3 DESIGN MELSEC Q 3 2 2 Safety circuit design 1 Concept of safety circuits 2 When the PLC system is powered on and off normal control output may not be done momentarily due to a delay or a startup time difference between the PLC power supply and the external power supply DC in particular for the control target Also an abnormal operation may be performed if an external power supply fault or positioning module failure takes place To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail safe viewpoint areas which can result in machine breakdown and accidents due to abnormal operations e g emergency stop protective and interlock circuits should be constructed outside the PLC system Emergency stop circuit The circuit should be constructed outside of the PLC system or servo amplifier Shut off the power supply to the external servo amplifier by this circuit make the electromagnetic brakes of the servomotor operated Forced stop
223. nete hne ttn atus tati atu OI abel ni c he 6 28 0 5 1 Axis e teer rere e a RE Ran tbe aan fex p ease Rer MIR re ERE 6 28 6 5 2 System monitor data ss tr dci bet IRURE UR UNE 6 35 6 6 Control dte n tea dE Dus 6 36 0 6 1 Axis control 6 36 0 6 2 System control data uidere ete tete Ri e e rti ena Deren tae RR en 6 39 of BPositloning Data bre ox p a beri vb eb verb p er 6 42 6 8 Servo Parameter Ee eee e eee vedete dee e ertt 6 44 7 1 Outline of OPR Control 2 tetti ese eite deed mere e Ee HR o Pee diea DER ao Ee EET de e erede 7 1 1 1 Data used for control 7 1 7 1 2 Starting method 2 2 2 eed ee ded d ee d ted dea 7 2 7 2 Proximity Dog Type ia eto e te b ter dir dua 7 3 vm eiteeisubuadite ies 7 6 KE Rede 7 7 FS Dog Cradle eee 7 8 7 6 Limit Switch Combined Type ee ee ette lees 7 11 7 7 Scale Origin Signal Detection 2 40244 201 0 00 nennen nennen nennen nnne 7 12 7 9 OP Shift c
224. o Section 4 2 1 Put the SSCNETII cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Also fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Migrating plasticizer is used for vinyl tape Keep the and cables away from vinyl tape because the optical characteristic may be affected Optical cord Cable SSCNETII cable MR J3BUSCIM _ on A MR J3BUSLIM A A MRJSBUSCMB O O Normally cable is not affected by plasticizer A Phthalate ester plasticizer such as DBP DOP may affect optical characteristic of cable Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect and MR J3BUSLIM A cables made of plastic In addition MR J3BUSLIM B cable made of quartz glass is not affected by plasticizer If the adhesion of solvent and oi
225. o the nearest integer and set it as follows AP 19660 AL 125 Note Due to rounding down the numerator this setting will result in a differenve in value between the machine s actual position and the position calculated by the controller This example s calculation error 125 19660 625 3 x 32768 1 x 100 4 07 x 10 1 This mwans that for every 1km of movement there is 40 7 mm of error The error at the home position is 0 Also in an absolute position system error does not accumulate even if power is removed at the 1km mark mentiond in this example 10 5 10 FUNCTION DETAILS MELSEC Q 3 Setting example when the command unit is um for the linear servo PLS Command PLS Servo value amplifier PLS Feedback pulse Linear encoder Calculate the number of pulses AP and movement amount AL for the linear encoder in the following conditions Linear servo motor Number of pulses AP Liner encoder resolution Movement amount value AL Liner encoder resolution 0 05 um AP 1 20 20 For command unit 1 um 2 7 10 0 1 1 For command unit 0 1 um Set the followings For command unit 1 um Electronic gear numerator 20 Electronic gear denominator 1 For command unit 0 1 Electronic gear numerator 2 Electronic gear denominator 1 Set the number of pulses in Pr oJ Electronic gear numera
226. of the back cover Print Date Manual Number Apr 2009 0300147 Firstedition Dec 2011 Bt NA 0300147 B Partial correction Safety Precautions Section 4 2 1 Partial change of sentence Japanese Manual Number 0300146 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent 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 2009 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the high speed multi axis Positioning Module QD74MH Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Positioning Module you have purchased so as to ensure correct use CONTENTS Safety Precautiols 2 d t tiv dus atu at Geel eld tee de A 1 REVISIONS eniin End 11 t sb mci os 12 Using 17 Compliance with the and Low Voltage 4 00000 000 A 17 1 OVERVIEW 1 1 to 1 12 T 1 OVOrVIeW RR RE ON RE
227. omes smaller than the minimum bend radius Model name of SSCNETII cable Minimum bend radius mm inch MR JSBUSLIM 25 0 98 MR J3BUSCLIM A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUSDLIM B Enforced covering cord 50 1 97 Cord 30 1 18 b Tension If tension is added on the SSCNETII cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNETII cable or the connecting part of SSCNETII connector At worst the breakage of SSCNETII cable or damage of SSCNETII connector may occur For cable laying handle without putting forced tension Refer to this section 5 Specifications of SSCNETII cable for the tension strength c Lateral pressure If lateral pressure is added on the SSCNETII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of SSCNETII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control box or others 4 INSTALLATION WIRING START UP AND MAINTENANCE d e MELSEC Q Twisting If the SSCNETII cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETI cable may occur
228. on searchiimitfunction OP OPR method 1 OVERVIEW MELSEC Q Performance specifications continued TC 0 Incremental feed O O Acceleration deceleration Provided Acceleration deceleration None Manual pulse generator x input External signal input Via servo amplifier Direct input Via servo amplifier Upper lower stroke limit Near dog 24VDC input Via PLC CPU Forced stop input 24VDC input Invalid setting enable Invalid setting enable Flash ROM Flash ROM Positioning module setting monitor isol x GX Configurator QP 00 Number of I O points 32 points 32 points Number of occupied slots Provided X N A Note 1 Inching operation for QD75MH 1 OVERVIEW MELSEC Q 2 Comparisons of input output signals with PLC CPU specifications QD74MH QD75MH Unit READY QD75 READY Error detection Synchronization flag XO X1 X2 X3 x4 X5 Axis 2 M code ON X6 Axis 3 X7 Axis 4 8 9 Unusable Error detection x Warning detection Unusable x Synchronization flag x10 Axis e compet art complete Positioning complete BUSY Unusable 1 OVERVIEW MELSEC Q QD74MH QD75MH PLC READY PLC READY All axis servo ON All axis servo ON Forced stop input Unusable Reverse run JOG start 10 1 Axis 2 Axis 3 Axis 4 Yi ass Axis 1 Axis 2 Axis 3 Axis 4 Positioning start Axis 3 er
229. on PLS s ms 3 z o o Eo s 1000 1000 ms p e 0 Not executed 1 Executed 6 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR parameter MR J3 L1B RJO04 use Buffer Factory memory Items Details Setting range Fetch timing defaul address pian Set whether the incremental linear scale is used for OPR except scale origin signal p 3 2 1 Used tal li le detection type PLC READY ON Pr64 64 100 near scale Except 1 Set to 0 Need to pass motor 2 d First time only pause after the power supply is i switch on in Pr 397 Function selection C 4 Refer to the servo amplifier instruction manual Servo Servo amplifiertype type Instruction manual name SSCNETII Compatible Linear Servo MR J3 L1B RJOO4ULI Instruction Manual MR J3 L B RJ004 SH 030054 6 4 3 Manual control parameter Buffer Factory memory Items Details Setting range Fetch timing address efauit 80 100n 11008 JOG speed Set the speed for JOG operation 5 to 2147000000 Leading edge of PLS s the forward JOG operation Set the acceleration time for JOG 82 82 100n 0 to 20000 rotation JOG 1000 ms acceleration time operation Reverse rotation JOG operation Set the deceleration time for JOG Pr 83 83 100n Ep A 0 to 20000 JOG start 1000 ms deceleration time operation 84 100 Set the feedrate for i tal tal feed Pr 84 incremental feedrate 2
230. on cable is connected 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Base unit QD74MH Panel Cord Loose slack Bundle material gt Cable Recommended product NK clamp SP type NIX INC 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 2 Connection of SSCNETII cables The connection method of SSCNETIII cable between QD74MH and servo amplifier is explained as follows When absolute position detection control is executed installed battery MR J3BAT to servo amplifier QD74MH SSCNETII cable length use 1 amp 3m 9 84ft MR J3BUSLTM A use 1 20m 65 62ft MR J3BUSLTIM B use Ul I5 1 50m 164 04ft 000000 15 CN z 9 ghee S Ja S i Cap CN1B 1 Lett Servo amplifier Servo amplifier
