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".
For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON 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.
3. For injury prevention CAUTION 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 not touch the heat radiating fins of module or servo amplifier, regenerative resistor and servomotor, etc.
CAUTION 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.
CAUTION 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.
CAUTION Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Conditions Module/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual. Servomotor 0°C to +40°C (With no freezing) (32°F to +104°F) 80% RH or less (With no dew condensation) -20°C to +65°C (-4°F to +149°F) Indoors (where not subject to direct sunlight).
CAUTION 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.
(6) Usage methods CAUTION 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 have 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.
(7) Corrective actions for errors 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 a servomotor with electromagnetic brakes or install a brake mechanism externally.
CAUTION 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.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number May., 2005 Dec., 2011 IB(NA)-0300117-A IB(NA)-0300117-B Revision First edition [Partial correction] Safety instructions, Section 4.3.1 Partial change of sentence Japanese Manual Version IB-0300098 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS............................................................................................................................A- 1 REVISIONS ................................................................
3.2.3 QD75MH sub functions and common functions .............................................................................. 3- 8 3.2.4 Combination of QD75MH main functions and sub functions.......................................................... 3- 12 3.3 Specifications of input/output signals with PLC CPU ............................................................................ 3- 14 3.3.1 List of input/output signals with PLC CPU.....................................................................
5.2.7 Servo parameters (Basic setting) .................................................................................................... 5- 62 5.2.8 Servo parameters (Gain • filter setting)........................................................................................... 5- 68 5.2.9 Servo parameters (Expansion setting) ............................................................................................ 5- 80 5.2.10 Servo parameters (Input/Output setting) .................................
Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8- 16 8.1 Outline of OPR control ............................................................................................................................. 8- 2 8.1.1 Two types of OPR control ................................................................................................................. 8- 2 8.2 Machine OPR ......................................................................................................................
9.2.20 NOP instruction ............................................................................................................................ 9- 111 9.2.21 JUMP instruction .......................................................................................................................... 9- 112 9.2.22 LOOP............................................................................................................................................ 9- 114 9.2.23 LEND ................................
12. Control Sub Functions 12- 1 to 12-106 12.1 Outline of sub functions ....................................................................................................................... 12- 2 12.1.1 Outline of sub functions ................................................................................................................ 12- 2 12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4 12.2.
14. Dedicated Instructions 14- 1 to 14- 18 14.1 List of dedicated instructions ............................................................................................................... 14- 2 14.2 Interlock during dedicated instruction is executed .............................................................................. 14- 2 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 3 14.
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals Manual Number Manual Name (Model Code) GX Configurator-QP Operating Manual Describes how to use GX Configurator-QP for the following and other purposes: creating data (parameters, positioning data, etc.), sending the data to the module, monitoring the positioning operations, and testing. SH-080172 (13JU19) (The manual is supplied with the software.
Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75MH can be mounted. QD75MH Generic term for positioning module QD75MH1, QD75MH2 and QD75MH4. The module type is described to indicate a specific module. MR-J3-B Servo amplifier: Abbreviation for MR-J3-B.
Section 1 Section 1 Product Specifications and Handling Section 1 is configured for the following purposes (1) to (5).
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1 Chapter 1 Product Outline The purpose and outline of positioning control using QD75MH are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ..............................................................................................
1 PRODUCT OUTLINE MELSEC-Q 1.1 Positioning control 1.1.1 Features of QD75MH The features of the QD75MH are shown below. (1) Availability of one, two, and four axis modules (a) One, two and four axis positioning modules are available. They can be selected according to the PLC CPU type and the number of required control axes. (Refer to Section 2.2.) (b) For connecting any of the QD75MH modules to the base unit, a single slot and 32 dedicated I/O channels are required.
1 PRODUCT OUTLINE MELSEC-Q (c) 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 5.3 and 9.1.2.) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. (Refer to Section 10.3.2.) (d) OPR control is given additional features (Refer to Section 8.2.
1 PRODUCT OUTLINE MELSEC-Q (6) Control can be realized with the mechanical system input The external inputs, such as external start, stop, and speed/position switching is used to perform the positioning control without using the PLC program. (7) Easy maintenance Each QD75MH 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 QD75MH, eliminating the need of a battery for retaining data.
1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.
1 PRODUCT OUTLINE MELSEC-Q Lifter (Storage of Braun tubes onto aging rack) • During the aging process of Braun tubes, Unloader Loader/unloader • The up/down positioning of the lifter is carried B conveyor Aging rack Lifter C conveyor A conveyor Counterweight Loader out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo. Servo amplifier G2 Reduction gears G1 storage onto the rack is carried out by positioning with the AC servo.
1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Mechanism of positioning control In the positioning system using the QD75MH, various software and devices are used for the following roles. The QD75MH realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. Stores the created program. Creates control order and conditions as a sequence program. The QD75MH outputs the start signal and stop signal following the stored program. QD75MH errors, etc.
1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Overview of positioning control functions The outline of the "overview of positioning control" and "overview of individual positioning control and continuous positioning control", "overview of block positioning control" and "overview of acceleration/deceleration processing control" is shown below. Positioning control An overview of positioning using positioning data described below.
1 PRODUCT OUTLINE MELSEC-Q (Note) (b) 2-axis linear interpolation control This controls interpolation along a linear locus from the start point address (current stop position) defined by two axes. [Control using the absolute system] 1) This performs linear interpolation using two axes from the start point address to the endpoint address. 2) The start point address and the specified address determine the direction of travel.
1 PRODUCT OUTLINE MELSEC-Q (2) Circular interpolation control (Note) There are two types of circular interpolation controls: circular interpolation with a specified sub point and circular interpolation with the specified center point. (a) Circular interpolation with a specified sub point Circular interpolation is performed using the specified endpoint address and sub point (passing point) address. Two methods are available: absolute system and increment system.
1 PRODUCT OUTLINE MELSEC-Q (3) Fixed-feed control This performs positioning for the specified increment of travel.
1 PRODUCT OUTLINE MELSEC-Q (5) Speed-position switching control This starts positioning under speed control, and switches to position control according to the input of the QD75MH speed-position switching signal and perform positioning for the specified increment of travel.
1 PRODUCT OUTLINE MELSEC-Q Individual positioning control and continuous positioning control The QD75 performs positioning according to the user-set positioning data, which is a set of information comprised of the control method (position control, speed control, speed-position switching control), positioning address, operation pattern, and so on. Up to 600 of positioning data are assigned respectively to positioning data Nos. 1 to 600 per axis and registered to the QD75MH.
1 PRODUCT OUTLINE MELSEC-Q (2) Continuous positioning control (operation pattern = 01: positioning continues) The operation stops temporarily upon the completion of positioning for the specified positioning data, and then continues with the next positioning data number. This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers.
1 PRODUCT OUTLINE MELSEC-Q (3) Continuous path control (operation pattern = 11: positioning continue) After executing positioning using the specified positioning data, the operation changes its speed to that of the next positioning data number and continues positioning. This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed.
1 PRODUCT OUTLINE MELSEC-Q Block positioning control Block positioning is a control that continuously executes the positioning of specified blocks. One block equivalent to a series of positioning data up to the completion of positioning (operation pattern = 00) by Independent or continuous positioning control. A maximum of 50 blocks per axis can be specified. Using a one-time start command from the QCPU or external, complex positioning control can be performed.
1 PRODUCT OUTLINE MELSEC-Q Overview of acceleration/deceleration processing control Acceleration/deceleration processing for the positioning processing, manual pulsegenerator processing, OPR processing and JOG processing is performed using the user-specified method, acceleration time and deceleration time.
1 PRODUCT OUTLINE MELSEC-Q 1.1.5 Outline design of positioning system The outline of the positioning system operation and design, using the QD75MH, is shown below. (1) Positioning system using QD75MH PLC CPU Positioning command Control command OS Read, write and etc.
1 PRODUCT OUTLINE MELSEC-Q 1.1.6 Communicating signals between QD75MH and each module The outline of the signal communication between the QD75MH (positioning module) and PLC CPU, peripheral device and servo amplifier, etc., is shown below.
1 PRODUCT OUTLINE MELSEC-Q QD75MH PLC CPU The QD75MH and PLC CPU communicate the following data via the base unit. Direction QD75MH Communication PLC CPU Signal indicating QD75MH state • QD75 READY signal • BUSY signal and etc. Control signal • Parameter • Positioning data • Block start data • Control data • Monitor data Data (read/write) PLC CPU QD75MH Signal related to commands • PLC READY signal • Various start signals • Stop signals • All axis servo ON signal and etc.
1 PRODUCT OUTLINE MELSEC-Q QD75MH Manual pulse generator The QD75MH and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.
1 PRODUCT OUTLINE MELSEC-Q 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75MH, are shown below. GX Configurator-QP 1) Design QD75MH PLC CPU GX Developer Understand the functions and performance, and determine the positioning operation method (system design) 2) 3) Servo, etc.
1 PRODUCT OUTLINE MELSEC-Q The following work is carried out with the processes shown on the previous page. Details Reference Understand the product functions and usage methods, the configuration devices 1) and specifications required for positioning control, and design the system. 2) Install the QD75MH onto the base unit, wire the QD75MH and external connection devices (drive unit, etc.).
1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared.
1 PRODUCT OUTLINE MELSEC-Q Setting method : Indicates the PLC program that must be created. Write Set with GX Configurator-QP Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. QD75MH Write Create PLC program for setting data PLC CPU Write When set with "GX Configurator-QP", this does not need to be created.
1 PRODUCT OUTLINE MELSEC-Q 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the Servo READY signal is turned OFF. When a PLC CPU error occurs. When the PLC READY signal is turned OFF. When an error occurs in the QD75MH. When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop signal from an external device, etc.). The outline for the stopping process in these cases is shown below.
1 PRODUCT OUTLINE Stop cause MELSEC-Q Axis Stop process operation OPR control Manual control M code status Stop Major High-level Manual ON signal after Machine Fast positioning positioning JOG/ axis pulse after stop stopping OPR OPR control Inching control generator operation ( Md.
1 PRODUCT OUTLINE MELSEC-Q 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.6 Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No.
Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using QD75MH, the configuration devices, applicable CPU and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system .............................................................................................2- 2 2.2 Component list............................................
2 SYSTEM CONFIGURATION MELSEC-Q 2.1 General image of system The general image of the system, including the QD75MH, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list". Main base unit Extension cable 2 Positioning module 1 CPU module I/O module 1 5 Extension system USB cable 4 RS-232 cable REMARK 1 Refer to Section "2.3 Applicable system" for the CPU modules that can be used.
2 SYSTEM CONFIGURATION MELSEC-Q 6 Servo amplifer Motor Extenal connector of servo amplifer Upper/lower stroke limit switch Near-point dog signal Manual pulse generator 7 SSCNET cable 8 9 Machine system inputs (switches) Cable Forced stop input signal Upper/lower stroke limit switch External-command signal/switching signal Stop signal Near-point dog signal Peripheral device Personal computer 2 3 GX Configurator -QP SW D5C 3 -QD75P-E (For details, refer to GX Configurator -QP Operating Manual.
2 SYSTEM CONFIGURATION MELSEC-Q 2.2 Component list The positioning system using the QD75MH is configured of the following devices. No. 1 Part name Type QD75MH1 Positioning module QD75MH2 QD75MH4 Remarks QD75MH Number of control axes MH: SSCNET model 2 GX ConfiguratorQP SW D5C-QD75PRefer to GX Configurator-QP Operating Manual for details. E 3 Personal computer DOS/V personal computer (Prepared by user) Refer to GX Configurator-QP Operating Manual for details.
2 SYSTEM CONFIGURATION Part name SSCNET cable MELSEC-Q Type Remarks MR-J3BUSM • Connection between QD75MH and MR-J3-B. • Connection between MR-J3-B and MR-J3-B. • Standard code for inside panel. • 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.) MR-J3BUSM-A • Connection between QD75MH and MR-J3-B. • Connection between MR-J3-B and MR-J3-B. • Standard code for outside panel. • 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.
2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD75MH can be used in the following system. (1) Applicable modules and the number of installable modules The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75MH and the number of installable modules. Applicable modules Number of installable modules Q00JCPU Remarks Max. 8 modules ( 1) Q00CPU Max. 24 modules Q01CPU Q02CPU CPU Q02HCPU Installable in the Q mode module Max.
2 SYSTEM CONFIGURATION MELSEC-Q (4) Supported software packages The following table lists the compatibility between the systems using the QD75MH and the software packages. GX Developer is required for use of the QD75MH.
2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and SERIAL No. The function version and the SERIAL No. of the QD75MH can be checked in the following methods. [1] Method using the rated plate on the module side face [2] Method using the software [1] Method using the rated plate on the module side face Check the alphabet of "SERIAL". SERIAL No.
Chapter 3 Specifications and Functions 3 The various specifications of the QD75MH are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system. 3.1 Performance specifications ....
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.1 Performance specifications Model Item No.
3 SPECIFICATIONS AND FUNCTIONS Model MELSEC-Q QD75MH1 Item QD75MH2 QD75MH4 1-axis linear control 1-axis speed control 2-axis linear interpolation control (Composite speed) 2-axis linear interpolation control (Reference axis speed) 2-axis circular interpolation control 2-axis speed control Starting time (ms) 2 3-axis linear interpolation control (Composite speed) 3-axis linear interpolation control (Reference axis speed) 3-axis speed control 4-axis linear interpolation control 4-axis speed control Ext
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions 3.2.1 QD75MH control functions The QD75MH has several functions. In this manual, the QD75MH functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Main functions OPR control Sub functions Control registered in QD75MH (Functions characteristic to machine OPR) OPR retry function [Positioning start No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.2 QD75MH main functions The outline of the main functions for positioning control with the QD75MH is described below. (Refer to "Section 2" for details on each function.) Details Reference section Machine OPR control Mechanically establishes the positioning start point using a near-point dog or stopper. (Positioning start No. 9001) 8.2 Fast OPR control Positions a target to the OP address ( Md.21 Machine feed value) stored in the QD75MH using machine OPR.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Block start (Normal start) With one start, executes the positioning data in a random block with the set order. 10.3.2 Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.3 QD75MH sub functions and common functions Sub functions The functions that assist positioning control using the QD75MH are described below. (Refer to Section 2 for details on each function.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data". 12.7.1 Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. 12.7.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Common functions The outline of the functions executed as necessary are described below. (Refer to Section 2 for details on each function.) Common functions Details Reference section Parameter initialization function This function returns the "parameters" stored in the QD75MH buffer memory and flash ROM to the default values. The following two methods can be used. 1) Method using PLC program 2) Method using GX Configurator-QP 13.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q MEMO 3 - 11
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.4 Combination of QD75MH main functions and sub functions With positioning control using the QD75MH, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. Functions characteristic to Main functions OPR control Combination with operation pattern.
3 3 3 - 13 control". For combinations with the sub functions, refer to the combinations of the "major positioning control" and sub functions. REMARK • The "common functions" are functions executed as necessary. (These are not combined • "High-level positioning control" is a control used in combination with the "major positioning with the control.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The QD75MH uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75MH is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75MH to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD75MH.
3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signals (QD75MH MELSEC-Q PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details No. X0 QD75 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting OFF: Not READY/ range is checked. If no error is found, this signal turns ON. Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Important 1: The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not to be detected in the PLC program. 2: "Positioning complete" of the QD75MH refers to the point when the pulse output from QD75MH is completed. Thus, even if the QD75MH's positioning complete signal turns ON, the system may continue operation.
3 SPECIFICATIONS AND FUNCTIONS 3.3.3 Detail of output signals (PLC CPU MELSEC-Q QD75MH) The ON/OFF timing and conditions of the output signals are shown below. Device No. Y0 PLC READY Signal name OFF: PLC READY OFF ON: PLC READY ON Details (a) This signal notifies the QD75MH that the PLC CPU is normal. • It is turned ON/OFF with the PLC program.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of interfaces with external devices 3.4.1 Electrical specifications of input signals Input specifications Signal name Rated input Working voltage/current voltage range Forced stop input signal (EMI) Upper limit signal (FLS) Lower limit signal (RLS) Stop signal (STOP) 24VDC/5mA 19.2 to 26.4VDC 5VDC/5mA 4.5 to 6.1VDC ON voltage/current OFF voltage/current Input resistance Response time 17.5VDC or more/ 7VDC or less/ Approx. 6.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD75MH and external device, are shown below. The signal layout for the QD75MH external device connection connector is shown.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input signal details The details of each QD75MH external device connection connector are shown below: Signal name Manual pulse generator A phase Manual pulse generator B phase Pin No. AX1 AX2 AX3 AX4 1A19 1A20 — Signal details (Negative logic is selected by external input signal logic selection) • Input the pulse signal from the manual pulse generator A phase and B phase.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Interface internal circuit The outline diagrams of the internal circuits for the QD75MH1 external device connection interface are shown below. (1) Input External wiring When Upper-limit switch is not used When Lower-limit switch is not used 2 24VDC Pin No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.5 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 QD75MH external device connection interface are shown next page.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (1) Example when using the forced stop of the QD75MH Alarm Ra1 Forced stop Operation ready OFF ON 1 MC MC SK MC NFB Servo amplifer U V L1 MR-J3-B U L2 V L3 W A 3-phase 200VAC to 230VAC CP3 SSCNET Ground 7 L11 L21 W CN1B EM1 DOCOM 3 24VDC Servo amplifer B U V U V W W Ground 7 L11 CN1B CP1 EM1 DOCOM C L11 L21 2 EMI.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (2) Example when using the forced stop of the QD75MH and MR-J3-B Alarm Ra1 Forced stop Operation ready OFF ON 1 MC MC SK MC NFB Servo amplifer U V L1 MR-J3-B U L2 V L3 W A 3-phase 200VAC to 230VAC CP3 L21 SSCNET Ground 6 L11 W CN1B ALM EM1 Ra3 Electromagnetic breake 2 Ra3 Ra2 DOCOM 24VDC Servo amplifer L1 MR-J3-B L2 B U V U V W W Ground 6 L11 L21 SM 0 DICOM CN1A L3 Servomotor Servomotor SM Ra4 Electromagnetic breake 2 1 DICOM
Chapter 4 Installation, Wiring and Maintenance of the Product 4 The installation, wiring and maintenance of the QD75MH are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75MH, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions. 4.1 Outline of installation, wiring and maintenance ................................
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD75MH installation, wiring and maintenance are shown below. STEP 1 Preparation Refer to Section 4.1 STEP 2 Installing the module Refer to Section 4.2 STEP 3 Refer to Section 4.2 STEP 4 Refer to Section 4.3 Wiring the module STEP 5 Refer to Section 4.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.2 Names of each part (1) The part names of the QD75MH are shown below: For QD75MH4 (1) RUN indicator LED, ERR indicator LED QD75MH4 RUN ERR AX1 AX2 AX3 AX4 (2) Axis display LED QD75MH4 AX3 AX4 AX1 AX2 (3) External device connector (40-pin connector) AX1: Axis 1 AX2: Axis 2 AX3: Axis 3 AX4: Axis 4 Refer to Section 3.4.2 "Signal layout for external device connection connector" for details. (4) SSCNET No.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (2) The LED display indicates the following operation statuses of the QD75MH and axes. QD75MH4 RUN ERR AX1 AX2 AX3 AX4 QD75MH4 Display RUN ERR RUN ERR RUN ERR RUN ERR Attention point Description AX1 AX2 RUN is OFF. AX3 AX4 Display RUN Hardware failure, watch dog timer error AX1 AX2 RUN illuminates. AX3 ERR is OFF. AX4 AX1 AX2 AX3 ERR illuminates. AX4 AX1 AX2 AX1 to AX4 are AX3 OFF. AX4 ERR RUN The module operates normally.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.3 Handling precautions Handle the QD75MH and cable while observing the following precautions. [1] Handling precautions ! CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [2] Other precautions (1) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the QD75MH PCB from the case. Failure to observe this could lead to faults. (2) 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.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the QD75MH are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. [1] Precautions for SSCNET cable wiring SSCNET cable is made from optical fiber.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (4) Twisting If SSCNET 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 SSCNET cable may occur at worst. [2] Precautions for SSCNET cable wiring Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on connector.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [3] Precautions for installation ! DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so may cause electric shocks. ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3 Wiring The precautions for wiring the QD75MH are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring DANGER 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.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q CAUTION After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions. Do not remove the SSCNET cable while turning on the power supply of QD75MH and servo amplifier. Do not see directly the light generated from SSCNET connector and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q CAUTION If the adhesion of solvent and oil to the cord part of SSCNET 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 QD75MH or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring example of shielded cable] The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used. Connector (A6CON1) For forced stop input signal Shielded cable For limit signal and etc. For manual paluse generator signal To QD75MH The length between the connector and the shielded cables should be the shortest possible. 4 - 13 Use the shortest possible length to ground the 2mm or more FG wire.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT [Processing example of shielded cables] Connections of FG wire and each shielded cable Remove the covering from all shielded cables and bind the appeared shield with a conductive tape. Coat the wire with insulaing tape. Solder the shield of any one of the shielded cables to the FG wire. Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (5) To make this product conform to the EMC directive and low voltage instruction, be sure to used of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable. Inside control box QD75MH 20cm(7.88inch) to 30cm(11.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Relay Servo Servo amplifier amplifier Relay Control panel QD 75 MH PLC Noise source The servo amplifiers are placed (Power system, etc.) The connection cable between near the noise source. the QD75MH and servo amplifiers is too long.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the following points when completed with the QD75MH installation and wiring. • Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the QD75MH are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. ! DANGER Completely turn off the externally supplied power used in the system before clearing or tightening screws. Not doing so may cause electric shocks. ! CAUTION Never disassemble or modify the module.
Chapter 5 Data Used for Positioning Control The parameters and data used to carry out positioning control with the QD75MH are explained in this chapter. With the positioning system using the QD75MH, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD75MH include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.) Positioning parameters Parameters Pr.1 to Pr.57 ) ) Pr.1 to Pr.42 ) ) Pr.80 to Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Even when the PLC READY signal [Y0] is ON, the values or contents of the following can be changed: basic parameters 2, detailed parameters 2, positioning data, and block start data. The servo parameter is transmitted from QD75MH to the servo amplifier when the initialized communication carried out after the power supply is turned ON or the PLC CPU is reset.
