MITSUBISHI ELECTRIC MELSEC System Q Programmable Logic Controllers User's Manual Positioning Modules QD70P4, QD70P8 GX Configurator-PT Art. no.
SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.
! CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failure to observe this could lead to malfunctioning caused by noise. [MOUNTING INSTRUCTIONS] ! CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
[STARTUP/MAINTENANCE INSTRUCTIONS] ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Always turn all phases of the power supply OFF externally before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jun., 2001 Feb., 2002 Manual Number SH (NA)-080171-A First edition SH (NA)-080171-B Modifications Revision About Manuals, Section 2.3, Section 2.4, Section 4.6.1, Section 5.3, Section 5.7, Section 6.2.2, Section 8.2.3, Section 8.2.4, Section 8.2.5, Section 8.2.6, Section 10.3, Appendix 8 Jul., 2002 SH (NA)-080171-C Modifications CONTENS, Section .1.1.1, Section 4.2, Section 11.3, Section 11.4, Section 11.
INTRODUCTION Thank you for purchasing the Mitsubishi programmable logic controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS.............................................................................................................................A- 1 REVISIONS ...............................................................................
4 DATA USED FOR POSITIONING CONTROL(LIST OF BUFFER MEMORY ADDRESSES) 4- 1 to 4- 31 4.1 Type of data ............................................................................................................................................. 4- 1 4.1.1 Parameters and data required for control......................................................................................... 4- 1 4.1.2 Setting items for parameters........................................................................................
7.3 Creating a program .................................................................................................................................. 7- 5 7.3.1 General configuration of program..................................................................................................... 7- 5 7.3.2 Positioning control operation program.............................................................................................. 7- 6 7.4 Positioning control program examples ........................
11.2 Speed limit function.............................................................................................................................. 11- 1 11.3 Speed change function ........................................................................................................................ 11- 2 11.4 Software stroke limit function............................................................................................................... 11- 5 11.
About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Detailed Manuals Manual Number (Model Code) Manual Name Type QD70 Positioning Module User's Manual (Hardware) Describes the performance, specifications, I/O interface, component names, and startup procedure of IB-0800169 (13JT42) the respective positioning modules: QD70P4 and QD70P8. (The manual is supplied with the module.
Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD70 can be mounted. AD75 Generic term for type A1SD75P1-S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3 Positioning module. The module type is described to indicate a specific module. QD70 Generic term for type QD70 positioning module QD70P4/QD70P8.
SECTION 1 SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING Section 1 is configured for the following purposes (1) to (4). (1) To understand the outline of positioning control, and the QD70 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control Read "Section 2" for details on each control. CHAPTER 1 PRODUCT OUTLINE ...............................
SECTION 1 MEMO
1 PRODUCT OUTLINE MELSEC-Q CHAPTER 1 PRODUCT OUTLINE This User's Manual provides the specifications, handling, programming methods and other information of the QD70 positioning module used with the MELSEC-Q series CPU module. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system. 1.1 Positioning control 1.1.1 Features of QD70 The following are the features of the QD70.
1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Mechanism of positioning control 1 Positioning control using the QD70 is exercised using "pulse signals". (The QD70 is a module that outputs pulses.) In a positioning control system using the QD70, a variety of software and external devices are used to play their roles as shown below. The QD70 imports various signals, parameters and data, and exercises control with the PLC CPU to realize complex positioning control. Stores the created program.
1 PRODUCT OUTLINE MELSEC-Q The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Total No. of pulses required to move designated distance Designated distance = Movement amount of machine (load) side when motor rotates once No. of pulses required for motor to rotate once The No.
1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Outline design of positioning control system The outline of the positioning control system operation and design, using the QD70, is shown below. (1) Positioning control system using QD70 PLC CPU Program Intelligent function module parameter Positioning module QD70 Forward run pulse train Read, write, etc.
1 PRODUCT OUTLINE MELSEC-Q (b) Pulse train output from the QD70 1) As shown in Fig. 1.3, the pulse frequency increases as the servomotor accelerates. The pulses are sparse when the servomotor starts and more frequent when the servomotor speed comes close to the target speed. 2) The pulse frequency stabilizes when the motor speed equals the target speed. 3) The QD70 decreases the pulse frequency (sparser pulses) to decelerate the servomotor before it finally stops the output.
1 PRODUCT OUTLINE MELSEC-Q In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulser amount are determined as follows: 1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).
1 PRODUCT OUTLINE MELSEC-Q MEMO 1-7 1-7
1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Communicating signals between QD70 and each module The outline of the signal communication between the QD70 (positioning module) and PLC CPU, peripheral device (GX Configurator-PT) and drive unit, etc., is shown below. (A peripheral device communicates with the QD70 via the PLC CPU to which it is connected) Refer to Chapter 3 for details of the I/O signals.
1 PRODUCT OUTLINE QD70 MELSEC-Q PLC CPU The QD70 and PLC CPU communicate the following data via the base unit. Direction Communication Control signal PLC CPU QD70 PLC CPU QD70 Signal indication QD70 state. Signal related to commands.
1 PRODUCT OUTLINE MELSEC-Q 1.2 Positioning control 1.2.1 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared.
1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 11 1 - 11
1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of stopping The possible causes of a control stop are as follows. (1) (2) (3) (4) Control ended normally An error occurred in the PLC CPU An error occurred in the QD70 The axis stop signal from the PLC CPU turned ON Stop processings performed in the above cases are outlined in the following table.