231. on program Program requierd for OPR control positioning control Add or delete No 11 New current value selection program according to the control content of No 12 Positioning selection program system No 13 Positioning start program No 14 Stop program No 14 1 Axis stop of each axis No 14 2 Axis sudden stop of each axis No 14 3 Pausing of each axis Stop proguram No 15 Error reset program No 16 Flash ROM write program Error reset program Flash ROM write program Speed change program Acceleration time change program No 19 Deceleration time change program Add or delete according to the control content of system Target position change program Torque limit program No 22 Parameter change request program D APP 6 APPENDICES Input 2 Device list MELSEC Q The devices used by the sequence program that has been described to this appendix are allocated as follows The I O number is a number when the QD74MH is installed in the first slot of the main base unit Change them to I O number at installed position if the QD74MH is installed in except the first slot of the main base unit Change the external input output internal relay and data register according to the system used a Input output external input external output internal relay X10 Output Forced stop input Positioning
232. oning data stored in the buffer memory of QD74MH are shown below 16 axes positioning data 2 axes positioning data 5420 to 5429 1 axis positioning data 5100 to 5109 5430 to 5439 _________ 10210 1010219 No 2 5110 to 5119 5440 to 5449 No 3 5120to 5129 Mte sess LE 2 2 5730 to 5739 No 32 5410 to 5419 Table 6 9 List of buffer memory for positioning data Point Buffer memory address 7170 eT No eee cee ce to 5109 to 5429 to 5749 to 6069 to 6389 to 6709 to 7029 to 7349 to 7669 to 7989 to 8309 to 8629 to 8949 to 9269 to 9589 to 9909 Ek 3E A Me AE e to 5119 to 5439 to 5759 to 6079 to 6399 to 6719 to 7039 to 7359 to 7679 to 7999 to 8319 to 8639 to 8959 to 9279 to 9599 to 9919 A IE e CAE E to 5129 to 5449 to 5769 to 6089 to 6409 to 6729 to 7049 to 7369 to 7689 to 8009 to 8329 to 8649 to 8969 to 9289 to 9609 to 9929 to to 5409 to 5729 to 6049 0 7329 to 7649 to 7969 to 8289 to 8609 No 32 5410 5730 6050 6370 6690 7010 7330 7650 7970 8290 8610 8930 9250 9570 9890 to 5419 to 5739 to 6059 to 6379 to 6699 to 7019 to 7339 to 7659 to 7979 to 8299 to 8619 to 8939 to 9259 to 9579 to 9899 6 DATA USED FOR POSITIONING CONTROL 1 Positioning data Buffer
233. op ct te t dec det te ett 10 18 10 9 1 Control detalls e e eds 10 18 10 92 Data used for control a ch te 10 18 10 10 Forced Stop CONTO 10 19 10 10 1 ee 10 19 10 10 2 Data used for CONKIOL ccc cccccccesseeeeessesseeecesseecesesaeeesesseeeesesaeeeeessaeeesesseeesesaeeesessaeeeseseeeeessaes 10 20 10 11 Command In position Function sessssssssseseeeeeeee enne enn nnnm eerte 10 21 Gontrol detalls m tet ttr Ha te EH Om t ER M e e ee eee ta 10 21 10 11 2 Data sed for control 5 dene m e e d Le i eed o e 10 22 10 12 Pausirnig EUnclloni oci terti HP cet Ec ret c Ee m B Poe da 10 23 10 121 Control 3 5 oi e te a 10 23 10 12 2 fOr control eto e vale aea eadein 10 24 10 13 Torque Limit Function 10 25 10 13 1 Control detalls EE RR ee ee nmn nm 10 25 10 13 2 Data used for control n o eere n etre obere ro ra 10 26 10 14 Speed Ghange EUnction iic n he eR t Re E Re RH RR n RE ERREUR 10 27 10 14 1 Gontrol details n tre at t eet atte bete 10 27 10 14 2 Precaltions e ON HO ERA HO E ML EM de AME UR 10 28 10 14 3 Dat
234. or Speed A 1 1 Md2 Feedrate 1 i gt Time i i Position Current feed value 1 21 1 i M Deviation counter value i E Real current value i 4 1 1 1 1 Time b Error code Error detail Axis error status Error detection signal X1 Axis error reset 6 Error code Ma 7 Error detail and 100 Axis error status are output to the buffer memory if an error will occur and the error detection signal X1 is tumed ON The servo errors are also output in a similar way Remove the error causes and set 1 in Cd o Axis error reset to release an error Error Md 6 Error code Error code Md 7 Error details Md 100 Axis error status OFF Error detection signal X1 OFF Cd 0 Axis error reset 6 DATA USED FOR POSITIONING CONTROL MELSEC Q c Warning code Axis warning status Warning detection signal X2 Warning code and Md 101 Axis warning status are output to the buffer memory if a warning will occur and the warning detection signal X2 is turned ON The servo warnings are also output in a similar way Remove the warning causes to release a warn
235. or distorted installation 7 Check that the module fixing screw tightening torque is as specified 8 Check that the total I O points of I O modules and intelligent function modules do not exceed the I O points of the CPU module 1 Check that the model name of power supply modules is correct 2 Check that the wire sizes of cables are correct 3 Check that the power line is wired correctly 4 Check that FG and LG are wired correctly 5 Check that the terminal screws are tightened correctly Power supply module closely as possible respectively and run in the shortest distance cable together with and run close to the power wires PLC CPU module 2 Check that the modules are installed to CPU slot or I O slot 0 to 2 of the main base unit 1 Check that the module fixing screws are tightened correctly QD74MH Positioning module 2 Check that the connection with servo amplifier is correct 3 Check that the forced stop input is wired correctly 1 Check that the wire size of cable is correct 3 Check that the cables connected to each terminal of terminal block correspond to the signal names module 24VDC 5VDC 2 4 closely as possible respectively and run the shortest distance cable together with and run close to the I O wires 2 Check that the connecting position for connector of SSCNETI cables are correct SSCNETI cable 5 Check that the minimum bend radius or more secured 6 Che
236. or the Pr 51 51 100 OPR direction d oe movement direction at the creep speed movement 52 100n Pr 5 OP address 53 100n Pr 5 P 2 Set the creep speed after proximity dog ON the low speed 56 56 100n Creep speed just before stopping after decelerating from the OPR speed 0 Set th leration ti t th Pr 58 58 100n OPR acceleration time gt 1 acceleration lime at the OPR 2 2 Pr6 60 100n OP shift amount Pt the shift amount at the OP 61 100n shift Set the limit on the movement amount at the OP search movement 59 100n OPR deceleration time Set the deceleration at the OPR r 62100m OP search limit 63 100n 66 100n If 0 is set this function does not operate is executed or not When the OPR request Ma 9 Status 1 60 is ON Operation setting for incompletion of OPR Set the OP address at the OPR 2147483648 to completion 2147483647 54 100 4 55 100n OPR speed Set the movement speed for OPR 5 to 2147000000 Set whether the positioning control MELSEC Q Factory default PLC READY ON p First time only B 5 to 32767 PLC READY ON Parameter 0 to 20000 change request 0 to 20000 2147483648 to 2147483647 Setting range Fetch timing Proximity dog Data set Stopper Dog cradle Limit switch combined Scale origin signal detection Positive direction Address increment direction Negative direction Address decrement directi
237. or the interpolation axis Remove the error cause on the interpolation axis The positioning control or current value At positioning start Execute the OPR Or Set 1 change were executed without At current value Executed in Pr 66 Operation executing the OPR change setting for incompletion of OPR 1 The zero point has not been passed at limit switch combined type OPR 2 1 Used is set in Pr 64 The sudden stop OPR 2 eres P revolution in the direction Incremental linear scale setting is not completed then execute the OPR and the zero point has not been passed at proximity dog type OPR Turn the servomotor more than 1 11 7 11 TROUBLESHOOTING MELSEC Q Oparation errors 1000 to 1899 Continued aues _ pois O Error Error check Remedy code detail error occurrence The proximity sog has been turned OFF Lengthen the proximity dog Or The sudden stop OPR 1092 1 before it reached to the cramp speed in At proximity dog OFF ie netcorbleted adjust the OPR speed to stop on i i the proximity dog type OPR P the proximity dog 1094 OPR direction and push direction Set the OPR direction to be the are opposite in the stopper type OPR same as the push direction the torque limit on start OPR inii S UE The stopper type OPR Torque limit Md 40 Servo status 1 que limit is not completed Execute push and a
238. or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the module and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the module servo amplifier and servomotor Ground resistance 100 Q or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the module servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the module servo amplifier servomotor connector or terminal blocks