5 DATA USED FOR POSITIONING CONTROL Monitor data MELSEC-Q (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) : Md.1 to Md.50 , Md.100 to Md.111 System monitor data Monitors the QD75MH specifications and the operation history. Md.1 to Md.19 , Md.50 ) Monitors the data related to the operating axis, such as the current position and speed. ) Axis monitor data Md.20 to Md.48 , Md.100 to Md.
5 DATA USED FOR POSITIONING CONTROL MEMO 5-5 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to Section 2. For details of setting items, refer to "5.2 List of parameters". Detailed parameters 1 Basic parameters 2 Basic parameters 1 : : : : – : Manual control Pr.1 Unit setting Pr.2 No.
5 DATA USED FOR POSITIONING CONTROL Manual control – – – Pr.28 Deceleration time 1 – – – Pr.29 Deceleration time 2 – – – Pr.30 Deceleration time 3 – – – Pr.31 JOG speed limit value Pr.32 Pr.33 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to Chapter 8 "OPR control" for details on the "OPR control", and to Section 5.2 "List of parameters" for details on each setting item.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.4 Setting items for servo parameters The servo parameters are used to control the servomotor and the data that is determined by the specification of the servo being used. The table below lists items set to the servo parameters. Servo amplifier MR-J3-B Remark Gain • filter setting parameters Basic setting parameters Servo parameters Pr.100 Servo series Pr.102 Regenerative brake option Pr.103 Absolute position detection system Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Servo amplifier MR-J3-B Remark I/O setting parameters Expansion setting parameters Gain • filter parameters Servo parameters Pr.146 Gain changing time constant Pr.147 Gain changing ratio of load inertia moment to servomotor inertia moment Pr.148 Gain changing position loop gain Pr.149 Gain changing speed loop gain Pr.150 Gain changing speed integral compensation Pr.151 Gain changing vibration suppression control vibration frequency setting Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.5 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control". For details of the individual setting items, refer to Section 5.3 "List of positioning data".
5 DATA USED FOR POSITIONING CONTROL Checking the positioning data The items Da.1 to Da.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 13 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.6 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.7 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.8 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. • System monitoring: Monitoring of the QD75MH configuration and operation history (through the system monitor data Md.1 through Md.19 , Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring details Corresponding item Number of write accesses to the flash ROM after the Number of write accesses to flash ROM Md.19 power is switched ON Forced stop input signal turn ON/OFF Forced stop input signal (EMI) information No. of write accesses to flash ROM Md.50 Forced stop input [2] Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring the state Monitor details Corresponding item Monitor the axis operation state Md.26 Axis operation status Monitor the latest error code that occurred with the axis Md.23 Axis error No. Monitor the latest warning code that occurred with the axis Md.24 Axis warning No. Md.30 External input/output signal Md.31 Status Monitor the valid M codes Md.25 Valid M code Monitor whether the speed is being limited Md.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 19 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.9 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the PLC program.) Controls are performed over system data or machine operation. • Controlling the system data : Setting and resetting QD75MH setting data (through the system control data Cd.1 , Cd.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [2] Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.). Cd.3 Positioning start No. Clear (reset) the axis error ( Md.23 ) and warning ( Md.24 ). Cd.5 Axis error reset Issue instruction to restart (When axis operation is stopped). Cd.6 Restart command End current positioning (deceleration stop), and start next positioning. Cd.37 Skip command Set start point No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Making settings related to operation Control details Corresponding item Turn M code ON signal OFF. Cd.7 M code OFF request Set new value when changing current value. Cd.9 New current value Validate speed-position switching signal from external device. Cd.24 Speed-position switching enable flag Change movement amount for position control during speedposition switching control (INC mode). Cd.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 23 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value, setting range Item Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.2 to Pr.4 Electronic gear Mechanical system value used when the QD75MH performs positioning control. The settings are made using Pr.2 to Pr.4 . The electronic gear is expressed by the following equation. Electronic gear = No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q However, the maximum value that can be set for this "movement amount per rotation (AL)" parameter is 20000000.0µm (20m). Set the "movement amount per rotation (AL)" as shown below so that the "movement amount per rotation (AL)" does not exceed this maximum value. Movement amount per rotation (AL) = PB × 1/n = Movement amount per rotation (AL) × Unit magnification (AM) Note) The unit magnification (AM) is a value of 1, 10, 100 or 1000.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 27 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.2 Basic parameters 2 Item Setting value, setting range Value set with peripheral device Value set with PLC program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the " Pr.1 Unit setting". Pr.8 Here, the value within the [Table 1] range is set. Speed limit value Pr.9 Acceleration time 0 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (×10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (×10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 1 1 to 2000000000 (×10-3degree/min) 2 3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 1: The speed limit value setting range is 0.001 to 2000000.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.3 Detailed parameters 1 Setting value, setting range Item Value set with peripheral device Value set with PLC program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs according to the " Pr.1 Unit Pr.11 Backlash compensation amount setting". Here, the value within the [Table 1] range is set.
5 DATA USED FOR POSITIONING CONTROL 0≤ ( Pr.11 Backlash compensation amount) MELSEC-Q ( Pr.2 No. of pulses per rotation) ( Pr.3 Movement amount per pulse) ( = A) ≤ 65535 (PLS) ….(1) An error (error code: 920) occurs when " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per pulse" and " Pr.11 Backlash compensation amount" setting range is 0 to 65535. (the calculation result of the following (1) ) A servo alarm (error code: 2032, 2035 etc.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range. To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (The setting value can be anything.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 1000%. The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, it is controlled with the set torque limit value. (Refer to "12.4.2 Torque limit function".) [Table 1] Value set with peripheral device (unit) Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Value set with PLC program Pr.19 0 : Standard speed switching mode 0 Speed switching mode 1 : Front-loading speed switching mode 1 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.19 Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching............... Switch the speed when executing the next positioning data. 1 : Front-loading switching ........ The speed switches at the end of the positioning data currently being executed.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.21 Current feed value during speed control Specify whether you wish to enable or disable the update of " Md.20 Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: The update of the current feed value is disabled The current feed value will not change. (The value at the beginning of the speed control will be kept.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.24 Manual pulse generator input selection Set the manual pulse generator input pulse mode. (Only the value specified against the axis 1 is valid.) 0: A-phase/B-phase; multiplied by 4 1: A-phase/B-phase; multiplied by 2 2: A-phase/B-phase; multiplied by 1 3: PLS/SIGN Pr.81 Speed-position function selection Select the mode of speed-position switching control.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min) 2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (× 10-3degree/min) 2 3 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 3 : PLS 1: For Select type, refer to GX Configurator-QP Operating Manual.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Pr.34 Acceleration/deceleration process selection Value set with peripheral device 0 : Automatic trapezoid acceleration/deceleration process 1 : S-pattern acceleration/deceleration process Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.35 S-pattern ratio Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) A Positioning speed B B/2 V B/2 t When S-pattern ratio is 100% V Positioning speed b sin curve S-pattern ratio = B/A a 100% 5 - 41 b/a = 0.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.36 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.8 Speed limit value" during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start When positioning is started, the acceleration starts following the "acceleration time". 2) Sudden stop cause occurrence When a "sudden stop cause" occurs, the deceleration starts following the "sudden stop deceleration time". Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.37 Stop group 1 sudden stop selection to Pr.39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 .............. Stop with hardware stroke limit • Stop group 2 .............. Error occurrence of the PLC CPU, PLC READY signal [Y0] OFF, Fault in test mode • Stop group 3 ..............
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Pr.40 0 to 65535 (ms) Positioning complete signal output time Value set with PLC program 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535: Convert into hexadecimal and set The setting value range differs depending on the " Pr.1 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 0 : mm 0 to 10000.0 (µm) 0 to 100000 (× 10-1µm) 1 : inch 0 to 1.00000 (inch) 0 to 100000 (× 10-5inch) 2 : degree 0 to 1.00000 (degree) 0 to 100000 (× 10-5degree) 3 : PLS 0 to 100000 (PLS) 0 to 100000 (PLS) Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.42 External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation. The new speed should be set in the " Cd.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.84 Restart allowable range when servo OFF to ON (1) What is the restart function when servo OFF to ON ? The QD75MH restart function when servo OFF changes to ON, performs continuous positioning operation (positioning start, restart) when the servo is switched from OFF to ON in the stopped state (including servo emergency stop).
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 2) When the difference between the last command position of the QD75MH at the time the servo stop signal turned ON and the present value at the time the servo stop signal turned OFF is greater than the value set in the buffer memory for the restart allowable range setting, the positioning operation is judged as on-standby and cannot be restarted.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Precautionary notes (a) The difference between the last command position when the servo turned OFF and the present value when the servo turned ON, is output at the first operation of restart. If the restart allowable range is large at this time, an overload may occur on the servo side. Set the "restart allowable range when servo OFF changes to ON" to a value where the mechanical system will not be affected by a signal output.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.5 OPR basic parameters Setting value, setting range Item Value set with peripheral device 0 : Near-point dog method 4 : Count method 1) 5 : Count method 2) 6 : Data set method Pr.43 OPR method Value set with PLC program 0 4 5 6 Default value 0 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 70 220 370 520 Pr.43 OPR method Set the "OPR method" for carrying out machine OPR. 0 : Near-point dog method ........
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4 : Count method 1) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) (2) Detect the near-point dog ON, and start deceleration. Pr.50 V Pr.46 OPR speed (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in " Pr.50 Setting for the movement amount Setting for the movement amount after near-poing dog ON (2) Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with PLC program Value set with peripheral device Pr.44 OPR direction 0 : Positive direction (address increment direction) 1 : Negative direction (address decrement direction) Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 0 71 221 371 521 0 72 73 222 223 372 373 522 523 1 74 75 224 225 374 375 524 525 1 The setting value range differs depending on the " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device (unit) Pr.1 setting value Value set with PLC program (unit) 0 : mm -214748364.8 to 214748364.7 (µm) -2147483648 to 2147483647 (× 10-1µm) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (× 10-5inch) 2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree) 3 : PLS -2147483648 to 2147483647 (PLS) -2147483648 to 2147483647 (PLS) [Table 2] Pr.
5 DATA USED FOR POSITIONING CONTROL Value set with peripheral device Creep speed Pr.48 OPR retry Default value Setting value, setting range Item Pr.47 MELSEC-Q Value set with PLC program The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.48 OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite the OPR direction (3)).
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.6 OPR detailed parameters Item Setting value, setting range Value set with peripheral device Value set with PLC program The setting value range differs depending on the " Pr.1 Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Unit Pr.50 setting". Here, the value within the [Table 1] range is set. Setting for the movement amount after near-point dog [Table 1] on right page ON 0 : Pr.9 Acceleration time 0 0 Pr.51 1 : Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 0 : mm 0 to 214748364.7 (µm) 0 to 2147483647 (× 10-1µm) 1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 (× 10-5inch) 2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 (× 10-5degree) 3 : PLS 0 to 2147483647 (PLS) 0 to 2147483647 (PLS) Example of setting for " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Default value Value set with PLC program Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting". Pr.53 Here, the value within the [Table 1] range is set. OP shift amount Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with PLC program (unit) 0 : mm -214748364.8 to 214748364.7 (µm) -2147483648 to 2147483647 (× 10-1µm) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (× 10-5inch) 2 : degree -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (× 10-5degree) 3 : PLS -2147483648 to 2147483647 (PLS) -2147483648 to 2147483647 (PLS) Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.56 Speed designation during OP shift Set the operation speed for when a value other than "0" is set for " Pr.53 OP shift amount". Select the setting from " Pr.46 OPR speed" or " Pr.47 Creep speed". 0 : Designate " Pr.46 OPR speed" as the setting value. 1 : Designate " Pr.47 Creep speed" as the setting value. Pr.57 Dwell time during OPR retry When OPR retry is validated (when "1" is set for Pr.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 61 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.7 Servo parameters (Basic setting) Do not set other than the buffer memory addresses of the servo parameters in this section. Item 2 Setting details Setting value Used to select the servo amplifier series, which is connected to the QD75MH. POINT Pr.100 Servo series Be sure to set up servo series. Communication with servo amplifier isn't started by the initial value "0" in default value. (The LED indication of servo amplifier indicates "Ab".
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to 1 0 30100 30300 30500 30700 0000H 30102 30302 30502 30702 0 30103 30303 30503 30703 0000H 30104 30304 30504 30704 1H 30108 30308 30508 30708 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 0 H Regenerative brake option selection 1: is used to set up the se
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Basic setting Setting value Pr.109 (PA09) Pr.110 (PA10) Auto tuning response In-position range Used to set the response of auto tuning. (When " Pr.108 Auto tuning mode" is valid) Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to improve tracking performance in response to a command and to reduce setting time.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 1 to 32 12 30109 30309 30509 30709 0 to 50000 100 30110 30310 30510 30710 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PA corresponds with servo parameter No. of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.114 Basic setting (PA14) 3 Rotation direction selection Used to set the rotation direction of the servomotor. Encoder output pulses Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or Bphase pulses. You can use " Pr.166 Encoder output pulses selection" to choose "0: Output pulse designation" or "1: Division ratio setting".
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to 1 0 30114 30314 30514 30714 1 to 65535 4000 30115 30315 30515 30715 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PA corresponds with servo parameter No. of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.8 Servo parameters (Gain • filter setting) Do not set other than the buffer memory addresses of the servo parameters in this section. Item 2 Setting details Setting value Pr.119 Adaptive tuning mode (Adaptive filter ) Vibration suppression control filter tuning mode (advanced vibration suppression control) • Used to set the vibration suppression control filter tuning mode of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to 2 0 30119 30319 30519 30719 0 to 2 0 30120 30320 30520 30720 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PB corresponds with servo parameter No. of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Feed forward gain • Used to set the feed forward gain of the positioning control. When the setting is 100[%], the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. (As a guideline, when the feed forward gain setting is 100[%], set 1[s] or more as the acceleration/deceleration time constant up to the rated speed).
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to 100 0 30122 30322 30522 30722 0 to 3000 70 30124 30324 30524 30724 1 to 2000 24 30125 30325 30525 30725 1 to 1000 37 30126 30326 30526 30726 20 to 50000 823 30127 30327 30527 30727 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PB corresponds with s
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.128 (PB10) Pr.129 Gain• filter setting (PB11) Pr.131 (PB13) Pr.132 (PB14) Pr.133 (PB15) • Used to set the integral time constant of the speed loop. • Higher setting increases the response level but is liable to generate vibration and/or noise. Speed integral compensation • When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. When " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 1 to 10000 337 30128 30328 30528 30728 0 to 1000 980 30129 30329 30529 30729 100 to 4500 4500 30131 30331 30531 30731 0000H 30132 30332 30532 30732 4500 30133 30333 30533 30733 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 0 H Notch depth selection Notch wi
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.134 (PB16) Pr.136 Notch form selection 2 • Use to selection the machine resonance suppression filter 2. Low-pass filter • Use to set the low pass filter. • Setting " Pr.141 Low-pass filter selection" to "0: Automatic selection" automatically changes this parameter. 100 to 18000[rad/s] • When " Pr.141 Low-pass filter selection" is set to "1: Manual selection", this parameter can be set manually.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 H Machine resonance suppression filter 2 Notch depth selection Notch width selection 1: is used to set up the setting value.
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.141 (PB23) Pr.142 Gain• filter setting (PB24) 3 0: Automatic selection Low-pass filter selection Slight vibration suppression control selection Select the low pass filter. • Select the slight vibration suppression control and PI-PID change. • When " Pr.108 Auto tuning mode" is set to "3: Manual mode", this parameter is made valid. 1: Manual selection (" Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 0 0 H 0000H 30141 30341 30541 30741 0000H 30142 30342 30542 30742 0000H 30144 30344 30544 30744 0 to 9999 10 30145 30345 30545 30745 0 to 100 1 30146 30346 30546 30746 Low pass filter selection 1: is used to set u
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.147 (PB29) Pr.148 (PB30) Pr.149 (PB31) Pr.150 Gain• filter setting (PB32) Pr.151 (PB33) Gain changing ratio of load inertia moment to servomotor inertia moment • Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. 0.0 to 300.0[Times] • This parameter is made valid when the auto tuning is invalid (" Pr.108 Auto tuning mode" : 3).
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to 3000 70 30147 30347 30547 30747 1 to 2000 37 30148 30348 30548 30748 20 to 50000 823 30149 30349 30549 30749 1 to 50000 337 30150 30350 30550 30750 1 to 1000 1000 30151 30351 30551 30751 1 to 1000 1000 30152 30352 30552 30752 Axis 1 Axis 2 Axis
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.9 Servo parameters (Expansion setting) Do not set other than the buffer memory addresses of the servo parameters in this section. Item 2 Setting details Setting value Pr.164 (PC01) 3 Error excessive alarm level • Set error excessive alarm level with rotation amount of servomotor. Pr.165 Electromagnetic brake sequence output • Used to set the delay time between electronic brake 0 to 1000[ms] interlock (MBR) and the base drive circuit is shut-off.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 1 to 200 3 30164 30364 30564 30764 0 to 1000 0 30165 30365 30565 30765 0000H 30166 30366 30566 30766 0000H 30167 30367 30567 30767 0 to 1 0 30168 30368 30568 30768 0 to 10000 50 30170 30370 30570 30770 0 to D 0H 30172 30372 30572 30772 Axis 1 Axis
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value 7: Droop pulses 3 (Note-1) ( 10V/1 x 10 [PLS]) 8: Droop pulses 4 (Note-1) ( 10V/1 x 10 [PLS]) Pr.172 (PC09) Analog monitor output 1 Used to set the output signal from analog monitor output 1 of the servo amplifier. (Note-1): Encoder pulse unit. (Note-2): 8V is outputted at the maximum torque. (Note-3): It can be used by absolute position detection system.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to D 0H 30172 30372 30572 30772 0 to D 1H 30173 30373 30573 30773 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PC corresponds with servo parameter No. of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.173 Expansion setting (PC10) Pr.174 (PC11) Pr.175 (PC12) Analog monitor output 2 C: Feedback position 8 (Note-1), ( 10V/1 x 10 [PLS]) (Note-3) D: Bus voltage ( 8V/400V) Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 (MO1) output. -999 to 999[mV] Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 (MO2) output.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value 0 to D 1H 30173 30373 30573 30773 -999 to 999 0 30174 30374 30574 30774 -999 to 999 0 30175 30375 30575 30775 0 to 1 0 30180 30380 30580 30780 Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 2: The PC corresponds with servo parameter No. of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.10 Servo parameters (Input/output setting) Do not set other than the buffer memory addresses of the servo parameters in this section. Item 2 Setting details Setting value 00: Always OFF 01: Maker setting (Note-3) 02: RD (Servo ON) 03: ALM (Servo alarm) 04: INP (In-position) (Note-1) 05: MBR (Electromagnetic brake interlock) Pr.202 (PD07) 3 Used to select the output signal (CN3-13 pin) of the servo amplifier.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 0 H Output signal device selection 1 1: 30202 30402 30602 30802 0004H 30203 30403 30603 30803 is used to set up the setting value.
5 DATA USED FOR POSITIONING CONTROL Item 2 MELSEC-Q Setting details Setting value Pr.203 (PD08) 3 Used to select the output signal (CN3-9 pin) of the servo amplifier. (Note-1): It becomes to always OFF in speed control Output signal device selection mode. 2(CN3-9) (Note-2): It becomes SA (Speed reached) in speed control mode. (Note-3): For maker setting do not changed this value by any means.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting Value, setting range Setting value buffer memory address Value set with peripheral device Servo amplifier setting invalid ( : Valid, : Invalid) Value set with PLC program Default value Axis 1 Axis 2 Axis 3 Axis 4 MR-J3-B 0 0 H Output signal device selection 2 1: 30203 30403 30603 30803 0003H 30204 30404 30604 30804 is used to set up the setting value.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.10 , the configuration of the positioning data will be shown below. The positioning data stored in the QD75MH buffer memory has the following type of configuration. ’[ Œ ˆ ^ƒ ß ‚‡ f@[ ^ƒ 599 ‡ ‚ @ 600 Ê̂ u ’ Œ ˆ ß ‚ Ê̂ƒ fu ‚ƒ Positioning data No. 1 2 ’ Œ ˆ•Ê Ž ‚ Ž̄ •Ê q Ž Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u qß 7980 7990 3 Da.1@ ` @ Da.4 Da.1@ ` @ Da.
5 DATA USED FOR POSITIONING CONTROL 599 Positioning data No. MELSEC-Q 600 ’ Œ ˆÊ ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆ ß ‚Ê̂ Ž̄u • Ž qß 19990 3 Da.1@ ` @ 19980 Da.4 2 Da.1@ ` @ Da.4 1 ’ Œ ˆ•Ê Ž ‚ Ž̄ •Ê Ž q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ Ž̄u qß Positioning 14020 Da.5 14010 Da.1@ ` @ Da.5 Da.4 14000 19981 19991 Da.1@ ` @ Da.4 Da.1 to Da.5 ’ Œ ˆƒ ß ‚ ƒ AX ƒ ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ ƒ Au h ƒ Œ ƒh Da.6 14022 14012Da.7 Da.7 ~ ‰ ʃ A14002 ƒ ƒ Œ ƒ X ‰ ~ Ê Œ A h ƒ ƒŒ Œƒ Xh ƒ w“x — ß ¬ ‘ “x Dwell time w — Ž ß ¬ ‘Ž Da.
5 DATA USED FOR POSITIONING CONTROL Setting value Item Value set with peripheral device Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. [Operation pattern] Positioning complete ...................................................................... Independent positioning control (Positioning complete) Continuous positioning with one start signal ..........