1 PRODUCT OUTLINE MELSEC-Q Pulse output operation at stop When the axis stops due to stop cause occurrence, if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop, the output as much as 1 pulse will be done. The following shows the pulse output operation at deceleration stop.
1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 14 1 - 14
2 SYSTEM CONFIGURATION MELSEC-Q CHAPTER 2 SYSTEM CONFIGURATION This chapter explains the system configuration of the QD70. 2.1 General image of system The following is the general configuration including the QD70, PLC CPU, peripheral device and others. (The numbers in the sketch correspond to the "Nos." in the table in "Section 2.2 Component list" on the next page.
2 SYSTEM CONFIGURATION MELSEC-Q 2.2 Component list A positioning system using the QD70 consists of the following components. No. Product Type Remarks 2 QD70P 1 Positioning module QD70P4 No. of control axes QD70P8 P 2 3 GX Developer Open collector output type SW D5C-GPPW-E For details, refer to the GX Developer Operating Manual and GX Configurator-PT SW D5C-QPTU-E "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)".
2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD70 is usable with the following system. (1) Applicable module and the number of modules that can be installed The following are the CPU module and network module (for remote I/O stations) in which the QD70 can be installed and the number of modules that can be installed.
2 SYSTEM CONFIGURATION MELSEC-Q (4) Software packages supported Correspondence between systems which use a QD70 and software packages are as shown below. The GX Developer is necessary when using a QD70. Software Version GX Developer Single PLC system Version 7 or later Multiple PLC system Version 8 or later Single PLC system Version 4 or later Multiple PLC system Version 6 or later GX Configurator-PT Q00J/Q00/Q01CPU Q02/Q02H/Q06H/ Q12H/Q25HCPU Version 1.
2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and the software version The function version of the QD70 and the software version of the GX Configurator-PT can be checked in the following methods. [1] How to check the function version of the QD70 (a) Method using the rated plate on the module side face Check the alphabet at the end of "SERIAL". Serial No.
2 SYSTEM CONFIGURATION MELSEC-Q [2] How to check the software version of the GX Configurator-PT Check the "Product information" displayed on "Help" of GX Developer. [Operation of GX Developer] Choose [Help] Product information Software version 2.5 About Use of the QD70 on the MELSECNET/H Remote I/O Station Here, use of the QD70 on the MELSECNET/H remote I/O station is explained. (1) Number of QD70 that can be installed when the remote I/O station is used See Section 2.
2 SYSTEM CONFIGURATION MELSEC-Q MEMO 2-7 2-7
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q CHAPTER 3 SPECIFICATIONS AND FUNCTIONS This chapter describes the performance specifications of the QD70 and the specifications of the I/O signals transferred to/from the PLC CPU and external device. For the general specifications of the QD70, refer to the User's Manual (hardware) of the CPU module used. 3 3.1 Performance specifications Model Item No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions The following table lists the functions of the QD70. (Read "SECTION 2 CONTROL DETAILS AND SETTING" for details of the functions.) Positioning control OPR control Function name Sub function Reference Machine OPR control Mechanically establishes the positioning control start point using a near-point dog or stopper. Section 8.2 Fast OPR control Positions a target to the OP address ( Md.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q With the "positioning control", whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below. Da.1 Operation pattern Description Reference When "Positioning termination" is set for the operation pattern Positioning termination of the started positioning data, only the designated positioning data will be executed, and then the positioning control will end.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signal with PLC CPU 3.3.1 List of input/output signals with PLC CPU The QD70 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD70 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD70 to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD70.
3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signal (QD70 MELSEC-Q PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name No. X0 Module READY ON: Prepared OFF: Not prepared watch dog timer error Description • When the PLC READY signal [Y0] turns from OFF to ON, the parameter and the OPR data setting range is checked. If no error is found, this signal turns ON.
3 SPECIFICATIONS AND FUNCTIONS 3.3.3 Details of output signals (PLC CPU MELSEC-Q QD70) The ON/OFF timing and conditions of the output signals are shown below. Device No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of input/output interfaces with external device 3.4.1 Electrical specifications of input/output signals Input specifications Signal name Rated input voltage/current Working voltage range 5VDC/18mA 4.5 to 5.5VDC ON voltage/ current OFF voltage/ current 2.7VDC or more/ 1.0VDC or less/ 5.5mA or more 0.5mA or less Input resistance Response time Approx. 270Ω 0.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q : Pulse rising/falling edge time (Unit for "tr" and "tf": µs, unit for "Duty": %) ... When ambient temperature is room temperature. Load voltage (V) Cable length (m) Load current Pulse speed (mA) (kpps) 2 5 10 20 50 200 100 10 200 100 10 200 100 10 200 100 10 200 100 10 Load voltage (V) Cable length (m) Load current Pulse speed (mA) (kpps) 2 5 10 20 50 200 100 10 200 100 10 200 100 10 200 100 10 200 100 10 26.4 tr (Rising edge) 1 tf (Falling edge) 1.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD70 and external device, are shown below. The signal layout for the QD70 external device connection connector is shown. QD70P4 RUN QD70P8 AX1 AX2 AX3 AX4 ERR. RUN ERR.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input/output signal details The details of each QD70 external device connection connector are shown below: Signal name Pin No. Signal details (Negative logic is selected by external I/O signal logic selection) Symbol Near-point dog signal A10 A9 B10 B9 DOG • This signal is used for detecting the near-point dog during machine OPR control. • The near-point dog signal is detected at turning from OFF to ON.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Input/output interface internal circuit Shows summary image of the internal circuit of the interface for connection to external devices of the QD70. (For QD70P4, axis 1). Input/output class External wiring Pin No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).
