MELSEC-Q QD73A1 Positioning Module User's Manual -QD73A1
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user’s manual for the CPU module used.
CAUTION ● Do not install the connection cables for external I/O signals and for the drive unit together with the main circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise, surges, and induction.
[Wiring Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction. ● After installation and wiring, attach the included terminal cover to the module before turning it on for operation. Failure to do so may result in electric shock. CAUTION ● Check the rated voltage and terminal layout before wiring to the module, and connect the cables correctly.
[Startup and Maintenance Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the connector screws. Failure to do so may result in electric shock. CAUTION ● Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire. ● Shut off the external power supply (all phases) used in the system before mounting or removing a module. Failure to do so may cause the module to fail or malfunction.
CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers. This manual describes the operating procedure, system configuration, parameter settings, functions, programming, and troubleshooting of the QD73A1 positioning module (hereafter abbreviated as QD73A1).
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. • QCPU User's Manual (Hardware Design, Maintenance and Inspection) • Safety Guidelines (This manual is included with the CPU module or base unit.
RELEVANT MANUALS (3) CPU module user's manual Manual name Description QCPU User's Manual (Hardware Design, Maintenance and Specifications of the hardware (CPU modules, power supply modules, Inspection) base units, extension cables, and memory cards), system maintenance and inspection, troubleshooting, and error codes QnUCPU Users Manual (Function Explanation, Program Fundamentals) Qn(H)/QnPH/QnPRHCPU User's Manual (Function F
Memo 9
CONTENTS CONTENTS SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . .
CHAPTER 5 DATA USED FOR POSITIONING 73 5.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.2 Positioning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 5.3 OPR Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 5.4 Positioning Data . . . . . . . . . .
CHAPTER 8 OPR CONTROL 8.1 Overview of OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 8.2 Near-point Dog Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 8.3 Count Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 8.4 Operation Timing and Processing Time of OPR Control . . . . . .
13.2 Error History Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 13.3 Module Error Collection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 13.4 Error Clear Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 CHAPTER 14 TROUBLESHOOTING 241 14.1 Checking an Error on GX Works2 . . . . . . . . . .
MANUAL PAGE ORGANIZATION In this manual, pages are organized and the symbols are used as shown below. The following illustration is for explanation purpose only, and should not be referred to as an actual documentation. "" is used for screen names and items. The chapter of the current page is shown. shows operating procedures. shows mouse operations.*1 [ ] is used for items in the menu bar and the project window. The section of the current page is shown. Ex. shows setting or operating examples.
The following symbols are used to represent buffer memory areas in this manual. Serial numbers fit in "*". Symbol Description Pr.* Symbol indicating positioning parameter and OPR parameter item Da.* Symbol indicating positioning data item Md.* Symbol indicating monitor data item Cd.
TERMS Unless otherwise specified, this manual uses the following terms.
CHAPTER 1 OVERVIEW CHAPTER 1 OVERVIEW 1 The QD73A1 possesses a deviation counter and D/A converter inside as in the following figure.
1.1 Features (1) Analog output type that possesses a deviation counter and D/A converter inside This module converts command pulse for positioning into analog voltage inside, then outputs a speed command to a servo amplifier. (2) Compatible with analog input servo amplifiers A servo amplifier does not require an extra module to convert pulse input into analog voltage; a standard servo amplifier can be used.
CHAPTER 1 OVERVIEW 1.2 Signal Transmission Between the QD73A1 and Others 1 The following figure shows signal transmission between the QD73A1 and a CPU module, and a drive unit.
(1) Between the CPU module and the QD73A1 The CPU module and the QD73A1 transmit control signals and data to each other through the base unit. Transmitted item Control signal Description Signals that indicate the QD73A1's status or are related to commands are transmitted. Reference Page 30, Section 3.4 Data is written to or read from the buffer Data memory in the QD73A1 by application Page 73, CHAPTER 5 instructions of the CPU module.
CHAPTER 2 SYSTEM CONFIGURATION CHAPTER 2 SYSTEM CONFIGURATION 2 This chapter describes the system configuration of the QD73A1. 2.1 Applicable Systems This section describes applicable systems. (1) Applicable modules and base units, and number of mountable modules For the applicable CPU modules and base units, and the number of mountable modules, refer to the user’s manual for the CPU module used. Note the following when mounting modules with the CPU module.
(4) Applicable software packages The following table lists systems that use the QD73A1 and applicable software packages. A programming tool is required to use the QD73A1.
CHAPTER 2 SYSTEM CONFIGURATION 2.2 How to Check the Function Version and Serial Number The function version and serial number of the QD73A1 can be checked on the rating plate, front part of the module, or system monitor of the programming tool. 2 (1) Checking on the rating plate The rating plate is on the side of the QD73A1. Serial number (first five digits) Function version 14041000000000-B Relevant regulation standards (2) Checking on the front part (bottom part) of the module module.
(3) Checking on the system monitor The function version and serial number can be checked on the "Product Information List" window. [Diagnostics] [System Monitor...] button ● The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front part of the module. • The serial number on the rating plate and front part of the module indicates the management information of the product.
CHAPTER 3 SPECIFICATIONS CHAPTER 3 SPECIFICATIONS This chapter describes performance specifications, I/O signals from/to the CPU module, and buffer memory specifications of the QD73A1. For general specifications of the QD73A1, refer to the following. 3 QCPU User's Manual (Hardware Design, Maintenance and Inspection) 3.1 Performance Specifications The following table lists performance specifications of the QD73A1.
3.2 Number of Parameter Settings Set initial settings and auto refresh settings of the QD73A1 so that the number of parameters, including those of other intelligent function modules, does not exceed the number of parameters that can be set in the CPU module. For the maximum number of parameters that can be set in the CPU module, refer to the following.
CHAPTER 3 SPECIFICATIONS 3.3 List of Functions This section introduces the functions of the QD73A1. (1) Main functions Major positioning functions are as follows. 3 Item Description Reference A workpiece is returned to an original point following an OPR start OPR control command, and the current value is corrected as an OP address after the completion of OPR. Positioning Positioning is executed from the current position to a specified position at control a specified speed.
Item Current value change This function changes the value set in " function value" to a specified value. Speed change function Functions to Description change control Reference Md.1 Current feed This function changes speed during major positioning control or JOG operation. Page 217, Section 11.5 Page 218, Section 11.6 This function clears the accumulated pulses in the deviation details Deviation counter clear function counter.
CHAPTER 3 SPECIFICATIONS (4) Combination of main function and sub function Major positioning control Position control mode × × Two-phase trapezoidal positioning control × × × × × × 3 detection function Accumulated pulse error × Multiplication setting × Other functions In-position function × Positioning control Speed-position control switch mode JOG operation Deviation counter clear function OPR control Speed limit function Electronic gear function Item Speed change function contr
3.4 I/O Signals from/to the CPU Module This section describes I/O signals of the QD73A1. 3.4.1 I/O signal list This section describes I/O signal assignment and use of each signal. The first half of the I/O assignment is empty 16 points, and the second half is intelligent 32 points. When the module is mounted on the slot No.0 and 1 of a main base unit, the device No.Xn0 becomes X10. Although, when the slot No.0 is set as empty 0 point in the I/O assignment setting of GX Works2, the device No.
CHAPTER 3 SPECIFICATIONS (2) Output signal list Output signal (CPU module QD73A1) Device No. Output signal (CPU module QD73A1) Signal name Device No.
3.4.2 Details of input signals (1) WDT error, H/W error signal (X10) This signal turns on when a watchdog timer error is detected through the self-diagnostic function of the QD73A1. In this case, Servo ON signal (SVON) turns off and analog output becomes 0. (2) QD73A1 READY signal (X11) When PLC READY signal (Y2D) is turned on through a sequence program, fixed parameters are checked and this signal turns on. When PLC READY signal (Y2D) is turned off, this signal turns off.
CHAPTER 3 SPECIFICATIONS (6) Positioning complete signal (X15) This signal turns on when major positioning control is completed (completion of command pulse output). This signal turns off when the next positioning (major positioning control, OPR, or JOG operation) starts. If major positioning control was cancelled during its operation, this signal does not turn on. For the operation in case of cancellation of major positioning control, refer to the following. Page 230, Section 12.
(9) Error detection signal (X18) When a major or minor error occurs, the corresponding error code is stored in the buffer memory, and this signal turns on. When Error reset signal (Y28) is turned on, this signal turns off. ON Error detection signal (X18) OFF ON Error reset signal (Y28) OFF Executed by the QD73A1 (10)Overflow signal (X19) This signal turns on when " Md.1 Current feed value" exceeds 2147483647. When Overflow reset signal (Y29) is turned on, this signal turns off.
CHAPTER 3 SPECIFICATIONS (17)OPR start complete signal (X20) This signal turns on when OPR process starts after OPR start signal (Y20) was turned on. When OPR start signal (Y20) is turned off after the start of OPR, this signal turns off. (18)Absolute positioning start complete signal (X21) This signal turns on when positioning process starts after Absolute positioning start signal (Y21) was turned on.
(23)Zero/gain adjustment change complete flag (X2B) This signal turns on when zero adjustment and gain adjustment were switched after Zero/gain adjustment change request signal (Y1B) was turned on. When Zero/gain adjustment change request signal (Y1B) is turned off, this signal turns off. Cd.
CHAPTER 3 SPECIFICATIONS 3.4.3 Details of output signals (1) Zero/gain adjustment data writing request signal (Y1A) Turn on this signal to write the zero/gain adjustment value to the QD73A1. For the on/off timing of this signal, refer to the detail of Zero/gain adjustment data writing complete flag (X2A). ( Page 35, Section 3.4.2 (22)) 3 For details on zero/gain adjustment, refer to the following. Page 59, Section 4.
(7) Reverse start signal (Y23) Turn on this signal to start positioning in the address decreasing direction. The following table describes the consequence of turning on this signal for each type of positioning (major positioning control).
CHAPTER 3 SPECIFICATIONS (14)Underflow reset signal (Y2A) Turn on this signal to turn off Underflow signal (X1A) when it is on. For the on/off timing of this signal, refer to the detail of Underflow signal (X1A). ( Page 34, Section 3.4.2 (11)) (15)Speed-position switching enable signal (Y2C) Use this signal to enable/disable Speed-position switching command signal (CHANGE) in the speed-position control switch mode. 3 Turn on this signal to enable Speed-position switching command signal (CHANGE).
3.5 Specifications of I/O Interfaces with External Devices This section describes I/O interfaces between the QD73A1 and external devices. 3.5.1 Electrical specifications of I/O signals This section describes electrical specifications of I/O interfaces between the QD73A1 and external devices. (1) Input specifications Voltage Signal name range/Current consumption Supply power Input common 5 to 24VDC/ Max.60mA ON ON OFF OFF Pulse voltage current voltage current frequency 3V or 2.
CHAPTER 3 SPECIFICATIONS (2) Output specifications Max. Signal name Analog output voltage/current Output method Load Load voltage Leakage voltage current drop at current at OFF ON Servo ON signal (SVON) Speed command signal (analog signal) *1 Open collector 0 to ±10VDC/10mA 4.75 to 26.4VDC Max.30mA*1 1.0V or lower 3 0.1mA or lower The load current of Servo ON signal (SVON) is 30mA at the maximum. When using a miniature relay, take the load current into consideration. 3.
3.5.2 Signal layout for external device connectors The following table shows signal layouts on external device connectors. Connector name Pin arrangement 1 2 CONT.
CHAPTER 3 SPECIFICATIONS 3.5.3 List of I/O signal details This section describes details of signals that are input or output through external device connectors on the QD73A1.
Signal name Connector Pin name number Signal detail • This signal turns on when the drive unit is ready to operate. Servo READY signal (READY) 1 (+ side) • Positioning cannot be started when this signal is off. • If this signal turns off during positioning, the system stops. The system does not operate even if this signal is turned on again. Servo READY signal (READY) 2 (- side) This line is common to Servo READY signal (READY).