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.4 Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0 : Use the value set in " Pr.10 Deceleration time 0". 1 : Use the value set in " Pr.28 Deceleration time 1". 2 : Use the value set in " Pr.29 Deceleration time 2". 3 : Use the value set in " Pr.30 Deceleration time 3". Da.5 Axis to be interpolated Set the target axis (partner axis) for operations under the 2-axis interpolation control.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 • The setting value (movement amount) for the INC system is set as a movement amount with sign.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Speed-position switching control • INC mode: Set the amount of movement after the switching from speed control to position control. • ABS mode: Set the absolute address which will be the target value after speed control is switched to position control.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "PLS" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (PLS) Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (inch) Da.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 99 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL Item MELSEC-Q Setting value, setting range Value set with peripheral device Value set with PLC program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 2008 8008 14008 20008 2009 8009 14009 20009 The setting value range differs according to the " Da.2 Control Da.7 system". Here, the value within the [Table 1] range is set. Arc address [Table 1] on right page Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] When " Pr.1 Unit Setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Value set with peripheral device (µm) Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Value set with PLC program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Da.8 [Table 1] on right page Command speed -1: Current speed (Speed set for previous positioning data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.10 M code (or condition data No./No. of LOOP to LEND repetitions) Set an "M code", a "condition data No. ", or the "number of LOOP to LEND repetitions" depending on how the " Da.2 Control system" is set. • If a method other than "JUMP instruction" and "LOOP" is selected as the " Da.2 Control system" ............... Set an "M code". If no "M code" needs to be output, set "0" (default value). If "JUMP instruction" or "LOOP" is selected as the " Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.9 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control system". • When a method other than "JUMP instruction " is set for " Da.2 Control system" • ..... Set the "dwell time". When "JUMP instruction " is set for " Da.2 Control system" ..... Set the "positioning data No." for the JUMP destination.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 105 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.4 List of block start data The illustrations below show the organization of the block start data stored in the QD75 buffer memory. The block start data setting items Da.11 to Da.14 are explained in the pages that follow.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory address Axis 3 (Start block 0) Setting item œ Ê̂ u ’ Œ ˆ ß ‚ Ž n “® fƒ [ ^ƒ b15 b8 b7 Buffer memory address 28049 28001 b0 28000 Da.12 Start data No. Da.11 Shape b15 b8 b7 28099 28051 b0 28050 Da.13 Special start instruction Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value Item Value set with peripheral device Default value Value set with PLC program 0 : End 0 1 : Continue 1 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Da.11 Shape b15 b11 0 0 0 b7 b3 b0 0000H 26000 27000 28000 29000 Shape Da.12 Start data No. Positioning data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.11 Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control. 1 : Continue Execute the designated point's "block start data", and after completing control, execute the next point's "block start data". Da.12 Start data No.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 111 MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.5 List of condition data The illustrations below show the organization of the condition data stored in the QD75 buffer memory. The condition data setting items Da.15 to Da.19 are explained in the pages that follow. ditio Con at a nd No. No.10 No.1 Setting item Setting item Axis 1 (start block 0) b15 Buffer memory address Setting item No.
5 DATA USED FOR POSITIONING CONTROL n ditio Con o. aN dat MELSEC-Q No.10 Buffer memory address Setting item No.2 No.1 Setting item Setting item Axis 3 (start block 0) b15 b12 b11 b8 b7 Buffer memory Buffer memory address address b0 28110 28100 Da.16 Condition operator Da.15 Condition target Da.17 Address Da.18 Parameter 1 Da.19 Parameter 2 Open Con n ditio dat 28111 28112 28113 28114 28115 28116 28117 28118 28119 28101 28102 28103 28104 28105 28106 28107 28108 28109 Open o.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
5 DATA USED FOR POSITIONING CONTROL Value set with peripheral device Condition identifier Condition target Da.16 Condition operator Value set with PLC program 01 : Device X 01H 02 : Device Y 02H 03 : Buffer memory (1-word) 03H 04 : Buffer memory (2-word) 04H 05 : Positioning data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.15 Condition target Set the condition target as required for each control. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF as the conditions. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)" 04H : Buffer memory (2-word) 04H: The target buffer memory is "2-word (32 bits)" 05H : Positioning data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.18 Parameter 1 Set the parameters as required for the " Da.16 Condition operator". Da.16 Condition operator Setting value 01H : ∗∗=P1 02H : ∗∗≠P1 03H : ∗∗≤P1 04H : ∗∗≥P1 Value 05H : P1≤∗∗≤P2 06H : ∗∗≤P1, P2≤∗∗ 07H : DEV=ON 08H : DEV=OFF Value (bit No.) Setting details The value of P1 should be equal to or smaller than the value of P2. (P1≤P2) If P1 is greater than P2 (P1>P2), the "condition data error" (error code 533) will occur.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6 List of monitor data 5.6.1 System monitor data Storage item Md.1 In test mode flag Storage details Whether the mode is the test mode from the peripheral device or not is stored.
5 DATA USED FOR POSITIONING CONTROL Reading the monitor value MELSEC-Q Default value Storage buffer memory address (common for axis 1 to axis 4) 0 1200 Monitoring is carried out with a decimal. Monitor value Storage value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.
5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Reading the monitor value [Storage details] This area stores the start information (restart flag, start origin, and start axis): • Restart flag: Indicates whether the operation has or has not been halted and restarted. • Start origin : Indicates the source of the start signal. • Start axis : Indicates the started axis. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] b15 Md.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.8 1292 Start history pointer 0000H Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No. Pointer No. 1 0 Md.3 Start information Starting history Md.4 Start No. Md.5 Start hour Md.6 Start min: sec Md.
5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Reading the monitor value Starting history (Up to 16 records can be stored) [Storage details] This area stores the following results of the error judgment performed upon starting: • BUSY start warning flag • Error flag • Error No. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] A Md.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.8 Start history pointer 1292 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No. Pointer No. 1 0 Md.3 Start information 0000H Starting histroy Md.4 Start No. Md.5 Start hour Md.6 Start min: sec Md.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.9 Stores a number (Axis No.) Axis in which that indicates the axis that the error encountered an error. occurred Monitor value Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Error history (Up to 16 records can be stored) Monitoring is carried out with a decimal display. Md.10 Axis error No. Stores an axis error No.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.13 Error history pointer 0 1357 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records. Pointer No. Error history 0000 0 6 7 10 11 12 13 14 15 1 2 3 1349 1353 1350 1354 1351 1355 1352 1356 min: sec Item 0000 5 9 1345 1337 1341 1329 1333 1321 1325 1317 1313 1305 1309 Md.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.14 Stores a number (Axis No.) Axis in which that indicates the axis that the warning encountered a warning. occurred Monitor value Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Warning history (Up to 16 records can be stored) Monitoring is carried out with a decimal display. Md.15 Axis warning No. Stores an axis warning No.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.18 Warning history pointer 0 1422 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing warning history records. Pointer No. Pointer No. 0 Md.14 Axis in which the warning occured Warning history 0000 Md.15 Axis warning No. 1358 1359 Md.16 Axis warning occurrence 1360 hour Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6.2 Axis monitor data Storage item Md.20 Current feed value Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees. • Update timing : 1.7ms • The OP address is stored when the machine OPR is completed.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Storage item Md.24 Axis warning No. MELSEC-Q Storage details Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) • When the " Cd.5 Axis error reset" (axis control data) is set to ON, the axis warning No. is cleared to "0". This area stores an M code that is currently active (i.e.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Warning No. For details of warning Nos. (warning codes), refer to Section 15.3 "List of warnings". 0 807 907 1007 1107 0 808 908 1008 1108 0 809 909 1009 1109 0 810 811 910 911 1010 1110 1011 1111 Monitoring is carried out with a decimal display. Monitor value M code No.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • The speed which is actually output as a command at that time in each axis is Md.28 Axis feedrate stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. Update timing: 56.8ms POINT Refer to Md.22 Feedrate Md.29 Speed-position switching control positioning amount Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Storage item Md.31 Status MELSEC-Q Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag: This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control. The signal goes OFF when the power is switched ON, under the position control, and during JOG operation or manual pulse generator operation.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • During operation with positioning data Md.33 Target speed : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation : The composite speed or reference axis speed is stored in the reference axis address, and "0" is stored in the interpolation axis address.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item Md.36 Special start data instruction code setting value Md.37 Special start data instruction parameter setting value Md.38 Start positioning data No. setting value MELSEC-Q Storage details • The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored. The "instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • This area stores the remaining number of repetitions during "repetitions" specific Md.41 Special start repetition counter to special starting. • The count is decremented by one (-1) at the loop end. • The control comes out of the loop when the count reaches "0". • This area stores "0" within an infinite loop. • This area stores the remaining number of repetitions during "repetitions" specific Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Storage value 0 to 255 Monitor value 0 832 932 1032 1132 0000H 833 933 1033 1133 0 834 934 1034 1134 0 835 935 1035 1135 0 836 936 1036 1136 0 837 937 1037 1137 0 838 to 847 938 to 947 1038 1138 to to 1047 1147 Monitoring is carried out with a hexadecimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • "1" is stored when the constant speed status or acceleration status switches to Md.48 Deceleration start flag the deceleration status during position control whose operation pattern is "Positioning complete". • "0" is stored at the next operation start or manual pulse generator operation enable. POINT This parameter is possible to monitor when " Cd.41 Deceleration start flag valid " is valid.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item Md.106 Servo amplifier Software No. Md.107 Parameter error No. MELSEC-Q Storage details • This area stores the Software No. of the servo amplifier used. • This area is update when the control power of the servo amplifier is turned on. • When a servo parameter error occurs, the area that corresponds to the parameter number affected by the error comes ON.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Example) -B35W200 A0 Stored Address Monitor value value Softwear No. 864 422D - B 3533 3 5 The monitor value is character 865 866 3257 W 2 code (JIS 8 unit code).
5 DATA USED FOR POSITIONING CONTROL Storage item Md.108 Servo status MELSEC-Q Storage details This area stores the servo status. • Zero point pass Turns ON if the zero point of the encoder has been passed even once. • Zero speed Turns ON when the motor speed is lower than the servo parameter “zero speed.” • READY ON Indicates the ready ON/OFF. • Servo ON Indicates the servo ON/OFF. • Servo alarm Turn ON during the servo alarm.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. b15 b12 b8 b4 b0 Stored items b0 Zero point pass b3 Zero speed Meaning 0: OFF 1: ON 0000H 876 976 1076 1176 0000H 877 977 1077 1177 0 878 978 1078 1178 0 879 979 1079 1179 0 880 980 1080 1180 Monitoring is carried out with a decimal display.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7 List of control data 5.7.1 System control data Setting item Setting details • Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM. POINT Cd.1 Flash ROM write request (1) Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM. If the power 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.
5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 0 1900 0 1901 0 1905 0 1907 Set with a decimal. Setting value K 1 Flash ROM write request 1: Requests write access to flash ROM. The QD75MH resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7.2 Axis control data Setting item Cd.3 Positioning start No. Cd.4 Positioning starting point No. Setting details • Set the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.8 "Pre-reading start function".) • Set a "starting point No." (1 to 50) if block start data is used for positioning. (Handled as "1" if the value of other than 1 to 50 is set.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Positioning data No. : Positioning data No.
5 DATA USED FOR POSITIONING CONTROL Setting item Cd.8 External command valid MELSEC-Q Setting details • Validates or in validates external command signals. • When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. • Set a value within the following range: Cd.9 New current value Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 0 1505 1605 1705 1805 0 1506 1606 1706 1806 1507 1607 1707 1807 External command valid 0: Invalidates an external command. 1: Validates an external command. Set with a decimal. Actual value Cd.9 New current value Conversion into an integer value Unit conversion table ( Cd.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Cd.10 New acceleration time value Cd.10 setting range (unit) 0 to 8388608 (ms) • When changing the deceleration time during a speed change, use this data item to specify a new deceleration time. Cd.11 New deceleration time value Cd.11 setting range (unit) 0 to 8388608 (ms) Cd.
5 DATA USED FOR POSITIONING CONTROL Default value Setting value Set with a decimal. Setting value MELSEC-Q Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1508 1608 1708 1808 1509 1609 1709 1809 0 1510 1610 1710 1810 1511 1611 1711 1811 0 1512 1612 1712 1812 Cd.10 New acceleration time value Cd.11 New deceleration time value Example: When the " Cd. 10 New acceleration time value" is set as "60000 ms", the buffer memory stores "60000". Set with a decimal.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • To use the positioning operation speed override function, use this data item to Cd.13 Positioning operation speed override specify an "override" value. For details of the override function, refer to Section 12.5.2 "Override function". If the speed resulting from a small override value (e.g. 1%) includes fractions below the minimum unit, the speed is raised to make a complete unit and the warning No. 110 is output.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 100 1513 1613 1713 1813 0 1514 1614 1714 1814 1515 1615 1715 1815 0 1516 1616 1716 1816 Override value (%) 1 to 300 Set with a decimal. Actual value Cd.14 New speed value Conversion into an integer value Unit conversion table ( Cd.14 ) 10n Setting value (Decimal) R Example: When the " Cd.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • Use this data item to set the amount of movement by inching. • The machine performs a JOG operation if "0" is set. • Set a value within the following range: Cd.16 Inching movement amount Pr.1 mm (×10-1 µm) inch (×10-5 inch) degree (×10-5 degree) PLS (PLS) Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535 • Use this data item to set the JOG speed. • Set a value within the following range: Cd.17 JOG speed Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value 10n Setting value (Decimal) Unit conversion table ( Cd.16 ) n R Unit -1 m -5 inch -5 degree 0 PLS 0 1517 1617 1717 1817 0 1518 1618 1718 1818 1519 1619 1719 1819 0 1520 1620 1720 1820 Example: When the " Cd. 16 Inching movement amount" is set as "1.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • The PLC program can use this data item to forcibly turn the OPR request flag Cd.19 OPR request flag OFF request from ON to OFF. POINT This parameter is made valid when the increment system is valid. • This data item determines the factor by which the number of pulses from the Cd.20 Manual pulse generator 1 pulse input magnification Cd.21 Manual pulse generator enable flag manual pulse generator is magnified.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 1 OPR request flag OFF request 1: Turns the "OPR request flag" from ON to OFF. 0 1521 1621 1721 1821 1 1522 1622 1722 1822 1523 1623 1723 1823 0 1524 1624 1724 1824 0 1525 1625 1725 1825 The QD75MH resets the value to "0" automatically when the OPR request flag is turned OFF.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • During the speed control stage of the speed-position switching control (INC Cd.23 Speed-position switching control movement amount change register mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.23 Speed-position switching control movement amount change register Conversion into an integer value Unit conversion table ( Cd.
5 DATA USED FOR POSITIONING CONTROL Setting item Cd.26 Position-speed switching control enable flag MELSEC-Q Setting details • Set whether the external control signal (external command signal [CHG]: "speed- position, position-speed switching request" is selected) is enabled or not. • When changing the target position during a positioning operation, use this data item to specify a new positioning address. • Set a value within the following range: Pr.1 Cd.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Position-speed switching enable flag 0: Position control will not be taken over by speed control even when the external command signal comes ON. 1: Position control will be taken over by speed control when the external command signal comes ON.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) • Use these data items to specify a start data No. for each axis that has to start simultaneously. Cd.32 Simultaneous starting axis • Set "0" to any axis that should not start simultaneously. start data No. (axis 3 start data No.) Cd.33 Simultaneous starting axis start data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1540 1640 1740 1840 0 1541 1641 1741 1841 0 1542 1642 1742 1842 0 1543 1643 1743 1843 0 1544 1644 1744 1844 0 1545 1645 1745 1845 Set with a decimal. Setting value K Cd.30 to Cd.33 Simultaneous starting axis start data No.: 1 to 600 Set with a decimal. Setting value K Step mode 0: Stepping by deceleration units 1: Stepping by data No.
5 DATA USED FOR POSITIONING CONTROL Setting item Cd.36 Step start information MELSEC-Q Setting details • During a step operation, this data item determines whether the operation is continued or restarted. Cd.37 Skip command • To skip the current positioning operation, set "1" in this data item. Cd.38 Teaching data selection • This data item specifies the teaching result write destination. Cd.39 Teaching positioning data No. • This data item specifies data to be produced by teaching.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Step start information 1: Continues step opration 2: Restarts operation 0 1546 1646 1746 1846 0 1547 1647 1747 1847 0 1548 1648 1748 1848 0 1549 1649 1749 1849 0 1550 1650 1750 1850 The QD75MH resets the value to "0" automatically when processing of the step start request completes. Set with a decimal.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • Turns OFF each axis servo. Cd.100 Servo OFF command POINT When you want to turn ON the servo for two to four axes with only the servo for one axis turned OFF, write "1" to storage buffer memory address 1551 and then turn ON all axis servo ON (Y1) signal. • Sets the torque output value. POINT • If the " Cd.101 Torque output setting value" is "0", the " Pr.17 Torque limit setting value" will be its value.
5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Servo OFF command 0: Servo ON 1: Servo OFF 0 1551 1651 1751 1851 0 1552 1652 1752 1852 0 1559 1659 1759 1859 When all axis servo ON is valid. Set with a decimal. Setting value K Torque output setting 0 to 1000 Set with a decimal.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 172 MELSEC-Q
Chapter 6 PLC Program Used for Positioning Control 6 The programs required to carry out positioning control with the QD75MH are explained in this chapter. The PLC program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the QD75MH buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) System configuration Unless particularly designated, the PLC program for the following system is shown in this chapter and subsequent. Refer to Section 6.2 for the application of the devices to be used.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV command, change the command to a FROM command and a TO command. 0 X15 X0C MOVP U0\ G826 U6\ G1 Set the same device. 0 X15 X0C FROMP H0 K826 D100 K1 TOP K1 D100 K1 H6 (c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.2 List of devices used In the PLC programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75MH indicate those when QD75MH is mounted in the 0-slot of the main base. If it is mounted in the slot other than the 0-slot of the main base, change the I/O number to that for the position where QD75MH was installed.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device Axis 1 Axis 2 Axis 3 Axis 4 Details when ON X2C M code OFF command Commanding M code OFF X2D JOG operation speed setting command X2E Forward run JOG/inching command X2F Reverse run JOG/inching command Commanding JOG operation speed setting Commanding forward run JOG/inching operation Commanding reverse run JOG/inching operation Commanding manual pulse generator operation enable Commanding manual pulse generator operation disable Man
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device Details when ON M0 OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command pulse OPR request OFF commanded M2 OPR request OFF command storage OPR request OFF command held M3 Fast OPR command Commanding fast OPR M4 Fast OPR command storage Fast OPR command held M5 Positioning start command pulse Positioning start commanded M6 Positioning start command storage Positioning start command held M7 In-JOG/I
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Internal relay Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details when ON M34 TEACH1 instruction complete device TEACH1 instruction completed M35 TEACH1 instruction error complete device TEACH1 instruction error completed M36 PINIT instruction complete device PINIT instruction completed M37 PINIT instruction error complete device PINIT instruction error completed M38 PFWRT instruction complete device PFWRT instruction
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Data register Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details of storage D15 Acceleration time setting (low-order 16 bits) D16 Acceleration time setting (high-order 16 bits) D17 Deceleration time setting (low-order 16 bits) D18 Deceleration time setting (high-order 16 bits) D19 Acceleration/deceleration time change enable ( Cd.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device Application Axis 1 Axis 2 Axis 3 Axis 4 D52 No. of pulses per rotation (low-order 16 bits) D53 No. of pulses per rotation (high-order 16 bits) D54 Movement amount per rotation (low-order 16 bits) D55 Movement amount per rotation (high-order 16 bits) D56 Bias speed at start (low-order 16 bits) D57 Bias speed at start (high-order 16 bits) D68 Point 1 (shape, start No.) D69 Point 2 (shape, start No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device D107 Details of storage D111 Positioning address (high-order 16 bits) ( Da.7 Circular interpolation address) Circular interpolation address ( Da.8 Command speed) (low-order 16 bits) ( Da.9 Dwell time) Circular interpolation address ( Da.10 M code) (high-order 16 bits) Data No.2 Positioning identifier ( Da.1 Operation pattern) M code D112 Dwell time ( Da.2 Control system) D113 Unused ( Da.3 Acceleration time No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details of storage D144 Command speed (low-order 16 bits) ( Da.4 Deceleration time No.) D145 Command speed (low-order 16 bits) ( Da.5 Axis to be interpolated) D146 Positioning address (low-order 16 bits) D151 ( Da.7 Circular interpolation address) Positioning address (high-order 16 bits) ( Da.8 Command speed) Circular interpolation address ( Da.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device Details of storage D240 Positioning identifier D241 M code Data No.15 ( Da.1 Operation pattern) D242 Dwell time ( Da.2 Control system) D243 Unused ( Da.3 Acceleration time No.) D244 Command speed (low-order 16 bits) ( Da.4 Deceleration time No.) D245 Command speed (high-order 16 bits) ( Da.5 Axis to be interpolated) D246 Positioning address (low-order 16 bits) ( Da.6 Positioning address/ movement amount) ( Da.
6 PLC PROGRAM USED FOR POSITIONING CONTROL Device name Device Details of storage U0\G806 Error code ( Md.23 Axis error No.) U0\G809 Axis operation status ( Md.26 Axis operation status) U0\G817 Status ( Md.31 Status) U0\G1500 Positioning start No. ( Cd.3 Positioning start No.) U0\G1502 Axis error reset ( Cd.5 Axis error reset) U0\G1503 Restart command ( Cd.6 Restart command) U0\G1504 M code OFF request (Buffer memory) ( Cd.7 M code OFF request) U0\G1505 External command valid ( Cd.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in Section 2 are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system. Refer to Section 5.6 "List of monitor data" for details on the monitor items.) 6.3.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system. (Numbers are assigned to the following programs. Configuring the program in the order of these numbers is recommended.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Initialization program Not carried out OPR is... No.5 OPR request OFF program Carried out No.6 No.7 External command function valid setting program Refer to Section 6.5.1 PLC READY signal [Y0] ON program Required All axis servo ON [Y1] program Required No.8 Absolute system ? No Yes OPR uncomplte ? No Yes No.28 Error reset program Continued on next page 6 - 17 Refer to Section 6.5.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start details setting program No.9 Positioning start No. setting program Program required to carry out • "OPR control" • "Major positioning control" • "High-level positioning control" Refer to Section 6.5.2 Start program No.10 Positioning start program Refer to Section 6.5.3 No.11 Program to reset the start signal and turn the M code ON signal OFF M code OFF program JOG operation program No.12 Refer to Section 11.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Sub program No.16 No.17 No.18 No.19 No.20 No.21 No.22 No.23 No.24 No.25 No.26 No.27 No.28 Speed change program Override program Program added according to control details. (Create as required.) Refer to Section 12.5.1 Refer to Section 12.5.2 Acceleration/deceleration time change program Refer to Section 12.5.3 Torque change program Refer to Section 12.5.4 Step operation program Refer to Section 12.7.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the PLC program, set them in the QD75MH using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program is not necessary.