3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q MEMO 3 - 13 3 - 13
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q CHAPTER 4 DATA USED FOR POSITIONING CONTROL This chapter explains the specifications of the data to be set to the QD70. 4.1 Type of data 4.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD70 include the "setting data", "monitor data" and "control data" shown below. 4 Setting data Parameters Set at a system startup according to the machinery, equipment and applications.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitor data Data related to the operations of the running axes, e.g. the current positions and speeds, are monitored. (Storage destination: QD70 buffer memory) Axis monitor data ( Md. 1 to Md. 9 ) Module information monitor data The error status and warning status of the QD70 are monitored. (Storage destination: QD70 buffer memory) ( Md. 10 to Md.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.2 Setting items for parameters The table below lists items set to the positioning parameters. Setting of parameters is similarly done for individual axes for all controls achieved by the QD70. For details of controls, refer to SECTION 2 "CONTROL DETAILS AND SETTING". For details of setting items, refer to "4.2 List of parameters". Control OPR control Parameter Positioning control SpeedCurrent Position position value control switching changing control Pr.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.3 Setting items for OPR data When carrying out "OPR control", the "OPR data" must be set. The setting items for the "OPR data" are shown below. The "OPR data" are set commonly for each axis. Refer to "Chapter 8 OPR CONTROL" for details on the "OPR CONTROL", and to section "4.3 List of OPR data" for details on each setting item. OPR control Machine OPR control Fast OPR control OPR. 3 OP address OPR. 4 OPR speed OPR. 5 Creep speed OPR.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.4 Setting items for JOG data The "JOG data" must be set to perform "JOG operation". The following are the setting items of the "JOG data". The "JOG data" are set commonly for each axis. Refer to "CHAPTER 10 JOG OPERATION" for details of "JOG operation" and to "Section 4.4 List of JOG data" for details of the setting items. JOG data JOG. 1 JOG speed JOG. 2 JOG ACC time JOG. 3 JOG DEC time JOG.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.5 Setting items for positioning data Positioning data must be set for carrying out any "positioning control". The table below lists the items to be set for producing the positioning data. 1 to 10 positioning data items can be set for each axis. For details of the positioning controls, refer to "Chapter 9 POSITIONING CONTROL". For details of the individual setting items, refer to "4.5 List of positioning data".
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.6 Type and roles of monitor data The monitor data area in the buffer memory stores data relating to the control state of the positioning control system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. • Axis operation monitoring: Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data Md. 1 to Md.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.1.7 Type and roles of control data Operation of the positioning control system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.2 List of parameters Setting value, setting range Item Pr. 1 Software stroke limit upper limit value Pr. 2 Software stroke limit lower limit value Pr. 3 Software stroke limit valid/invalid setting Pr.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 4 Current feed value during speed control Specify whether you wish to enable or disable the update of " Md. 1 Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: No update The current feed value will not change. (The value at the beginning of the speed control will be kept.) 1: Update The current feed value will be updated.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 7 Positioning complete signal output time Set the output time of the positioning complete signal [X18 to X1F] output from the QD70. Positioning complete indicates that the preset dwell time has elapsed after the QD70 ended pulse output. If the setting value is 0 (ms) or if the axis stop signal was used to make a stop during JOG operation or speed control of speed-position switching control, the positioning complete signal is not output.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 9 PULSE/SIGN method selection setup/hold time Set the setup/hold time when PULSE/SIGN is selected in the pulse output mode to output inverted pulses. 0: 10µs 1: 100µs 2: 1ms 3: 2ms The following is an example for negative logic. PULSE SIGN Set in Pr. 9 Set in Pr. 9 Forward run Reverse run Movement in + direction Movement in - direction PULSE/SIGN mode (set the pulse output mode with the intelligent function module switch. Refer to Section 5.6.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr. 10 Stop mode during path control Set the stopping method using the axis stop signal input when the operation pattern for position control is continuous path control. 0: Position match stop ....... Deceleration starts when the axis stop signal is input, and the axis stops immediately when the address preset to the positioning data in execution is reached. 1: Deceleration stop ...........