CHAPTER 3 SPECIFICATIONS 3.5.4 I/O interface internal circuit This section shows internal circuits of external device interfaces on the QD73A1 in schematic diagrams. External wiring Pin No. Internal circuit Signal name Remark 3 5VDC 5 24VDC Power supply Input a voltage of 5 to 24VDC. 1 2.4k Near-point dog signal (DOG) - 9 2.4k Stop signal (STOP) - 7 2.4k Upper limit signal (FLS) 6 2.4k 8 2.4k If not using these signals, keep them on.
External wiring Pin No. Internal circuit 1.2k Signal name Remark 12V 13 Phase-A feedback pulse 11 1.2k 12V [For open collector input] 5 Phase-B feedback pulse Connect these terminals to the terminal/ connector for pulse output of an encoder. 10 1.2k 12V Output is pulled up to 12V inside. 6 Phase-Z feedback pulse 7 9 Analog GND 0V 1k 5V 13 Phase-A feedback pulse 11 1k 5V 5 [For TTL input] Phase-B feedback pulse 10 1k connector for pulse output of an encoder.
CHAPTER 3 SPECIFICATIONS 3.6 Memory Configuration and Use There are two memories in the QD73A1.
3.7 List of Buffer Memory Addresses This section lists the buffer memory addresses of the QD73A1. For details on the buffer memory, refer to the following. Page 73, CHAPTER 5 Do not write data to system areas and area where data cannot be written from sequence programs in the buffer memory. Writing data to these areas may cause malfunction. Address Data Address (decimal) (hexadecimal) Name type*1 0 0H 1 1H 2 2H Positioning 3 3H parameter 4 4H Pr.
CHAPTER 3 SPECIFICATIONS Address (decimal) (hexadecimal) 40 29H 42 2AH 43 2BH 2CH 45 2DH 46 2EH 47 2FH 48 30H ••• ••• 79 4FH 80 50H 81 51H 82 52H 83 53H 84 54H Read/ Memory value Write area *2 *3 *4 0 R/W 55H 86 56H 87 57H Page 79, Pr.10 OP address (1) Pr.11 OPR speed 10000 R/W Parameter parameter area Pr.12 Creep speed 1000 R/W Pr.13 Setting for the movement amount after near-point dog ON System area 75 0 Cd.1 New current value Cd.
Address Address (decimal) (hexadecimal) 100 64H 101 65H 102 66H 103 67H 104 Data Name type*1 Default Read/ Memory value Write area *2 *3 *4 Md.1 Current feed value 0 R Md.2 Actual current value 0 R 68H Md.3 Error code (ERR.1) 0 R 105 69H Md.4 Error code (ERR.2) 0 R 106 6AH Md.5 Deviation counter value 107 6BH 0 R 108 6CH 109 6DH Monitor 0 R 6EH (monitor 0 R 110 (address) Md.6 data area) Movement amount after near- point dog ON Md.
CHAPTER 3 SPECIFICATIONS Address Address (decimal) (hexadecimal) 132 84H 133 85H 134 86H 135 87H 136 88H 137 89H Data Name type*1 Default Read/ Memory value Write area *2 *3 *4 Reference Error code and error Record 3 occurrence (The same Same as data structure as record record 0 R 0) 3 Error code and error Record 4 138 8AH 139 8BH 140 8CH 141 8DH 142 8EH 143 8FH 144 90H 145 91H 146 92H 147 93H data 148 94H (monitor 149 95H 150 96H 151 97H 15
Address Data Address (decimal) (hexadecimal) 164 A4H 165 A5H 166 A6H 167 A7H 168 A8H 169 A9H 170 AAH 171 ABH 172 ACH 173 ADH 174 AEH 175 AFH 176 B0H 177 B1H 178 B2H 179 B3H 180 B4H 181 B5H 182 B6H 183 B7H 184 B8H 185 B9H Name type*1 Record 11 Record 12 data Record 13 (monitor Record 14 Same as data structure as record record 0 R occurrence (The same Same as data structure as record record 0 R occurrence (The same Same as data structure as rec
CHAPTER 3 SPECIFICATIONS Address Data Address (decimal) (hexadecimal) Name type*1 Default Read/ Memory value Write area *2 *3 *4 0 R/W Reference Page 82, 301 12DH 302 12EH 303 12FH 304 130H Da.1 Positioning pattern Section 5.4 (1) 305 131H 306 132H 307 133H 308 134H 309 135H 310 136H Page 83, Da.2 Positioning address P1 0 R/W (2) Positioning Da.3 data Positioning speed V1 0 R/W Da.4 Positioning address P2 0 Positioning speed V2 0 Section 5.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION This chapter describes the procedure prior to operation, part names, zero/gain adjustment, and wiring method of the QD73A1. 4.1 Handling Precautions This section describes the handling precautions for the QD73A1. • Do not disassemble the module. Doing so may cause failure, malfunction, injury, or a fire. • Shut off the external power supply (all phases) used in the system before mounting or removing the module.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4.2 Settings and Procedure Before Operation This section shows the procedure before operating the QD73A1. Start Mounting the module Mount the QD73A1 on a specified slot. Wiring Wire external devices to the QD73A1. 4 Page 64, Section 4.6 Switch setting Configure settings using GX Works2. Page 100, Section 6.
4.3 Part Names This section describes the part names of the QD73A1. 1) 2) 4) 3) 2 1 ON 5) ADJUSTMENT MODE NORMAL MODE 6) 7) 8) Number Name RUN LED ERR. LED Description Reference Indicates the operating status or error status of the QD73A1 A LED 1) B LED Indicates the status of pulses on an encoder input phase A, B, or Z Z LED BUSY LED 2) 3) ZERO LED GAIN LED Page 58, Section 4.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION Number Name Description Reference 5) SERVO connector A connector for a drive unit Page 43, Section 3.5.3 6) CONT. connector A connector for external control devices Page 69, Section 4.6.3 7) Serial number display Displays the serial number of the QD73A1 8) Mode switch A switch to change the operation mode to the zero/gain adjustment mode. Page 61, Section 4.5 (4) (DIP switch 1 and 2 are off as the factory default.) (a) 4 4.
4.4 LED The LEDs on the front of the QD73A1 indicate the statuses of the module and axis control. QD73A1 RUN ERR. A B Z BUSY ZERO GAIN Indication : OFF Attention : ON Description : Flashing • The power is off. RUN ERR. RUN ERR. RUN ERR. RUN ERR. RUN ERR. RUN ERR. RUN ERR. A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN A B Z BUSY ZERO GAIN RUN LED: OFF (All the other LEDs are OFF or ON.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4.5 Zero/gain Adjustment Zero/gain adjustment is a process to adjust analog output voltage according to accumulated pulse amount. Adjust the analog output voltage value according to the analog speed command input of the drive unit used. Adjust analog output voltage using the check pins on the front of the QD73A1. For the position of check pins, refer to the following. Page 56, Section 4.
● When setting a smaller value than the above reference value (larger value for a negative value) as the accumulated pulse amount at the gain value output, making the setting value too small at a time may cause the hunting of a servomotor. To make the accumulated pulse amount value smaller, check the machine operation and adjust the value.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (4) Setting method The following are the procedures for zero adjustment and gain adjustment. (a) When using the switches on the front of the QD73A1 Start Set the servomotor in the servo-lock status. Is the ERR.LED off?*3 NO 4 YES Turn on both DIP switch 1 and 2 on the lower part of the module, then turn on the power.*1 Check that the module is in the zero/gain adjustment mode on the RUN LED. (The LED flashes in the zero/gain adjustment mode.
(b) When using I/O signals and the buffer memory Start Set the servomotor in the servo-lock status. Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification". Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification". Turn on Set value change request signal (Y1C). Turn on Set value change request signal (Y1C).
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (5) Restoring the zero/gain adjustment value of the factory default Writing "1" in " Cd.12 Factory default zero/gain adjustment value restoration request" restores the zero/gain adjustment value of the factory default. Once the restoration was completed, the QD73A1 sets "0" in " Cd.12 Factory default zero/gain adjustment value restoration request".
4.6 Wiring This section describes precautions on wiring the QD73A1 and external devices, and connection of external device connectors. 4.6.1 Wiring precautions This section describes the precautions on wiring. • Check the terminal layout beforehand to wire cables to the module correctly. • Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or must be correctly soldered. Incomplete soldering or crimping may result in malfunction.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION • As a measure against noise, use shielded cables if the cables connected to the module are close (less than 100mm) to a power cable. Ground the shields of shielded cables to the control panel securely on the module side. • To comply with EMC and Low Voltage Directives, ground shielded cables to the control panel using the AD75CK cable clamp (manufactured by Mitsubishi Electric). (Ground the shield parts at a point within 20 to 30cm from the module.
4.6.2 Precautions when connecting an encoder This section describes precautions when connecting an encoder. (1) Operation of the QD73A1 (deviation counter and feedback pulses) The deviation counter in the QD73A1 counts up and down. An addition/subtraction switchover can be processed through the phases of feedback pulses. When "0: Positive voltage is output when the positioning address increases." is set for "Rotation direction setting" in the switch setting.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION For details on "Rotation direction setting" in the switch setting, refer to the following. Page 101, Section 6.2.1 The connection between the QD73A1 and the encoder varies depending on "Rotation direction setting" and "Feed back pulse addition/subtraction setting" of the switch setting. Ex.
● If the connection of the QD73A1 and the encoder is incorrect, the motor rotates at a power-on and Excessive error signal (X17) turns on. ● To replace the positioning module AD70/A1SD70 with the QD73A1 while using the same equipment of the servo amplifier, encoder, and external wiring in the existing system, check the setting of slide switch 1 (rotation direction setting) of the AD70/A1SD70.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4.6.3 External device connectors This section describes the assemblage of an external device connector and its connection method. (1) Assembling a connector The following connectors are required to connect the QD73A1 and external devices. • A 9-pin connector (pin type): For the CONT. connector (control signal connection) • A 15-pin connector (pin type): For the SERVO connector (drive unit connection) The connectors are composed of the following parts.
(From the previous page) Screw A 5. Wire clamp Fix the protective seal part or the protection tube part with the wire clamp using the screws A. Screw A Screw C 6. Attach the screws C to the cover A. 7. Put the cover B over the cover A, and fasten them Screw C Screw B using the screws B and nuts.
CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION (2) Wiring connectors The figure below shows the pin arrangement on the connectors. Wire pins correctly according to the signal assigned to each pin number. For details on the signal assigned to each pin number, refer to the following. Page 43, Section 3.5.3 Pin arrangement viewed from the wire side 4 1 2 3 4 5 6 7 9 10 11 12 13 1 14 2 3 15 4 8 5 15-pin connector Applies to the SERVO. connector 6 7 8 9 9-pin connector Applies to the CONT.
(c) Connector type and the manufacturer The following table lists applicable 9-pin connector and 15-pin connector. When wiring, use applicable wire and an appropriate tightening torque. External wiring connector Model 9-pin connector for external wiring (pin type) 15-pin connector for external wiring (pin type) Tightening torque Wire Diameter Material Stranded Copper Temperature rating 17JE-23090-02(D8A) (manufactured by DDK Ltd.) 0.20 to 0.
CHAPTER 5 DATA USED FOR POSITIONING CHAPTER 5 DATA USED FOR POSITIONING This chapter describes parameters and data used for positioning. 5.1 Types of Data The parameters and data required to carry out control with the QD73A1 include "setting data", "monitor data", and "control data" shown below. Setting data 5 (Data to be set beforehand according to the machinery and application) Positioning parameters Parameters Fixed parameters ( Pr.1 to Pr.13 ) ( Pr.1 to Pr.