239. output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables Use applicable solderless terminals and tighten them with the specified torque If any solderless spade terminal is used it may be disconnected when the terminal screw comes loose resulting in failure 5 Trial operation and adjustment NCAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the module or absolute value motor has been replaced always perform a home position return 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 6 Usage methods NCAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the module servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters h
240. password setting status Error Display No Present No Error Error History Display format HEX C DEC The display sequence of the error history is from the oldest error The latest error is displayed in the line as under Information Note 1 SW4D5C GPPW E or later Refer to the GX Developer Operating Manual for details 3 DESIGN 3 DESIGN MELSEC Q 3 1 System Designing Procedure Design the system which uses the QD74MH in the following procedure Positioning control system design Select the QD74MH according to number of control axes Select I O modules according to the specifications of the external Refer to MELSEC Q equipment to be controlled series manual Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis Refer to the servo amplifier manual External circuit design Refer to section 3 2 Power supply circuit design Design the power supply circuit which supplies power to such Refer to section 3 2 1 system components as the QD74MH I O equipment and servo amplifiers etc taking into consideration the protective coordination and noise suppression techniques Safety circuit design Design the operation ready circuit which stops the system at Refer to section 3 2 2 occurrence of any alarm su
241. pattern Independent positioning Operation pattern 0 Continuous positioning Operation pattern 1 Continuous path Operation pattern 3 Examples of operation patterns in which 1 axis linear control ABS linear 1 is set in positioning data No 1 to No 6 of axis 1 is shown below ea LR mer 1 5 Positioning data No 1 Positioning to address A at command speed a Operation pattern 3 Continuous path No 2 Positioning to address B at command speed b Operation pattern 3 Continuous path No 3 Positioning to address C at command speed a Operation pattern 1 Continuous positioning No 4 Positioning to address D at command speed b Operation pattern 1 Continuous positioning No 5 Positioning to address E at command speed a Operation pattern 0 Independent positioning rod I E C Sais Positioning No 6 Positioning to address F at command speed b Operation pattern 3 Continuous path Saree Da 0 Operation pattern The machine stops and then continues the next positioning Speed is changed Positioning complete without stopping gt t No 1 No 2 No 3 No 4 No 5 Address 0 0 B 0 Note It is possible to start from an arbitrary point by setting the point 8 POSITIONING CONTROL 1 Independent positioning One positioning data
242. per The stopper type OPR is now set V The position that has stopped by stopper etc is OP Torque limit OPR start Positioning start signal ON When the Torque limit Md 40 Servo status 1 b13 is not ON at the OPR start an error code 1095 will occur and the OPR is not completed 7 OPR CONTROL 7 5 Dog Cradle Type MELSEC Q The dog cradle method performs a deceleration when the proximity dog turns ON Then movement direction is reversed until the dog turns back OFF At this point movement is again towards the dog sensor but at the set creep speed As soon as the dog turns back ON again movement stops and the OP is defined Operation outline is shown below 1 There is a proximity dog in the direction of OPR 1 Start the OPR It starts to accelerate at the time set in Pr 58 OPR acceleration time in the direction set in Pr 51 OPR direction and it moves at the speed set in Pr 54 OPR 2 The proximity dog ON is detected and a deceleration stop is made 3 After deceleration stop it moves in the opposite direction against of OPR at the OPR speed 4 Ifthe zero point is passed with the proximity dog OFF a deceleration stop is made If the zero point is not passed it continues to move until the zero point is passed and then a deceleration stop is made 5 After deceleration stop it moves in the direction of OPR at the speed set in Pr 56 Creep speed and the
243. r 1 is set in Da 1 Control system if the except 1 axis linear control is set to the next positioning data an error code 1023 will occur at the point shift and the positioning is completed The point shift from ABS linear 1 to INC linear 1 or from INC linear 1 to ABS linear 1 are possible In an error code 1023 occurs at the point shift of continuous path the operation will stops immediately If the following setting value is set that it decelerates at once after it reaches the command speed by acceleration and is set it does not reach the command speed and the constant speed section is caused Da 2 Acceleration time Da 3 Deceleration time 4 Command speed Da 6 Positioning address movement amount If it does not reach the command speed because the setting value of positioning address movement amount is small it becomes operation similar to the above Da 4 Command speed Actual speed If the setting value of Da 2 Acceleration time is short the constant speed section might become long 8 POSITIONING CONTROL MELSEC Q 8 3 Linear Interpolation Control This control is used to execute the position control in a linear path while executing interpolation for the axis directions set in each axis for the axes set as a group Up to 4 axes interpolation controls are possible in QD74MH The linear interpolation control for all axes set i
244. r careless pulling on it could result in damage to the QD74MH servo amplifier or shielded cable or defective cable connections could cause mis operation of the unit 4 INSTALLATION WIRING START UP AND MAINTENANCE 4 2 1 SSCNETII cable 1 MELSEC Q Precautions of SSCNETIII cable wiring SSCNETII cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR JSBUSLIM MR J3BUSLIM A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier and servomotor Be sure to use optical fiber within the range of operating temperature described in this manual Read described item of this section carefully and handle it with caution a Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of QD74MH or servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNETII cable is hold down by the door and the cable bend bec
245. r movement amount where continuous stop is possible in the positioning data of continuous path end If the movement amount is small a warning code 11005 or warning code 11006 will occur and the operation is stopped suddenly 3 The point data is input at the timing of point switching for the continuous path 8 POSITIONING CONTROL MELSEC Q 8 1 3 Designating the positioning address There are two methods absolute system and incremental system to design a position in the positioning control Each method can be set in Da 1 Control system 1 Absolute system Positioning can be executed by specifing a position absolute address based on the home position Address 100 Start point Address 150 T End point Address 300 i i Address 150 i 5 i Address 100 i Address 150 i gt 0 100 150 300 2 Incremental system Positioning can be executed by specifing a movement direction and movement amount based on the position that has currently stopped Movement amount gt 100 i Start point Movement amount End point i i 100 i Movement amount 200 i Movement amount 150 1 1 gt gt 5 gt gt 0 100 150 250 300 8 POSITIONING CONTROL MELSEC Q 8 2 1 axis Linear Control This control is used to
246. r output pulses selection OOtOhtoo031h Pr 406 10406 300n 26 Function selection c 8 ooon ooon 1100h 407 10407 300 27 Function selection c o 7 000040101 414 10414 300n PDO2 piaz input signal automatic selection 000081000034 493 10493 300n psor Linearfunction selection 00004 1601 494 10494 300n PSO2 Linear encoder resolution setting numerator o 1065535 Pr495 10495 300n 503 LID Linear encoder resolution setting denominator 11065535 Pr496 10496 300n 904 LIT2 Linearfunction selection2 7 000011010078 Pr497 10497 300n PS05 LB1 Linear oe motor control position deviation 4 to 1000 error detection level Li trol d deviati Pr498 10498 300n psoe 2 Servo motor speed deviation mm s 1 to 5000 error detection level Linear servo motor control thrust deviation error Pr 499 10499 300n 507 LB3 96 1 to 1000 detection level 500 10500 300 PSo8 LIT3 Linear function selection 3 0000h 0010h to 0012h Pr 501 10501 300n 509 LPWM pole detection voltage level 00100 At magnetic pole detection current detection Pr 502 10502 300n PS10 LFH 1 to 500 method Identification signal frequency 503 10503 300n