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.3 List of OPR data Setting value, setting range Item Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 0: Near-point dog method 1: Stopper 1 OPR. 1 OPR method 2: Stopper 2 0 20 120 220 320 420 520 620 720 0 21 121 221 321 421 521 621 721 3: Stopper 3 4: Count 1 5: Count 2 0: Forward direction OPR. 2 OPR direction 1: Reverse direction OPR.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR method 0 : Near-point dog method (1) Start machine OPR control. (Start movement at the " OPR. 4 OPR speed" in the V " OPR. 2 OPR direction".) OPR. 4 OPR speed (2) OPR. 5 Creep speed (2) Detect the near-point dog ON, and start deceleration. Pr. 6 Bias speed at start (3) Decelerate to " OPR. 5 Creep speed", and move with the creep speed. (4) (3) (1) t ON (At this time, the near-point dog must be ON.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 3 : Stopper 3 (1) Start machine OPR control. (Start movement at the " OPR. 5 Creep speed" in the " OPR. 2 OPR direction". (At this time, a torque limit is V OPR. 5 Creep speed needed for the motor. If there is no torque limit, the motor Stopped by stopper may fail at (2).) (2) (2) The axis contacts against the stopper at " OPR. 5 Creep speed", and then stops. Pr.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 2 OPR direction Set the direction to start movement when starting machine OPR control. 0: Forward direction Moves in the direction that the address increments. (Arrow 2)) 1: Reverse direction Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so "OPR. 2 OPR direction" is set as shown below.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 5 Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. ( OPR. 4 OPR speed ) ≥ ( OPR. 5 Creep speed) ≥ ( Pr. 6 Bias speed at start) Note) • The creep speed is related to the detection error when using the OPR method with zero signal, and the size of the collision if a collision occurs during OPR using the stopper.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q OPR. 7 DEC/STOP time at OPR Set the time taken to make a stop after reaching " Pr. 6 Bias speed at start" from " OPR. 5 Creep speed" under "Count 2" machine OPR control or to make a stop after reaching " Pr. 6 Bias speed at start" from the speed during machine OPR control at axis stop factor occurrence (axis stop signal ON or error occurrence).
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.4 List of JOG data Item Setting value, setting range Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 40 41 140 141 240 241 340 341 440 441 540 541 640 641 740 741 JOG. 1 JOG speed 1 to 200000 (pulse/s) JOG. 2 JOG ACC time JOG.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.5 List of positioning data Before explaining the positioning data setting items Da. 1 to Da. 7 , the configuration of the positioning data will be shown below. The positioning data stored in the QD70 buffer memory has the following type of configuration. 9 1 Da. 1 Operation pattern 816 817 826 827 Da. 7 Dwell time 808 818 819 Da. 3 ACC/DEC time 883 893 884 885 894 895 886 887 896 897 888 898 889 899 828 829 Da.
4 DATA USED FOR POSITIONING CONTROL 9 Positioning data No. 1 2 MELSEC-Q 10 3 9 1280 1290 Positioning data No. 1220 Da. 1 Operation pattern 1200 1210 1 2 3 1380 1390 1320 Da. 1 Operation pattern 1300 1310 1382 1392 Da. 4 DEC/STOP time Da. 5 Command speed 1224 1204 1214 1225 1205 1215 Da. 6 Positioning address/movement amount 1226 1206 1216 1227 1207 1217 Da. 7 Dwell time 1228 1208 1218 1284 1294 1285 1295 1383 1393 Axis 2 Axis 1 1283 1293 1223 1203 1213 1323 Da.
4 DATA USED FOR POSITIONING CONTROL Setting value, setting range Item Default value MELSEC-Q Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 0: Positioning termination 1: Continuous positioning control Da. 1 Operation pattern 0 800 900 1000 1100 1200 1300 1400 1500 0 801 901 1001 1101 1201 1301 1401 1501 2: Continuous path control 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) Da.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da. 2 Control method Set the "control method" for positioning control. 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) 3: Speed.Position Ctrl. (Forward) ...... Speed-position switching control (forward run) 4: Speed.Position Ctrl. (Reverse)...... Speed-position switching control (reverse run) 5: Current value changing Note) • Refer to "CHAPTER 9 POSITIONING CONTROL" for details of the control method.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q [" Da. 1 Operation pattern" is "2: Continuous path control"] Da. 3 ACC/DEC time : Set the time taken to reach " Da. 5 Command speed" set in the "positioning data to be executed next" from " Da. 5 Command speed" set in the "positioning data currently being executed". Da. 4 DEC/STOP time : Set any value within the setting range (0 to 32767ms). (This does not function.) V Positioning data No. 1 Positioning data No. 2 Positioning data No.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) 1-axis linear control (INC) Set a signed movement amount as the setting value (movement amount) for 1axis linear control (INC). When the movement amount is positive: The axis moves in the positive direction (address increasing direction). When the movement amount is negative: The axis moves in the negative direction (address decreasing direction).
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.6 List of monitor data 4.6.1 Axis monitor data Item Md. 1 Current feed value Md. 2 Movement amount after nearpoint dog ON Md. 3 Current speed Md. 4 Axis operation status Md. 5 Axis error code 4 - 27 Storage details • The current position is stored. Update timing: 1ms for QD70P4 2ms for QD70P8 • On completion of machine OPR control, the OP address is stored.
4 DATA USED FOR POSITIONING CONTROL Item Md. 6 Axis warning code Md. 7 Status MELSEC-Q Storage buffer memory address Default value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Storage details At axis warning occurrence, the warning code corresponding to the warning definition is stored. • The latest warning code is always stored. (When a new axis warning occurs, the old warning code is overwritten.) 0 • When " Cd.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.6.2 Module information monitor data Item Storage details Default value Storage buffer memory address (Common for axis 1 to axis 8) 0000H 1600 0000H 1601 At error occurrence, the bit corresponding to the error occurrence axis turns ON. 0: Normal (OFF) 1: Error (ON) (The error occurrence axis cannot be run) When " Cd.