Control data (Data for the user to control the positioning system) Control change area Set data for operation and data for current value change or speed change during operation. ( Cd.1 to Cd.4 , Cd.6 to Cd.8 , Cd.13 to Cd.20 ) Zero/gain adjustment data area Set data for zero/gain adjustment. ( Cd.5 , Cd.9 to Cd.12 ) Set control data using sequence programs.
CHAPTER 5 DATA USED FOR POSITIONING 5.2 Positioning Parameters This section describes the details of positioning parameters. Buffer Item Setting range Default value memory address Reference (decimal) Pr.1 Pr.2 Stroke limit upper limit Stroke limit lower limit -2147483648 to 2147483647pulse 2147483647pulse 0pulse 0 1 2 3 Page 76, Section 5.2 (1) Numerator of Fixed parameter command pulse Pr.3 multiplication for electronic gear (CMX) Denominator of command pulse Pr.
(1) Pr.1 Stroke limit upper limit, Pr.2 Stroke limit lower limit Set the upper and lower limits of the workpiece moving range. Stroke limit lower limit Limit switch for emergency stop Stroke limit upper limit (Moving range of the workpiece) Limit switch for emergency stop OP For details on the stroke limit function, refer to the following. Page 213, Section 11.3 Remark ● In general, the OP is set at the lower limit or upper limit of the stroke limit.
CHAPTER 5 DATA USED FOR POSITIONING (2) Pr.3 Numerator of command pulse multiplication for electronic gear, Pr.4 Denominator of command pulse multiplication for electronic gear Set the numerator (CMX) and denominator (CDV) of command pulse multiplication for electronic gear.
(4) Pr.6 Acceleration time, Pr.7 Deceleration time • Pr.6 Acceleration time: Set the time takes for speed (0) to reach the value in " • Pr.7 Deceleration time: Set the time takes for the speed (the value in " Pr.5 v Pr.5 Pr.5 Speed limit value". Speed limit value") to reach 0. Speed limit value Positioning speed t Actual acceleration time Pr.6 Acceleration time Actual deceleration time Pr.
CHAPTER 5 DATA USED FOR POSITIONING 5.3 OPR Parameters This section describes the details of OPR parameters. Buffer memory Item Setting range Default value address Reference (decimal) -2147483648 to 0pulse Pr.10 OP address Pr.11 OPR speed 1 to 4000000pulse/s 10000pulse/s Pr.12 Creep speed 1 to 4000000pulse/s 1000pulse/s 0 to 2147483647pulse 75pulse 2147483647pulse Setting for the movement Pr.13 amount after near-point dog ON 40 41 42 43 44 45 46 47 Page 79, Section 5.
(3) Pr.12 Creep speed Once the near-point dog turns on, the control decelerates from " Pr.11 OPR speed" and stops. Set the speed of right before the stop, which is a creep speed. v Pr.11 OPR speed OPR start Pr.12 Creep speed t ON Near-point dog signal (DOG) OFF Zero signal Satisfy the following condition when setting the speed. Pr.12 Creep speed Pr.11 If the creep speed exceeds " OPR speed Pr.
CHAPTER 5 DATA USED FOR POSITIONING (4) Setting for the movement amount after near-point dog ON Pr.13 When the OPR method is the count method, set the movement amount from the position where Near-point dog signal (X1C) turns on to the original point. Set a value equal to or greater than the deceleration distance from the OPR speed to the creep speed. Deceleration distance = (pulse) (OPR speed + Creep speed) (pulse/s) Actual deceleration time (ms) 1000 2 The following are the setting precautions.
5.4 Positioning Data This section describes the details of positioning data. Buffer memory Item Setting range Default value address Reference (decimal) 0: Positioning control Da.1 Positioning pattern 1: Two-phase trapezoidal positioning control 0: Positioning control 301 Page 82, Section 5.4 (1) Absolute system: Da.2 Positioning address -2147483648 to 2147483647pulse P1 Incremental system: 0pulse 302 303 Page 83, Section 5.4 (2) 0 to 2147483647pulse Da.
CHAPTER 5 DATA USED FOR POSITIONING (2) Da.2 Positioning address P1 Set the address that is the destination of major positioning control. The setting range depends on the type of major positioning control. If the specified positioning address is outside the stroke range, the error "Positioning address Outside the setting range" (error code: 30) occurs, and the positioning does not start. (a) Absolute system When the absolute system is selected, set an absolute address (movement amount from the OP).
(3) Da.3 Positioning speed V1 Set the command speed of major positioning control. Set a value equal to or less than " If the value exceeds " Pr.5 Pr.5 Speed limit value". Speed limit value", the error "Positioning speed Outside the setting range" (error code: 32) occurs, and the command speed is limited to " Pr.5 Speed limit value". If the specified positioning speed is 0, the error "Positioning speed Outside the setting range" (error code: 32) occurs, and the positioning does not start.
CHAPTER 5 DATA USED FOR POSITIONING 5.5 Monitor Data This section describes the details of monitor data. Buffer Item Description Default value memory address (decimal) • The current commanded position is stored. (different from the actual motor position during operation) Md.1 Current feed value • The update cycle is 0.5ms. • When OPR is completed, the value of " OP address" is stored. Pr.
Buffer Item Description Default value memory address (decimal) The on/off status of Speed-position switching command signal Md.7 Speed-position (CHANGE) is stored. switching command 0: Speed-position switching command input OFF 0: Speedposition switching 110 command input 1: Speed-position switching command input ON OFF The control mode under the speed-position control switch mode is Md.8 Control mode stored. 0: Position 0: Position control control 111 1: Speed control Md.
CHAPTER 5 DATA USED FOR POSITIONING Buffer Item Description Default value memory address (decimal) The time (minute: second) of error detection is stored in BCD code. • b15 to b8: Minute • b7 to b0: Second The data can be monitored in hexadecimal. 1 5 b15 Md.15 Error occurrence 0 (Minute: Second) 0 0 1 0 to 5 0 1 0 b8 b7 0 1 0 0 0 to 9 8 0 0 0 to 5 1 0 0 b0 0 Page 0000H 0 to 9 88, Section 5.
(1) Buffer memory areas for error occurrence data Md.16 184 Error history pointer Stores the pointer number that is next to the one for the latest error history record. Pointer No. Pointer No. 0 1 2 Md.12 Error history Error code Md.13 Error occurrence (Year: Month) Md.14 Error occurrence (Day: Hour) Md.
CHAPTER 5 DATA USED FOR POSITIONING 5.6 Control Data This section describes the details of control data. Buffer Item Description Setting range Default value memory address (decimal) • Set a new current feed value when changing the current value. • Writing data in this area and setting "1" in " Cd.1 New current value Cd.7 Current value change request" changes the value in " Current feed Md.1 value".
Buffer Item Description Setting range Default memory value address (decimal) • Use this area to clear the accumulated pulses in the deviation counter. • Write "1" to clear the counter. If a value other than "1" is set, the command is ignored. • After the deviation counter was cleared, "0" is stored automatically. • To start positioning after the deviation counter was cleared, check that this area stores "0" and no error is detected before the start. Deviation counter clear Cd.
CHAPTER 5 DATA USED FOR POSITIONING Buffer Item Description Setting range Default memory value address (decimal) • Use this area to request a current value change. • After setting " Cd.1 New current value", set "1" in this area. If a value other than "1" is set, the setting is ignored. • After the current value change was accepted, "0" is stored automatically. • A current value change cannot be Cd.7 Current value change requested while BUSY signal (X14) is on.
Buffer Item Description Setting range Default memory value address (decimal) • Specify "zero adjustment" or "gain adjustment". • When zero/gain adjustment is performed using switches on the front of the QD73A1, Zero/gain adjustment Cd.10 specification the set value is ignored. • If a value other than 0, 1, and 2 is set, the error "Zero/gain adjustment setting error" 1: Zero adjustment 2: Gain adjustment 0 94 0 95 0 96 (error code: 123) occurs.
CHAPTER 5 DATA USED FOR POSITIONING Buffer Item Description Setting range Default memory value address (decimal) The difference between the reference value (maximum value) and the judgment value (alert output accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows. [If " Cd.17 Accumulated pulse setting value selection" is set to 0] • If " Cd.
Buffer Item Description Setting range Default memory value address (decimal) The difference between the reference value (maximum value) and the judgment value (immediate stop accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows. [If " Cd.17 Accumulated pulse setting value selection" is set to 0] • If " Immediate stop accumulated pulse Cd.14 setting value (maximum value) Cd.
CHAPTER 5 DATA USED FOR POSITIONING Buffer Item Description Setting range Default memory value address (decimal) The difference between the reference value (minimum value) and the judgment value (alert output accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows. [If " Cd.17 Accumulated pulse setting value selection" is set to 0] • If " Cd.
Buffer Item Description Setting range Default memory value address (decimal) The difference between the reference value (minimum value) and the judgment value (immediate stop accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows. [If " Cd.17 Accumulated pulse setting value selection" is set to 0] • If " Cd.17 Accumulated pulse setting value Immediate stop accumulated pulse Cd.
CHAPTER 5 DATA USED FOR POSITIONING Buffer Item Description Setting range Default memory value address (decimal) • Use this area to start/stop the accumulated pulse error detection function. • While this area is set to 1, the accumulated pulse error detection function is executed. However, if the reference value has never been measured, the error "Accumulated pulse error undetectable" (error code: 131) occurs and the function does not operate.
Buffer Item Description Setting range Default memory value address (decimal) • Use this area to save the measured reference value in the flash ROM of the QD73A1. • When this area setting is changed to 1, the measured reference value is saved in the flash ROM. • When " Md.20 Reference value measurement flag" is set to 1, the value is written to the flash ROM. If Reference value write Cd.20 request " Md.
CHAPTER 6 VARIOUS SETTINGS CHAPTER 6 VARIOUS SETTINGS This chapter describes setting procedures of the QD73A1. ● After writing the contents of the new module, parameter settings, and auto refresh settings into the CPU module, reset the CPU module and switch its status as STOP RUNSTOP RUN, or turn off and on the power supply to activate the settings. ● After writing the contents of the switch settings, reset the CPU module or turn off and on the power supply to activate the settings. 6.
6.2 Switch Setting Configure settings related to the drive unit and encoder that are connected to the QD73A1. (1) Setting method Open the "Switch Setting" window. Project window Item Rotation direction setting Accumulated pulse setting Multiplication setting [Intelligent Function Module] Description Module name Setting value Default value • Positive voltage is output when the Set the rotation direction in which positioning addresses increase. positioning address increases.
CHAPTER 6 VARIOUS SETTINGS Item Description Set whether to add or subtract the Feed back feedback pulses to/from the pulse deviation counter when the phase addition/subtraction setting A of feedback pulse proceeds 90 degrees than phase B. Deviation Set whether to clear the deviation counter clear counter when Servo READY setting signal turns off. Setting value • Add when the phase A proceeds 90 degrees than phase B. • Subtract when the phase A proceeds 90 degrees than phase B.
6.2.2 Accumulated pulse setting Select the maximum accumulated pulse amount that can be counted in the deviation counter. (1) Calculating accumulated pulse amount When a servomotor is used, "maximum accumulated pulse amount" obtained by the following formula generates. Maximum accumulated = pulse amount Speed command (pulse/s) Position loop gain (s-1) Configure this setting so that "maximum accumulated pulse amount" stays within the accumulated pulse setting range.
CHAPTER 6 VARIOUS SETTINGS (b) Accumulated pulse amount and analog output voltage from the QD73A1 The analog output voltage from the QD73A1 is controlled in proportion to accumulated pulse amount.
(2) Excessive error If accumulated pulse amount exceeds an upper limit value (values marked * in Page 103, Section 6.2.2 (1) (b)), an excessive error occurs and the following conditions occur in the system. • Excessive error signal (X17): ON • Analog output voltage: 0V • Accumulated pulses: Reset to 0 • Servo ON signal (SVON): OFF To reset an excessive error, turn off and on PLC READY signal (Y2D). 6.2.3 Multiplication setting Set the multiplication rate of feedback pulses from the pulse generator (PLG).