247. red to as QD74MH 1 1 Overview QD74MH Positioning module is used in the multiple axes without complex controls 1 Availability of eight and sixteen axes modules a Eight and sixteen axes positioning modules are available They can be selected according to the number of required control axes Refer to Section 2 3 b For connecting any of the QD74MH modules to the base unit a single slot and 32 dedicated channels are required Within the limit imposed by the maximum number of inputs and outputs supported by the PLC CPU up to 64 modules can be used Refer to Section 2 2 2 Operation Cycle a Operation cycle is 0 88 ms 3 Easy positioning control functions a Positioning control functions essential to any positioning system are supported positioning to an arbitrary position incremental feed control continuous locus control and so on Refer to Chapter 8 or Section 9 2 1 Up to 32 positioning data items including such information as Da 6 Positioning address movement amount Da 1 Control systems and Da 0 Operation pattern can be prepared for each axis Using the prepared positioning data the positioning control is performed independently for each axis In addition interpolation control is possible 2 Independent control of each axis can be achieved in linear control mode Such control can either be the independent positioning control using single positioning data or the continuous posi
248. ricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the module or servo amplifier always set the new module settings correctly Z CAUTION When the module or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the positioning module using programming software switch on the power again then perform a home position return operation After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the module or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not mount remove the module onto from the base unit more
249. rror occurrence Execute the error reset after eliminating the error cause for the errors that can be execute the axis error reset by the controller Execute the power cycle of the servo amplifier or system after eliminating the error cause for the errors that cannot be executed the axis error reset by the controller Refer to the Servo Amplifier Instruction Manual for details of the servo errors If the other errors occur at servo error occurrence the error code is updated Start of positioning OPR or manual control cannot be executed for the axis in operation error occurrence Start after reset errors 11 2 11 TROUBLESHOOTING 11 1 2 Warnings MELSEC Q Types of warnings are shown below Servo warnings detected by servo amplifier Operation warnings at operation start or in operation Warning code 8 is represented in decimal Confirm the warning codes by the decimal in the buffer memory 1 Servo warnings Warning code 2100 to 2199 The servo warnings occur in the state immediately before error occurrence such as the excessive regeneration or overload Error or normality operation cannot be executed by waning when warning is left as it is though servo off is not executed The warnings can be automatically released by eliminating the warning cause in the servo amplifier side However at that time the detected servo warnings cannot be automatically released in the QD74MH side Eliminate the error cause and
250. rvo amplifier Some servo parameters become valid by turning OFF ON of the power supply of the servo amplifiers Refer to Section 6 8 Change procedure is shown below 1 Change the servo parameters and write them to the buffer memory 2 Execute the flash ROM write 3 Change the parameters after procedure 3 if not required 4 Turn the power supply ON of the servo amplifiers 5 Turn the PLC READY ON The parameters changed can be transmitted to the servo amplifiers 6 Turn the power supply OFF of the system and the servo amplifiers 7 Turn the power supply ON of the system and the servo amplifiers The parameters changed become valid 8 Turn the PLC READY ON PLC CPU 1 FROM P instruction DFRO P instruction TO P instruction DTO P instruction MOV P instruction DMOV P instruction MOV P instruction DMOV P instruction QD74MH 3 7 Internal memory PLC READY ON Buffer memory System power supply ON Flash ROM Parameter Reset of the PLC CPU Parameter Positioning data Positioning data EE Servo parameter 2 Servo parameter 1 is set in Cd 100 Flash ROM write request Monitor data Control data Interface for communication with servo amplifier 5 8 Servo parameter change Communication start with servo amplifier PLC READY ON First time only Servo amplifier 4 6 7 6 DATA USED FOR POSITIONING CONTROL MELSEC Q
251. s 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 Number of write accesses to flash ROM and the number mber of write accesses Md 102 3302 T WA of parameter initializations after the system power supply Write request to flash ROM ON can be stored The status of the forced stop input can be stored The status of forced stop input by external 24VDC and the forced stop input signal 72 with input signal from PLC Md 103 3303 Forced stop input status 0 88 ms CPU can be stored 0 Forced stop 1 Forced stop release Status change Warning occurrence Error reset Md 101 3301 Axis warning status 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 6 Control Data 6 6 1 Axis control data 1 Axis control data Buffer Facto memory Details Setting range Fetch timing y Unit default address Release error that occurs in axis Clear the error detection signal X1 6 Error code and 7 Error detail e Turn the bit of 100 Axis error status OFF for target axis Transmit the error reset on AR 0 Not commanded servo amplifier side The error 1 Commanded 0 3400 100 error reset reset cannot be executed for Leading edge some servo errors Refer to the only servo amplifier instruction manuals for details Main cycle Clear the warning detection signal X2 an
252. s function This function changes the feed current value to anyaddress the feed current value to any address 1047 17 External signal logic selection This function selects a logic of I O signals 10 18 Operation setting for incompletion This function selects whether the prc eM control is started or not at the 19 of OPR function of OPR This function resets the errors occurred 10 20 Absolute position system This function restores the absolute position 10 21 Flash ROM write function a iei writes back up the parameter data and positioning data the 10 22 RON This function returns the parameters and positioning data stored the QD74MH Parameter initialization function 10 23 buffer memory and flash ROM to the default values shipped from the factory o c 9 5 2 5 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 DATA USED FOR POSITIONING CONTROL 6 1 Memory Configuration and Roles The QD74MH is equipped with the following two memories for data exchange with PLC CPU and data save Table 6 1 Memory configuration Area configuration Memory configuration This area can be directly accessed with sequence program from olofofo fate Buffer memory PLC CPU and the parameter data and positioning data can be possibile changed Hash ROM Details of buffer memory required for positioning can be backed up O x x o Possible Accessible X
253. s than Pr 20 Command in position range Command in position Md 10 Status 2 b1 is turned ON This function is valid at only last positioning data execution in positioning control 1 axis linear 2 4 axes linear interpolation Therefore it does not turn ON at positioning data execution on the way Continuous path Independent positioning Continuous positioning Actual speed Command speed Command in position Md 10 Status 2 b1 ON In position Md 40 Servo status 1 b12 Command in position 10 Status 2 61 does not turn ON at the point on the way of the continuous positioning Use the indevendent positioning to start the next positioning after confirming the command in position ex When the positioning is started after confirming the 1 axis command in position signal ON A Independent positioning 1 axis Actual speed Command speed n 2 axis Independent positioning y 1 axis Command in position 10 Status 2 b1 2 axis positioning start signal Y11 OFF 10 21 10 FUNCTION DETAILS MELSEC Q When the remaining distance of all interpolation axes becomes to within the command in position range at interpolation control Command in position Md 10 Status 2 b1 of all axes turn ON Command in position signal turns OFF in the following cases At positioning st
254. servo amplifier or servomotor The module servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the module servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Z CAUTION Store and use the unit in the following environmental conditions Module Servo amplifier Servomotor 0 C to 40 C With no freezing 32 F to 104 F ES 80 RH or less Ambient humidity According to each instruction manual With no dew condensation 20 C to 65 C 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere EM No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store Whe