4 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4.7 List of control data 4.7.1 Axis control data Item Setting details By setting "1", the following operation is performed. • Axis error occurrence (X1), "Md. 5 Axis error code", axis warning occurrence (X2) or "Md. 6 Axis warning code" is cleared. (X1 and X2 are cleared when "1" is set in Cd. 1 Cd. 1 Axis error of all axes.) reset • If "Md. 4 Axis operation status" is "Error", the error is cleared and returned to the "Standby" status.
4 DATA USED FOR POSITIONING CONTROL Item Cd. 6 Speed change request Cd. 7 New speed value Cd. 8 ACC/DEC time at speed change Cd. 9 DEC/STOP time at speed change 4 - 31 Setting details Set "1" to request speed change processing (make the " Cd. 7 New speed value" value valid) after setting " Cd. 7 New speed value" for JOG operation or speed control of speed-position switching control. (The data changes automatically to "0" after completion of speed change request acceptance.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION This chapter describes the procedure up to the operation of the QD70 and the part identification nomenclature and setting and wiring methods of the QD70. 5.1 Handling precautions This section provides the precautions for handling the QD70. ! 5 DANGER Always turn all phases of the power supply OFF externally before cleaning or tightening the screws.
5 SETUP AND PROCEDURES BEFORE OPERATION ! MELSEC-Q CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Always turn all phases of the power supply OFF externally before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Use the PLC within the general specifications environment given in this manual.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.2 Procedures before operation This section gives the procedure up to the operation of the QD70. Start Module installation Install the QD70 in the specified slot. Wiring Wire the external device to the QD70. (Refer to Section 5.4.) Intelligent function module switch setting Make setting using GX Developer. (Refer to Section 5.6.) Connection confirmation Confirm connection using GX Developer or GX Configurator-PT. (Refer to Section 5.5.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.3 Part identification nomenclature (1) The following are the part names of the QD70. 1) RUN indicator LED, ERR. indicator LED QD70P8 RUN ERR. AX5 AX6 AX7 AX8 AX1 AX2 AX3 AX4 2) Axis display LED QD70P8 CON2 CON1 3) External device connection connector (40 pins) *For details, refer to "Section 3.4.2 Signal layout for external device connection connector" No. 1) Name Details RUN indicator LED, ERR. indicator LED Refer to the next page.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (2) The LED display indicates the following operation statuses of the QD70 and axes. QD70P8 RUN ERR. Display RUN AX5 Attention point ERR. AX8 RUN AX5 AX1 AX6 AX6 AX7 ERR. AX8 AX2 RUN illuminates. AX3 ERR. is OFF. AX4 RUN AX5 AX1 AX6 AX7 AX2 ERR. AX3 illuminates. AX8 AX4 AX7 ERR. Description AX1 RUN is OFF. AX2 ERR. and AX1 AX3 to AX8 states are unfixed. AX4 AX1 AX2 AX3 AX4 AX5 AX6 AX7 AX8 Display RUN Hardware failure.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q External device connection connector The connectors for use with the QD70 should be purchased separately by the user. The connector types and pressure displacement tool are listed below.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.4 Wiring This section explains how to wire the drive unit and mechanical system inputs to the QD70. The following are the precautions for wiring the QD70. Read these precautions together with "Section 5.1 Handling precautions" to ensure work safety. 5.4.1 Wiring precautions (1) Always confirm the terminal layout before connecting the wires to the QD70. (2) Correctly solder the external device connection connector.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Wiring example using shielded cables] The following are the wiring examples for noise reduction when the A6CON1 connector is used. Connector Connector (A6CON1) To external devices Shielded cable Drive unit To external device To drive units To QD70 Use the shortest posible ingth to graound the 2mm2 or more FG wire. The length between the connector and the shielded (The shield must be grounded on the QD70 side) cable chould be the shortest possible.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (9) The cables connected to the QD70 should be placed in a duct or fixed. Not doing so can cause the QD70, drive unit or cables to be damaged when the cables swing, move or are pulled carelessly, for example, or to malfunction due to poor cable connection. (10) To comply with the EMC Directive and Low-Voltage Directive, always ground the QD70 to the control box using the shielded cables and AD75CK cable clamping (Mitsubishi Electric make).