6 PLC PROGRAM USED FOR POSITIONING CONTROL 6 - 21 MELSEC-Q
6 PLC PROGRAM USED FOR POSITIONING CONTROL 6 - 22 MELSEC-Q
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6 PLC PROGRAM USED FOR POSITIONING CONTROL 6 - 51 MELSEC-Q
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Md.31 Status: b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request" made by the QD75MH when the power is turned ON, etc. Data requiring setting Set the following data to use the OPR request flag OFF request. Setting value Setting item Cd.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For " high-level positioning control", "fast OPR", "speedposition switching control" and "position-speed switching control", add the respectively required PLC program. (Refer to "Chapter 10" for details on starting the " high-level positioning control.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) For "position-speed switching control", set the control data shown below. (As required, set the " Cd.25 Position-speed switching control speed change resister".) Setting item Cd.25 Position-speed switching control speed change resister Cd.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13] [2] Starting by inputting external command signal Buffer memory 1) 1 Servo amplifier 3) Control with positioning data No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Servo ON conditions Setting of servo parameter PLC READY signal Y0 ON All axis servo ON Y1 ON Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the PLC program so that the control is not started when the conditions are not satisfied.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q POINT The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the PLC program. (The ON status of the start complete signal [X10, X11, X12, X13], positioning complete signal [X14, X15, X16, X17] and M code ON signal [X4, X5, X6, X7] can be detected in the PLC program.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Time chart for starting "fast OPR" V t ON [Y10] Positioning start signal All axis servo ON [Y1] [Y0] PLC READY signal [X0] QD75 READY signal [X10] Start complete signal BUSY signal [XC] Error detection signal [X8] OFF ON OFF ON OFF ON OFF ON OFF ON OFF OFF 9002 Cd. 3 Positioning start No. Fig. 6.5 Time chart for starting "fast OPR" (3) Time chart for starting "major positioning control" V Operation pattern Positioning data No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Time chart for starting "speed-position switching control" V Speed control Position control Operation pattern(00) Positioning data No.(1) Dwell time t Positioning start signal [Y10] All axis servo ON [Y1] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal Error detection signal [X14] [X8] Speed-position switching signal (external) Cd. 3 Positioning start No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Machine OPR operation timing and process time Positioning start [Y10, Y11, Y12, Y13] signal BUSY signal [XC, XD, XE, XF] t1 Start complete signal [X10, X11, X12, X13] t4 Waiting Md. 26 Axis operation status In OPR Waiting t2 Positioning operation OPR request flag [ Md. 31 Status: b3] t3 OPR complete flag [ Md. 31 Status: b4] Fig. 6.9 Machine OPR operation timing and process time Normal timing time • Unit: ms t1 t2 t3 t4 0.9 to 1.3 2.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal (WITH mode) [X4, X5, X6, X7] t2 Cd. 7 M code OFF request Positioning start complete [X10, X11, X12, X13] signal Md.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the QD75MH. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Continuous operation interrupt request" for " Cd.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below. • • • Positioning data No. have sufficient remaining distance Positioning data No. for positioning complete (pattern: 00) Positioning data No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ( Cd.6 Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") [1] Restart operation Axis 1 Positioning with positioning data No. 11 Positioning data No.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q REMARK Restarting after stopping is possible even for the following control. • Incremental system position control • Continuous positioning control • Continuous path control • Block start [3] Control data requiring setting Set the following data to execute restart. Cd.6 Setting item Setting value Restart command 1 Setting details Set "1: Restarts". Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1503 1603 1703 1803 Refer to Section 5.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for restarting Dwell time V t Positioning start signal [Y10] All axis servo ON [Y1] Axis stop signal [Y4] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal Positioning complete signal Error detection signal [XC] [X14] [X8] Md. 26 Axis operation status 0 Cd. 6 Restart command 8 0 Fig. 6.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below. Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the Servo READY signal is turned OFF. When a PLC CPU error occurs.
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop 1 The operation stops with "deceleration time 0 to 3" ( Pr.10 , Pr.28 , Pr.29 , Pr.30 ). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ( Da.4 ). (2) Sudden stop The operation stops with " Pr.36 Sudden stop deceleration time".
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [3] Order of priority for stop process The order of priority for the QD75 stop process is as follows. Deceleration stop < Sudden stop < Servo OFF (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of " Cd.42 Stop command processing for deceleration stop selection".
6 PLC PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [4] Inputting the stop signal during deceleration (1) Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration speed. (2) If stop is input during deceleration for OPR, the operation will stop at that deceleration speed. If input at the creep speed, the operation will stop immediately.
Chapter 7 Memory Configuration and Data Process 7 The QD75MH memory configuration and data transmission are explained in this chapter. The QD75MH is configured of two memories. By understanding the configuration and roles of two memories, the QD75MH internal data transmission process, such as "when the power is turned ON" or "when the PLC READY signal changes from OFF to ON" can be easily understood. This also allows the transmission process to be carried out correctly when saving or changing the data. 7.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1 Configuration and roles of QD75MH memory 7.1.1 Configuration and roles of QD75MH memory The QD75MH is configured of the following two memories. Backup Servo parameter area Area for backing up data required for positioning. PLC CPU memo area • Flash ROM Block start data area (No.7000 to 7004) Area that can be directly accessed with PLC program from PLC CPU. Positioning data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Details of areas • Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.57 , Pr.80 to Pr.84 for each axis.) • Monitor data area Area where positioning system or QD75MH operation state is stored. (Set the items indicated with Md.1 to Md.48 , Md.100 to Md.111 .
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q User accesses here. Data is backed up here. Flash ROM Buffer memory Parameter area Parameter area Positioning data area (No.1 to 600) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.30100 to 30804) Block start data area (No. 7000 to 7004) Servo parameter area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1.2 Buffer memory area configuration The QD75MH buffer memory is configured of the following types of areas. Buffer memory area configuration Parameter area Monitor data area Control data area Positioning data area (No.1 to 600) Block start data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS Buffer memory area configuration Servo parameter area MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Basic setting parameter area 30100 to 30115 30300 to 30315 30500 to 30515 30700 to 30715 Gain • filter setting parameter area 30119 to 30152 30319 to 30352 30519 to 30552 30719 to 30752 Expansion setting parameter area 30164 to 30184 30364 to 30384 30564 to 30584 30764 to 30784 Input/output setting parameter area 30202 to 30204 3040
7 MEMORY CONFIGURATION AND DATA PROCESS MEMO 7-7 MELSEC-Q
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.2 Data transmission process The data is transmitted between the QD75MH memories with steps (1) to (10) shown below. The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page. PLC CPU (4) FROM command (2) TO command QD75MH Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (1) Transmitting data when power is turned ON or PLC CPU is reset ( ) When the power is turned ON or the PLC CPU is reset, the "parameters", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory. (2) Transmitting data with TO command from PLC CPU ( ) The parameters or data is written from the PLC CPU to the buffer memory using the TO command.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (3) Validate parameters when PLC READY signal [Y0] changes from OFF to ON When the PLC READY signal [Y0] changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) 2" is validated. 2: Parameter area (a) ..... Parameters validated when PLC READY signal [Y0] changes from OFF to ON. ( Pr.1 to Pr.7 , Pr.11 to Pr.24 , Pr.43 to Pr.57 , Pr.80 to Pr.
7 MEMORY CONFIGURATION AND DATA PROCESS MEMO 7 - 11 MELSEC-Q
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Pheripharal devices (7) Flash ROM request (Write) PLC CPU (6) Flash ROM write (Set "1" in Cd.1 with TO command) (7) Flash ROM request (Write) QD75MH Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (6) Writing the flash ROM by a PLC CPU request ( ) The following transmission process is carried out by setting "1" in " Cd.1 Flash ROM write request" (buffer memory [1900]). 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)" and "servo parameter" in the buffer memory area are transmitted to the flash ROM. The writing to the flash ROM may also be carried out using a dedicated instruction "PFWRT".
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q ü Ó Ž • @ ‹ devices Š í Pheripharal (9) Data write (8) Data read PLC CPU (9) Data write (8) Data read QD75MH Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.30100 to 30804) Monitor data area Control data area PLC CPU memo area Flash ROM ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (8) Reading data from buffer memory to peripheral device ( ) The following transmission processes are carried out with the [Read from module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the peripheral device via the PLC CPU. The following transmission processes are carried out with the [monitor] from the peripheral device.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q QD75MH Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.30100 to 30804) Monitor data area Control data area PLC CPU memo area Flash ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (10) Transmitting servo parameter from the buffer memory area to servo amplifier ( ) The servo parameter in the buffer memory area is transmitted to the servo amplifier by the following timing. 1) The servo parameter transmitted to the servo amplifier when communications with servo amplifier start. The servo parameter in the buffer memory area is transmitted to the servo amplifier.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q How to transfer the servo parameter which wrote it in the flash ROM to servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory. After that, when the power is turned ON or the PLC CPU is reset, the servo parameters stored in the flash ROM is transmitted to the buffer memory. When the servo parameter is written in the flash ROM, it is unnecessary to use a setup from the PLC program.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (b) When the servo parameter " Pr.100 Servo series"="0" is stored flash ROM. Communication start timing to the servo amplifier: The data written from PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 B). Transfer the servo parameter : The data written from PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 C). (2) Servo parameter transfers when servo amplifier had started after the PLC READY signal [Y0] is turned OFF to ON (Fig. 7.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (Ex.) Setting the positioning data The following methods can be used to set the positioning data. From peripheral device Using sequense program Write positioning data into buffer memory using TO command. Set the data according to the peripheral device menu.
Section 2 Control Details and Setting Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 OPR Control ..............................................................................................8- 1 to 8- 16 Major Positioning Control....................
MEMO
Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position. OPR carried out by PLC programs from the PLC CPU are explained in this chapter. Refer to GX Configurator-QP Operating Manual for details on OPR using the peripheral device. 8.1 Outline of OPR control .........
8 OPR CONTROL MELSEC-Q 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when the QD75MH issues a "OPR request" with the power turned ON or others, or after a positioning stop.
8 OPR CONTROL MELSEC-Q ! CAUTION In the case of the absolute position system, use the PLC program to check the OPR request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision. REMARK OPR request The "OPR request flag" ( Md.31 Status: b3) must be turned ON in the QD75MH, and a machine OPR must be executed in the following cases.
8 OPR CONTROL MELSEC-Q OPR sub functions Refer to Section 3.2.4 "Combination of QD75MH main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to Chapter 12 "Control sub functions" for details on each sub function. [Remarks] The following two sub functions are only related to machine OPR. Sub function name Machine OPR Fast OPR Reference OPR retry function Section 12.2.1 OP shift function Section 12.2.
8 OPR CONTROL MELSEC-Q 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not complete unless the OPR retry function is used. Machine OPR operation In a machine OPR, OP is established. None of the address information stored in the QD75MH, PLC CPU, or servo is used at this time.
8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR parameters. It is set in " Pr.43 OPR method" of the basic parameters for OPR.) Pr.
8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart The machine OPR is started. 1) 2) (The machine begins the acceleration designated in " Pr.51 designated in " Pr.44 OPR acceleration time selection", in the direction OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.) The machine begins decelerating when the near-point dog ON is detected.
8 OPR CONTROL MELSEC-Q Precautions during operation (1) An error "Start at home position (OP) fault (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0" is set in " Pr.48 OPR retry"). (2) Machine OPR carried out from the near-point dog ON position will start at the " Pr.47 Creep speed". (3) The near-point dog must be ON during deceleration from the OPR speed " Pr.47 Creep speed".
8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Count method 1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)" OPR, the following can be performed: • Machine OPR on near-point dog • Second machine OPR after completion of first machine OPR Near-point dog is used to the external device connector of the QD75MH. The "Illegal near-point dog signal" (error code : 220) will occur if you used external input signal of the servo amplifier.
8 OPR CONTROL MELSEC-Q Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed". A deceleration stop will be carried out if the speed is changed during the operation and an error occurs.
8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Count method 2) The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Near-point dog is use to the external device connector of the QD75MH.
8 OPR CONTROL MELSEC-Q Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.
8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Data set method The following shows an operation outline of the "Data set method" OPR method. The " Data set method" method is effective when a "Near-point dog" does not used. It can be used with absolute position system. With the data set method OPR, the position where the machine OPR has been carried out, is registered into the QD75MH as the OP, and the current feed value and feed machine value is overwritten to an OP address.
8 OPR CONTROL MELSEC-Q 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation In a fast OPR, positioning is carried out by a machine OPR to the " Md.21 Machine feed value" stored in the QD75MH. The following shows the operation during a basic fast OPR start. 1) The fast OPR is started. 2) Positioning control begins to the " Md.21 Machine feed value", begins at speed set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The fast OPR is completed. Pr.
8 OPR CONTROL MELSEC-Q Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 Start complete signal [X10,X11,X12,X13] t3 Standing Md.26 Axis operation status by Standing by In position control t2 Positioning operation Fig. 8.11 Operation timing and processing time of fast OPR Normal timing time Unit: ms t1 t2 t3 1.0 to 1.3 3.0 to 4.4 0 to 1.
8 OPR CONTROL MELSEC-Q 8.4 Selection of the OPR setting condition 8.4.1 Outline of the OPR setting condition If executing the home position return (OPR), it is necessary to make sure that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zeroing pass signal ( Md.108 Servo status : b4) has turned ON. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.
Chapter 9 Major Positioning Control The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD75MH. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls" is set in setting item " Da.2 Control system" of the positioning data.
9 MAJOR POSITIONING CONTROL Major positioning control Speed-position switching control Position-speed switching control NOP instruction MELSEC-Q Details Da.2 Control system Forward run speed/position Reverse run speed/position Forward run position/speed Reverse run position/speed The control is continued as position control (positioning for the designated address or movement amount) by turning ON the "speed-position switching signal" after first carrying out speed control.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Positioning data No. 1 Setting item Setting details Da.1 Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No. 1, No. 2, No. 3) will be controlled. (Refer to Section "9.1.2".) Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types.
9 MAJOR POSITIONING CONTROL MELSEC-Q POINT The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the PLC program. [1] Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75MH command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses. (2) In operation by continuous positioning control (operation pattern "01"), the next positioning No.
9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Continuous path control (1) Continuous path control (a) The speed is 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 is not changed if the current speed and the next speed are equal. (b) The speed will become the speed used in the previous positioning operation if the command speed is set to "-1".
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning continue (11) V Positioning continue (11) Dwell time Positioning complete (00) Address (+) direction t Address (-) direction ON Positioning start signal [Y10, Y11, Y12, Y13] OFF Start complete signal [X10, X11, X12, X13] OFF [XC, XD, XE, XF] OFF ON ON BUSY signal ON OFF Positioning complete signal [X14, X15, X16, X17] Fig. 9.
9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement amount of the next positioning data is "0". (c) During operation by step operation. (Refer to Section 12.7.1 "Step function".) (d) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations.
9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD75MH then carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No. if the command speed is set to "–1".
9 MAJOR POSITIONING CONTROL MELSEC-Q (4) Speed switching (Refer to " Pr.19 Speed switching mode".
9 MAJOR POSITIONING CONTROL MELSEC-Q [When the movement amount is small during automatic deceleration] The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠ 0 status. [When the speed cannot change over in P2] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. P1 P2 P3 P4 Positioning address.
9 MAJOR POSITIONING CONTROL 3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01", etc.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the QD75MH. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc. • This is the value stored in " Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) A 1.7ms error will occur in the current value update timing when the stored "current feed value" is used in the control. A 56.8ms error will occur in the current value update timing when the stored "machine feed value" is used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in " Da.6 Positioning address/movement amount" of the positioning data if the movement amount per pulse is not set to "1".
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of " Md.20 Current feed value" becomes a ring address from 0 to 359.99999°. But the address of " Md.21 Machine feed value" doesn't become a ring address. 359.99999° 0° 0° 359.
9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Positioning control method when the control unit is set to "degree" 1) Absolute system (a) When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) Example 1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. Example When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction if the software stroke limit lower limit value is 0° and the upper limit value is 345°. 345.00000° 0° 315.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.
9 MAJOR POSITIONING CONTROL MELSEC-Q Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. Axis Setting item Reference axis setting item Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.20 Interpolation speed designation method) that can be set, depending on the " Pr.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da.2 Control system". The following table shows the positioning data setting items corresponding to the different types of control. Details and settings for the operation of each control are shown in Section 9.2.2 and subsequent sections.
9 MAJOR POSITIONING CONTROL MELSEC-Q REMARK • It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase. Major positioning control Other control NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Positioning data setting items Independent positioning control Operation Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" … The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, addresses established by a machine OPR on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount".
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" … The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" (" Da.2 Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" … The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed • limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, using an address established by a machine OPR in the 3-axis coordinate space, a linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the " Da.6 Positioning address/movement amount".
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" … The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed • limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" (" Da.2 Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Setting item Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No. Axis 1 Positioning data No. 1 Da.4 Deceleration time No. Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed • limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 4-axis linear interpolation control (INC linear 4) Operation chart In the incremental system 4-axis linear interpolation control, using an address established by a machine OPR in the 4-axis coordinate plane, a linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the " Da.6 Positioning address/movement amount".
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixedfeed 1)" is set in positioning data No. 1 of axis 1. Setting item Da.1 Operation pattern Da.2 Control system Axis 1 Positioning data No. 1 Da.3 Acceleration time No. Da.4 Deceleration time No. Axis to be Da.5 interpolated Da.6 Positioning address/ movement amount Da.7 Arc address Da.8 Command speed Da.9 Dwell time Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Da.1 Operation pattern Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.8 3-axis fixed-feed control (interpolation) In "3-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 3), three motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart In incremental system 3-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error "Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) (2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data.
9 MAJOR POSITIONING CONTROL Axis Setting item Da.1 Operation pattern Da.2 Control method MELSEC-Q Axis 2 Axis 1 Axis 3 (interpolatio (reference (interpolation n axis) axis) setting axis) setting setting example example example Setting details Positioning complete – – Set "Positioning complete" assuming the next positioning data will not be executed. Fixed-feed 3 – – Set 3-axis fixed-feed control. 1 – – 0 – – Designate the value set in " Pr.25 Axis 1 Positioning data No. 1 Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixedfeed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Setting item Da.1 Operation pattern Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis • and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" in an arc path that passes through the sub point address set in " Da.7 Arc address".
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis • and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Axis 1 Positioning data No.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having a designated center point, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.
9 MAJOR POSITIONING CONTROL MELSEC-Q Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and arc address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount". (Refer to " Pr.41 Allowable circular interpolation error width".) (1) Calculated error < " Pr.
9 MAJOR POSITIONING CONTROL MELSEC-Q [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.12 1-axis speed control In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 1-axis speed control The following table shows the " Md.20 Current feed value" during 1-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. Pr.21 Current feed value during speed Md.20 Current feed value control" setting V 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Setting item Setting details Da.1 Operation pattern Positioning Setting other than "Positioning complete" is not possible in speed control. complete Da.2 Control system Forward run Set 1-axis speed control. speed 1 Da.3 Acceleration time No. Axis 1 Positioning data No.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.13 2-axis speed control In "2-axis speed control" (" Da.2 Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 2-axis speed control The following table shows the " Md.20 Current feed value" during 2-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed Md.20 Current feed value control" setting V 0: Do not update current feed value The current feed value at speed control start is maintained.
9 MAJOR POSITIONING CONTROL MELSEC-Q (5) An error "No command speed (error code: 503)" occurs if a current speed (-1) is set in " Da.8 Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree". Positioning data setting examples [Setting examples when the reference axis and interpolation axis are designated as axes 1 and 2, respectively.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.14 3-axis speed control In "3-axis speed control" (" Da.2 Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 3-axis speed control The following table shows the " Md.20 Current feed value" during 3-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) Pr.21 Current feed value during speed Md.20 Current feed value control" setting V 0: Do not update current feed value The current feed value at speed control start is maintained.
9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Axis 3 setting Setting item Pr.8 Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min Da.8 Command speed 8000.00mm/min 6000.00mm/min 4000.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Setting item Setting details Da.1 Operation pattern Positioning complete – – Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 3 – – Set 3-axis speed control.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.15 4-axis speed control In "4-axis speed control" (" Da.2 Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. V Interpolation axis (axis 4) Da. 8 Command speed t V Interpolation axis (axis 3) Da. 8 Command speed t V Interpolation axis (axis 2) Da. 8 Command speed t V Referense axis (axis 1) Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 4-axis speed control The following table shows the " Md.20 Current feed value" during 4-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) Pr.21 Current feed value during speed Md.20 Current feed value control" setting V 0: Do not update current feed value The current feed value at speed control start is maintained.
9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Setting item Axis 1 setting Axis 2 setting Axis 3 setting Axis 4 setting Pr.8 Speed limit value 4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/ min min min min Da.8 Command speed 8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Setting item Setting details Da.1 Operation pattern Positioning complete – – – Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 4 – – – Set 4-axis speed control.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" (" Da.2 Control system = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in " Da.6 Positioning address/movement amount" is exercised.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (INC mode). V Da. 8 Command speed Movement amount set in " Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (INC mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) The following table shows the " Md.20 Current feed value" during speed-position switching control (INC mode) corresponding to the " Pr.21 Current feed value during speed control" settings. Pr.21 Current feed value during Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting value Setting item Pr.42 Cd.8 External command function selection External command valid Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • The machine recognizes the presence of a movement amount change request when the data is written to " Cd.23 Speed-position switching control movement amount change register" with the PLC program. The new movement amount is validated after execution of the speed-position switching control (INC mode), before the input of the speed-position switching signal.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Da.1 Operation pattern Positioning complete Axis 1 Positioning data No. 1 Da.2 Control system Forward run: speed/position Da.3 Acceleration time No. 1 Da.4 Deceleration time No. 0 Axis to be Da.5 interpolated – Positioning address/ Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" (" Da.2 Control system = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output in the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control to the address set in " Da.6 Positioning address/movement amount" is exercised.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). V Da. 8 Command speed Address set in " Da.
9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (ABS mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Standing by Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (ABS mode) The following table shows the " Md.20 Current feed value" during speed-position switching control (ABS mode) corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.20 Current feed value speed control" setting The current feed value is updated during speed control and position control.