255. set again in axis stop The deceleration time used for stopping for stop axis is Da 3 Deceleration time If the axis stop is executed in positioning the Positioning complete signal 10 Status 2 bO does not turn ON Da 3 Deceleration time Pr 10 Speed limit value lt Command speed Operation does not resume Actual deceleration time Cd 3 Axis stop 0 1 0 If S curve acceleration deceleration is set Pr 16 S curve acceleration deceleration time constant is always valid Therefore stop as well will use the S curve acceleration deceleration The operation for when the axis sudden stop or forced stop is commanded in stop control is shown below 1 is set in 4 Axis sudden eda The sudden stop control is executed In axis stop control stop The forced stop is commanded The forced stop control is executed 10 8 2 Data used for control Set the following control data for the stop control Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Control data Stop the operating axis 10 17 10 FUNCTION DETAILS MELSEC Q 10 9 Sudden Stop Control 10 9 1 Control details The operating axis stops abruptly by setting 1 in Ca 4 Axis sudden stop Errors and warnings are not output The operation does not resume even if 1 is set again in axis stop The decelerat
256. setting Pr 307 PA07 8 Praos Paos Autotunngmode o Pr 309 PAOS Auto tuning response Pr 311 PA11 For manufacturer setting Pr 316 PA16 Pr 333 PBO1 Adaptive tuning mode Adaptive filter T Vibration suppression control tuning 34 Pr 334 2 mode advanced vibration suppression control Pr 335 For manufacturer setting Pr 336 4 Feed forward gain Pr 337 PBOS For manufacturer setting motor inertia moment Speed loop gain For manufacturer setting No Parameteritem _____ PB18 Low pass filter setting Vibration suppression control vibration frequency setting 52 352 20 Vibration suppression control resonance frequency setting or manufacturer setting 5 5 5 Pr 355 23 Low pass filter selection 56 Prase PB24 light vibration suppression control selection Pr 357 For manufacturer setting PB26 Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load moment to servomotor inertia moment 0 Gain changing position loop gain n 5 5 5 6 6 6 Gain changing speed loop gain Gain changing speed integral 6 compensation Gain changing vibration suppression Pr 365 PB33 Meet control vibration frequency setting 4 Pr 364 PB32 s rm res Gain changing vibration suppression control resonance frequency setting E For manufacturer setting 1
257. speed because the setting value of positioning address movement amount is small it becomes operation similar to the above Da 4 Command speed Actual speed If the setting value of Da 2 Acceleration time is short the constant speed section might become long 9 MANUAL CONTROL MELSEC Q 9 MANUAL CONTROL Manual control refers to control in which positioning data is not used The two types JOG operation incremental feed operation of this manual control are explained below 9 1 JOG Operation In the JOG operation the command is output from the QD74MH to the servo amplifier while 1 is set by setting 1 in Cd 8 Forward rotation JOG start or Cd 9 Reverse rotation JOG start and it makes to move the work piece in the specified direction While the positioning start signal Y10 toY1F is ON forward rotation JOG start and reverse rotation JOG start for that axis are ignored regardless of positioning executing NCAUTION The feed unlimited length feed that exceeds the moveable range cannot be executed using the JOG operation Doing so may cause an error with the software stroke limit and the operation stops 9 MANUAL CONTROL MELSEC Q 9 1 1 Control details Operation procedure for JOG operation is shown below 1 When 1 is set in Cd 8 Forward rotation JOG start or Reverse rotation JOG start an acceleration is started by the specified
258. st be OFF ERR LED 5 OFF Abnormal if the LED is ON or flickering Check that the LED is The LED must be OFF BAT LED OFF Abnormal if the LED is ON Check that the LED is The LED must be RUN LED ON Abnormal if the LED is OFF Refer to Section Check that the LED is The LED must be OFF 24 ERR LED OFF Abnormal if the LED is ON or flickering The LED must be ON when the input power is turned ON Input LED Check that the LED The LED must be OFF when the input power is turned OFF u Abnormal if the LED does not turn ON or turn OFF as Refer to indicated above Module Type module inne The LED must be ON when the input power is turned ON Building Block Check that the LED is The LED must be OFF when the input power is turned OFF User s Manual Output LED Module indication LED ON OFF Abnormal if the LED does not turn ON or turn OFF as indicated above 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q 4 7 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below When the equipment is moved or modified or layout of the wiring is changed also implement this inspection Table 4 5 Periodic inspection Ambient temperature 0 to 55 C 32 to 131 F Wihamitiecenell rie Gaed Tm Measure with a thermometer and a the board the ambient Ambient humidity hygrometer 5 to 95
259. start Axis sudden stop x24 axis servo request Error reset X23 X24 X25 PLC READY ON request X26 27 Incremental feed OPR OPR selection APP 7 7 8 _____ time change request memo ____ 1 Waming detection signal Positioning start pulse Axis 1 Positioning start Axis 1 Acceleration time change request memo Axis 1 Deceleration time change request Axis 1 Target position change request memo Axis 1 Positioning complete M163 _ Axis 1 Operation complete Axis 1 In JOG incremental feed operation Axis 1 Command in position Axis 1 Pausing APPENDICES MELSEC Q b Data register Incremental feedrate 031 1 Start data No type D100 Low order 16 bits Md 0 Axis 1 Current feed value D101 High order 16 bits D102 Low order 16 bits Md 2 Axis 1 Feedrate D103 High order 16 bits D104 Axis 1 External input signal D105 Axis 1 Positioning data No being executed D106 Axis 1 Error code D107 Axis 1 Error detail D108 Axis 1 Warning code D109 Axis 1 Status 1 Data register 3 D110 Axis 1 Status 2 D126 Low order 16 bits 26 Axis 1 Real current value D127 EE as Rem High order 16 bits D128 Low order 16 bits Md 28 Axis 1 Deviation counter value Axis 1 Motor current value Note Transmit the current feed value feedrate and real current value etc using the 32 bit transmission instruction APP 8 APPENDICES
260. switch is in operaion an error code 1500 will occur and the operation does not start Refer to Section 7 OPR CONTROL If the limit switch of OPR direction is in operaion an error code 1500 will occur and the operation does not start If the limit switch of positioning direction is operated an error code 1500 will occur and the operation does not start If the limit switch of positioning direction is operated an error code 1500 will occur in the axis that the stroke limit is detected an error code 1016 will occur in the other axes and then the operation does not start If the limit switch of positioning direction is operated an error code 1500 will occur and the operation does not start If the limit switch of current rotation direction is operated an error code 1500 will occur and the sudden stop is made However an error will not occur at retry Refer to Section 7 OPR CONTROL Current value change Possible to change _____ _____ 1 If the servo is stopped with the position prohibited area in which the limit Switch operated it can be moved in the direction of the movement allowed area However execute the start operation after resetting the errors Limit switch Movement allowed area Prohibited area Movement prohibited Currnet position Including the bounds Movement allowed 2 If S curve acceleration deceleration is set the Pr 16 S curve acceleration deceleration time cons
261. system is changed from 1 Valid Used absolute position detection system to 0 Invalid Used incremental system the established machinery position before change becomes invalid Execute again the OPR to used as the absolute position system 10 41 10 FUNCTION DETAILS MELSEC Q 10 22 Flash ROM Write Function When the buffer memory data of QD74MH are rewritten from the PLC CPU the changed data are not saved if the system s power supply is turned OFF This function is used to backup by writing the changed data to the flash ROM The data that was backed up is written to the buffer memory when the system s power supply is turned ON next 10 22 1 Control details The flash ROM write is executed by setting 1 in Cd 100 Flash ROM write request 0 is automatically set in flash ROM write request by QD74MH after writing Important Do not turn the system s power ON OFF or resetting PLC CPU in writing to the flash ROM The flash ROM data may be corrupted The data that can be written to the flash ROM by flash ROM write are shown below Basic parameters OPR parameters Manual control parameters System parameters Positioning data Servo parameters The absolute position information is automatically backed up in the absolute position system It is not necessary to back up them by the flash ROM write function 1 Cautions a Execute the flash ROM write when the positioning control do not e