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Wiring examples using duct (improper example and improved example)] Wiring duct Relay Relay Drive Drive unit unit Relay Control box PLC CPU QD The deive units are placed 70 near the noise source. The connection cable between Noise source the QD70 and drive units is (Power system, etc.) too long. Changed Wiring duct Relay Realy Relay Control panel PLC CPU QD 70 placed closely.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.5 Confirming the wiring 5.5.1 Confirmation items at completion of wiring Check the following points when completed with the QD70 installation and wiring. • Is the module correctly wired? ..............................."Connection confirmation" By making "connection conformation", you can check whether the "QD70 recognizes the external I/O signals such as the near-point dog and speed-position switching signals", for example.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (2) Method using GX Configurator-PT Monitor the external I/O signal states on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".) (Example) Checking the external I/O signals of Axis 1 (1 Axis OPR Monitor) Important If the QD70 is faulty or does not recognize necessary signals, such as the nearpoint dog and speed-position switching signals, an unexpected accident, e.g.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.6 Switch setting for intelligent function module By making the intelligent function module switch setting, the QD70 allows you to set the pulse output mode, external I/O signal logic and rotation direction. (However, you cannot set the speed-position switching signal (CHG) logic. It is fixed at the negative logic.) Make the intelligent function module switch setting in the "I/O assignment setting" PLC parameter of the QCPU using GX Developer.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Switch 1] Pulse output mode Set the pulse output mode that matches the drive unit used. Use "Switch 2" to change between the positive logic and negative logic of the pulse. The following are pulse output mode examples. (1) CW/CCW mode During forward run, the forward run feed pulse (CW) will be output. During reverse run, the reverse run feed pulse (CCW) will be output.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q [Switch 3] Zero signal input logic selection, rotation direction setting Set the zero signal (PG0) input logic according to the externally connected device. Set the relation of the motor rotation direction and current value address increment/decrement. [Setting procedure] 1) Set "0", and carry out forward run JOG operation. ("0" is set as the default value.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q Operating procedure Using GX Developer, make settings starting with the QCPU PLC parameter "I/O assignment setting" screen. (a) I/O assignment setting screen Specify the following for the slot where the QD70 is mounted. Type : Select "Intelli." Model name : Enter the module's model name. Points : Select 32 points. Start XY : Enter the start I/O signal for the QD70.
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.7 Simple reciprocating operation Before operating the system, check the operation of the drive unit. (Make this check after making sure that the installation, wiring, intelligent function module switch setting and connection confirmation of the QD70 are normal. For details of the drive unit, refer to the manual of the drive unit used.) The following is the way to perform "simple reciprocating operation".
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q Reciprocating operation program using JOG operation JOG speed 5000pulse/s JOG ACC/DEC time 1000ms X28 : Forward run JOG command, X29 : Reverse run JOG command 5 - 19 5 - 19
5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q (4) Confirming the operation status (a) Method using GX Developer Read the following axis monitor data with the monitor function (Buffer memory batch). Axis monitor data Monitor details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 70 71 74 75 170 171 174 175 270 271 274 275 370 371 374 375 470 471 474 475 570 571 574 575 670 671 674 675 770 771 774 775 Monitor the operation status "2: JOG Operation" of the axis.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT) The QD70 utility package (GX Configurator-PT) is software designed to make initial setting, auto refresh setting, monitor and others of the QD70 using dedicated screens, without being conscious of the I/O signals and buffer memory. Use the utility package with GX Developer (SW4D5C-GPPW-E or later). 6.1 Utility package functions The following table lists the functions of the utility package.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.2 Installing and uninstalling the utility package See "Method of installing the MELSOFT Series" attached with the utility package regarding the install and uninstall operation for the utility package. 6.2.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q (6) About the number of parameters that can be set in GX Configurator-PT The number of parameters that can be set by the GX Configurator for an intelligent function module installed in the CPU module and in a remote I/O station of the MELSECNET/H network system is limited.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.2.2 Operating environment The operating environment of the personal computer where the GX Configurator-PT is used is explained. Item Peripheral devices Installation (Add-in) destination 1 ® Computer main unit Hard disk 2 Add-in to GX Developer Version 4 (English version) or later Personal computer on which Windows operates. CPU Refer to the following table "Used operating system and performance required for Required memory personal computer".
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3 Explanation of utility package operations 6.3.1 How to perform common utility package operations (1) Available control keys Special keys that can be used during operations of the utility package and their applications are shown in the table below. Name of key Esc Application Cancels a newly entered value when entering data in a cell. Closes the window. Tab Ctrl Moves between controls in the window.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 3) Operating using GX Developer. [Online] [Read from PLC] / [Write to PLC] "Intelligent module parameter" Or, operate on the intelligent module parameter setting module selection screen of the utility. [Online] [Read from PLC] / [Write to PLC] (a) A text file can be created by performing the initial setting or auto refresh setting, or selecting Make text file on the monitor/test screen. Text files can be utilized to create user documents.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3.2 Operation overview GX Developer screen [Tools] - [Intelligent function utility] - [Start] Intelligent function module parameter setting module select Enter "Start I/O No." then select "Package name" and "Module model neme". Refer to Section 6. 3. 3 1) Initial setting Initial setting screen Refer to Section 6. 4 6-7 Auto refresh Auto refresh setting screen Refer to Section 6.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 1) [Online] - [Monitor/test] Select monitor/test module screen Monitor/test Enter "Start I/O No." then select" Package name" and "Module model neme". Monitor/Test screen Refer to Section 6.