9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting item Pr.42 Cd.8 External command function selection External command valid Setting value Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data.
9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal 360 added 360 added positioning address positioning address positioning address Positioning data setting examples The following table shows setting examples when "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Da.1 Operation pattern Da.2 Control system Axis 1 Positioning data No. 1 Da.3 Acceleration time No.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.18 Position-speed switching control In "position-speed switching control" (" Da.2 Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in " Da.6 Positioning address/movement amount" in the axis direction in which the positioning data has been set.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control of position-speed switching control. V Da. 8 Command speed t Position control Speed control ON Positioning start signal [Y10,Y11,Y12,Y13] OFF ON BUSY signal [XC,XD,XE,XF] Positioning complete signal [X14,X15,X16,X17] OFF Does not turn ON even when control is stopped by stop command.
9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during position-speed switching control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd. 7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during position-speed switching control The following table shows the " Md.20 Current feed value" during position-speed switching control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Position-speed switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals. Setting value Setting item Pr.42 Cd.8 External command function selection External command valid Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • The machine recognizes the presence of a command speed change request when the data is written to " Cd.25 Position-speed switching control speed change register" with the PLC program. • The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal.
9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the " Md.20 Current feed value" of the stopped axis is changed to a random address set by the user. (The " Md.21 Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
9 MAJOR POSITIONING CONTROL MELSEC-Q (4) If the value set in " Da.6 Positioning address/movement amount" is outside the software stroke limit ( Pr.12 , Pr.13 ) setting range, an error "Software stroke limit +, - (error code: 507 or 508)" will occur at the positioning start, and the operation will not start. (5) An error (error code: 507 or 508) will occur if the new current value is outside the software stroke limit range. (6) The new current value using the positioning data (No.
9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart The current value is changed by setting the new current value in the current value changing buffer memory " Cd.9 Current value changing", setting "9003" in the " Cd.3 Positioning start No.", and turning ON the positioning start signal. ON Positioning start signal OFF [Y10,Y11,Y12,Y13] Md.
9 MAJOR POSITIONING CONTROL MELSEC-Q Setting method for the current value changing function The following shows an example of a PLC program and data setting to change the current value to a new value with the positioning start signal. (The " Md.20 Current feed value is changed to "5000.0µm" in the example shown.) (1) Set the following data. (Set with the PLC program shown in (3), while referring to the start time chart shown in (2).) Setting item Setting value Setting details Set the start No.
9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Add the following PLC program to the control program, and write it to the PLC CPU.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control system. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples The following table shows the setting examples when "NOP instruction" is set in positioning data No. 1 of axis 1.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP instruction (When "0" is set as the condition data No.
9 MAJOR POSITIONING CONTROL MELSEC-Q (2) The operation pattern, if set, is ignored in the JUMP instruction. (3) Use unconditional JUMP instructions when setting JUMP instructions at the end of continuous path control/continuous positioning control. When conditional JUMP instructions are set at the end of continuous path control/continuous positioning control, the positioning data of the next positioning data No. will be executed if the execution conditions have not been established.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples The following table shows the setting examples when "LOOP" is set in positioning data No. 1 of axis 1. Setting item Setting example Da.1 Operation pattern – Axis 1 Positioning data No. 1 Da.2 Control system LOOP Setting details Setting not required. (Setting value is ignored.
9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started. (The operation pattern, if set to "Positioning complete", will be ignored.
9 MAJOR POSITIONING CONTROL MELSEC-Q MEMO 9 - 116
Chapter 10 High-Level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data" set with the major positioning control, or simultaneously starting "positioning data" for several different axes.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1 Outline of high-level positioning control In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data" designated in the "block start data". "Block start data" can be set for each No. from 7000 to 7004 (called "block Nos.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.) 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory Buffer memoryaddress Setting item œ ˆ Ê’ uŒ ˆ ‚ ߎ n“ ®ƒ f address [ƒ ^ Axis 1 block start data b15 26001 b0 b8 b7 26049 26000 Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Set in QD75MH the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Configurator-QP or the PLC program. (The following drawing shows an example for axis 1.) 50th point 50th point Buffer memory address Setting item 2nd point 2nd point Setting item Setting item œˆÊ’uŒˆ‚ߎn“®ƒf [ƒ^ b15 b8 b7 Buffer memory address Buffer memory address 1st point 26201 b0 26200 Da12 Positioning data No.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. Preparation STEP 1 Refer to Chapter 9 STEP 2 Refer to Section 10.3 STEP 3 Refer to Section 10.4 STEP 4 Refer to Section 10.6 Carry out the "major positioning control" setting. Set the block start data corresponding to each control. ( Da. 11 to Da. 14 ) × required data amount.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data The " block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each " block start data" item to be set differ according to the " Da.13 Special start instruction" setting. The following shows the " block start data" setting items corresponding to various control systems.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in " Da.12 Start data No." by one start. Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.14 Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the conditions have been established, the " block start data" set in "1: condition start" is executed. If the conditions have not been established, that " block start data" will be ignored, and the "block start data" of the next point will be executed.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.14 Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the conditions have been established, the " block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the " Da.12 Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (pulses are output with the same timing). (The "condition data" is designated with " Da.14 Parameter".) Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the " block start data" in which "4: FOR loop" is set in " Da.13 Special start instruction" and the "block start data" in which "6: NEXT start" is set in " Da.13 Special start instruction " is repeatedly executed for the No. of times set in " Da.14 Parameter". An endless loop will result if the No. of repetitions is set to "0". (The No. of repetitions is set in " Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the " block start data" in which "5: FOR condition" is set in " Da.13 Special start instruction" and the " block start data" in which "6: NEXT start" is set in " Da.13 Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data". (The "condition data" designation is set in " Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.8 Restrictions when using the NEXT start The "NEXT start" is a instruction indicating the end of the repetitions when executing Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR condition)". The following shows the restrictions when setting "6: NEXT start" in the " block start data".
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) When setting conditions during execution of "high-level positioning control" The "condition data" to be set includes the 5 setting items from Da.15 to Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q The setting requirements and details of the following "condition data" " Da.16 " to " Da.19 " setting items differ according to the " Da.15 Condition target" setting. The following shows the " Da.16 " to " Da.19 " setting items corresponding to the " Da.15 Condition target". Other setting item Da.15 Da.16 Condition operator Da.17 Address Da.18 Parameter 1 Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q REMARK The "PLC CPU memo area" can be designated as the buffer memory address to be designated in Da.17 . (Refer to Section 7.1.1 "Configuration and roles of QD75MH memory".
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=QD75 READY) is OFF Da.15 Condition target Da.16 Condition operator Da.17 Address Da.18 Parameter 1 Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting pulses to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously. [1] Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start an object axis start data No. (positioning data No.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set). Setting item Cd.3 Buffer memory address Setting value Positioning start No. 9004 Setting details Set the multiple axes simultaneous start control 1500 1600 1700 1800 start No. "9004".
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start" using the "block start data".
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a PLC program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No. 7000) set in axis 1.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control. The setting is carried out using a PLC program.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (1) Block start data setting example Axis 1 block start data Da.11 Shape Da.12 Start data No. Da.13 Special start instruction Da.14 Parameter 1st point 1: Continue 1 0: Block start – 2nd point 0: End 10 0: Block start – • • (2) Positioning data setting example Da.
10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Creating the program Example Set the block start data beforehand. Positioning start command PLS M104 Y10 X10 TO H0 M104 K1500 K7000 K1 TO H0 K1501 K1 K1 SET Y10 Y10: Positioning start signal X10: Start complete signal M104: Positioning start command pulse 10 - 26
Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the QD75MH. Manual control using a PLC program from the PLC CPU is explained in this chapter.
11 MANUAL CONTROL MELSEC-Q 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external device. The three types of this "manual control" are explained below. [1] JOG operation "JOG operation" is a control method in which the machine is moved by only a movement amount (pulses are continuously transmitted while the JOG START signal is ON).
11 MANUAL CONTROL MELSEC-Q [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the No. of pulses input from a manual pulse generator (the No. of input pulses is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address. Movement in response to the command pulses Output pulses QD75MH M Pulse input Manual pulse generator Fig. 11.
11 MANUAL CONTROL MELSEC-Q 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section "12.4.4"). * If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.
11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, first set " Cd.17 JOG speed" to a smaller value and check the movement. Then gradually increase the value. (2) An axis error will occur and the operation will not start (error code: 300) if the "JOG speed" is outside the setting range at the JOG start. (3) An axis error will occur and the operation will not start (error code: 956) if " Pr.
11 MANUAL CONTROL MELSEC-Q JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. ON Forward run JOG start signal OFF [Y8, YA, YC, YE] t2 Reverse run JOG start signal OFF [Y9, YB, YD, YF] ON BUSY signal [XC, XD, XE, XF] OFF t1 t4 Standing by Md. 26 Axis operation status In JOG operation Standing by t3 Positioning operation Positioning complete signal OFF [X14, X15, X16, X17] Fig. 11.
11 MANUAL CONTROL MELSEC-Q 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. STEP 1 Set the positioning parameters ) Preparation Refer to Chapter 5 and Section 11.2.3. Pr.1 to Pr.39 ) One of the following two methods can be used. Directly set (write) the parameters in the QD75MH using GX Configurator-QP. Set (write) the parameters from the PLC CPU to the QD75MH using the PLC program (TO command). STEP 2 Refer to Section 11.2.
11 MANUAL CONTROL MELSEC-Q 11.2.3 Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.
11 MANUAL CONTROL MELSEC-Q Positioning parameters Setting item Setting requirement Factory-set initial value (setting details) Pr.25 Acceleration time 1 (Unit: ms) 1000 Pr.26 Acceleration time 2 (Unit: ms) 1000 Pr.27 Acceleration time 3 (Unit: ms) 1000 Pr.28 Deceleration time 1 (Unit: ms) 1000 Pr.29 Deceleration time 2 (Unit: ms) 1000 Pr.30 Deceleration time 3 (Unit: ms) 1000 Pr.31 JOG speed limit value (Unit: PLS/s) 20000 Pr.
11 MANUAL CONTROL MELSEC-Q 11.2.4 Creating start programs for JOG operation A PLC program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. (" Cd.17 JOG speed" is set to "100.00mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
11 MANUAL CONTROL MELSEC-Q Start time chart Forward JOG run t Reverse JOG run ON Forward run JOG start signal [Y8] OFF Reverse run JOG start signal [Y9] OFF PLC READY signal [Y0] OFF All axis servo ON [Y1] OFF QD75 READY signal [X0] ON ON ON ON OFF ON BUSY signal [XC] Error detection signal [X8] OFF OFF Fig. 11.
11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No. 10 JOG operation setting program No.
11 MANUAL CONTROL MELSEC-Q 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again. A JOG start signal OFF ON while the stop signal is ON will be ignored.
11 MANUAL CONTROL MELSEC-Q When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority. In this case, the "reverse run JOG start signal" is validated when the QD75MH BUSY signal is turned OFF.
11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal" is turned ON. Forward run JOG operation t ON Forward run JOG start signal [Y8, YA, YC, YE] OFF BUSY signal [XC, XD, XE, XF] OFF ON Fig. 11.
11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation ON OFF Forward run JOG start signal [Y8, YA, YC, YE] Axis stop signal [Y4, Y5, Y6, Y7] ON OFF 100ms A JOG start signal OFF ON while the stop signal is ON will be ignored. Fig. 11.
11 MANUAL CONTROL MELSEC-Q 11.3 Inching operation 11.3.1 Outline of inching operation Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 12.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result. Inching operation In inching operation, pulses are input to the servo amplifier at the first control cycle (1.
11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before inching operation is carried out. (1) Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at the first control cycle of the QD75MH (1.7ms).
11 MANUAL CONTROL MELSEC-Q Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ON Forward run JOG start signal OFF [Y8,YA,YC,YE] Reverse run JOG start signal OFF [Y9,YB,YD,YF] ON BUSY signal [XC,XD,XE,XF] Md.26 Axis operation status OFF t3 t1 Standing by Inching operation Standing by t2 Positioning operation Positioning complete signal [X14,X15,X16,X17] ON OFF t4 Fig. 11.
11 MANUAL CONTROL MELSEC-Q 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. STEP 1 Set the positioning parameters. ) Preparation Refer to Chapter 5 and Section 11.3.3. Pr.1 to Pr.31 ) One of the following two methods can be used. Directly set (write) the parameters in the QD75MH using GX Configurator-QP. Set (write) the parameters from the PLC CPU to the QD75MH using the PLC program (TO command). STEP 2 Set the" Cd.
11 MANUAL CONTROL MELSEC-Q 11.3.3 Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. When only inching operation will be carried out, no parameters other than those shown below need to be set. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.
11 MANUAL CONTROL MELSEC-Q 11.3.4 Creating a program to enable/disable the inching operation A PLC program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 µm" is set in " Cd.16 Inching movement amount".
11 MANUAL CONTROL MELSEC-Q Start time chart Forward run inching operation t Reverse run inching operation ON Forward run JOG start signal [Y8] OFF ON Reverse run JOG start signal [Y9] OFF ON PLC READY signal [Y0] OFF All axis servo ON [Y1] OFF QD75 READY signal [X0] OFF BUSY signal [XC] OFF ON ON Error detection signal [X8] OFF Positioning complete signal [X14] OFF ON Fig. 11.
11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No.11 Inching operation setting program No.
11 MANUAL CONTROL MELSEC-Q 11.3.5 Inching operation example When "stop signal" is turned ON during inching operation: If "stop signal" is turned ON during inching operation, the inching operation will be stopped. While the stop signal is turned ON, the JOG start signal is ignored. The inching operation can be re-started when the stop signal is turned OFF and then re-turned ON. A JOG start signal OFF ON while the stop signal is ON will be ignored.
11 MANUAL CONTROL MELSEC-Q When "JOG start signal" is turned ON when peripheral devices are in the test mode: If "JOG star signal" is turned ON when peripheral devices are in the test mode, the "JOG start signal" will be ignored and inching operation will not be carried out. Inching operation not possible because JOG Inching operation not possible start signal does not rise because the operation is in the test mode.
11 MANUAL CONTROL MELSEC-Q 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Important Create the PLC program so that " Cd.21 Manual pulse generator enable flag" is always set to "0" (disabled) when a manual pulse generator operation is not carried out. Mistakenly touching the manual pulse generator when the manual pulse generator enable flag is set to "1" (enable) can cause accidents or incorrect positioning.
11 MANUAL CONTROL MELSEC-Q Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the " Pr.8 Speed limit value". (2) If the " Cd.
11 MANUAL CONTROL MELSEC-Q REMARK • • One QD75MH module can be connected to one manual pulse generator. The QD75MH module can simultaneously command to the axis 1 to axis 4 servo amplifier by one manual pulse generator. (axis 1 to axis 4 simultaneous operation is possible.) Errors during operation When the operation is stopped by the stroke limit (limit signal OFF), manual pulse generator operation can be performed in the direction in which the limit signal turns ON after an error reset.
11 MANUAL CONTROL MELSEC-Q Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The current feed value in the positioning control by manual pulse generator operation can be calculated using the expression shown below. Current feed value = Number of input pulses × Cd.20 Manual pulse generator 1 pulse input magnification × Manual pulse generator 1 pulse movement amount Pr.
11 MANUAL CONTROL MELSEC-Q 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Preparation STEP 1 Set the positioning parameters ) Refer to Chapter 5 and Section 11.4.3. Pr.1 to Pr.24 ) One of the following two methods can be used. Directly set (write) the parameters in the QD75MH using GX Configurator-QP.
11 MANUAL CONTROL MELSEC-Q 11.4.3 Setting the required parameters for manual pulse generator operation The "Positioning parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. When only manual pulse generator operation will be carried out, no parameters other than those shown below need to be set.
11 MANUAL CONTROL MELSEC-Q 11.4.4 Creating a program to enable/disable the manual pulse generator operation A PLC program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1.
11 MANUAL CONTROL MELSEC-Q Start time chart Forward run t Reverse run Pulse input A phase Pulse input B phase ON [Y0] PLC READY signal OFF ON OFF All axis servo ON [Y1] QD75 READY signal [X0] Start complete signal [X10] OFF BUSY signal [XC] OFF Error detection signal [X8] OFF ON OFF ON Cd. 21 Manual pulse generator enable flag Cd. 20 Manual pulse generator 1 pulse input magnification 0 1 1 Fig. 11.
11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No.
11 MANUAL CONTROL MELSEC-Q MEMO 11 - 36
Chapter 12 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these sub functions.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, commands from GX Configurator-QP, sub function PLC programs, etc. 12.1.1 Outline of sub functions The following table shows the types of sub functions available.
12 CONTROL SUB FUNCTIONS MELSEC-Q Sub function Absolute position system function Details This function holds the current value. This function sets the absolute position coordinate in relation to the OP in the machine movement range, and prevent the OP from being lost even if the power supply is turned OFF to ON. Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 12.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the " Pr.44 OPR direction", a normal machine OPR is carried out. Machine OPR start OP Pr. 44 OPR direction Hardware upper limit switch Hardware lower limit switch Near-point dog Zero signal Movement range 2) When the direction from the workpiece to the OP is the opposite direction from the " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using " Pr.57 Dwell time at OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation. " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) The following table shows whether the OPR retry function may be executed by the " Pr.43 OPR method". Pr.43 OPR method Execution status of OPR retry function Near-point dog method : Execution possible Count method 1) : Execution possible Count method 2) : Execution possible Data set method : (2) Always establish upper/lower limit switches at the upper/lower limit positions of the machine, and connect an QD75MH module.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the nearpoint dog, stopper, and zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected. A mechanically established OP can then be interpreted at that point. The details shown below explain about the "OP shift function".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP shift amount Setting range of the positive OP shift amount Address decrease direction Address increase direction Near-point dog Upper limit switch Lower limit switch Pr. 44 OPR direction Zero signal Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) OP shift operation at the " Pr.47 Creep speed" (When " Pr.56 Speed designation during OP shift" is 1) Pr. 44 OPR direction Pr. 47 Creep speed When the " Pr. 53 OP shift amount" is positive Zero point OP Machine OPR start When the " Pr. 53 OP shift amount" is negative Near-point dog Zero signal Fig. 12.7 OP shift operation at the creep speed [4] Precautions during control The following data are set after the OP shift amount is complete.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or PLC program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The feed command of the backlash compensation amount are not added to the " Md.20 Current feed value" or " Md.21 Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when " Pr.11 Backlash compensation amount" is set). The backlash in the mechanical system cannot be correctly compensated if a machine OPR is not carried out.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.2 Electronic gear function The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the QD75MH with the actual machine movement amount. The "electronic gear function" has the following three functions ( [A] to [C] ).
12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Basic concept of the electronic gear The electronic gear is an item which determines how many rotations (rotations by how many pulses) the motor must make in order to move the machine according to the programmed movement amount. QD75MH Control value Control unit AP AL AM PLS Servo amplifier Reduction retio PLS Machine M ENC PLS Feedback pulse The basic concept of the electronic gear is represented by the following expression. • Pr.2 (No.
12 CONTROL SUB FUNCTIONS MELSEC-Q (1) For "Ball screw" + "Reduction gear" When the ball screw pitch is 10mm, the motor is the HF-KP (262144 PLS/rev) and the reduction ratio of the reduction gear is 9/44. Machine M Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel ( S) when the motor turns one revolution (AP). • • AP(No. of pulses per rotation) = 262144 S(Machine travel value per motor revolution) = Ball screw pitch × Reduction ratio = 10 [mm] × 9/44 = 10000.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) When "PLS (pulse)" is set as the control unit When using PLS (pulse) as the control unit, set the electronic gear as follows. AP = "No. of pulses per rotation" AL = "Movement amount per rotation" AM = 1 Example) When the motor is the HF-KP (262144PLS/rev) AP = 262144 .. Pr.2 AL = 262144 .. Pr.3 AM = 1 ……….. Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q Thus, AP, AL and AM to be set are as follows. AP = 180224 …… Pr.2 AP = 180224 … Pr.2 AL = 67.50000 … Pr.3 or AM = 1 ………..… Pr.4 AL = 0.06750 … Pr.3 AM = 1000 ……. Pr.4 Note): These two examples of settings are only examples. There are settings other than these examples.
12 CONTROL SUB FUNCTIONS MELSEC-Q AL has a significant number to first decimal place, round down numbers to two decimal places. Reduce a fraction in the above result. AP S = AP = AL × AM 24168089 2968805.0 = 41680896 (AP) 2968805.0 (AL) × 1(AM) Thus, AP, AL and AM to be set are as follows. AP = 41680896 ……. Pr.2 AL = 2968805.0 ….. Pr.3 AM = 1 …………..… Pr.4 This setting will produce an error for the true machine value, but it cannot be helped. This error is as follows.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With QD75MH, this error is compensated by adjusting the electronic gear.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
12 CONTROL SUB FUNCTIONS [2] MELSEC-Q Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) If continuous path control is carried out, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No. currently being executed to the next positioning data No.
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) When continuous path control of a circular interpolation is being carried out in the near pass, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data No. Because the starting point address will be replaced, a large arc error deviation (error code: 506) may occur. In this case, adjust the " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or PLC program creation and writing. 12.4.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. The speeds of the other axes interpolated are suppressed depending on their command speed ratios. If the reference axis exceeds " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc. It controls the operation so that unnecessary force is not applied to the load and machine.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Control details The following drawing shows the operation of the torque limit function. Each operations PLC READY signal (Y0) All axis servo ON (Y1) Start signal (Y10) 1 1 Pr.17 Torque limit setting value (26) 300 250 2 Cd.101 Torque output setting value (1552) 0 Cd.22 New toruque value (1525) 0 Md.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the QD75MH. a) The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Setting value Setting item Pr.17 Torque limit setting value Pr.54 OPR torque limit value Factory-set initial value Setting details Set the torque limit value as a percentage.
12 CONTROL SUB FUNCTIONS MELSEC-Q The following table shows the " Md.35 Torque limit stored value" of the buffer memory address. Monitor item Md.35 Monitor value Torque limit stored value Storage details Buffer memory address Axis Axis Axis Axis 1 2 3 4 The "torque limit value" valid at that time is 826 stored. ( Pr.17 , Pr.54 , Cd.22 , or Cd.101 ) 926 1026 1126 Refer to Section 5.6 "List of monitor data" for information on the setting details. REMARK • Parameters are set for each axis.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed. In the QD75MH, the "current feed value" and "machine feed value" are used as the addresses indicating the current position.