262. system s power supply ON or PLC CPU reset is limiter to up to 25 Writing of the 26th will cause an error code 1902 Execute the error reset system s power cycle or PLC CPU reset at error occurrence e A parameter initialization can be executed after the system s power supply ON and the PLC READY signal YO is turned ON to OFF If the parameter initialization is executed without turning ON the PLC READY signal YO after the system s power supply ON a warning code 10001 will occur and a writing to the parameter initialization cannot be executed 10 44 10 FUNCTION DETAILS MELSEC Q 10 23 2 Data used for control Set the following control data for the parameter initialization function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Control data Cd 101 Parameter initialization request Execute the parameter initialization request stored in the flash ROM Number of write accesses to flash ROM by the parameter initialization function is stored in the following buffer memory Refer to the Section 6 3 to 6 8 for the buffer memory address and monitoring details _ Symbol Number of write accesses to flash Number of write accesses to flash ROM and the number of parameter Monitor data Md 102 initializations after the system power supply ON can be stored 10 45 10 FUNCTION DETAILS MELSEC Q 10 24 Parameter Change Function The basic parameters or OPR parameters are taken
263. t Model loop gain Position loop gain Speed loop gain Speed integral compensation The buffer memory data returns to former data by the system power supply OFF 1 Flash ROM write request before the system power supply OFF APP 10 APPENDICES Appendix 2 4 Positioning program example No 1 Basic Servo Parameter setting program parameter OPR parameter Manual control parameter parameter System parameter Write the parameters to the buffer memory SMA4O3 is added so that MO may turn ON OFF by the PLC RUN STOP x3 5 403 No 1 1 Basic parameter 0 to Pr 31 Axis 1 setting example 0 UO 121 4 DMOVP K8192 GO UO DMOVP 3125 G2 UO DMOVP K819100000 G4 UO 819100000 G6 UO DMOVP K10 G10 UO K1 G25 UO 0 G26 UO Move HO G31 No 1 2 OPR parameter Pr 50 to Pr 66 Axis 1 setting example 0 UO 60 MOVP K2 G50 UO DMOVP KO G52 No 1 3 Manual control parameter Pr 80 to Pr 84 Axis 1 setting example MO UO 74 DMOVP 2500000 G80 UO DMOVP KO G84 APP 11 MELSEC Q Electronic gear numerator gt Electronic gear denominator Upper limit value 81910 gt Lower limit value 81910mm Speed limit value 6000 gt Interpolation group 1 gt Interpolation speed limit value 6000r min gt
264. tandard cable for outside panel B Long distance cable Symbol Cable length m ft 015 0 15 0 49 03 0 3 0 98 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 40 40 131 23 50 50 164 04 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q b Exterior dimensions MR J3BUS015M Unit mm inch 15 13 4 37 65 6 7 0 26 0 59 0 53 1 48 Protective tube mae gt impo ue amp Hm S gt 11 S peer Ege Pe UT VR T Ie I A ELE RAE TARDE es as Evan ne as Bah RNE gy Me SS BA cal ents ena een see 1507 A 5 91 2 4E i o KR amp X l e MR J3BUS03M to MR J3BUSSM Refer to the table of this section 5 for cable length L Unit mm inch 2 Protective tube Note 3 94 L 3 94 Note Dimension of connector part is the same as that of MR J3BUS015M MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table of this section 5 for cable length L Variation mm inch SSCNETII cable MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Protective tube Note Keep th
265. tant is always valid Therefore sudden stop as well will use the S curve acceleration deceleration 10 3 2 Data used for control Refer to Section 10 18 External Signal Logic Selection for the input signal logic selection of limit switch 10 8 10 FUNCTION DETAILS MELSEC Q 10 4 Software Stroke Limit Function The address established by OPR is used to set the upper and lower limits of the moveable range of the workpiece in this function Movement commands issued to addresses outside that setting range will not be executed 10 4 1 Control details The relation between the software stroke limit and the each control is shown below If the positioning data of position command exceeds the software limit is started an error code 1501 will occur and the operation does not start And an error code 1501 will occur and the deceleration stop is made at point change in Positioning operation control If the positioning data of position command exceeds the software limit is set for the axes 2 to 4 axes linear interpolation in one group an error code 1501 will occur and the operation does not start control And an error code 1501 will occur and the deceleration stop is made at point change in operation 1 axis linear control If it starts in the opposite direction against of OPR from outside the software limit range an error code 1501 will occur and the operation does not start If it is reached to the software stroke li
266. tatus 2 b9 10 29 10 FUNCTION DETAILS A Warning code 11012 or Warning code 11013 will occur and the MELSEC Q acceleration deceleration time change does not execute in the following cases n operation stop decerelation e In OPR current value change pausing 2 When the speed change function is used simultaneously 10 15 2 Precautions When this function and the speed change function are simultaneously used the speed change is executed after the acceleration deceleration time change value Cd 20 Deceleration time change request Da 4 Command speed CLE New deceleration time 1 i Command speed 2 pete hrs eut i 5 Deceleration time before EN Cd 21 New deceleration time Decerelation time change READY Md 10 Status 2 610 Cd 16 New speed value Cd 15 Speed change request 0 Speed change READY Md 10 Status 2 b8 OFF 1 The new acceleration deceleration time is valid in execution of the positioning data for which the acceleration deceleration was changed Even if the acceleration deceleration is changed to the new acceleration deceleration by executing the acceleration deceleration change at continuous positioning control and continuous pat
267. ted an error code 1500 will occur and the OPR is terminated Retry is not executed When there is a proximity dog in the opposite direction against of OPR an error code 1500 will surely occur Therefore position the proximity dog in front of the limit switch signal and as shown in the diagram position the proximity dog signal so that it overlaps the limit switch signal While it is moving in the opposite direction against of OPR it cannot be stopped until the home position search limit or the limit switch of opposite is detected 3 The start position is on a proximity dog 1 It moves in the opposite direction against of direction set in Pr 51 direction at the speed set in Pr 54 OPR speed 2 After proximity dog ON a home position signal zero point on a linear scale is detected and a deceleration stop is made 3 After deceleration stop it moves in direction of OPR at the speed set in Pr 56 Creep speed and the OPR completes at the position of home position signal zero point V Pr 51 OPR direction 3 Pr 56 Creep speed OPR start 2 54 dog Limit switch OP signal Zero point 7 OPR CONTROL MELSEC Q 7 8 OP Shift Function When the OPR is executed a home position is set by using the proximity dog or zero point signal However by using the OP shift function the position to which only the specified
268. ter the position 3425 100n value change change PLS request 3428 100 New current Cd 28 New current value Set the address after change 3429 100n value start E te th ON OFF f 0 Not ded Cd 30 3430 100n Each axis servo OFF 2008 e Servo Su each axis 1 Commanded Execute the gain changing of the servo amplifier from 0 88 ms 0 Not requested Cd 46 3446 100n Gain changing request QD74MH 1 Requested Refer to the servo amplifier instruction manual 6 DATA USED FOR POSITIONING CONTROL MELSEC Q Axis control data MR J3 L1B RJO06 use Buffer Factory Symbol memory Items Details Setting range Fetch timing default Unit u address 0 Semi closed loop Semi Fully closed loop Execute the sSemi Fully closed control 45 3445 100 Biles ed 0 88 ms Switching request loop switching request 1 Fully closed loop control Note The above command is enable when 1 is set to 445 PEO1 Fully closed loop selection 1 Refer to the servo amplifier instruction manual Servo Servo amplifiertype type Instruction manual name SSCNETII Fully Closed Loop Control MR J3 L B RJO06 Servo Amplifier MR J3 L B RJ006 4 Instruction Manual SH 030056 6 DATA USED FOR POSITIONING CONTROL MELSEC Q 6 6 2 System control data System control data Buffer Factory Symbol memory Items Details Setting range Fetch timing default u addr