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.3.3 Starting the intelligent function module utility [Purpose of operation] Start the utility from GX Developer, and display the intelligent module parameter setting module selection screen. The initial setting, auto refresh setting and select monitor/test module (selecting the module for which monitoring/testing is to be performed) screens can be started from this screen.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q (3) Menu bar (a) File items File operations are performed for the intelligent module parameters for the project opened by GX Developer. [Open file] : Opens the parameter file. [Close file] : Closes the parameter file. If changes have been made, the dialog box asking whether to save the file appears. [Save file] : Saves the parameter file. [Delete file] : Deletes the parameter file.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.4 Initial setting [Purpose of operation] Make initial setting axis-by-axis for the QD70 to operate. The following items are data that need initial setting. • Parameters • OPR data • Positioning data This initial setting makes sequence program setting unnecessary. For more information on the setting details, refer to "CHAPTER 4 DATA USED FOR POSITIONING CONTROL". [Startup procedure] "Start I/O No.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q Move to sub window Axis #1 Positioning Setting Select items to be moved to sub window. [Explanation of items] (1) Setting item list Setting item Axis #1 Parameter Setting Axis #1 OPR data Setting to Axis # n Parameter Setting Axis # n OPR data Setting n indicates the axis No.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.5 Auto refresh setting [Purpose of operation] Set the QD70 buffer memory to be automatically refreshed. There are the following setting items as the auto refresh setting parameters. [Common to all axes] • Error status • Warning status [Axis by axis] • Current feed value • Current speed • Axis operation status • Axis error code • Axis warning code • Executing positioning data No.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q [Explanation of items] (1) Setting item list Setting item Error status Warning status Axis #1 Current Feed Value Axis #1 Current Speed Axis #1 Axis Operation Status Axis #1 Axis Error Code Axis #1 Axis Warning Code Axis #1 Executing Positioning Data No. to Axis #n Current Feed Value Axis #n Current Speed Axis #n Axis Operation Status Axis #n Axis Error Code Axis #n Axis Warning Code Axis #n Executing Positioning Data No. n indicates the axis No.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q 6.6 Monitor/test 6.6.1 Monitor/Test screen [Purpose of operation] Start the buffer memory monitoring/testing, and I/O signals monitoring/testing from this screen. (Refer to "Section 4.6 List of monitor data" for details of monitor data.) [Startup procedure] Select monitor/test module screen "Module model name" "Start I/O No. *" "Package name" Monitor/test * Enter the start I/O No. in hexadecimal.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q Move to sub window X/Y Monitor Select items to be moved to sub window. [Explanation of items] (1) Setting item list Setting item Module READY PLC READY Axis Error Occurrence Axis Warning Occurrence Axis #1 BUSY to Axis #n BUSY Axis #1 Error Status to Axis #n Error Status n indicates the axis No.
6 UTILITY PACKAGE (GX Configurator-PT) MELSEC-Q (3) Explanation of the command buttons Current value display Make text file Start monitor / Stop monitor Execute test Displays the current value of the selected item. (This command button is used to check text that cannot be displayed in the current value field. However, in this utility package, all items can be displayed in the display fields). Makes a file consisting of the displayed screen contents in a text file format.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the QD70. 7.1 Precautions for creating program (1) System configuration Q C P U Q D 7 0 Q X 1 0 X20 to X2F power supply module X/Y0 to X/Y1F Unless otherwise specified in this section and later, the sequence programs shown are those for the following system. Refer to Section 7.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command. 0 0 M0 = U0\ G51 K0 M0 RST FROMP = D102 K0 H0 K51 Data read out D102 RST M0 K1 M0 (d) When the circuit uses the "intelligent function device" for a WAND command, change the command to a FROM command and a WAND command.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.2 List of devices used In "Section 7.4 Positioning control program examples", the used devices are assigned as indicated in the following table. The I/O numbers for QD70 indicate those when QD70 is mounted in the 0-slot of the main base. If it is mounted in the slot other than the 0-slot of the main base, change the I/O number to that for the position where QD70 was installed.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Data registers (for Axis 1) Device name Device Data stored D0 D1 D2 D3 D5 D6 D7 D8 Parameter D4 D11 D12 ( Pr. 2 Software stroke limit lower limit value) -100000000pulse ( Pr. 3 Software stroke limit valid/invalid setting) ( Pr. 4 Current feed value during speed control) 0 (No update) ( Pr. 5 Speed limit value) 100000pulse/s D14 ( Pr. 10 Stop mode during path control) ( OPR. 1 OPR method) D15 ( OPR.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.3 Creating a program This section explains "positioning control operation programs" actually used. The programs designed to perform the functions described in "SECTION 2 CONTROL DETAILS AND SETTING" are installed in the "positioning control operation programs" explained in “Section 7.3.2”. (To monitor control, add a necessary monitor program according to the system. Refer to "Section 4.6 List of monitor data" for monitor items.) 7.3.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.3.2 Positioning control operation program The following are individual programs which comprise the "positioning control operation programs". When creating a program, refer to the explanation item of the corresponding program and "Section 7.4 Positioning control program example" and create an operation program according to the positioning control system. (The following programs are numbered.