12 CONTROL SUB FUNCTIONS MELSEC-Q The following drawing shows the differences in the operation when " Md.20 Current feed value" and " Md.21 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md. 20 Current feed value Md.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Software stroke limit check details Processing when an error occurs Check details An error shall occur if the current value 1 is outside the software stroke limit range 2. 1) (Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error" will occur (error code: An error shall occur if the command address is outside the software 507, 508) 2) stroke limit range. (Check " Da.6 Positioning address/movement amount".) 1: Check whether the " Md.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis. Every axis will not start if an error occurs, even if it only occurs in one axis. (3) During circular interpolation control, the " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the QD75MH.
12 CONTROL SUB FUNCTIONS MELSEC-Q [7] Setting when the control unit is "degree" Current value address The " Md.20 Current feed value" address is a ring address between 0 and 359.99999° . 359.99999° 0° 359.99999° 0° 0° Fig. 12.16 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999° . (1) Setting when the software stroke limit is to be validated.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.4 Hardware stroke limit function ! DANGER 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, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
12 CONTROL SUB FUNCTIONS MELSEC-Q (1) For an external input signal of QD75MH Lower limit Upper limit QD75MH control moveable range Mechanical stopper Movement direction Start Start Deceleration stop at Deceleration stop at lower limit switch detection upper limit switch detection Lower limit switch Mechanical stopper Movement direction Upper limit switch QD75MH Servo amplifier (2) For an external input signal of the servo amplifier Lower limit Upper limit QD75MH control moveable range Me
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the QD75MH or servo amplifier (MR-J3-B) upper/lower limit stroke limit as shown in the following drawing. (When " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] When the hardware stroke limit function is not used When not using the hardware stroke limit function, wire the terminals of the QD75MH upper/lower limit stroke limit as shown in the following drawing. When the logic of FLS and RLS is set to "positive logic" using " Pr.22 Input signal logic selection", positioning control can be carried out even if FLS and RLS are not wired. (For details, refer to Section 13.4 "External I/O signal logic switching function".
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.5 Forced stop function ! DANGER When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. Provided safety circuit outside the QD75MH so that the entire system will operate safety even when the " Pr.82 Forced stop valid/invalid" is set "1: Invalid". Be sure to use the forced stop signal (EMI) of the servo amplifier.
12 CONTROL SUB FUNCTIONS MELSEC-Q The following drawing shows the operation of the forced stop function. Forced stop causes occurrence Forced stop causes occurrence Each operation PLC READY signal(Y0) All axis servo ON(Y1) Start signal(Y10) Forced stop input (Input voltage of EMI) 0 Md.50 Forced stiop input 1 Md.108 Servo status (b1: Servo ON) ON Pr.82 1 OFF ON 0 1 OFF ON 0 Forced stop valid/ invalid Forced stop valid Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the forced stop To use the "Forced stop function", set the following data using a PLC program. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Setting value Setting item Pr.82 Setting details Set the forced stop function. 0 : Valid (Forced stop is used) 1 : Invalid (Forced stop is not used) Forced stop valid/ invalid selection Buffer memory address 35 Refer to Section 5.2.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or PLC program creation and writing. Both the "speed change function" or "override function" change the speed, but the differences between the functions are shown below.
12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Control details The following drawing shows the operation during a speed change. V Speed changes to V2. Speed changes to V3. V1 Operation during positioning by V1. V2 V3 t Md. 40 In speed change processing flag Fig. 12.23 Speed change operation [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control.
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) When the stop command was given to make a stop after a speed change that had been made during position control, the restarting speed depends on the " Cd.14 New speed value". V Da. 8 Command speed Speed change command Cd. 14 New speed value Restarting Stop command command t Fig. 12.25 Restarting speed after speed change made during position control (4) When the speed is changed by setting " Cd.14 New speed value" to "0", the operation is carried out as follows.
12 CONTROL SUB FUNCTIONS MELSEC-Q (5) A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed in the following cases. • During deceleration by a stop command • During automatic deceleration during positioning control (6) A warning "Speed limit value over (warning code: 501)" occurs and the speed is controlled at the " Pr.8 Speed limit value" when the value set in " Cd.14 New speed value" is equal to or larger than the " Pr.8 Speed limit value".
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) The following shows the speed change time chart. V Dwell time t Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] QD75 READY signal [X0] [X10] Start complete signal [XC] BUSY signal Positioning complete signal [X14] Error detection signal [X8] Md. 40 In speed change processing flag 1 0 Cd. 14 New speed value 0 2000 Cd. 15 Speed change request 0 1 0 Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and PLC program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following PLC program to the control program, and write it to the PLC CPU. Example Write 1000000 to D108 and D109. External command valid signal DTOP H0 K1514 D108 K1 [Speed change processing] TOP H0 K1505 K1 Input the external command signal. 12 - 48 K1
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in " Cd.13 Positioning operation speed override". However, when a machine OPR is performed, an override cannot be made after a deceleration start to the creep speed following the detection of near-point dog ON.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed in the following cases. (The value set in " Cd.13 Positioning operation speed override" is validated after a deceleration stop.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) The following shows a time chart for changing the speed using the override function. V Dwell time t Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] QD75 READY signal [X0] Start complete signal [X10] [XC] BUSY signal Positioning complete signal [X14] Error detection signal [X8] Cd. 13 Positioning operation speed override 200 Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change indicated in Section 12.5.1 "Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.9 , Pr.10 , and Pr.25 to Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) When "0" is set in " Cd.10 New acceleration time value" and " Cd.11 New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters. (2) The "new acceleration/deceleration time" is valid during execution of the positioning data for which the speed was changed.
12 CONTROL SUB FUNCTIONS MELSEC-Q (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd. 10 , Cd. 11 ) Speed change V Speed change Speed change Controlled with the acceleration/ deceleration time in the parameter. t Cd.
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the acceleration/deceleration time change function To use the "acceleration/deceleration time change function", write the data shown in the following table to the QD75MH using the PLC program. The set details are validated when a speed change is executed after the details are written to the QD75MH. Setting item Cd.10 Cd.11 Cd.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value during torque limiting is normally the value set in the " Pr.17 Torque limit setting value" or " Cd.101 Torque output setting value" that was previously set in the parameters. However, by setting the new torque limit value in the axis control data " Cd.
12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Control details The torque value of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the QD75MH. (a torque change is made only during operation.) (Note that the delay time until a torque control is executed is max. 56.4ms after torque change value was written.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) If a value besides "0" is set in the " Cd.22 New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in " Pr.17 Torque limit setting value" or " Cd.101 Torque output setting value", set the " Cd.22 New torque value" to "0". (2) The " Cd.22 New torque value" is validated when written to the QD75MH.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.6 Absolute position system The QD75MH can construct an absolute position system by installing the absolute position system and connecting it through SSCNET . The following describes precautions when constructing the absolute position system.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] OPR The absolute position system can establish the location of the OPR, using "Data set method", "Near-point dog" and "Count method" OPR method. In the "Data set method" OPR method, the location to which the location of the OPR position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OPR position. Movement range for the machine Moved to this position by manual operation.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "target position change function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", " deceleration start flag function" and "stop command processing for deceleration stop function" and "follow up processing function".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data " Cd.34 Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration. (A normal operation will be carried out until the positioning data requiring automatic deceleration is found.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. (1) Turn ON the step valid flag before starting the positioning data. (Write "1" (carry out step operation) in " Cd.35 Step valid flag".) (2) Set the step mode before starting the positioning data. (Set in " Cd.34 Step mode".) (3) Turn ON the positioning start signal, and check that the positioning control starts normally.
12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". ON Cd. 35 Step valid flag OFF ON Positioning start signal OFF [Y10, Y11, Y12, Y13] ON OFF BUSY signal [XC, XD, XE, XF] ON Positioning complete signal OFF [X14, X15, X16, X17] V Positioning t Positioning data No. No.10 No.11 11 01 Da. 1 Operation pattern No positioning data No.
12 CONTROL SUB FUNCTIONS MELSEC-Q [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while " Md.26 Axis operation status" is "step standing by". (The step operation will be carried out from the positioning data set in " Cd.3 Positioning start No.".
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. A skip is executed by a skip command ( Cd.37 Skip command) or external command signal. The "skip function" can be used during control in which positioning data is used. The details shown below explain about the "skip function".
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the skip function from the PLC CPU The following shows the settings and PLC program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (1) Set the following data. (The setting is carried out using the PLC program shown below in section (2)). Cd.37 Buffer memory address Setting value Setting item Skip command 1 Setting details Set "1: Skip request".
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and PLC program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal. (The setting is carried out using the PLC program shown below in section (2)).
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal (X4, X5, X6, X7) is turned ON during positioning execution, a No. called the M code is stored in " Md.25 Valid M code". These " Md.25 Valid M code" are read from the PLC CPU, and used to command auxiliary work. M codes can be set for each positioning data.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) AFTER mode The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning completion, and the M code is stored in " Md.25 Valid M code". ON Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON [XC, XD, XE, XF] OFF ON M code ON signal OFF [X4, X5, X6, X7] Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code m2 m1 V Positioning t Da. 1 Operation pattern 01 00 m1 and m2 indicate set M codes. Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON ON [XC, XD, XE, XF] OFF M code ON signal OFF [X4, X5, X6, X7] ON Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code 1 0 m2 m1 m3 V Positioning t Da. 1 Operation pattern 11 m1 and m3 indicate set M codes. 11 00 Warning occurs at this timing. Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the M code output function The following shows the settings to use the "M code output function". (1) Set the M code No. in the positioning data " Da.10 M code". (2) Set the timing to output the M code ON signal (X4, X5, X6, X7). Set the required value in the following parameter, and write it to the QD75MH. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses (" Da.6 Positioning address/movement amount", " Da.7 Arc address"). The details shown below explain about the "teaching function".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, " Md.20 Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Teaching procedure The following shows the procedure for a teaching operation. (Interpolation operation with axis 1 as a reference) (1) When teaching to the " Da.6 Positioning address/movement amount" Start Carry out a machine OPR. Move the workpiece to the target position using a manual operation. Set the positioning data No. for which the teaching will be carried out. Set the current feed value in the positioning address by teaching data selection.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) When teaching to the " Da.7 Arc address", then teaching to the " Da.6 Positioning address/movement amount" Start Carry out a machine OPR. Move the workpiece to the circular interpolation sub point using a manual operation. Set the positioning data No. for which the teaching will be carried out. • • • • • • • • Set the positioning data No. in the buffer memory address [1549]. Set the current feed value in the arc sub point by teaching data selection.
12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Teaching program example The following shows a PLC program example for setting (writing) the positioning data obtained with the teaching function to the QD75MH. (1) Setting conditions • When setting the current feed value as the positioning address, write it when the BUSY signal is OFF. (2) Program example • The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction "TEACH 1".
12 CONTROL SUB FUNCTIONS 2) MELSEC-Q Carry out the teaching operation with the following program. Example No.20 Teaching program Position to the target position with manual operation. POINT (1) Confirm the teaching function and teaching procedure before setting the positioning data.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by " Cd.29 Target position change request flag".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 12.41 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, a warning will be given, and the new command speed will be the speed limit value (warning code: 501).
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and PLC program used to change the target position of the axis 1 by the command from the PLC CPU, respectively. (example in which the target position value and command speed are changed to a new target position of "300.0 m" and a new command speed of "10000.00 mm/min".) (1) The following data is set.
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) The following PLC program is added to the control program, and written to the PLC CPU. Example No.22 Target position change program
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.6 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a frontloading signal indicating beforehand the completion of the position control. The details shown below explain about the "command in-position function".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases. • During deceleration by a stop command or sudden stop command. • During position control, the operation pattern is "continuous path control" • During speed control, or during the speed control of speed-position switching or position-speed switching control.
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the QD75MH. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Setting value Setting item Pr.16 Factory-set initial value Setting details Turn ON the command in-position flag, and set the remaining distance to the stop position of the position control.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.7 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out. There are two acceleration/deceleration adjustment items that can be set: "Acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. The two types of "acceleration/deceleration method setting" are shown below.
12 CONTROL SUB FUNCTIONS MELSEC-Q When a speed change request is given during S-pattern acceleration/ deceleration processing, S-pattern acceleration/deceleration processing begins at a speed change request start. When speed change request is not given Speed change (acceleration) Command speed before speed change Speed change request Speed change (deceleration) Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.8 Pre-reading start function The "pre-reading start function" does not output pulses while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within 1.1ms after OFF of the execution prohibition flag is detected. The positioning start request is given when the axis is in a standby status, and the execution prohibition flag is turned OFF at the axis operating timing.
12 CONTROL SUB FUNCTIONS MELSEC-Q The pre-reading start function is effective for the system as shown below. Cutter Cutter shaft Feed shaft Stock Fig. 12.49 System example using pre-reading start function Fig. 12.49 shows a system example which repeats: 1) Feeding a stock with a feed shaft; and 2) Cutting it with a cutter to cut the stock to fixed size. The operations of the feed shaft and cutter shaft are represented as shown in Fig. 12.50.
12 CONTROL SUB FUNCTIONS MELSEC-Q V Feed shaft t Start time Ts Stop time Tw Start time Ts Cutter shaft t Start time Ts Feed shaft start request Cutter shaft start request 2 1 Fig. 12.50 Operation timings of system example The cutter shaft starts from the moment the feed shaft has completed feeding the stock " 1 ", and the feed shaft starts from the moment the cutter shaft has returned to the standby position " 2 ". Actually, however, there is a delay of start time Ts (3.5 to 4.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The time required to analyze the positioning data is up to 4.0ms. (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
12 CONTROL SUB FUNCTIONS MELSEC-Q Pre-reading start function (when dedicated instruction PSTRT1 is used)
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.9 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc. for the next position control.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Block start At a block start, this function is valid for only the position control whose operation pattern is "Positioning complete" at the point whose shape has been set to "End". (Refer to Fig. 12.52.) The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data. Da.11 Shape Block start data 1st point 2nd point 3rd point Da.13 Special start instruction Da.12 Start data No.
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The deceleration start flag function is valid for the control system of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". (In the case of linear interpolation control, the function is valid for only the reference axis.) Refer to Section 3.2.
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Deceleration start flag function setting method To use the "deceleration start flag function", set "1" to the following control data using a PLC program. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0]. Setting value Setting item Cd.41 Deceleration start flag valid Setting details Buffer memory address Set whether the deceleration start flag function is made valid or invalid.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.10 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both automatic trapezoidal and S-pattern acceleration/deceleration processing methods. (For the stop cause, refer to Section 1.2.3 Outline of stopping.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed. Stop cause occurrence V Deceleration stop processing (automatic deceleration) start t Fig. 12.
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a PLC program. The set data are made valid as soon as they are written to the buffer memory. The PLC ready signal [Y0] is irrelevant. Setting item Stop command processing for Cd.42 deceleration stop selection Setting value Setting details Set the stop command processing for deceleration stop function.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.11 Speed control 10 x multiplier setting for degree axis function The "Speed control 10 x multiplier setting for degree axis function" is executed the positioning control by 10 x speed of the setting value in the command speed and the speed limit value when the setting unit is "degree".
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Monitor data • Md.22 Feedrate • Md.27 Current speed • Md.28 Axis feed rate • Md.33 Target speed For the above monitoring data, " Pr.83 Speed control 10 x multiplier setting for degree axis" is evaluated whether it is valid for each axis. If -3 -2 valid, unit conversion value is changed ( 10 10 ). The unit conversion table of monitor value is shown below. Actual value R Md.22 Md.27 Md.28 Md.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.12 Operation setting for incompletion of OPR function The "Operation setting for incompletion of OPR function" is provided to select whether positioning control is operated or not, when OPR request flag is ON. This section explains the "Operation setting for incompletion of OPR function" as follows: [1] Control details [2] Precautions during control [3] Setting method of "Operation setting for incompletion of OPR function" [1] Control details When " Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) When OPR request flag ( Md.31 Status: b3) is ON, starting Fast OPR will result in an "Home positioning return (OPR) request flag ON" error (error code: 207) despite the setting value of " Pr.55 Operation setting for incompletion of OPR", and Fast OPR will not be performed. [3] Setting method of "Operation setting for incompletion of OPR" The use the "Operation setting for incompletion of OPR", set the following parameters using a PLC program. Setting item Pr.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.8 Servo ON/OFF 12.8.1 Servo ON/OFF The servo amplifiers connected to the QD75MH is executed servo ON or OFF. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two types of servo ON or OFF can be used. All axis servo ON [Y1] Cd.100 Each axis servo OFF (Buffer memory addresses: 1551, 1651, 1751, 1851) A list of the "All axis servo ON [Y1]" and " Cd.100 Each axis servo OFF" is given below. Cd.
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.8.2 Follow up function (1) Follow up function The follow up function monitors the number of motor rotations (actual present value) with the servo OFF and reflects the value in the present 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.
Chapter 13 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the QD75MH, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required. 13.1 13.2 13.3 13.4 13.5 Outline of common functions...................
13 COMMON FUNCTIONS MELSEC-Q 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by peripheral devices or using PLC programs. The following table shows the functions included in the "common functions". Means Common function Details Parameter initialization This function returns the parameter stored in the QD75MH buffer memory and flash ROM to the factory-set initial value.
13 COMMON FUNCTIONS MELSEC-Q 13.2 Parameter initialization function "The parameter initialization function" is used to return the setting data set in the QD75MH buffer memory and flash ROM to their factory-set initial values. The details shown below explain about the "parameter initialization function".
13 COMMON FUNCTIONS MELSEC-Q [4] Parameter initialization method (1) Parameter initialization is carried out using the dedicated instruction "PINIT". (Refer to Chapter 14 "Dedicated instructions" for details.) (2) Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO command/intelligent function device. The initialization of the parameter is executed at the time point the data is written to the QD75MH buffer memory.
13 COMMON FUNCTIONS MELSEC-Q 13.3 Execution data backup function When the QD75MH buffer memory data is rewritten from the PLC CPU, "the data backed up in the QD75MH flash ROM" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the PLC power is turned OFF. (Refer to Chapter 7.) In cases like these, the "execution data backup function" backs up the data being executed by writing it to the flash ROM.
13 COMMON FUNCTIONS MELSEC-Q [4] Execution data backup method (1) Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "PFWRT". (Refer to "Chapter 14 Dedicated instructions" for details.) (2) Refer to Section 7.2 "Data transmission process" for the data transmission processing at the backup of the execution data.
13 COMMON FUNCTIONS MELSEC-Q 13.4 External signal selection function When the upper/lower limit signal and near point dog signal is connected, either the external device connector of QD75MH or external input signal of servo amplifier (PIN No. CN3-2, CN3-12, CN3-19) is selected whether use it. The details shown below explain about the "External signal selection function".
13 COMMON FUNCTIONS MELSEC-Q 13.5 External I/O signal logic switching function This function switches the signal logic according to the external equipment connected to the QD75MH or the external input signal (upper/lower limit switch, near-point dog) of the servo amplifier. For the system in which b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic".
Chapter 14 Dedicated Instructions The QD75MH dedicated instructions are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the QD75MH buffer memory address and interlock signal. 14.1 14.2 14.3 14.4 14.5 14.6 List of dedicated instructions ...............................................................................
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 14.1. Table 14.1 List of dedicated instructions Application Dedicated instruction Outline of functions Reference PSTRT1 Positioning start PSTRT2 PSTRT3 This function starts the positioning control of the designated axis of the QD75MH. Section 14.4 This function carries out teaching the designated axis of the QD75MH. Section 14.
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Setting data Internal device Bit (S) (D) Word Usable device Special MELSECNET/10 module direct J \ U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PSTRT1 PSTRT2 PSTRT3 PSTRT4 ZP.PSTRT1 "Un" (S) (D) ZP.PSTRT2 "Un" (S) (D) ZP.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Device Item (S)+0 System area Setting data Setting range – – The state at the time of completion is stored. – (S)+1 Complete status •0 : Normal completion • Other than 0: Abnormal completion (error code)( 2) The following data Nos. to be started by the PSTRT instruction are designated. : 1 to 600 • Positioning data No. 1 to 600 : 7000 to 7004 • Block start 7000 to 7004 (S)+2 Start No.
14 DEDICATED INSTRUCTIONS END processing PLC program ON PSTRT instruction Complete device Complete state display device MELSEC-Q END processing END processing END processing PSTRT instruction execution completion OFF ON OFF ON When completed abnormally When completed normally OFF 1 scan [Errors] (1) When an PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
14 DEDICATED INSTRUCTIONS MELSEC-Q (6) If the PSTRT instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number" (device: (S)+2) of the control data. • The instruction for a non-existent axis is specified. (Example: The PSTRT2 instruction is specified when the QD75MH1 is used.
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.4 TEACH1, TEACH2, TEACH3, TEACH4 These dedicated instructions are used to teach the designated axis. Setting data Internal device Bit (S) (D) Word Usable device Special MELSECNET/10 module direct J \ U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] TEACH1 TEACH2 TEACH3 TEACH4 ZP.TEACH1 "Un" (S) (D) ZP.TEACH2 "Un" (S) (D) ZP.TEACH3 "Un" (S) (D) ZP.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Device Item (S)+0 System area (S)+1 (S)+2 (S)+3 Setting data – The state at the time of completion is stored. Complete status 0 : Normal completion Other than 0 : Abnormal completion (error code)( 2) The address (positioning address/arc address) to which the current feed value is written is set. Teaching data selection 0: Current feed value is written to positioning address. 1: Current feed value is written to arc address. The positioning data No.
14 DEDICATED INSTRUCTIONS END processing PLC program ON TEACH instruction Complete device Complete state display device MELSEC-Q END processing END processing END processing TEACH instruction execution completion OFF ON OFF When completed abnormally When completed normally ON OFF 1 scan [Errors] (1) When a TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON. No. 20 Teaching program Positioned manually to target position.
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.5 PFWRT These dedicated instructions are used to write the QD75MH parameters, positioning data and block start data to the flash ROM. Setting data Internal device Bit (S) (D) Word Usable device Special MELSECNET/10 module direct J \ U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PFWRT ZP.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) The PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which PFWRT instruction is completed, and turned OFF by the next END processing. (b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which PFWRT instruction is completed. • When completed normally : Kept unchanged at OFF.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM. If this occurs, restart the operation by the method shown below.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON. No.