269. than 50 times IEC61131 2 compliant after the first use of the product Failure to do so may cause malfunction Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard module servo amplifier a battery primary battery and other option articles please follow the law of each country area Z CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions NCAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left
270. the external input signal can be stored The following items can be stored b15 tob12b11to_b8b7 to 6463 to eee 1704 100 External input signal E MS b4 Lower hardware stroke limit b8 Proximity dog Note The state of signal can be stored regardless of a logic selection Positioning data No bei A positioning data No currently being executed can be ositioning data No bein 1705 100 29 ong T9 stored executed PN 0 can be stored at the except for positioning execution An error code corresponding to error content can be stored at the error detection Always a latest error code can be stored If new error will occur the error code can 1706 100n code be updated However a system error cannot be updated An error code can be cleared by setting 1 in Axis error reset A number of error details corresponding to error content can be stored at the error detection If new error will M 1707 100n Error detail occur a detail corresponded to new error can be stored An error detail can be cleared by setting 1 in Ca 0 Axis error reset A warning code corresponding to warning content can be stored at the warning detection Always a latest warning code can be stored If new warning will occur the 1708 100n Warning code warning code can be updated A warning code can be not automatically cleared even if the warning can be released on the servo amplifier side at the warn
271. the external signal logic selection Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol External input signal logic selection Select the logic of the external input signal 10 36 10 FUNCTION DETAILS MELSEC Q 10 19 Operation Setting for Incompletion of OPR Function This function is used to select whether positioning control is operated or not when OPR request flag is ON 10 19 1 Control details An Error code1090 will occur if the positioning control is executed with the OPR request flag Md 9 Status 1 60 has been turned ON when Positioning control is not executed initial value in Pr 66 Operation setting for incompletion of OPR is selected The manual control and OPR can be implemented The positioning control can be executed even if OPR request flag is ON when 1 Positioning control is executed is selected Z CAUTION Do not execute the positioning control with the OPR request flag has been turned ON in the axes used in the positioning Failure to observe this could lead to an accident such as a collosion The following table shows whether the positioning can be started at operation setting for incompletion of OPR Operation setting for incompletion of OPR 0 Positioning control is 1 Positioning control is not executed OPR executed and OPR request flag ON request flag ON e 1 axis linear control x Positioning control 2 to
272. tion JOG start is given priority In this case the reverse rotation JOG start signal is validated when the forward rotation JOG operation is stopped Forward rotation JOG operation Reverse rotation JOG operation Cd 8 Forward rotation JOG start X 1 X Reverse rotation JOG start signal is ignored Cd 9 Reverse rotation JOG start o ON BUSY signal X10 to X1F OFF E 2 When 1 is set again in JOG start during deceleration caused by changing from 1 to 0 of JOG start setting When 1 is set again in JOG start for same direction during deceleration caused by changing from 1 to 0 of JOG start setting the acceleration and JOG operation are executed without wating for the stop Forward rotation JOG operation V Cd 8 Forward rotation JOG start 0 1 0 9 MANUAL CONTROL MELSEC Q 9 1 2 Data used for control The parameters and control data used for JOG operation are shown below Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol JOG speed Set the speed for JOG operation Parameter JOG operation acceleration time Set the acceleration time for JOG operation EHE operation deceleration time Set the deceleration time for JOG operation 8 Forward rotation JOG start Start the forward rotation JOG Control data Reverse rotation JOG start Start the reverse rotation JOG
273. tioning control enabled by the continuous processing of multiple positioning data 3 Coordinated control over multiple axes can take the linear interpolation through the position control Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data b Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data Refer to Section 6 7 and 8 1 2 1 1 1 OVERVIEW 5 6 7 MELSEC Q OPR control is given additional features Refer to Chapter 7 Six different OPR methods are provided the proximity dog type data set type stopper type dog cradle type limit switch combined type and the scale origin signal detection type d Two acceleration deceleration control methods are provided Liner acceleration deceleration and S curve acceleration deceleration Refer to Section 10 7 Quick startup A positioning operation starts up quickly taking as little as 0 88 ms SSCNETII makes the connection to the servo amplifier possible a The QD74MH can be directly connected to the Mitsubishi servo amplifier MR J3 B using the SSCNETII b Because the SSCNETII cable is used to connect the QD74MH and the servo amplifier or servo amplifiers saving wiring can be realized The maximum dist
274. top by the operation alarm occurrence After the stop by the servo OFF After the stop by the software stroke limit Deceleration by the forced stop Not after the stop The BUSY signal X10 to X1F OFF and this signal ON can be executed at the same timing 6 DATA USED FOR POSITIONING CONTROL 5 MELSEC Q b8 Speed change READY This signal turns ON at the ready by setting 1 15 Speed change request It does not turn ON if it cannot be changed The warning code 11011 will occur This signal turns OFF by setting 0 in Cd 15 Speed change request b9 Acceleration time change READY This signal turns ON at the ready by setting 1 is set in Cd 18 Acceleration time change request It does not turn ON if it cannot be changed The warning code 11012 will occur This signal turns OFF by setting 0 in Cd 18 Acceleration time change request b10 Deceleration time change READY This signal turns ON at the ready by setting 1 is set in Cd 20 Deceleration time change request It does not turn ON if it cannot be changed The warning code 11013 will occur This signal turns OFF by setting O in Cd 20 Deceleration time change request b11 Target position change READY This signal turns ON at the ready by setting 1 is set in Cd 23 Target position change request It does not turn ON if it cannot be changed The warning code 11014 will occur This signal turns OFF by setting 0 in
275. tor and the movement amount in Pr2 Electronic gear denominator in the actual setting 10 2 2 Data used for control Set the following parameters for the electronic gear function Refer to Section 6 3 to 6 8 for the buffer memory address and details Parameter _ Symbol Electronic gear numerator AP Set a numerator of electronic gear applied to position command Electronic gear denominator AL Set a denominator of electronic gear applied to position command 10 6 10 FUNCTION DETAILS MELSEC Q 10 3 Hardware Stroke Limit Function Z CAUTION When the hardware stroke limit is required to be wired ensure to wire it in the negative logic using B contact If it is set in positive logic using A contact the hardware stroke limit may not be detected even if the signal wires are disconnected This function is used to make stop sudden stop the control by the input of a signal from the limit switch by setting the limit switches at the upper lower limit of the physical moveable range Damage to the machine can be prevented by stopping the control before the upper lower limit of the physical moveable range is reached Use external input signal of servo amplifier in the hardware stroke limit 10 3 1 Control details The operation for the hardware stroke limit function is shown below Lower limit Upper limit Control moveable range Sudden stop at lower limit switch detection Sudden stop at upper