CHAPTER 6 VARIOUS SETTINGS 6.2.6 Encoder I/F setting Select an encoder output type from open collector, TTL, or differential output. For connection between the QD73A1 and an encoder, refer to the following. Page 66, Section 4.6.2 6.2.7 Analog voltage resolution setting Set resolution of analog voltage to be output as a speed command. The default value of "Analog voltage resolution setting" is "12-bit resolution".
6.2.8 Feedback pulse addition/subtraction setting Set whether to add or subtract the feedback pulses to/from the deviation counter when the phase A of feedback pulse proceeds 90 degrees than phase B. This setting becomes enabled only when "1: Negative voltage is output when the positioning address increases." is set for "Rotation direction setting" in the switch setting. If "0: Positive voltage is output when the positioning address increases.
CHAPTER 6 VARIOUS SETTINGS 6.2.9 Deviation counter clear setting Set whether to clear the deviation counter when Servo READY signal turns off. If "0: Clear the deviation counter when the servo ready signal is OFF." is set, the deviation counter is cleared and OPR request signal turns on when Servo READY signal turns off. After Servo READY signal is turned on, execute OPR before executing the positioning control. If "1: Do not clear the deviation counter when the servo ready signal is OFF.
6.3 Parameter Setting Set positioning parameters and OPR parameters. Setting parameters on the screen omits the parameter setting in a sequence program. (1) Setting method Open the "Parameter" window. 1. Start "Parameter" in the project window. Project window 2. [Intelligent Function Module] Module name [Parameter] Double-click the item to change the setting, and input the setting value.
CHAPTER 6 VARIOUS SETTINGS 6.4 Positioning Data Setting Set positioning data. Setting positioning data on the screen omits the positioning data setting in a sequence program. (1) Setting method Open the "Positioning_Axis_#1_Data" window. 1. Start "Positioning_Axis_#1_Data" in the project window. Project window 2. 3. [Intelligent Function Module] Module name [Positioning_Axis_#1_Data] 6 Double-click "Positioning pattern", and set a positioning pattern.
6.5 Auto Refresh This function transfers data in the buffer memory to specified devices. The auto refresh setting omits data reading/writing through a program. (1) Setting method Open the "Auto_Refresh" window. 1. Start "Auto_Refresh" in the project window. Project window [Intelligent Function Module] Module name [Auto_Refresh] 2. 110 Click the item to set, and input the destination device for auto refresh.
CHAPTER 7 PROGRAMMING CHAPTER 7 PROGRAMMING This chapter describes sequence programs of the QD73A1. When applying the program examples introduced in this chapter to the actual system, ensure the applicability and confirm that they will not cause system control problems. 7.1 Precautions on Programming (1) At power-on and operation start At a power-on or operation start, execute OPR to confirm the original point (OP). When an OPR request is issued, take the OPR into consideration.
(9) Communication with the QD73A1 There are following ways of communication with the QD73A1 using a sequence program. • Communication using intelligent function module devices • Communication using the FROM/TO instruction The sequence programs introduced in this chapter uses intelligent function module devices. When using the FROM/TO instruction, change the sequence program as shown below.
CHAPTER 7 PROGRAMMING (10)I/O number assignment for the QD73A1 The QD73A1 occupies 48 I/O points of 2 slots. (a) Default I/O number assignment Set the first half to "Empty 16 points" and the second half to "Intelligent 32 points" in GX Works2. When executing the FROM/TO instruction on the QD73A1, use the I/O number assigned to the second half (slot) of the QD73A1.
7.2 Programs for Positioning Follow the procedure below when creating programs that execute positioning using the QD73A1. Procedure 1 Program Reference Parameter setting Page 117, Section 7.3.1 Create a program for parameter setting. Page 149, Section 7.4.1 OPR 2 Create a program for one of the following. • Near-point dog method Page 119, Section 7.3.2 Page 151, Section 7.4.2 • Count method Start program Create programs for the following depending on the control to be executed.
CHAPTER 7 PROGRAMMING 7.3 When Using the Module in a Standard System Configuration This section introduces program examples where the following system configuration applies. (1) System configuration QCPU QD73A1 QX41 First half: X/Y0 to X/YF (Empty 16 points) Second half: X/Y10 to X/Y2F (Intelli. 32 points) X30 to X4F (2) Switch setting 7 Configure the switch setting as follows. Project window [Intelligent Function Module] [QD73A1] 7.
(3) Writing parameters Write the set parameters to the CPU module, then reset the CPU module or turn off and on the power supply of the programmable controller. [Online] [Write to PLC...] or Power off on (4) I/O signals of the QD73A1 Refer to Page 30, Section 3.4.1. I/O signals used in program examples are assigned as in the list on Page 30, Section 3.4.1. (5) Program example Refer to the following. Program example Parameter setting program 116 Reference Page 117, Section 7.3.
CHAPTER 7 PROGRAMMING 7.3.1 Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail • The following fixed parameters are set once the CPU module is in the RUN status. Item Setting detail Pr.1 Stroke limit upper limit 20000000pulse Pr.
Device Description D12 Acceleration time D13 Deceleration time D14 In-position range D15 Positioning mode M0 Fixed parameter setting memory M1 Variable parameter setting memory SM402 Turns on for one scan once the CPU module is in the RUN status (4) Program example Stroke limit upper limit (20000000pulse) Stroke limit lower limit (0pulse) Numerator of command pulse multiplication for electronic gear (1) Denominator of command pulse multiplication for electronic gear (1) Set fixed parameters
CHAPTER 7 PROGRAMMING 7.3.2 OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail • The following OPR parameters are written once the CPU module is in the RUN status, and PLC READY signal (Y2D) turns on. Item Setting detail Pr.
(c) Execution condition Check item Condition Servo READY signal (READY) External I/O signal I/O signal Buffer memory ON Stop signal (STOP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON Near-point dog signal (DOG) OFF WDT error, H/W error signal (X10) OFF QD73A1 READY signal (X11) OFF OPR complete signal (X13) OFF BUSY signal (X14) OFF Excessive error signal (X17) OFF Error detection signal (X18) OFF OPR start complete signal (X20) OFF Synchronization flag (X24) ON
CHAPTER 7 PROGRAMMING (e) Program example *1 OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal. Turn off OPR start signal. 7 *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2. 7.
(2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail • The following OPR parameters are written once the CPU module is in the RUN status, and PLC READY signal (Y2D) turns on. Item Setting detail Pr.10 OP address 100pulse Pr.11 OPR speed 5000pulse/s Pr.12 Creep speed 500pulse/s Pr.
CHAPTER 7 PROGRAMMING (c) Execution condition Check item Condition Servo READY signal (READY) External I/O signal I/O signal Buffer memory ON Stop signal (STOP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON WDT error, H/W error signal (X10) OFF QD73A1 READY signal (X11) OFF BUSY signal (X14) OFF Excessive error signal (X17) OFF Error detection signal (X18) OFF OPR start complete signal (X20) OFF Synchronization flag (X24) ON OPR start signal (Y20) OFF Stop signal (
(e) Program example *1 OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog ON (2000pulse) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal. Turn off OPR start signal. *1 124 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.
CHAPTER 7 PROGRAMMING 7.3.3 Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail • As X33 is turned on, the following positioning data are written. Item Setting detail Da.1 Positioning pattern 0: Positioning control Da.
(c) Device used by the user Device Description X33 Positioning data write command X34 Positioning start command D30 Positioning pattern D31 Positioning address P1 (lower 16 bits) D32 Positioning address P1 (upper 16 bits) D33 Positioning speed V1 (lower 16 bits) D34 Positioning speed V1 (upper 16 bits) M40 Positioning start command pulse (d) Program example *1 Positioning pattern (Positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Set positioning
CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail • As X35 is turned on, the following positioning data are written. Item Setting detail Da.1 Positioning pattern 1: Two-phase trapezoidal positioning control Da.2 Positioning address P1 100000pulse Da.
(d) Program example *1 Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 128 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.
CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail • As X37 is turned on, the positioning mode is set to "speed-position control switch mode". • As X38 is turned on, the following positioning data are written. Item Setting detail Da.
(c) Device used by the user Device Description X37 Variable parameter change command X38 Positioning data write command X39 Speed-position control positioning start command X3B Speed-position control positioning restart command D29 Positioning mode D31 Positioning address P1 (lower 16 bits) D32 Positioning address P1 (upper 16 bits) D33 Positioning speed V1 (lower 16 bits) D34 Positioning speed V1 (upper 16 bits) M46 Speed-position control positioning start command pulse M58 Speed-pos
CHAPTER 7 PROGRAMMING (4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail • As X3C is turned on, the positioning mode is set to "speed-position control switch mode". • As X3D is turned on, the following positioning data is written. Item Da.
(c) Device used by the user Device X3C Description Speed control operation change command X3D Positioning data write command X3E Forward run command X3F Reverse run command D28 Positioning mode D62 Positioning speed V1 (lower 16 bits) D63 Positioning speed V1 (upper 16 bits) M50 Speed control command pulse (d) Program example *1 Turn off Speed-position switching enable signal. Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1.
CHAPTER 7 PROGRAMMING 7.3.4 Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.
(3) Device used by the user Device X40 Description Fixed-feed positioning data write command X41 Fixed-feed start command D57 New current value (lower 16 bits) D58 New current value (upper 16 bits) D60 Positioning address P1 (lower 16 bits) D61 Positioning address P1 (upper 16 bits) D62 Positioning speed V1 (lower 16 bits) D63 Positioning speed V1 (upper 16 bits) D90 Current value change request M53 Fixed-feed positioning data write command pulse M61 Current value change command (4) Pr
CHAPTER 7 PROGRAMMING 7.3.5 JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. ( Page 117, Section 7.3.1) (1) Program detail • As X42 is turned on, JOG speed is written. Item Cd.3 Setting detail 10000pulse/s JOG speed • As X43 is turned on, the module executes forward JOG operation. As X44 is turned on, the module executes reverse JOG operation.
(4) Program example JOG speed (10000pulse/s) Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command.
CHAPTER 7 PROGRAMMING 7.3.6 Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X45 is turned on, the current value is changed. Item Cd.
(2) Speed change program This program changes positioning speed. (a) Program detail As X46 is turned on, positioning speed is changed. Item Cd.
CHAPTER 7 PROGRAMMING (d) Program example New speed value (50000pulse/s) Set a new speed value to the QD73A1. Completes the new speed value setting. Speed change Request a speed change. Completes the speed change. 7 7.3 When Using the Module in a Standard System Configuration 7.3.
(3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X47 is turned on, the deviation counter is cleared to 0. Item Cd.
CHAPTER 7 PROGRAMMING 7.3.7 Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user Device X3A Description Stop command (c) Program example Turn on Stop signal. Turn off Stop signal. 7 7.3 When Using the Module in a Standard System Configuration 7.3.
7.4 When Using the Module in a Remote I/O Network This section introduces program examples of when the QD73A1 is used in a MELSECNET/H remote I/O network. For details on a MELSECNET/H remote I/O network, refer to the following. Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network) (1) System configuration Remote master station (station No.0) Remote I/O station (station No.
CHAPTER 7 PROGRAMMING (2) Setting on the master station 1. Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select the CPU module used for "PLC Type". [Project] 2. [New...] 7 Display the network parameter setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] 7.
3. Display the network range assignment setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] Project window [Parameter] button [Network Parameter] [Ethernet/CC IE/MELSECNET] button "Switch Screens" "XY Setting" 4. Display the refresh parameter setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] 5.
CHAPTER 7 PROGRAMMING (3) Setting on the remote I/O station 1. Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select "QJ72LP25/QJ72BR15(RemoteI/O)" for "PLC Type". [Project] 2. [New...] Add the QD73A1 to the project on GX Works2. Project window [Intelligent Function Module] Right-click [New Module...] 7 7.