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.6 PINIT This dedicated instruction is used to initialize the setting data of the QD75MH. Setting data Internal device Bit (S) (D) Word Usable device Special MELSECNET/10 module direct J \ U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PINIT Z.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) This dedicated instruction is used to return the setting data set in the QD75MH buffer memory and flash ROM to their factory-set data (initial values). Setting data Basic parameters ( Pr.1 to Pr.10 ) Detailed parameters ( Pr.11 to Pr.42 , Pr.80 to Pr.84 ) OPR basic parameters ( Pr.43 to Pr.48 ) OPR detailed parameters ( Pr.49 to Pr.57 ) Servo parameters ( Pr.100 to Pr.204 ) Positioning data (No.1 to 600) Block start data (No.
14 DEDICATED INSTRUCTIONS MELSEC-Q [Precautions] (1) The PINIT instruction can only be executed when the QD75 READY signal (X0) is turned OFF. When the QD75 READY signal is turned ON, the PINIT instruction cannot be executed. Before executing the PINIT instruction, turn OFF the PLC READY signal (Y0) and then turn OFF the QD75 READY signal. (2) When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (PINIT) is unusable.
14 DEDICATED INSTRUCTIONS MELSEC-Q MEMO 14 - 18
Chapter 15 Troubleshooting The "errors" and "warnings" detected by the QD75MH are explained in this chapter. Errors can be confirmed with the QD75MH LED display and peripheral devices. When an error or warning is detected, confirm the detection details and carry out the required measures. 15.1 Error and warning details.......................................................................................1515.2 List of errors .................................................................................
15 TROUBLESHOOTING MELSEC-Q 15.1 Error and warning details [1] Errors Types of errors Errors detected by the QD75MH include parameter setting range errors, errors at the operation start or during operation and errors detected by servo amplifier. (1) Errors detected by the QD75MH include parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y0].
15 TROUBLESHOOTING MELSEC-Q (4) Types of error codes Error code 001 to 009 100 to 199 200 to 299 300 to 399 500 to 599 800 to 899 900 to 999 1201 to 1209 2000 to 2099 Classification of errors Fatal errors Common errors OPR or absolute position restoration errors JOG operation or inching operation errors Positioning operation errors I/F (Interface) errors Parameter setting range errors Encoder errors Servo amplifier errors Error storage When an error occurs, the error detection signal turns ON, and the e
15 TROUBLESHOOTING MELSEC-Q (3) Servo amplifier detection warnings These are warning that occur at the hardware error such as servo amplifier and servomotor or the inapplicable servo parameters. Error or normality operation can't be executed by waning when warning is left as it is though servo off isn't executed. If you remove a warning factor, reset the servo amplifier.
15 TROUBLESHOOTING MELSEC-Q [4] Invalid operations For the following operations, the setting details will be invalidated, and an error or warning will not occur.
15 TROUBLESHOOTING MELSEC-Q 15.2 List of errors The following table shows the error details and remedies to be taken when an error occurs. 15.2.1 QD75MH detection error Classification of errors — Fatal errors Common errors Error code Error name 000 (Normal status) 001 Fault 002 Internal circuit fault Error Operation status at error occurrence — — Hardware fault. The system stops. The PLC READY signal (Y0) is turned OFF during operation.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) Remedy — — — — — — — — — — — • Check that there is no influence from noise. • Check hardware for possibility of fault. — — — — — • Review the PLC program which turns ON/OFF PLC READY signal (Y0). • Cancel the error with an axis error reset. (Refer to Section 15.
15 TROUBLESHOOTING Classification of errors Error code 201 203 204 205 206 Home position return (OPR) 207 209 210 211 212 Error name MELSEC-Q Error When the machine home position return (OPR) retry invalid is set, the Start at home near-point dog home position return position (OP) fault (OPR) is started with the home position return (OPR) complete flag turned ON.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 78 228 378 528 74 75 224 225 374 375 524 525 74 75 224 225 374 375 524 525 74 75 224 225 374 375 524 525 79 229 379 529 80 81 230 231 380 381 530 531 74 75 224 225 374 375 524 525 1500 1600 1700 1800 1500 1600 1700 1800 MELSEC-Q Set range (Setting with PLC program) Remedy 0, 1 • Validate the home position return (OPR) retry function (set value: 1). (Refer to Section 12.2.
15 TROUBLESHOOTING Classification of errors Home position return (OPR) JOG operation or inching operation errors Error code Error name MELSEC-Q Error Operation status at error occurrence 220 When the count method 1) or 2) – machine home position return (OPR) Illegal near-point dog Home position return (OPR) is not is started, the near-point dog is set to signal started. "1: External input signal of servo amplifier".
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 32 182 332 482 1518 1618 1718 1818 1519 1619 1719 1819 MELSEC-Q Set range (Setting with PLC program) Remedy 0,1 When the count method 1) or 2) – machine home position return (OPR) is used, the near-point dog is set to "0: External input signal of QD75MH". (Refer to Section 5.2.3 Pr.80 ) Bring JOG speed into the setting range. 1 to 50000000 [PLS/s] (Refer to Section 11.
15 TROUBLESHOOTING Classification of errors Error code 504 Error name Error Operation status at error occurrence Outside linear movement amount range • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start: The system will not operate. 1073741824(230). During operation: The system stops • The positioning address is immediately. –360.00000 or less or 360.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Refer to Section 5.
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error At start: The system will not operate. In the analysis of new current value: • Positioning is carried out at a Current value is not position beyond the software stroke changed. limit upper limit. During operation: • The positioning address and new • The system stops current value exceed the software immediately when the stroke limit upper limit.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) Remedy New current value 1506 1606 1706 1806 1507 1607 1707 1807 • [mm] [inch] [PLS] –2147483648 to 2147483647 468 • [degree] 469 0 to 35999999 Software stroke limit upper limit 18 19 168 169 318 319 Software stroke limit lower limit 20 21 170 171 320 321 At start: Bring the current feed value into the software
15 TROUBLESHOOTING Classification of errors Positioning operation errors Error code Error name MELSEC-Q Error 518 Outside operation pattern range • The operation pattern set value is 2. • A target position change is requested on those control systems other than ABS1 and INC1. • A target position change is carried out in continuous path control. • A changed address is outside the software stroke limit. • A target position change is carried out during deceleration stop.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) Remedy Correct the operation pattern. (Refer to Section 5.3 Da.1 ) Same as error codes 515 to 516 Correct the control system. (Refer to Section 5.3 Da.2 ) 0 150 300 450 Correct the positioning data or change the parameter "Unit setting" of the axis to be interpolated. (Refer to Section 9.1.6) 0, 1, 2, 3 • Correct the control system. (Refer to Section 5.3 Da.
15 TROUBLESHOOTING Classification of errors Error code Error Operation status at error occurrence Control system setting error • The control system setting value is outside the specified limit. • The number of control axes differs from the previous data when continuous positioning control or continuous path control is to be exercised for continuously. • Machine OPR, fast OPR, or speedposition or position-speed switching control was performed in the wiring-less mode.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) • Correct the control system or parameter. (Refer to section 9.1.6, 9.2.20) • Do not make setting at buffer memory address 1906 (use prohibited area). Same as error codes 515 to 516 Refer to Section 5.3 "List of positioning data" Remedy • unit [mm] [PLS] [inch] –2147483648 to 2147483647 (Unit [degree]) cannot be set.
15 TROUBLESHOOTING Classification of errors Error code 533 Positioning operation errors Error name MELSEC-Q Error Operation status at error occurrence • The condition setting values are not set or outside the setting range. • The condition operator setting values are not set or outside the setting range. • The condition operator is a bit Condition data error operator, and the parameter 1 is 32 or more. • An unusable condition operator is set for the set condition. The operation is terminated.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) — Remedy Normalize the block start data. Refer to Section 5.4 "Block start data" 00H to 06H Refer to Section 5.3 "List of positioning data" 1504 1604 1704 1804 Correct the instruction code of the special start data. (Refer to Section 5.4 Da.13 ) Correct the control system. (Refer to Section 5.3 Da.
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error Operation status at error occurrence 546 At start: The system will not operate. During operation: The system decelerates to a The setting value of ABS direction in stop. the unit of degree is as follows. Illegal setting of ABS (Note that, in the continuous direction in unit of • Set outside the setting range.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 ABS setting direction in the unit of degree 1550 1650 1750 1850 MELSEC-Q Set range (Setting with PLC program) 0: Shortcut 1: Clockwise 2: Counterclockwise Remedy • Set the ABS setting direction in the unit of degree within the setting range. • Set "0" when the software stroke limits are valid. (Refer to Section 9.1.
15 TROUBLESHOOTING Classification of errors I/F errors Error code Error name MELSEC-Q Error Data is written to the flash ROM continuously 25 times or more from the PLC program. 805 Flash ROM exceed writing error 806 Dedicated instruction Mismatching occurs between the I/F error PLC CPU and QD75MH. 900 Outside unit setting range 901 Outside pulse The set range of the basic parameter number per rotation 1 "No. of pulses per rotation" is range outside the setting range.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) Remedy — — — — — Review the PLC program so that data is not written continuously to the flash ROM. (Using " Md.19 " in Section 5.6.1, the number of flash ROM write times can be monitored.) (If this error has occurred in a proper using method, writing is enabled by resetting the error, switching power OFF, then ON, or resetting the PLC CPU.) — — — — — A trouble occurs.
15 TROUBLESHOOTING Classification of errors Error code 920 MELSEC-Q Error name Backlash compensation amount error Operation status at error occurrence Error The calculation result of the following equation is smaller than 0 or larger than 65536. Pr.11 Pr.2 0≤ The QD75 READY signal (X0) is not turned ON. ≤ 65535 Pr.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 17 167 317 467 MELSEC-Q Set range (Setting with PLC program) 0≤ Pr.11 Pr.2 ≤ 65535 Pr.3 Remedy Correct the parameters. • " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per pulse" and " Pr.11 Backlash compensation amount" (Refer to Section 5.2.3) 18 19 168 169 318 319 468 469 • [mm] [inch] [PLS] –2147483648 to 2147483647 • [degree] 0 to 35999999 • Set the value inside the setting range.
15 TROUBLESHOOTING Classification of errors Error code 935 936 Parameter setting range errors Error name Speed-position function selection error Forced stop valid/invalid setting error 950 Acceleration time 1 setting error 951 Acceleration time 2 setting error 952 Acceleration time 3 setting error 953 Deceleration time 1 setting error 954 Deceleration time 2 setting error 955 Deceleration time 3 setting error 957 958 959 Error Operation status at error occurrence The detailed param
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) 34 184 334 484 0, 2 32 182 332 482 0, 1 Remedy Speed-position switching control (ABS mode) should satisfy the conditions 1) to 3) given on the left. When speed-position switching control (ABS mode) is not used, set 0 to speed-position function selection and turn the PLC READY signal [Y0] from OFF to ON.
15 TROUBLESHOOTING Classification of errors Parameter setting range errors Error code Error name MELSEC-Q Error Operation status at error occurrence 960 S-pattern ratio setting error The set range of the detailed parameter 2 "S-pattern ratio" is outside the setting range. 961 Illegal sudden stop deceleration time The set range of the detailed parameter 2 "Sudden stop deceleration time" is outside the setting range.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) 53 203 353 503 1 to 100 54 55 204 205 354 355 504 505 1 to 8388608 56 206 356 506 0, 1 57 207 357 507 0, 1 58 208 358 508 0, 1 60 61 210 211 360 361 510 511 0 to 10000 62 212 362 512 0, 1, 2, 3 64 65 214 215 364 365 514 515 0 to 163840 63 213 363 513 0, 1 70 220 370 520 0, 1, 4, 5, 6 71 221 371 521 0, 1 72 73 222 223 372 373
15 TROUBLESHOOTING Classification of errors Parameter setting range errors Error code Error name MELSEC-Q Error Operation status at error occurrence 983 • The set range of the home position return (OPR) basic parameter "Home position return (OPR) speed" is outside the setting range. Home position return • The set range of the home position (OPR) speed error return (OPR) basic parameter " Home position return (OPR) speed" is smaller than the bias speed at start.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 74 75 224 225 374 375 MELSEC-Q Set range (Setting with PLC program) Remedy 524 525 • Set the value inside the setting range. 1 to 50000000 [PLS/s] • Set the speed to the bias speed at start or higher. 1 to 2000000000 [mm/min or others] (Refer to Section 5.2.5) • Set the value inside the setting range. • Set the speed to that below the home position return 1 to 50000000 [PLS/s] (OPR) speed.
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error 995 • The set range of the home position return (OPR) detailed parameter " Home position return (OPR) torque limit value" is outside the setting Home position return range. (OPR) torque limit • The home position return (OPR) value error detailed parameter "Home position return (OPR) torque limit value" has exceeded the detailed parameter 1 "Torque limit setting value".
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 86 236 386 536 MELSEC-Q Set range (Setting with PLC program) Remedy 1 to 1000 After setting the value inside the setting range, turn the PLC READY signal [Y0] from OFF to ON. 88 238 388 538 0, 1 87 237 387 537 0, 1 — — — — 0, 1 Execute the home position return (OPR). — — — — — • Check the servomotor and encoder cable. • Take measures against noise. • Check the servomotor and encoder cable.
15 TROUBLESHOOTING MELSEC-Q 15.2.2 MR-J3-B detection error There is an error that the same code is used. Confirm the error for details by the indication of the servo amplifier. LED Classifica Error indicator tion of code of servo errors amplifier Error name Description Cause The power supply voltage is low. There was an instantaneous control power failure of 60ms or longer. 2010 10 Under voltage • For MR-J3-B: The power supply voltage dropped to 160VAC or less.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Corrective action Reconsider the power supply voltage. — — — — Always Servo amplifier error (2010) occurs if power is switched on after disconnection of the Change the servo amplifier. CN1A, CN1B and CN3 connector. — — — — — — — — Servo amplifier error (any of 2012, 2013) occurs if power is switched on after disconnection Change the servo amplifier.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier Error name MELSEC-Q Description Cause The encoder connecter (CN2) is disconnected. 2020 2024 20 24 Encoder error 2 Communication error occurred between encoder and servo amplifier. Fault in the encoder. Encoder cable fault. (Wire breakage or shot) Ground fault occurred at the Main circuit error servomotor power (U, V and W phases) of the servo amplififer.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Corrective action Connect correctly. — — — — Change the servomotor. Repair or change the cable. Servo amplifier error (2024) occurs if the servo is switched on after disconnecting the U, V, Connect correctly. W power cables from the servo amplifier. Always — — — — Change the cable. Change the servo amplifier.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier Error name MELSEC-Q Description Cause Small acceleration/deceleration time constant caused overshoot to be large. Servo system is instable to cause overshoot. 2031 31 Overspeed Speed has exceeded the instantaneous permissible speed. Servo amplifier errors The setting value of the electric gear ratio is large. Fault in the encoder.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Load inertia ratio 30147 30347 30547 Corrective action Increase acceleration/deceleration time constant. 30747 Acceleration time 12, 13 162, 163 312, 313 462, 463 36, 37 186, 187 336, 337 486, 487 38, 39 188, 189 338, 339 488, 489 40, 41 • Reset servo gain to proper value. • If servo gain cannot be set to proper value: (1) Reduce " Pr.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier MELSEC-Q Error name Description Cause Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected. Though the regenerative brake option is used, the DRU parameter " Pr.102 Regenerative brake resistor" setting value is "0000 (not used)". Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Corrective action — — — — Use the regenerative brake option. — — — — Set correctly. — — — — • Change lead. • Connect correctly. Change servo amplifier. — — — • For wire breakage of built-in regenerative brake resistor, change servo amplifier. • For wire breakage of regenerative brake option, change regenerative brake option.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier 2035 35 MELSEC-Q Error name Command frequency error Description Input pulse frequency of command pulse is too high. Cause Command given is greater than the maximum speed of the servomotor. Noise has entered the SSCNET cable. Fault in the QD75MH. The SSCNET disconnected. 2036 36 Receive error 2 SSCNET communication error cable is The surface at the end of SSCNET cable got dirty. The SSCNET severed.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Corrective action Review operation program. — — — — Take measures against noise. Change QD75MH. Connect the connector of the cable. SSCNET Wipe dirt at the surface away. — — — — Change the SSCNET cable. Take noise suppression measures Change the servo amplifier. — — — Change the parameter value to within the setting range. — Change the servo amplifier.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier Error name MELSEC-Q Description Cause The current exceeded the continuous output current of the servo amplifier. The servo system is unstable, causing hunting. 2050 50 Overload 1 Load exceeded overload protection characteristic of servo amplifier. Load ratio 300%: 2.5s or more Load ratio 200%: 100s or more Collision with the machine.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 — — — Error check timing MELSEC-Q Error processing Check point • Reduce load. • Review operation pattern. • Use servomotor that provides larger output. — Auto tuning 30108 30308 30508 • Repeat acceleration/deceleration to execute " Pr.108 Auto tuning". • Change " Pr.109 Servo response" setting. • Set " Pr.108 Auto tuning" to OFF and make gain adjustment manually.
15 TROUBLESHOOTING LED Classifica Error indicator tion of code of servo errors amplifier Error name MELSEC-Q Description Cause Acceleration/deceleration time constant too small. Torque limit value too small. 2052 52 Error excessive The deviation between the model position and the actual servomotor position exceeds " Pr.164 "setting value (initial value: 3 revolutions). Servo amplifier errors Start disabled due to insufficient torque caused drop in power supply voltage.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Error check timing MELSEC-Q Error processing Check point Corrective action Acceleration time 12, 13 162, 163 312, 313 462, 463 36, 37 186, 187 336, 337 486, 487 38, 39 188, 189 338, 339 488, 489 40, 41 190, 191 340, 341 490, 491 Increase the acceleration/deceleration time constant.
15 TROUBLESHOOTING MELSEC-Q 15.3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. 15.3.1 QD75MH detection warning Classification Warning of warnings code — Common warnings JOG operation warnings Warning name Warning Operation status at warning occurrence — — 000 (Normal status) 100 Start during operation 104 The restart command is issued when Restart not possible the axis operation status is not Continue the operation. "Stopped".
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) Remedy — — — — — — — — — — — Normalize the start request ON timing. 1503 1603 1703 1803 1: Restart 1548 1648 1748 1848 1549 1649 1749 1849 0, 1
15 TROUBLESHOOTING Classification Warning of warnings code Manual pulse generator operation warnings Positioning operation warnings Warning name MELSEC-Q Warning Operation status at warning occurrence 401 • When input magnification is set at Outside manual The manual pulse generator 1 pulse 1001 or higher: Re-set to 1000. pulse generator input magnification is set at 0 or input magnification • When input magnification is set at 0: 1001 or higher. range Re-set to 1.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with PLC program) 1522 1622 1722 1822 1523 1623 1723 1823 1 to 1000 1516 1616 1716 1816 1: Speed change is requested Remedy Set the manual pulse generator 1 pulse input magnification to within the setting range.
15 TROUBLESHOOTING Classification Warning of warnings code 514 Positioning operation warnings Warning name Outside command speed range MELSEC-Q Warning The command speed exceeds the speed limit. Operation status at warning occurrence • The command speed is controlled at the "speed limit value". • The "speed limiting flag" turns ON. 516 Illegal teaching data The positioning data No. is set No. outside the setting range. Teaching is not carried out when the set value is 0 or 601 or more.
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 For command speed, refer to Section 5.3 "List of positioning data" MELSEC-Q Set range (Setting with PLC program) Remedy 1 to 50000000 [PLS/s] 1 to 2000000000 [mm/min or another] Speed limit value 10, 11 160, 161 310, 311 460, 461 1 to 50000000 [PLS/s] 1 to 2000000000 [mm/min or another] 1549 1649 1749 1849
15 TROUBLESHOOTING MELSEC-Q 15.3.2 MR-J3-B detection warning LED Classifica Warning display of tion of code the servo warnings amplifier 2102 Open battery cable warning Warning Absolute position detection system battery voltage is low. Home position setting warning Home position setting could not be made. 9F Battery warning Voltage of battery for absolute position detection system reduced.
15 TROUBLESHOOTING MELSEC-Q Related buffer memory address Servo amplifier status of Axis 1 Axis 2 Axis 3 Axis 4 the warning occurrence. — — — Check point Corrective action Repair cable or battery changed. — Change battery. In-position range Remove the cause of droop pulse occurrence. 30110 30310 30510 30710 Creep speed 76, 77 226, 227 376, 377 526, 527 — — — — Reduce creep speed. Servo ON continued Change battery. — — — — • Reduce frequency of positioning.
15 TROUBLESHOOTING LED Classifica Warning display of tion of code the servo warnings amplifier 2149 Servo amplifier warnings 2152 2153 Warning name MELSEC-Q Warning Servo ON signal is turned ON while the main circuit power is off. E9 Main circuit of warning EC Operation, in witch a current exceeding the rating flew Overload warning intensively in any of the U, V 2 and W phases of the servomotor, was repeated.
15 TROUBLESHOOTING MELSEC-Q Related buffer memory address Servo amplifier status of Axis 1 Axis 2 Axis 3 Axis 4 the warning occurrence. — — — Check point Corrective action — Switch on main circuit power. • Reduce the positioning frequency at the specific positioning address. • Reduce the load. • Replace the servo amplifier/servomotor with the one of large capacity. — — — — — — — — Servo ON continued • Reduce the servomotor speed. • Reduce the load.
15 TROUBLESHOOTING MELSEC-Q 15.4 LED display functions The states of QD75MH and each axis control can be confirmed by the LEDs located on the front panel of the QD75MH main unit. QD75MH4 RUN AX1 AX2 AX3 AX4 ERR Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below.
Appendices Appendix 1 Functions .........................................................................................................Appendix- 3 Appendix 1.1 Multiple CPU correspond function..........................................................Appendix- 3 Appendix 1.2 The combination of software package for QD75MH and QCPU ..........Appendix- 3 Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses .....................Appendix- 4 Appendix 3 Connection with servo amplifiers.......