276. ts The command change is executed to the reference axis Request of change to the interpolation axis becomes invalid and the following warning codes will occur e Warning code 11011 When changing speed e Warning code 11012 When changing acceleration time e Warning code 11013 When changing deceleration time Target position change cannot be executed in the linear interpolation control Request of target position change becomes invalid and an warning code 11014 will occur When the continuous positioning or continuous path is set in Da 0 Operation pattern and the ABS linear 1 or INC linear 1 is set in Da 1 Control system if the except linear interpolation is set to the next positioning data an error code 1023 will occur at the point shift and the deceleration stop is made The point shift from ABS linear 1 to INC linear 1 or from INC linear 1 to ABS linear 1 are possible 8 POSITIONING CONTROL MELSEC Q 10 If the following setting value is set that it decelerates at once after it reaches the command speed by acceleration and is set it does not reach the command speed and the constant speed section is caused 2 Acceleration time Da 3 Deceleration time 4 Command speed 6 Positioning address movement amount If it does not reach the command
277. tside the software stroke limit range prohibited area the servo can be moved in the direction of the movement allowed area However execute the start operation after resetting the errors Sftware limit Movement allowed area Prohibited area Including the bounds Movement Movement allowed prohibited Currnet position The software stroke limit is also valid at incompletion of OPR In the absolute position system the current position address becomes the outside the movement allowed area differing from a position of the actual machine the JOG operation might be impossible according to the machine specifications Execute the current value change to the rough position matched to the actual machine and then execute the OPR 10 4 2 Ristrictions at absolute position system use The range that the current value can be restored changes by setting value of the electronic gear and OP address at absolute position system use 71 Valid is set in Pr 303 Absolute position detection system of servo parameter Set the software stroke limit range within the range that the current value can be restored as follows Electronic gear numerator Electronic gear denominator stroke limit upper limit Lese Software 2147483647 Note 2 1 3 See es ee te VIRES RETURNS x Pr 2 Electronic gear denominator Pr 52 OP address Electronic gear numerator value Pr6 Software 2147483647
278. unction This function is used to change the target position in position control 1 axis linear control to a newly designated target position at any timing Set an absolute address as the change value in the absolute positioning system And set a movement direction and movement amount from start position in the incremental positioning system 10 16 1 Control details The relation between the target position change function and the each control is shown below Target position change Control Set item function OPR control control ee 1 axis linear control 0 New target position value Positioning Position 2 to 4 axes linear control control interpolation control Manual JOG operation control Incremental feed operation x ____ _____ Valid Invalid When 1 is set in Cd 23 Target position change request it is changed to the position set in Cd 24 New target position value The target position change fnction can also be implemented in acceleration or deceleration The target position change cannot be changed in the linear interpolation operation Da 2 Da 3 Acceleration time Deceleration time gt 10 A Da 4 Command speed Command Command position position 2 Cd 24 New target position value Positioning start signal Y10 to Y1F OFF
279. utions for handling the SSCNETIII cable Do not stamp the SSCNETII cable When laying the SSCNETIII cable be sure to secure the minimum cable bend radius or more If the bend radius is less than the minimum cable bend radius it may cause malfunctions due to characteristic deterioration wire breakage etc For connection and disconnection of SSCNETII cable hold surely a tab of cable connector CN dca a Connection of SSCNETII cable For connection of SSCNETIII cable to the QD74MH connect it to the SSCNETII connector CN1 of QD74MH while holding a tab of SSCNETII cable connector Be sure to insert it until it clicks If the cord tip for SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol b Disconnection of SSCNETII cable For disconnection of SSCNETII cable pull out it while holding a tab of SSCNETII cable connector or the connector After disconnection of SSCNETII cable be sure to put a cap attached to QD74MH or servo amplifier to the QD74MH and servo amplifier For SSCNETII cable attach the tube for protection optical cord s end face on the end of connector NCAUTION Securely connect the connector for SSCNETII cable to the bottom connector on the module Be sure to connect SSCNETII cable with the connector If the connection is mistaken bet
280. ween the QD74MH and servo amplifier cannot be communicated After removal of the SSCNETII cable be sure to put a cap on the SSCNETII connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETII cable while turning on the power supply of QD74MH and servo amplifier Do not see directly the light generated from SSCNETII connector and the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 If the SSCNETII cable is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Be sure to take care enough so that the short SSCNETII cable is added a twist easily 4 INSTALLATION WIRING START UP AND MAINTENANCE MELSEC Q NCAUTION Be sure to use the SSCNETII cable within the range of operating temperature described in this manual Especially as optical fiber for MR J3BUSLIM and 5 are made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servomotor When laying SSCNETII cable be sure to secure the minimum cable bend radius or more Refer t
281. while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the module and servo amplifier as this may lead to electric shocks 2 For fire prevention NCAUTION Install the module servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire If a fault occurs in the module or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention NCAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do
282. xecute PLC READY signal YO OFF b A writing to the flash ROM is up to 100 000 times If writing exceeds 100 000 times the writing may be become impossible and an error code 1901 will occur c The total number of the flash ROM write and parameter initialization with the sequence program after the error reset system s power supply ON or PLC CPU reset is limiter to up to 25 Writing of the 26th will cause an error code 1902 Execute the error reset system s power cycle or PLC CPU reset at error occurrence d The flash ROM write can be executed after the system s power supply ON and the PLC READY signal YO ON If the flash ROM write is executed without turning ON the PLC READY signal YO after the system s power supply ON a warning code 10001 will occur and the flash ROM write cannot be executed 10 42 10 FUNCTION DETAILS MELSEC Q 10 22 2 Data used for control Set the following control data for the flash ROM write function Refer to Section 6 3 to 6 8 for the buffer memory address and details _ Symbol Control data Cd 100 Flash ROM write request Write the contents from the buffer memory to the flash ROM Number of write accesses to flash ROM by the flash ROM write function is stored in the following buffer memory Refer to the Section 6 3 to 6 8 for the buffer memory address and monitoring details 9 Tsai Number of write accesses to flash Number of write accesses to flash ROM and the number o
283. ystem 5181 5501 5821 6141 6461 6781 5184 5504 5824 6144 6464 6784 Command speed 5185 5505 5825 6145 6465 6785 me 5186 5506 5826 6146 6466 6786 Positioning address movement amount 5187 5507 5827 6147 6467 6787 Dwell time 5188 5508 5828 6148 6468 6788 Operation pattern 5190 5510 5830 6150 6470 6790 Control system 5191 5511 5831 6471 6791 Deceleration time Da 4 10 5194 5514 5834 6154 6474 6794 Da 4 Command speed 5195 5515 5835 6155 6475 6795 Da 8 Positioning address movement amount uh 5196 5516 5836 6156 6476 6796 Positioning address movement amount 5197 5517 5837 6157 6477 6797 Das Dwelime 5198 sse 598 6158 6 8 6798 APP 26 APPENDICES MELSEC Q Buffer memory address Memory 7076 7396 7716 8036 8356 8676 8996 9316 9636 9956 7084 7404 7724 8044 8364 8684 9004 9324 9644 9964 7086 7406 7726 8046 8366 8686 9006 9326 9646 9966 7087 7407 7727 8047 8367 8687 9007 9327 9647 9967 7094 7414 7734 8054 8374 8694 9014 9334 9654 9974 7096 7416 7736 8056 8376 8696 9016 9336 9656 9976 7104 7424 7744 8064 8384 8704 9024 9344 9664 9984 7106 7426 7746 8066 8386 8706 9026 9346 9666 9986 7115 7435 7755 8075 8395 8715 9035 9355 9675 9995 7117 7437 7757 8077 8397 8717 9037 9357 9677 9997 Positioning data Positioning data area APP 27 APPENDICES MELSEC Q so seo seo 11 5204 5524 5844 6164 6484 6804 Command speed 5205 5525 5845 6

QD74MH8/QD74MH16 User`s Manual (Details)

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