3. Display the QD73A1's switch setting window, and configure the setting as follows. Project window [Intelligent Function Module] [QD73A1] Item [Switch Setting] Setting value Rotation direction setting Set this item according to the system to be used. Accumulated pulse setting Set this item according to the system to be used. Multiplication setting Set this item according to the system to be used. OPR direction setting Set this item according to the system to be used.
CHAPTER 7 PROGRAMMING (4) I/O signals of the QD73A1 The following is the I/O signal assignment viewed from the master station side. (a) Input signal list Input signal (CPU module QD73A1) Device No. Signal name Input signal (CPU module QD73A1) Device No.
(6) Interlock program of MELSECNET/H remote I/O network For programs introduced in Page 149, Section 7.4.1 to Page 177, Section 7.4.7, make interlocks using data link status of the own station and the other station as shown below. Programs described in Page 149, Section 7.4.1, Page 177, Section 7.4.7 (7) Program example Refer to the following. Program example Parameter setting program 148 Reference Page 149, Section 7.4.1 Near-point dog method OPR program Page 151, Section 7.4.
CHAPTER 7 PROGRAMMING 7.4.1 Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail • As X20 is turned on, the following fixed parameters are set. Item Setting detail Pr.1 Stroke limit upper limit 20000000pulse Pr.2 Stroke limit lower limit 0pulse Pr.
Device D11 Description Speed limit value (upper 16 bits) D12 Acceleration time D13 Deceleration time D14 In-position range D15 Positioning mode M1 Fixed parameter setting memory M2 Variable parameter setting memory M200 Z(P).REMTO instruction completion M201 Z(P).REMTO instruction failure M202 Z(P).REMTO instruction completion M203 Z(P).REMTO instruction failure (4) Program example Command fixed parameter settings.
CHAPTER 7 PROGRAMMING 7.4.2 OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail • As X22 is turned on, the following OPR parameters are written and PLC READY signal (Y103D) turns on. Item Setting detail Pr.10 OP address 100pulse Pr.
(c) Execution condition Check item Condition Servo READY signal (READY) External I/O signal I/O signal Buffer memory ON Stop signal (STOP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON Near-point dog signal (DOG) OFF WDT error, H/W error signal (X1020) OFF QD73A1 READY signal (X1021) OFF OPR complete signal (X1023) OFF BUSY signal (X1024) OFF Excessive error signal (X1027) OFF Error detection signal (X1028) OFF OPR start complete signal (X1030) OFF Synchronization
CHAPTER 7 PROGRAMMING (e) Program example *1 Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal. Command OPR. 7 Turn on OPR start signal. Turn off OPR start signal. OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.
(2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail • As X22 is turned on, the following OPR parameters are written and PLC READY signal (Y103D) turns on. Item Setting detail Pr.10 OP address 100pulse Pr.11 OPR speed 5000pulse/s Pr.12 Creep speed 500pulse/s Pr.
CHAPTER 7 PROGRAMMING (c) Execution condition Check item Condition Servo READY signal (READY) External I/O signal I/O signal Buffer memory ON Stop signal (STOP) OFF Upper limit signal (FLS) ON Lower limit signal (RLS) ON WDT error, H/W error signal (X1020) OFF QD73A1 READY signal (X1021) OFF BUSY signal (X1024) OFF Excessive error signal (X1027) OFF Error detection signal (X1028) OFF OPR start complete signal (X1030) OFF Synchronization flag (X1034) ON OPR start signal (Y1030) OF
(e) Program example *1 Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog ON (2000pulse) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal. Command OPR. Turn on OPR start signal. Turn off OPR start signal. *1 156 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.
CHAPTER 7 PROGRAMMING 7.4.3 Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail • As X25 is turned on, the following positioning data are written. Item Setting detail Da.1 Positioning pattern 0: Positioning control Da.
(c) Device used by the user Device Description X25 Positioning data write command X26 Positioning start command D31 Positioning pattern D32 Positioning address P1 (lower 16 bits) D33 Positioning address P1 (upper 16 bits) D34 Positioning speed V1 (lower 16 bits) D35 Positioning speed V1 (upper 16 bits) M10 Positioning data writing M40 Positioning start command pulse M220 Z(P).REMTO instruction completion M221 Z(P).
CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail • As X27 is turned on, the following positioning data are written. Item Setting detail Da.1 Positioning pattern 1: Two-phase trapezoidal positioning control Da.2 Positioning address P1 100000pulse Da.
(d) Program example *1 Command to write positioning data. Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Completes writing the positioning data. Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal.
CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail • As X29 is turned on, the positioning mode is set to "speed-position control switch mode". • As X2A is turned on, the following positioning data are written. Item Setting detail Da.
(c) Device used by the user Device 162 Description X29 Variable parameter change command X2A Positioning data write command X2B Speed-position control positioning start command X2D Speed-position control positioning restart command D40 Positioning mode D42 Positioning address P1 (lower 16 bits) D43 Positioning address P1 (upper 16 bits) D44 Positioning speed V1 (lower 16 bits) D45 Positioning speed V1 (upper 16 bits) M20 Variable parameter change M21 Positioning data writing M50 Sp
CHAPTER 7 PROGRAMMING (d) Program example *1 Command to change variable parameters. Positioning mode (Speed-position control switch mode) Completes changing the variable parameters. Set variable parameters to the QD73A1. Command to change positioning data. Positioning address P1 (5000pulse) Positioning speed V1 (1000pulse/s) Completes changing the positioning data. 7 Set positioning data to the QD73A1. Command the start of the speed-position control switch mode. Turn on Forward start signal.
(4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail • As X2E is turned on, the positioning mode is set to "speed-position control switch mode". • As X2F is turned on, the following positioning data is written. Item Da.
CHAPTER 7 PROGRAMMING (c) Device used by the user Device X2E Description Variable parameter change command X2F Positioning data write command X30 Forward run command X31 Reverse run command D46 Positioning mode D48 Positioning speed V1 (lower 16 bits) D49 Positioning speed V1 (upper 16 bits) M25 Variable parameter change M26 Positioning data writing M30 Speed control command pulse M250 Z(P).REMTO instruction completion M251 Z(P).REMTO instruction failure M252 Z(P).
(d) Program example *1 Command to change variable parameters. Turn off Speed-position switching enable signal. Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1. Completes changing the variable parameters. Command to change positioning data. Positioning speed V1 (1000pulse/s) Completes changing the positioning data. Set positioning data to the QD73A1. Command speed control. Turn on Forward start signal. Turn on Reverse start signal. Turn off Forward start signal.
CHAPTER 7 PROGRAMMING 7.4.4 Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.
(3) Device used by the user Device X32 168 Description Fixed-feed positioning data write command X33 Fixed-feed start command D50 Positioning address P1 (lower 16 bits) D51 Positioning address P1 (upper 16 bits) D52 Positioning speed V1 (lower 16 bits) D53 Positioning speed V1 (upper 16 bits) D100 New current value (lower 16 bits) D101 New current value (upper 16 bits) D104 Current value change request D106 Current value change result check M35 Variable parameter change M55 Fixed-fee
CHAPTER 7 PROGRAMMING (4) Program example *1 Command to change positioning data. Positioning address P1 (20000pulse) Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Completes changing the positioning data. Command the fixed-feed positioning start. New current value (0pulse) Command a current value change. 7 Reset the current value change. Completes setting a current value. Set a new current value to the QD73A1. Read the current value change from the QD73A1.
7.4.5 JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. ( Page 149, Section 7.4.1) (1) Program detail • As X34 is turned on, JOG speed is written. Item Cd.3 Setting detail 10000pulse/s JOG speed • As X35 is turned on, the module executes forward JOG operation. As X36 is turned on, the module executes reverse JOG operation.
CHAPTER 7 PROGRAMMING (4) Program example Command a JOG speed setting. JOG speed (10000pulse/s) Completes the JOG speed setting. Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command. 7 7.4 When Using the Module in a Remote I/O Network 7.4.
7.4.6 Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X37 is turned on, the current value is changed. Item Cd.
CHAPTER 7 PROGRAMMING (d) Program example Command a current value change. New current value (0pulse) Set a new current value to the QD73A1. Current value change Completes the current value change. Command to check the current value change. Request a current value change to the QD73A1. Read the current value change from the QD73A1. Completes checking the current value change. Command to check the current value change again when it is incomplete. 7 7.4 When Using the Module in a Remote I/O Network 7.4.
(2) Speed change program This program changes positioning speed. (a) Program detail As X38 is turned on, positioning speed is changed. Item Cd.
CHAPTER 7 PROGRAMMING (d) Program example Command a speed change. New speed value (50000pulse/s) Set a new speed value to the QD73A1. Speed change Completes the speed change. Command to check the speed change. Request a speed change to the QD73A1. Read the speed change from the QD73A1. Completes checking the speed change. Command to check the speed change again when it is incomplete. 7 7.4 When Using the Module in a Remote I/O Network 7.4.
(3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X39 is turned on, the deviation counter is cleared to 0. Item Cd.
CHAPTER 7 PROGRAMMING 7.4.7 Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user Device X3A Description Stop command (c) Program example Turn on Stop signal. Turn off Stop signal. 7 7.4 When Using the Module in a Remote I/O Network 7.4.
CHAPTER 8 OPR CONTROL This chapter describes OPR control. 8.1 Overview of OPR Control In "OPR control", a starting point (or OP) of major positioning control is set, and positioning is executed toward the original point. Use this control to return a machine system at a position other than its OP to the OP when the QD73A1 turned on OPR request signal (X12) at power-on, or after a positioning stop. OPR request signal (X12) turns on at the following timings.
CHAPTER 8 OPR CONTROL 8.2 Near-point Dog Method This section describes the operation overview of an OPR method, "near-point dog method". (1) Operation chart OPR starts. 1 (Acceleration starts in the direction set on "OPR direction setting" in the switch setting, and the machine moves at " 2 Pr.11 OPR speed".) As the near-point dog turns on, deceleration starts. The machine decelerates to " 3 Pr.12 Creep speed", and subsequently moves at the creep speed.
(2) Precautions during operation (a) Another OPR after the completion of OPR If another OPR is attempted after the completion of OPR, the error "OPR complete signal ON at start" (error code: 84) occurs. (b) Positions of the near-point dog OFF and Zero signal If the position where the near-point dog turns off is close to Zero signal, the Zero signal may be misread, resulting in deviation of OP by one servomotor rotation.
CHAPTER 8 OPR CONTROL 8.3 Count Method This section describes the operation overview of an OPR method, "count method". OPR in the count method can be executed also in case of the following. • OPR on the near-point dog ON • Another OPR after completion of OPR (1) Operation chart OPR starts. 1 (Acceleration starts in the direction set on "OPR direction setting" in the switch setting, and the machine moves at " Pr.11 OPR speed".) 2 As the near-point dog turns on, deceleration starts.
(2) Precautions during operation (a) Setting for the movement amount after near-point dog ON Pr.13 If " Pr.13 from " Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance Pr.11 OPR speed" to " Creep speed", the error "Setting for the movement amount after near-point Pr.12 dog ON Outside the setting range" (error code: 22) occurs, and the OPR does not start. In addition, if the position after the move according to " Pr.
CHAPTER 8 OPR CONTROL 8.4 Operation Timing and Processing Time of OPR Control This section explains the operation timing and processing time of OPR control. v OPR control*1 t t1 t2 ON OPR start signal (Y20) OFF ON BUSY signal (X14) OFF OPR start complete signal (X20) OFF ON t3 ON OPR request signal (X12) OPR complete signal (X13) *1 OFF ON OFF This is an indication of internal commands, and does not match with the actual analog output waveform. 8 The following values apply to t1 to t3.
8.5 OPR Parameter Setting For the QD73A1 to execute OPR, OPR parameters must be set. If the data are not set, default values are used for control. The default values are set also when the power was turned off and on, or when the CPU module was reset. The following table lists the OPR parameters to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting Check timing of the memory condition set data address (decimal) -2147483648 to OP address Pr.