APPENDICES MELSEC-Q MEMO Appendix - 2
APPENDICES MELSEC-Q Appendix 1 Functions Appendix 1.1 Multiple CPU correspond function Refer to the QCPU User's Manual (Multiple CPU system). (SH-080485ENG) Appendix 1.2 The combination of software package for QD75MH and QCPU Refer to the GX Configurator-QP Operating Manual.
APPENDICES MELSEC-Q Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses (1) For axis 1 PosiData tioning M No. identi- code fier Dwell time Command speed Low- Highorder order Positioning address Low- Highorder order Loworder Highorder Arc data PosiData tioning M No.
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data Dwell speed address time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
APPENDICES MELSEC-Q Appendix 3 Connection with servo amplifiers Appendix 3.1 Connection of SSCNET cables (1) Connection The connection method of SSCNET cable between QD75MH and servo amplifier is explained as follows. When absolute position detection control is executed, installed battery (Q6BAT) to servo amplifier.
APPENDICES MELSEC-Q CAUTION ! Keep the cap for SSCNET connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET able to prevent them from becoming dirty. Do not see directly the light generated from SSCNET connector of servo amplifier or QD75MH. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET corresponds to class1 defined in JISC6802 or JEC60825-1.
APPENDICES MELSEC-Q Appendix 3.2 Wiring of SSCNET cables cables available as our options. If the required length is Generally use the SSCNET not found in our options, fabricate the cable on the customer side. (1) Explanation of shape name The figure of the length column of the cable in the table is a sign that enters part of the cable type name. The cable of length with the sign is prepared. Table 1 SSCNET Cable model name MR-J3BUSM cable list Cable length 0.15m 0.3m 0.
APPENDICES MELSEC-Q ! CAUTION Please use the processing method and the processing treatment device that exists in the connector when you fix the code part of the SSCNET cable to the connector. It must not cut squarely when you cut the code part of the SSCNET 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 code part when you peel off the film of the cable of the cable.
APPENDICES MELSEC-Q (a) MR-J3BUSM 1) Explanation of shape name Type: MR-J3BUS MSymbol Cable Quality None Board taking standard code A Board taking standard cable Long distance cable B Symbol Cable Length[m]([ft.]) 015 0.15 (0.49) 03 0.3 (0.98) 05 0.5 (1.64) 1 (3.28) 1 3 (9.84) 3 5 (16.40) 5 10 (32.81) 10 20 (65.62) 20 30 (98.43) 30 40 (131.23) 40 50 (164.04) 50 2) Externals dimensional drawing • MR-J3BUS015M [Unit : mm(inch)] 20.9(0.82) 6.7(0.26) 15(0.59) 13.4(0.528) 37.65(1.
APPENDICES MELSEC-Q • MR-J3BUS5M-A to MR-J3BUS20M-A • MR-J3BUS30M-B to MR-J3BUS50M-B Please refer to the table of this paragraph (1) for cable length (L). SSCNET Change size [mm] ([inch]) Cable A B 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)] (Note) TD RD RD TD (B) (B) (A) L Note. The size in the connector part is the same as MR-J3BUS015M. cable connector (b) SSCNET [Unit : mm(inch)] 13.4(0.58) 4.8(0.19) 15(0.
APPENDICES MELSEC-Q Appendix 4 Connection with external device connector Appendix 4.1 Connector Mounted onto an external device connector of the QD75MH and used for wiring an external device. The "external device connector" includes the following 4 types. (1) Appearance A6CON1 A6CON2 A6CON3 A6CON4 (2) Specifications of the connector Part name Applicable connector Applicable wire size Specification A6CON1, A6CON4 0.
APPENDICES MELSEC-Q (3) External dimension drawing A6CON3 69.48(2.74) Unit: mm (inch) 14(0.55) or less 10 (0.39) 22.5 (0.89) 71.8(2.82) 14(0.55) or less 46(1.81) 72.72(2.87) A6CON4 8.25 (0.33) A6CON1/A6CON2 Appendix - 35 47(1.85) 50.8(2.
APPENDICES MELSEC-Q Appendix4.2 Wiring of manual pulse generator cable There are no our option in the manual pulse generator. The manual pulse generator cable fabricate on the customer side. (1) Manual pulse generator cable The following table indicates the manual pulse generator cables used with motion controller and the manual pulse generator. Make selection according to your operating conditions. Table 1 Table of wire specifications Characteristics of one core Wire model 17/0.
APPENDICES MELSEC-Q Appendix 5 Comparisons with conventional positioning modules Appendix 5.1 Comparisons with QD75P model Model Item No. of control axes No.
APPENDICES MELSEC-Q Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models (1) Comparisons of performance specifications Model Item No. of control axes QD75MH1 1 Operation cycle No.
APPENDICES MELSEC-Q Comparisons of performance specifications (Continued) Model Item Speed command range 2 QD75MH1 QD75MH2 QD75MH4 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min) 1 to 50000000 (PLS/s) 3 Machine OPR function (OPR method) QD75M1 QD75M2 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.
APPENDICES MELSEC-Q Comparisons of performance specifications (Continued) Model Item I/O signal for external devices QD75MH1 QD75MH2 QD75MH4 QD75M1 QD75M2 QD75M4 External command signal (External start or speed-position switching selectable with parameters) CHG signal In-position (INP) (for monitor) Signal logic switching Connection with peripheral devices Connection via PLC CPU, Q Corresponding Serial Communication Module, Q Corresponding MELSEC/H Remote I/O Module AD71TU Peripheral devices A
APPENDICES MELSEC-Q Functions changed from those of QD75M1/QD75M2/QD75M4 Changed functions Descriptions Speed change value Setting range • When unit [PLS] Setting range ("1 to 10000000[PLS/s]") is changed to "1 to 50000000[PLS/s]". • When unit [degree] When the "Speed control 10 x multiplier setting for degree axis" is valid, the speed specification range ("0.001 to 2000000.000[degree/ min]") is changed to "0.01 to 20000000.00[degree/min]".
APPENDICES MELSEC-Q (3) Input/output (X/Y) comparisons Name (QD75) READY Axis 1 Start complete Axis 2 Start complete Axis 3 Start complete Axis 4 Start complete Axis 1 BUSY Axis 2 BUSY Axis 3 BUSY Axis 4 BUSY Axis 1 Positioning complete Axis 2 Positioning complete Axis 3 Positioning complete Axis 4 Positioning complete Axis 1 Error detection Axis 2 Error detection Axis 3 Error detection Axis 4 Error detection Axis 1 M code ON Input (X) QD75MH QD75M X00 X10 X11 X12 X13 X0C X0D X0E X0F X14 X15 X16 X17 X
APPENDICES MELSEC-Q (5) Buffer memory address comparisons The following table shows the buffer memory addresses of the QD75MH (Axes 1 to 3) corresponding to the items of the QD75M. The shaded area shows the differences between the QD75M and QD75MH. Buffer memory address Items of QD75M QD75M Axis 1 Axis 2 QD75MH Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Pr.1 Unit setting 0 150 300 450 0 150 300 450 Pr.2 No.
APPENDICES MELSEC-Q Buffer memory address Items of QD75M QD75M QD75MH Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 192 193 342 343 492 493 42 43 192 193 342 343 492 493 Pr.28 Deceleration time 1 42 43 Pr.29 Deceleration time 2 44 45 194 195 344 345 494 495 44 45 194 195 344 345 494 495 Pr.30 Deceleration time 3 46 47 196 197 346 347 496 497 46 47 196 197 346 347 496 497 Pr.
APPENDICES MELSEC-Q Buffer memory address Items of QD75M QD75M QD75MH Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 30100 30200 30300 30400 30100 30300 30500 30700 30101 30201 30301 30401 – – – – 30102 30202 30302 30402 30102 30302 30502 30702 30103 30203 30303 30402 30103 30303 30503 30703 30104 30204 30304 30404 30104 30304 30504 30704 30105 30205 30305 30405 – – – – 30106 30206 30306 30406 – – – – 30107 30207 30307 30407
APPENDICES MELSEC-Q Buffer memory address Items of QD75M QD75M QD75MH Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 30129 30229 30329 30429 30129 30329 30529 30729 Pr.130 Zero speed Pr.131 Error excessive alarm level 30130 30230 30330 30430 – – – – (QD75MH: Pr.
APPENDICES MELSEC-Q Buffer memory address Items of QD75M Pr.152 Ratio of load inertia moment to servomotor inertia moment 2 (QD75MH: Pr.152 Gain changing vibration suppression control resonance frequency setting) Pr.153 Position loop gain 2 changing ratio QD75M QD75MH Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 30152 30252 30352 30452 30152 30352 30552 30752 30153 30253 30353 30453 – – – – Pr.154 Speed loop gain 2 changing ratio Pr.
APPENDICES MELSEC-Q Buffer memory address Items of QD75M QD75M QD75MH Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Pr.186 Maker setting Pr.187 Maker setting – – – – 30186 30386 30586 30786 – – – – 30187 30387 30587 30787 Pr.188 Maker setting Pr.189 Maker setting – – – – 30188 30388 30588 30788 – – – – 30189 30389 30589 30789 Pr.190 Maker setting Pr.
APPENDICES MELSEC-Q Buffer memory address Items of QD75M Md.50 Maker setting (QD75MH: Md.50 Forced stop input) Md.105 Servo parameter (QD75MH: Md.105 Maker setting) Cd.102 Servo amplifier data read (QD75MH: Cd.102 Maker setting) Cd.108 Maker setting (QD75MH: Cd.
APPENDICES MELSEC-Q (6) Input/output signal comparisons Input signal comparisons QD75M Name In-position signal Manual pulse generator A phase Manual pulse generator B phase Near-point signal 2 Forced stop input signal 2 Stop signal 1 QD75MH Logic (initial status) Logic switch with parameters Logic (initial status) Logic switch with parameters – – – – Negative logic (multiple of 4) Possible Negative logic (multiple of 4) Possible Negative logic Possible Negative logic Possible – –
APPENDICES MELSEC-Q Appendix 6 Positioning control troubleshooting Trouble type Questions/Trouble Remedy No. Display reads "FFFFH" when a parameter is read with GX Configurator-QP. The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted the data in the flash ROM. Initialize the parameters, and reset the required parameters. (Refer to Section 13.2 "Parameter initialization function" for details.
APPENDICES Trouble type MELSEC-Q Questions/Trouble Remedy No. Set "1: Sudden stop" in the " Pr.37 Stop group 1 sudden How can the deceleration stop time during stopping be shortened stop selection", and reduce the setting value of " Pr.36 11 using the hardware stroke limit? Sudden stop deceleration time".
APPENDICES MELSEC-Q Trouble type Error compensation Questions/Trouble Remedy The machine only moves to "10081230", although positioning with a command value of "10081234" carried out. How can the error be compensated? The following values are currently set. • " Pr.2 No. of pulses per rotation" 262144PLS • " Pr.3 Movement amount per rotation" Reset Pr.3 and Pr.2 No. in the following order. 1) Calculate "262144/8000 × 10081234/10081230". 2) Obtain the reduced value.
APPENDICES Trouble type Start MELSEC-Q Questions/Trouble Remedy The positioning start signal [Y10] is kept ON until the BUSY signal is OFF, but is there any problem with turning it OFF before the BUSY signal turns OFF? 25 Check the " Md.26 Axis operation status" and The operation will not start even when the start signal is turned ON. " Md.23 Axis error No.". 26 The signal should be turned ON at 4ms or more.
APPENDICES Trouble type JOG operation Manual pulse generator operation MELSEC-Q Questions/Trouble Remedy The " Pr.31 JOG speed limit value" may be larger than When a JOG operation is Pr.8 Speed limit value". attempted, an error results and the the " machine does not move. Review the parameters and carry out the JOG operation again. If a value other than "0" is set for " Cd.
APPENDICES Trouble type MELSEC-Q Questions/Trouble Remedy Backlash compensation value Error 920 (backlash compensation 0≤ ≤ 65535 amount error) occurs even when Movement amount per pulse the backlash compensation value Setting is not possible if the above equation is not is set to "1". satisfied. No. 45 When a JOG operation is The hardware stroke limit wiring has probably not been attempted, errors such as error 104 (hardware stroke limit+) or carried out.
APPENDICES MELSEC-Q Appendix 7 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. Do not set other than the default value "0" of the "Maker setting".
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 40 41 42 43 44 45 46 47 48 49 Axis 2 190 191 192 193 194 195 196 197 198 199 Axis 3 340 341 342 343 344 345 346 347 348 349 Axis 4 490 491 492 493 494 495 496 497 498 499 50 200 350 500 Pr.32 JOG operation acceleration time selection 51 201 351 501 Pr.33 JOG operation deceleration time selection 52 202 352 502 Pr.34 Acceleration/deceleration process selection 53 203 353 503 Pr.
APPENDICES MELSEC-Q Buffer memory address Common to axes 1, 2, 3, and 4 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 Maker setting (3) (4) (5) (6) (7) (8) (9) 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.3 Start information 1213 1218 1223 1228 1233 1238 1243 1248 1256 1258 1263 1268 1273 1278 1283 1288 Md.4 Start No. 1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289 Md.
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 800 801 802 803 804 805 Axis 2 900 901 902 903 904 905 Axis 3 1000 1001 1002 1003 1004 1005 Axis 4 1100 1101 1102 1103 1104 1105 806 906 1006 1106 Md.23 Axis error No. 807 907 1007 1107 Md.24 Axis warning No. 808 908 1008 1108 Md.25 Valid M code 809 909 1009 1109 Md.26 Axis operation status 810 811 812 813 910 911 912 913 1010 1011 1012 1013 1110 1111 1112 1113 814 815 914 915 1014 1015 1114 1115 Md.
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 Axis 2 Axis 3 Axis 4 848 849 948 949 1048 1049 1148 1149 Md.100 OPR re-travel value 850 851 950 951 1050 1051 1150 1151 Md.101 Real current value 852 853 952 953 1052 1053 1152 1153 Md.102 Deviation counter value 854 855 954 955 1054 1055 1154 1155 Md.103 Motor rotation speed 856 956 1056 1156 Md.
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 Axis 2 Axis 3 Axis 4 1500 1600 1700 1800 Cd.3 Positioning start No. 1501 1601 1701 1801 Cd.4 Positioning starting point No. 1502 1602 1702 1802 Cd.5 Axis error reset 1503 1603 1703 1803 Cd.6 Restart command 1504 1604 1704 1804 Cd.7 M code OFF request 1505 1605 1705 1805 Cd.
APPENDICES MELSEC-Q Buffer memory address Axis 4 1541 1641 1741 1841 1542 1642 1742 1842 Item Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.) Cd.33 Simultaneous starting axis start data No. 1543 1643 1743 1843 1544 1644 1744 1844 Cd.34 Step mode 1545 1645 1745 1845 Cd.35 Step valid flag 1546 1646 1746 1846 Cd.36 Step start information 1547 1647 1747 1847 Cd.
APPENDICES MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Item Axis 4 Memory area Da.1 Operation pattern Da.2 Control system 2000 8000 14000 20000 Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated 8001 14001 20001 2002 8002 14002 20002 2003 8003 14003 20003 Maker setting 2004 2005 8004 8005 14004 14005 20004 20005 Da.
APPENDICES MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Item Axis 4 Memory area 29050 Da.13 Special start instruction Da.14 Parameter 26001 26051 27001 27051 28001 28051 29001 29051 2nd point 26002 26052 27002 27052 28002 28052 29002 29052 3rd point 26049 to 26099 27049 to 27099 28049 to 28099 29049 to 50th point 29099 Da.15 Condition target 26100 27100 28100 29100 26102 26103 27102 27103 28102 28103 29102 29103 Da.
APPENDICES MELSEC-Q Axis 2 Axis 3 Item Axis 4 Memory area 30000 to Condition judgement target data of the condition data 30099 Appendix - 66 PLC CPU memo area Axis 1 Positioning data Buffer memory address
APPENDICES MELSEC-Q Axis 1 Axis 2 Axis 3 Axis 4 Default value 30100 30300 30500 30700 0 Pr.100 Servo series 30101 30301 30501 30701 0 Pr.101 Maker setting 30102 30302 30502 30702 0000H Item Memory area Pr.102 Regenerative brake option Pr.103 Absolute position 30103 30303 30503 30703 0000H 30104 30304 30504 30704 0000H 30105 30305 30505 30705 0 Pr.105 Maker setting 30106 30306 30506 30706 1 Pr.106 Maker setting 30107 30307 30507 30707 1 Pr.
APPENDICES MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Default value 30131 30331 30531 30731 4500 30132 30332 30532 30732 0000H 30133 30333 30533 30733 4500 Item Memory area Pr.131 Machine resonance suppression filter 1 Pr.132 Notch form selection 1 Pr.133 Machine resonance suppression filter 2 Pr.134 Notch form selection 2 30134 30334 30534 30734 0000H 30135 30335 30535 30735 0 Pr.135 Maker setting 30136 30336 30536 30736 3141 Pr.
APPENDICES MELSEC-Q Axis 2 Axis 3 Axis 4 30153 30353 30553 30753 0 Pr.153 Maker setting 30154 30354 30554 30754 0 Pr.154 Maker setting 30155 30355 30555 30755 100 Pr.155 Maker setting 30156 30356 30556 30756 0 Pr.156 Maker setting 30157 30357 30557 30757 0 Pr.157 Maker setting 30158 30358 30558 30758 0 Pr.158 Maker setting 30159 30359 30559 30759 1125 Pr.159 Maker setting 30160 30360 30560 30760 1125 Pr.
APPENDICES MELSEC-Q Axis 2 Axis 3 Axis 4 30190 30390 30590 30790 0 Pr.190 Maker setting 30191 30391 30591 30791 0 Pr.191 Maker setting 30192 30392 30592 30792 0 Pr.192 Maker setting 30193 30393 30593 30793 0 Pr.193 Maker setting 30194 30394 30594 30794 0 Pr.194 Maker setting 30195 30395 30595 30795 0 Pr.195 Maker setting 30196 30396 30596 30796 0 Pr.196 Maker setting 30197 30397 30597 30797 0 Pr.197 Maker setting 30198 30398 30598 30798 0 Pr.
APPENDICES MELSEC-Q Appendix 8 External dimension drawing [1] QD75MH1/QD75MH2/QD75MH4 QD75MH1 RUN AX1 ERR QD75MH2 RUN AX1 AX2 ERR QD75MH4 RUN AX1 AX2 AX3 AX4 ERR QD75MH4 AX1 AX2 AX1 QD75MH1 AX3 AX4 AX1 AX2 QD75MH2 27.4(1.08) 70( 2. 76) 98( 3. 86) Unit: mm (inch) 90( 3. 54) 46( 1. 81) 136( 5.
APPENDICES MELSEC-Q MEMO Appendix - 72
INDEX Acceleration time No. ( Da.3 )......................5-92 Acceleration/deceleration process selection [Number] 1-axis fixed-feed control ................................ 9-44 1-axis linear control (ABS linear 1) ............... 9-27 1-axis linear control (INC linear 1) ................ 9-28 1-axis speed control ...................................... 9-68 2-axis circular interpolation control with sub point designation (ABS circular sub) .....................
Axis operation status ( Md.26 ) .................. 5-130 Axis stop signal ............................................. 3-17 Axis warning occurrence (Hour) ( Md.16 ). 5-126 Connection confirmation................................4-14 Connector.........................................................4-3 Continuous operation interrupt program .......6-48 Continuous path control...................................9-8 Continuous positioning control ........................9-7 Control data area .................
Follow up function ......................................12-106 For creating program .......................................6-2 For installation..................................................4-7 For maintenance ............................................4-17 For restarting..................................................6-68 For starting "fast OPR" ..................................6-59 For starting "machine OPR" ..........................6-58 For starting "major positioning control" .........
JUMP instruction..........................................9-112 [H] Handling........................................................... 4-5 Hardware stroke limit function .................... 12-35 High-level positioning control........................ 10-2 [K] [L] Last executed positioning data No. ( Md.46 ) [I] ......................................................................5-140 LED display functions ..................................15-60 LEND...................................................
NOP instruction............................................9-111 Normal start....................................................10-8 Notch form selection 1 ( Pr.132 )...................5-72 Notch form selection 2 ( Pr.134 )...................5-74 Manual pulse generator 1 pulse input magnification ( Cd.20 )............................... 5-160 Manual pulse generator enable flag ( Cd.21 ) ..................................................................... 5-160 Manual pulse generator input selection ( Pr.
Positioning control operation program ..........6-16 Positioning complete........................................9-6 Positioning data area (No.1 to 600) ................7-3 OPR retry function......................................... 12-4 OPR speed ( Pr.46 ) ................................... 5-52 OPR torque limit value ( Pr.54 ) ................. 5-58 Positioning data being executed ( Md.47 ) Order of priority for stop process .................. 6-71 Outline design of positioning system ............
Regenerative load ratio ( Md.109 ) ..............5-146 Relatively safe stop........................................6-70 Remote I/O station...........................................2-5 Repeated start (FOR condition) ..................10-14 Repeated start (FOR loop) ..........................10-13 Restart allowable range when servo OFF to ON ( Pr.84 ) .........................................................5-44 Program examples • Acceleration/deceleration time change program ...............................
• Start complete signal............................... 3-15 • Synchronization flag signal ..................... 3-15 Simultaneous start....................................... 10-12 Simultaneous starting axis start data No. (Axis 1 Speed designation during OP shift ( Pr.56 ) start data No.) ( Cd.30 ) ............................. 5-166 ........................................................................5-58 Speed differential compensation ( Pr.129 )...5-72 Speed integral compensation ( Pr.128 ).......
....................................................................... 5-40 Stop process.................................................. 6-69 Stop program................................................. 6-69 Stop signal..................................................... 3-18 Sub functions................................................. 12-2 Sub functions specifically for machine OPR ....................................................................... 12-4 Sudden stop ..............................
[V] Valid M code ( Md.25 ) ............................... 5-130 Vibration suppression control filter tuning mode ( Pr.120 ) ........................................................ 5-68 Vibration suppression control resonance frequency setting ( Pr.138 )........................... 5-74 Vibration suppression control vibration frequency setting ( Pr.137 ) ............................................ 5-74 [W] Wait start...................................................... 10-11 Warning history .............
WARRANTY Please confirm the following product warranty details before starting use. 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 dealer or Mitsubishi Service Company.
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