CHAPTER 9 MAJOR POSITIONING CONTROL CHAPTER 9 MAJOR POSITIONING CONTROL 9 "Major positioning control" is executed using "variable parameters" and "positioning data" stored in the QD73A1. The position control mode or the speed-position control switch mode is executed by setting a variable parameter " Pr.9 9.1 Positioning mode" and a positioning data item " Da.1 Positioning pattern" and by starting the positioning data.
9.2 Data Required for Major Positioning Control This section describes "positioning data" required for "major positioning control". (1) Composition of positioning data and setting details Positioning data Setting detail Select a control pattern of major positioning from "positioning control" or "two-phase trapezoidal Da.1 Positioning pattern Da.2 Positioning address P1 Set the address that is the destination of major positioning control. Da.
CHAPTER 9 MAJOR POSITIONING CONTROL 9.3 Relation Between Each Control and Positioning Data Setting items and details of positioning data depend on the settings of a positioning data item " pattern" and a variable parameter " Pr.9 Da.1 9 Positioning Positioning mode". The following table shows the positioning data setting items for each type of control. Settings of " Positioning data Positioning Da.1 pattern 0: Position control mode Pr.
9.4 Specifying a Positioning Address This section describes systems to specify a position for control using positioning data. (1) Absolute system Positioning is executed using the current address as the start address and the address set with " Da.2 Positioning address P1" as the end address.
CHAPTER 9 MAJOR POSITIONING CONTROL 9.5 Checking the Current Value 9 In the QD73A1, two types of address are used to indicate position. (1) Addresses to be used The two types of address, "current feed value" and "actual current value", are stored to the monitor data area. They can be monitored when necessary. Item Description • This is the value stored in " Current feed value Md.1 Update cycle Current feed value". • The address established through OPR is the value of reference.
9.6 Details of Major Positioning Control This section describes details on the position control mode (positioning control and two-phase trapezoidal positioning control) and the speed-position control switch mode. (1) Precautions (a) Dwell-time function The QD73A1 does not have the dwell-time function. When dwell-time is necessary, start the next operation using the timer in the sequence program once the specified period of time passed after Positioning complete signal (X15) turned on.
CHAPTER 9 MAJOR POSITIONING CONTROL 9.6.1 Position control mode 9 In the position control mode, positioning is executed toward the positioning address specified with positioning data at the specified speed. There are two types of control in the position control mode. • Positioning control ( Page 191, Section 9.6.1 (1)) • Two-phase trapezoidal positioning control ( Page 192, Section 9.6.
(b) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Setting item Default Setting range value Check timing Setting condition of the set data memory address (decimal) 0: Positioning control Da.1 Da.
CHAPTER 9 MAJOR POSITIONING CONTROL (b) Deceleration distance 9 If the movement amount from the positioning address P1 to the positioning address P2 is less than the deceleration distance from the positioning address P1, two-phase trapezoidal positioning control is not formed. In this case, the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning address P1 so that the operation stops at the positioning address P2. Da.3 Positioning speed V1 Da.
(e) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) 0: Positioning control Da.1 Positioning pattern 1: Two-phase trapezoidal 301 0 positioning control Positioning address P1 (movement Da.2 amount for the incremental system) Positioning speed Da.3 V1 Positioning address P2 (movement Da.
CHAPTER 9 MAJOR POSITIONING CONTROL 9.6.2 Speed-position control switch mode 9 In the speed-position control switch mode, pulses that correspond to the specified positioning speed are output in the direction specified by a start signal. Then, once Speed-position switching command signal (CHANGE) is input, the operation switches to position control with the specified movement amount.
(3) " Md.1 In " Md.1 Current feed value" and " Current feed value" and " Md.2 Actual current value" Md.2 Actual current value", 0 is set at the start of the speed-position control switch mode, and the settings are not updated during speed control. They are updated once the operation switched to position control by the input of Speed-position switching command signal (CHANGE).
CHAPTER 9 MAJOR POSITIONING CONTROL 9 Input Speed-position switching command signal (CHANGE) at the area where the speed is stable (constant speed status). When a servomotor is used, the actual movement amount after the switchover to position control is "Set movement amount + Accumulated pulse amount". If the signal is input during acceleration or deceleration, the operation stop position varies due to the variation in the accumulated pulse amount.
(a) Operation of a speed-position movement amount change The operation is as follows. Speed control v Position control Movement amount (P1) set to " Cd.6 New speed-position movement amount" t Movement amount can be changed Speed-position switching command signal (CHANGE) Movement amount cannot be changed ON OFF The change after Speed-position switching command signal (CHANGE) was turned on is ignored. New speed-position Cd.
CHAPTER 9 MAJOR POSITIONING CONTROL 9.7 Operation Timing and Processing Time of Major Positioning Control 9 This section explains the operation timing and processing time of major positioning control.
CHAPTER 10 JOG OPERATION The QD73A1's "JOG operation" can move the workpiece without using positioning data, but according to signal inputs and specified movement amount. Use this function for the following.
CHAPTER 10 JOG OPERATION 10.1 Operation of JOG Operation Once JOG speed is set and while a JOG start signal is turned on through a sequence program, the QD73A1 executes JOG operation in the specified direction by outputting analog voltage to the drive unit. 10 Choose forward run or reverse run using JOG start signals.
(2) Range of JOG operation The following figure shows the range of JOG operation.
CHAPTER 10 JOG OPERATION (d) When the upper limit switch (FLS) or the lower limit switch (RLS) turned off The error "Upper limit signal OFF while BUSY" (error code: 91) or the error "Lower limit signal OFF while BUSY" (error code: 92) occurs. If operation decelerated and stopped due to the upper limit switch (FLS) or the lower limit switch (RLS), JOG operation can be executed in the opposite direction (direction back to the normal range) after resetting the 10 error.
(4) JOG start timing • During deceleration after a JOG start signal was turned off, if the JOG start signal for the same direction is turned on, JOG operation starts again accelerating its speed. v t ON Forward JOG start signal (Y24) OFF BUSY signal (X14) OFF ON Executed by the QD73A1 • During deceleration after a JOG start signal was turned off, if the JOG start signal for the opposite direction is turned on, JOG operation starts in the opposite direction after the completion of deceleration.
CHAPTER 10 JOG OPERATION • During deceleration after a JOG start signal was turned off, if OPR start signal (Y20) or a positioning start signal (Y21 to Y23) is turned on, an error occurs and the operation does not start. v 10 t ON Forward JOG start signal (Y24) OFF ON BUSY signal (X14) OFF OPR start signal (Y20) or Positioning start signal (Y21 to Y23) ON OFF 81 (BUSY signal ON at start) Md.3 Error code (ERR.
10.2 Operation Timing and Processing Time of JOG Operation This section explains the operation timing and processing time of JOG operation. v JOG operation*1 t t1 t2 t3 ON JOG start signal (Y24, Y25) OFF ON BUSY signal (X14) Positioning complete signal (X15) *1 OFF ON OFF This is an indication of internal commands, and does not match with the actual analog output waveform. The following values apply to t1 to t3. 206 t1 t2 t3 0.7 to 1.2ms 0 to 0.5ms 0 to 0.
CHAPTER 10 JOG OPERATION 10.3 Data Setting for JOG Operation To execute JOG operation, certain data must be set and stored in the buffer memory areas. 10 The following table lists the JOG data to be set, setting condition, and check timing. Setting item Cd.3 JOG speed Setting range 1 to 4000000pulse/s 10 to 4000000pulse/s Pr.5 Speed limit value (Set in the unit of 10pulse/s.) Pr.6 Acceleration time Pr.
CHAPTER 11 CONTROL SUB FUNCTIONS Functions referred to as "sub function" compensate or limit control, or add functions at the execution of major positioning functions. Execute these sub functions by setting parameters or through a sequence program for them. The following functions are referred to as "sub function".
CHAPTER 11 CONTROL SUB FUNCTIONS 11.1 Electronic Gear Function The "electronic gear function" controls machine movement amount per one command pulse by multiplying command pulse output of the QD73A1. Positioning is much more flexible with the use of this function, eliminating the process of selecting a detector according to the machine system. 11 (1) Details of the electronic gear function Machine movement amount per one pulse is adjusted inside the QD73A1.
(2) Precautions for control • Execute OPR without fail after resetting the CPU module. If not, a positioning error occurs by the fractions of electronic gear that were not output during positioning before the CPU reset. • When the positioning speed value that was multiplied by the set value of electronic gear exceeds the speed limit value, the limit value is ignored.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.2 Speed Limit Function The "speed limit function" limits command speed to the value set in " during major positioning control or JOG operation exceeds " Pr.5 Speed limit value" when command speed Speed limit value". Pr.5 (1) Control detail 11 This function is active on major positioning control and JOG operation. When the value set in " " Pr.5 Speed limit value" is exceeded in each control, command speed is limited to Speed limit value". Pr.
(3) Setting the speed limit function The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) The data can be set anytime. Note that the set data at the rise (ON) of a start 10 to Pr.5 Speed limit 4000000pulse/s value (Set in the unit of 10pulse/s.) signal is used for the 200000 pulse/s operation.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.3 Stroke Limit Function The "stroke limit function" controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given. (1) Control detail 11 This function limits the moving range of the workpiece. The following figure shows a moving range of a workpiece when the stroke limit function is used.
(2) Stroke limit check details and processing for each control The following table describes stroke limit checks and processing in case of an error that are performed by the QD73A1. Check number Check detail Processing in case of an error *1 1 If a current value is outside the stroke limit range , the The module turns on Error detection signal module reports an error. (The module checks (X18), and reports the error "Outside the " stroke limit range at start" (error code: 83). Current feed value".
CHAPTER 11 CONTROL SUB FUNCTIONS 11.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function The "upper limit switch (FLS)/lower limit switch (RLS) function" decelerates and stops operation according to signal inputs from limit switches that are placed at the upper and lower limits of the machine's movable range.
(2) Wiring upper limit switch (FLS) and lower limit switch (RLS) To use the upper limit switch (FLS)/lower limit switch (RLS) function, wire the QD73A1's terminals for Upper limit signal (FLS) and Lower limit signal (RLS) as in the following figure. QD73A1 FLS RLS COM 24VDC When wiring the terminals, set the switch that is placed on the direction in which " Md.1 Current feed value" increases as an upper limit switch (FLS), and the switch that is placed on the direction in which " Md.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.5 Current Value Change Function The "current value change function" changes the value set in " Md.1 Current feed value" to a specified value. Use this function when operation cannot be started due to a current feed value outside the stroke range, or to change the current value. 11 (1) Control detail As a new address is set in " Cd.1 New current value" and "1" is written in " " Md.1 Current feed value" changes to the value set in " " Md.
11.6 Speed Change Function The "speed change function" changes the speed of the operation in process to a specified speed at a specified timing. Set a new speed value to the buffer memory and request the speed change. (1) Control detail The following figure shows the operation of speed changes.
CHAPTER 11 CONTROL SUB FUNCTIONS (c) New speed and " When the value set in " at " Pr.5 Speed limit value" Pr.5 Cd.2 New speed value" exceeds " Pr.5 Speed limit value", the positioning is operated Speed limit value". (d) Successive speed changes To change speed successively, set an interval of 10ms or more between each speed change. If there are not enough intervals between speed changes, the QD73A1 may not be able to follow the requests and process the 11 commands normally.
11.7 Deviation Counter Clear Function The "deviation counter clear function" clears the accumulated pulses in the deviation counter to 0. When the servomotor power was turned off due to an emergency stop during positioning, clearing the accumulated pulses in the deviation counter to 0 prevents servomotor rotation at power recovery. (1) Precautions for control (a) Start after clearing deviation counter To start positioning after clearing the deviation counter, check the following two points.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.8 In-position Function The "in-position function" turns on In-position signal (X16) while the accumulated pulse amount in the deviation counter is within the specified in-position range (1 to 20479pulse) after deceleration started. In-position signal (X16) can be used as the signal right before positioning completion.
(3) Setting the in-position function The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting Default range value Setting condition Check timing of memory the set data address (decimal) The data can be set anytime. Note that the set data at the rise (ON) of a start signal is used for Pr.8 In-position 1 to range 20479pulse 5pulse the operation.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.9 Accumulated Pulse Error Detection Function The accumulated pulse error detection function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in "Accumulated pulse setting" in the switch setting and an excessive error occurs. This function enables to detect abnormal operating status in early stages and minimize the influence on the 11 mechanical system.
(a) Alert output The QD73A1 compares accumulated pulses that are output during the positioning with alert output accumulated pulses. If accumulated pulses exceed the amount of the alert output accumulated pulses, the error "Accumulated pulse alert" (error code: 130) occurs. (Even after the error occurs, the positioning continues.) (b) Immediate stop processing The QD73A1 compares accumulated pulses that are output during the positioning with immediate stop accumulated pulses.
CHAPTER 11 CONTROL SUB FUNCTIONS 11.9.1 Measuring and saving the reference value in the flash ROM Before using the accumulated pulse error detection function, the reference value needs to be measured to detect errors. Reference value means the maximum/minimum accumulated pulse values that are output when the QD73A1 is operating normally.
11.9.2 Setting the accumulated pulse error detection function Set the values of " Cd.13 Alert output accumulated pulse setting value (maximum value)" to " accumulated pulse setting value (minimum value)", and set " Cd.18 Cd.16 Immediate stop Accumulated pulse error detection request" to 1 to execute the accumulated pulse error detection function. Set the data required for control in the sequence program. The following table lists the data to be set, setting condition, and check timing.
CHAPTER 11 CONTROL SUB FUNCTIONS (1) Alert output accumulated pulses and immediate stop accumulated pulses Alert output accumulated pulses (accumulated pulses set to output an alert) and immediate stop accumulated pulses (accumulated pulses set to stop the positioning immediately) are set by combining the following values. • Reference value • Alert output accumulated pulse setting value ( Cd.13 • Immediate stop accumulated pulse setting value ( • Cd.17 , Cd.15 Cd.14 , ) Cd.
(c) Alert output accumulated pulse setting value, immediate stop accumulated pulse setting value, and "Accumulated pulse setting" in the switch setting The setting range of " range of " Cd.15 Cd.13 Alert output accumulated pulse setting value (maximum value)" is 1 to 148000 (the Alert output accumulated pulse setting value (minimum value)" is -148000 to -1).
CHAPTER 11 CONTROL SUB FUNCTIONS Ex. When the setting values are as follows: • Cd.13 Alert output accumulated pulse setting value (maximum value): 1200 • Cd.14 Immediate stop accumulated pulse setting value (maximum value): 1100 Both alert output accumulated pulses and immediate stop accumulated pulses are judged by accumulated pulses that are 1.1 times of the reference value (maximum value). Thus, an alert is output and the positioning stops simultaneously.
CHAPTER 12 STOPPING AND RESTARTING CONTROL This chapter describes stops and restarts of control. 12.1 Stopping Control This section describes control stops. The QD73A1 stops control in case of the following.
CHAPTER 12 STOPPING AND RESTARTING CONTROL An emergency stop circuit should be built outside the programmable controller. (2) Stop during OPR If an error (a cause of a stop) occurs during OPR, a deceleration stop starts at the error occurrence. At the completion of the deceleration stop, OPR request signal (X12) stays on. Also, OPR complete signal (X13) does not turn on since the OPR was not completed normally. The following figure is the timing chart of when Stop signal (Y27) is turned on during OPR.
(3) Stop during major positioning control or JOG operation (a) Stop before deceleration start of major positioning control or JOG operation If an error (a cause of a stop) occurs prior to a start of deceleration during major positioning control or JOG operation, a deceleration stop starts at the error occurrence. The deceleration speed depends on " Pr.7 Deceleration time" and " Pr.5 Speed limit value". Positioning complete signal (X15) does not turn on at the completion of the deceleration stop.
CHAPTER 12 STOPPING AND RESTARTING CONTROL (b) Stop during deceleration of major positioning control or JOG operation If an error (a cause of a stop) occurs during deceleration of major positioning control or JOG operation, the deceleration continues and the operation stops since it is toward completion of the positioning or is following a change (from on to off) of a JOG start signal (Y24, Y25). In case of major positioning control, Positioning complete signal (X15) turns on at its completion.
12.2 Restarting the Speed-position Control Switch Mode After a deceleration stop following Stop signal, the operation of the speed-position control switch mode before the stop can be restarted by turning on Speed-position mode restart signal (Y26). (1) Control detail (a) When positioning is stopped using Stop signal (Y27) or Stop signal (STOP) The positioning before the stop can be restarted by turning on Speed-position mode restart signal (Y26).
CHAPTER 12 STOPPING AND RESTARTING CONTROL (b) When speed is changed during positioning After a stop following the input of Stop signal (STOP), if Speed-position mode restart signal (Y26) is turned on, the positioning restarts according to the positioning speed set in the positioning data. The positioning does not restart at the new speed.
CHAPTER 13 COMMON FUNCTIONS Functions referred to as "common function" can be used regardless of control method when necessary. Common functions can be used on GX Works2. 13.1 Module Status Monitor Function The "module status monitor function" monitors the module information, switch setting information, and external I/O signal information. The module's detailed information can be displayed on the system monitor of GX Works2. (1) Hardware LED information The following LED statuses are displayed.
CHAPTER 13 COMMON FUNCTIONS 1 (2) Hardware switch information The following switch setting statuses are displayed. Item ROT DIR ACCUM PLS Switch setting Value Rotation direction setting Accumulated pulse setting MULTI Multiplication setting ZERO DIR OPR direction setting OPR METHOD OPR method setting ENC I/F Encoder I/F setting RESOLT Analog voltage resolution setting Refer to Page 276, Appendix 4.1 (2). 13 0: OFF, 1: ON 13.
13.2 Error History Function This function monitors the QD73A1's error history stored in the buffer memory. The error history of past 16 records can be monitored. Once 16 records are stored, the next record overwrites the oldest record. Therefore, the latest 16 errors are stored at all times. To check the error history, the QD73A1 needs to be registered in the intelligent function module monitor window.
CHAPTER 13 COMMON FUNCTIONS 13.3 Module Error Collection Function 1 Errors that occurred in the QD73A1 are collected into the CPU module. The error information of the QD73A1 module is held in a CPU module memory as a module error history, even when the power is turned off or the CPU module is reset. Error history (CPU module) and error log (intelligent function module) are displayed on one screen. Errors that are detected in the entire base system can be monitored in chronological order.
13.4 Error Clear Function When an error occurs, the error can be cleared on the system monitor. By clicking the " Md.4 button in the system monitor, the error codes stored in " Error code (ERR.1)" and Error code (ERR.2)" are cleared, and the ERR. LED turns off. This operation is the same as the one that uses Error reset signal (Y28). However, the error history cannot be cleared with the button. For the error clearing method using Error reset signal (Y28), refer to the following. Page 38, Section 3.4.
CHAPTER 14 TROUBLESHOOTING CHAPTER 14 TROUBLESHOOTING This chapter describes errors that may occur in the QD73A1 and troubleshooting for them. 14.1 Checking an Error on GX Works2 The error codes that occurred in the QD73A1 can be checked by the following. Choose a method depending on the purpose and application. • Checking on the "Module's Detailed Information" window • Checking on the "Error History" window (1) Checking on the "Module's Detailed Information" window 14 Follow the procedure below. 1.
(From the previous page) 3. Click the button to display the "Module's Detailed Information" window. The error detail and solution can be checked under "Error and Solution" (2) Checking on the "Error History" window An error history that includes errors in the QD73A1 and other modules is displayed in a list, and it can be output to a CSV file. The error codes and the error occurrence time can be checked even after the power was turned off and on or the CPU module was reset.
CHAPTER 14 TROUBLESHOOTING (b) Error and Solution, Intelligent Module Information • Error and Solution: Displays the detail and corrective action for the error selected on "Error History List". • Intelligent Module Information: Displays the QD73A1's status at the occurrence of the error selected on "Error History List". For the QD73A1, the following are displayed. Item Description Current feed value The current value at the time of the error occurrence is stored.
(c) Button to create a CSV file An error history is output to a CSV file. If errors occur in the QD73A1 frequently, "*HST.LOSS *" may be displayed under "Error Code" instead of an actual error code. If "*HST.LOSS*" is displayed frequently, set a large value for the number of errors collected per scan under the "PLC RAS" tab in "PLC Parameter". For the setting, refer to the following.
CHAPTER 14 TROUBLESHOOTING 14.2 14.2.1 Troubleshooting Troubleshooting procedure This section shows the troubleshooting procedure for the QD73A1. Start (Error occurrence) Has the motor stopped? NO Page 246, Section 14.2.2 YES Check the LED on the front of the QD73A1. 14 Is the ERR.LED off? NO Page 252, Section 14.3.4 NO Page 246, Section 14.2.3 NO Page 247, Section 14.2.4 NO Page 248, Section 14.2.5 NO Page 248, Section 14.2.6 NO Page 249, Section 14.2.
14.2.2 When the motor does not stop Check item Is the QD73A1's zero adjustment performed properly? Is the servo amplifier's zero adjustment performed properly? Is a large value set to the gain value of the servo amplifier? Action Perform zero adjustment. ( Page 59, Section 4.5) Refer to the manual for the servo amplifier, and perform zero adjustment. Refer to the manual for the servo amplifier, and adjust the gain value of the servo amplifier to a proper value.
CHAPTER 14 TROUBLESHOOTING Check item Action Is proper wave output displayed when the QD73A1's speed command terminal is connected to an oscilloscope? If proper wave output is not displayed, please consult your local Mitsubishi representative. Is proper wave output displayed when the drive unit's encoder output terminal is connected to an oscilloscope? 14.2.4 When a positioning error occurs Check item Action 14 [Double-check the parameters.
14.2.5 When the positioning speed is different from the specified speed Check item Action Are the positioning data set properly? Is the set positioning speed value greater than " Set proper positioning data. Pr.5 Speed limit value"? Set a positioning speed value that is smaller than " Pr.5 Speed limit value". Calculate the maximum accumulated pulse amount, and review the Is the accumulated pulse setting proper? accumulated pulse setting.
CHAPTER 14 TROUBLESHOOTING 14.2.7 OPR error (1) When OPR cannot be completed Check item Does Near-point dog signal (DOG) stay off? Action Check if Near-point dog signal (DOG) is wired properly. Does the speed change to the creep speed after Near-point dog signal (DOG) turned on? The QD73A1 may be broken. Please consult your local Mitsubishi Does analog output from the QD73A1 continue after a Zero representative. signal input? Does Zero signal stay off? Check if Zero signal is wired properly.
14.3 Details of Errors 14.3.1 Types of errors The errors detected in the QD73A1 are categorized into five types. (1) Setting data range error The QD73A1 checks parameters with the setting ranges at the following timings, and detects an error when a data is outside the setting range. If an error occurs, the corresponding data must be changed to a value within the setting range.
CHAPTER 14 TROUBLESHOOTING 14.3.2 Storage of errors When an error occurs in the QD73A1, the corresponding error code is stored in the buffer memory. (1) ERR.1 and ERR.2 Errors are classified into ERR.1 and ERR.2 depending on the error details. Error classification Description Errors caused due to sequence programs. ERR.1 (minor errors) Check the error code, and eliminate the error cause by correcting the sequence program.
14.3.4 Error code list The following table describes error details and corrective actions. Error Error category code (decimal) Error classification Error name Description Operation at the Action error occurrence The set value in " 1 Pr.2 Stroke limit Set a value within the Stroke limit lower limit" is outside - setting range, and turn lower limit 2147483648 to on PLC READY signal " (Y2D). Pr.1 Stroke limit upper limit".
CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name OPR speed 20 Outside the setting range Creep speed 21 Outside the setting range Description Operation at the Set a value within the The set value in " Pr.11 setting range. OPR speed" [Setting range] is outside the setting 1 to " range. Pr.12 setting range. Creep speed" [Setting range] 1 to " range.
Error Error category code (decimal) Error classification (Positioning 32 data) Positioning The positioning speed speed Outside is outside the setting the setting range range. The set value in Setting data range error (Control 40 ERR.1 change New speed " value Outside value" is outside the the setting range setting range in area) Cd.2 New speed positioning operation.
CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the Return the workpiece to Near-point dog signal 74 ERR.2 Near-point dog (DOG) is on at the signal ON at start of OPR in the start near-point dog Action error occurrence a position away from the near-point dog using JOG operation or major positioning, then method. execute OPR.
Error Error category code (decimal) Error classification Error name Description Operation at the error occurrence Action Speed-position mode restart signal (Y26) Start operation using was turned on when Forward start signal positioning was (Y22) or Reverse start complete in the speed-position control Start error 85 ERR.1 Restart error switch mode. signal (Y23). The operation does not start.
CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action • Start OPR if the workpiece stops when the near-point dog turns on in the count method. • In the near-point dog method, if the workpiece stops after the near-point dog External stop 93 ERR.2 signal ON during OPR Stop signal (STOP) turned on during OPR. The operation turns on, return the decelerates and workpiece to the stops.
Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action PLC READY signal Operation error 105 PLC READY (Y2D) was turned off The operation signal OFF during major decelerates and during operation positioning or JOG stops. Turn on PLC READY signal (Y2D). operation. A current value 110 Current value change is attempted change error when BUSY signal Make an interlock using (X14) is on. Speed change 111 error (OPR) ERR.
CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the Action error occurrence For zero/gain 120 adjustment, a setting Turn off and on the Flash ROM write value has been power supply, or reset exceeded consecutively written the CPU module or the to the flash ROM more error. than 25 times. Try writing the value again.
Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action Set a value within the setting range. [Setting range] Depends on "Accumulated pulse Analog output adjustment area 125 1 Outside the setting range setting" in the switch The set value in " Cd.5 setting. (Unit: pulse) Analog output • Selection 1: adjustment area 1" is -3700 to 3700 outside the setting • Selection 2: range.
CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Accumulated 130 pulse alert Description Accumulated pulses reached the alert level. Operation at the Action error occurrence The positioning continues. • The number of accumulated pulses used as the reference of the • Measure the accumulated pulse error detection reference value and function is then, execute the unmeasured. accumulated pulse error detection • Either of the values in " Cd.
Error category Error code (decimal) Error classification Error name Description Operation at the Action error occurrence The measured 133 reference value has Turn off and on the Flash ROM write been consecutively power supply or reset exceeded written to the flash the CPU module, or Accumulated ROM more than 25 pulse error times. detection ERR.
APPENDICES APPENDICES Appendix 1 Functions Added or Changed Appendix 1.1 Functions added The following lists the functions added to the QD73A1 and corresponding product information. QD73A1 product information Function Reference (first five digits) Accumulated pulse error detection function 14082 or later Feedback pulse addition/subtraction setting Deviation counter clear setting Page 223, Section 11.9 Page 106, Section 6.2.
Appendix 2 Connection Examples Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation (1) Connection with MR-J3A (Differential driver) *1 QD73A1 CONT. connector DOG Near-point dog signal N.C. N.C. N.C.
APPENDICES Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation (1) Connection with -V series (Differential driver) • For DC power supply input type QD73A1 CONT. connector CN1 STOP Stop signal 1 2 3 4 5 6 7 8 9 READY Servo READY signal (+ side) READY Servo READY signal (- side) 1 2 DOG Near-point dog signal N.C. N.C. N.C.
• For AC power supply input type QD73A1 CONT. connector CN1 STOP Stop signal 1 2 3 4 5 6 7 8 9 READY Servo READY signal (+ side) READY Servo READY signal (- side) 1 2 DOG Near-point dog signal N.C. N.C. N.C.
APPENDICES Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 (1) Performance specification comparison Item Specifications QD73A1 AD70 A1SD70 48 points (I/O assignment: empty 16 points and 32 points (special 32 assignment: empty 16 intelligent 32 points) points) points and special 32 48 points (I/O Number of occupied I/O points points) Positioning Speed command In-position range Positioning feedback Pulse frequency pulse input OPR control Internal current consumption External supply
Specifications Item LED Zero/gain adjustment Mode switch QD73A1 A1SD70 RUN None ERR. ERR.1/ERR.2 (Minor/major error) ZERO None GAIN None None (check with X signal) SV RDY (Servo READY signal) None (check with X signal) DOG (Near-point dog signal) None (check with X signal) STOP (Stop signal) None (check with X signal) FLS (Upper limit signal) None (check with X signal) RLS (Lower limit signal) None (check with X signal) IN-POS.
APPENDICES (2) Function comparison : Usable ×: Unusable Function QD73A1 AD70/A1SD70 Difference [Movement amount after near-point dog ON (buffer memory)] • QD73A1: The movement amount where the OPR direction is reflected is stored in Md.6 Movement amount after near-point dog ON, which is the same buffer memory address as the AD70/A1SD70. The OPR control absolute value of movement amount is stored in Md.
Function Accumulated pulse error detection function QD73A1 AD70/A1SD70 × Difference [Method] • QD73A1: Switches on the front of the QD73A1 or a Zero/gain adjustment sequence program • AD70/A1SD70: Switches on the AD70/A1SD70 Module status monitor function × Error history function × Module error collection function × Error clear function × 270
APPENDICES Remark Positioning execution time (BUSY signal (X14) ON to Positioning complete signal (X15) ON) of the QD73A1 and AD70/A1SD70 may be different since their internal processing methods are different. As a result, the timing when In-position signal (X16) turns on may also vary. Adjust positioning execution time using the following methods if the difference of the execution time (or the timing when Inposition signal (X16) turns on) affects the system.
(4) Input (X)/output (Y) comparison : Usable ×: Unusable Device No.
APPENDICES (5) Buffer memory address comparison Buffer memory area name Buffer memory address (decimal) QD73A1 AD70/A1SD70 Current value change request 90 Speed change request 91 92 93 Zero/gain adjustment specification 94 Zero/gain adjustment value specification 95 96 Zero/gain execution status 112 Zero/gain adjustment status 113 114 115 116 117 118 Analog output adjustment area 2 Factory default zero/gain adjustment value restoration reque
Buffer memory address (decimal) Buffer memory area name QD73A1 AD70/A1SD70 Measurement start request 410 Reference value write request 411 All the other buffer memory addresses are the same. (6) External I/O signal comparison Input/out put Input Power supply QD73A1 Terminal block (Open collector method) Phase-A feedback pulse (PULSE A) Output Description Signal name None • Pulse frequency: 200kpulse/s or less AD70/A1SD70 ±15VDC (±14.55 to ±15.
APPENDICES Appendix 4 When Using GX Developer This section describes the operating procedure of GX Developer. When using GX Developer, configure the parameter settings and the auto refresh settings with the sequence program. • PROGRAMMING ( Page 111, CHAPTER 7) (1) Applicable software versions For applicable software versions, refer to the following. Page 22, Section 2.1 (4) Appendix 4.1 Operation of GX Developer Configure the following settings when using GX Developer.
(2) Intelligent function module switch setting Configure the setting on "Switch setting" in "PLC parameter". Parameter [PLC parameter] [I/O assignment] Click the button. Select "HEX.". Item Setting detail Bit Rotation direction setting b0 Positive voltage is output when the positioning address increases. 0 Negative voltage is output when the positioning address increases. 1 b3 b2 0 b7 Switch 1 b6 b1 0 0 b5 b4 Fixed to 0 (Empty) When a value is set, the value is ignored.
APPENDICES Item Setting detail Encoder I/F setting and Analog voltage resolution setting b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 0 0 0 0 0 0 0 0 0 0 Fixed to 0 0 Fixed to 0 b1 and b0: Encoder I/F setting 00 or 01: Open collector output 10: TTL output 11: Differential output Switch 2 b5 and b4: Analog voltage resolution setting 00 or 01: 12-bit resolution 10: 14-bit resolution 11: 16-bit resolution "00 or 01" means that the setting is valid with either value.
Appendix 5 Terms (1) Encoder One of the pulse generators that converts input data into binary data (on and off) (2) Near-point dog A switch used in positioning systems, which is placed before the original point of a workpiece. When this switch turns on, the feedrate is switched to creep speed. Therefore, there is time required for the deceleration from the federate to the creep speed while this switch is on. (3) Servo on A signal that indicates the normal status of a servo amplifier.
APPENDICES (6) Drive unit (servo amplifier) A generic term for drive units that support analog voltage inputs. The commands that are output from the QD73A1 are low voltage. This unit is used to amplify the energy and activate a motor. The unit, also called a servo amplifier, is an accessory on a servomotor. (7) Pulse generator A device that generates pulses. For example, by attaching this device on a motor axis, pulses can be generated by the rotation of the axis.
External Dimensions 4 98 Appendix 6 50.8 90 55.
APPENDICES Memo A Appendix 6 External Dimensions 281
INDEX CSV file . . . . . . . . . . . . . . . . Current feed value . . . . . . . . . Current value change . . . . . . . Current value change request . 0 to 9 15-pin connector for external wiring (pin type) . . . . . 72 9-pin connector for external wiring (pin type) . . . . . . 72 A . . . . . . . . . . . . . . 242 . . . . . . . . . . . . 85,189 . . . . . . . . . . . . . . 217 . . . . . . . . . . . . . . . 91 D Absolute positioning start complete signal (X21) . . .
Measurement start request . . . . . . . . . . . . Memory configuration . . . . . . . . . . . . . . . . Miniature relay . . . . . . . . . . . . . . . . . . . . . Minimum accumulated pulse value . . . . . . . Mode switch . . . . . . . . . . . . . . . . . . . . . . . Model name . . . . . . . . . . . . . . . . . . . . . . . Module error . . . . . . . . . . . . . . . . . . . . . . Module fixing screw . . . . . . . . . . . . . . . . . Module Selection . . . . . . . . . . . . . . . . . . .
Part names . . . . . . . . . . . . . . . . . . . Phase difference . . . . . . . . . . . . . . . Phase-A feedback pulse (PULSE A) . Phase-B feedback pulse (PULSE B) . Phase-Z feedback pulse (PULSE Z) . . PLC READY signal (Y2D) . . . . . . . . . Points . . . . . . . . . . . . . . . . . . . . . . . Position control mode . . . . . . . . . . . . Position loop gain. . . . . . . . . . . . . . . Positioning address P1 . . . . . . . . . . . Positioning address P2 . . . . . . . . . . .
Upper limit signal (X1E) . . . . . . . . . . . . . . . . . . . . . 34 Upper limit switch (FLS)/lower limit switch (RLS) . . 215 V Variable parameter . . . . . . . . . . . . . . . . . . . . . . . . 75 Voltage range/Current consumption . . . . . . . . . . . . 40 2 W 2 WDT error, H/W error signal (X10) . . . . . . . . . . . . . 32 Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 When a positioning error occurs . . . . . . . . . . . . . .
REVISIONS *The manual number is given on the bottom left of the back cover. Print date *Manual number July 2012 SH(NA)-081075ENG-A First edition Revision November 2012 SH(NA)-081075ENG-B The accumulated pulse error detection function is added. September 2014 SH(NA)-081075ENG-C The feedback pulse addition/subtraction setting, deviation counter clear setting, and deviation counter value monitor are added.
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
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SH(NA)-081075ENG-C(1409)MEE MODEL: QD73A1-U-E MODEL CODE: 13JZ69 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