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start method setting program No.6 Programs needed to exercise "OPR control" "Positioning control" Start method setting program Start program No.7 Positioning control start program JOG operation program No.8 JOG operation program Sub program No.9 No.10 No.11 Programs added according to control exercised (Create as necessary) Speed change program Restart program Error rest program Stop program No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.4 Positioning control program examples An example of the "Axis 1" positioning control program is given in this section. [No.1] to [No.3] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD70 using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with the GX Configurator-PT, the [No.1] to [No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No.3 Positioning data setting program (For positioning data No. ) No.4 PLC READY signal [Y0] ON program (M0 contact is not needed when GX Configurator-PT is used to make initial setting of parameters, OPR data and positioning data.) No.5 OPR request OFF program No.6 Start method setting program (1) Machine OPR (2) Fast OPR (3) Positioning control (Starting from No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Turning OFF fast OPR control command and fast OPR control command storage (Not needed when fast OPR control is not used) No.7 Positioning control start program (M4 and M5 contacts are not needed when fast OPR control is not carried out) (M8 contact is not needed when JOG operation is not performed) No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No.9 Speed change program No.10 Restart program No.11 Error reset program No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5 Program details 7.5.1 Initialization program OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Md. 7 Status: b0) which is ON. When using a system that does not require OPR control, assemble the program to cancel the "OPR request" made by the QD70 when the power is turned ON, etc. Data requiring setting Set the following data to use the OPR request flag OFF request. Setting item OPR request flag OFF Cd.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5.2 Start method setting program This program sets which control, out of "OPR" control or "positioning control" to execute. Data requiring setting (1) Set " Cd. 3 Start method" according to the control to be started. Setting item Setting value 0 Cd. 3 Start method 9000 9001 : Positioning control (starting from No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the OPR control or positioning control starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting time chart The time chart for starting each control is shown below. (1) Machine OPR control starting timing chart V t Near-point dog Zero signal ON Positioning start signal [Y8 to YF] OFF ON PLC READY signal [Y0] OFF ON Module READY signal [X0] OFF ON Start complete signal [X10 to X17] OFF ON BUSY signal [X8 to XF] OFF Axis error occurrence signal OFF [X1] 9000 Cd.3 Start method ON OPR request flag OFF [ Md.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Fast OPR control starting timing chart V t ON Positioning start signal [Y8 to YF] OFF ON PLC READY signal [Y0] OFF Module READY signal [X0] OFF ON ON Start complete signal [X10 to X17] OFF ON BUSY signal [X8 to XF] OFF Axis error occurrence signal [X1] OFF 9001 Cd.3 Start method Fig. 7.5 Fast OPR starting timing chart (3) Positioning control starting timing chart Operation pattern V Positioning data No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Speed-position switching control starting timing chart Operation pattern (0) Positioning data No.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 7.5.4 Sub program Speed change program This program is used to change the speed within the " Pr. 5 Speed limit value" range at any point during speed control of speed-position switching control or during JOG operation. Set the new speed in " Cd. 7 New speed value". A speed change is executed according to " Cd. 6 Speed change request". The acceleration and deceleration times after speed change are the values set in " Cd.
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Restart program This program is used to resume positioning control, at " Cd. 4 Restart request, from where it stopped if the axis had been stopped by the axis stop signal during operation under position control or speed-position switching control. (Refer to "Section 11.6 Restart function" for details of the restart function.) Data requiring setting Set the following data. Setting item Buffer memory address Setting value Cd.
SECTION 2 CONTROL DETAILS AND SETTING The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc. Carry out these settings while referring to "CHAPTER 4 DATA USED FOR POSITIONING". Also refer to "CHAPTER 7 SEQUENCE PROGRAMS USED IN POSITIONING CONTROL" the sequence programs required in each control, and consider the entire control program configuration when creating each program. CHAPTER 8 OPR CONTROL .........................
SECTION 2 MEMO
8 OPR CONTROL MELSEC-Q CHAPTER 8 OPR CONTROL This chapter details the OPR control of the QD70. 8.1 Outline of OPR control 8.1.1 Two types of OPR control "OPR control" is exercised to set up a position (= OP) as a reference for carrying out positioning control. It is used to return a machine system at any position other than the OP to the OP when the QD70 issues a "OPR request" with the power turned ON or others, or after a positioning control stop.
8 OPR CONTROL MELSEC-Q 8.2 Machine OPR control 8.2.1 Outline of the machine OPR operation Important (1) Always set the OP in the same direction as viewed from any position in the workpiece moving area (set the OP near the upper or lower limit of the machine). (2) Correctly set the OPR direction as the direction in which the workpiece moves toward the OP.
8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR control according to the configuration and application of the positioning control system. The following table shows the six methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR data. It is set in "OPR. 1 OPR method" of the OPR data.) OPR.
8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart 1) 2) 3) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". The machine decelerates to the "OPR.
8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) When the near-point dog is ON, starting the axis will cause the "Start during near-point dog ON" error (error code: 201). Perform JOG operation to move the axis to the position where the near-point dog turns OFF. (2) The near-point dog must be ON during deceleration from "OPR.
8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Stopper 1 The following shows an operation outline of the "stopper 1" OPR method. Operation chart 1) 2) 3) 4) 5) 6) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". Speed is reduced to " OPR.
8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque after the "OPR. 5 Creep speed" is reached. If the torque is not limited, the motor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (For a torque limit, refer to the manual of the drive unit used.) Precautions during operation (1) Set a value in the "OPR.
8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Stopper 2 The following shows an operation outline of the "stopper 2" OPR method. Operation chart 1) 2) 3) 4) 5) 6) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". Speed is reduced to " OPR.
8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque after the "OPR. 5 Creep speed" is reached. If the torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.) (2) Use an external input signal as the zero signal. Precautions during operation (1) Input a zero signal from an external source after the machine presses against the stopper.
8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Stopper 3 The following shows an operation outline of the "stopper 3" OPR method. The "stopper 3" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the "OPR. 5 Creep speed", so it will take some time until the machine OPR control completion.) Operation chart 1) 2) 3) 4) Machine OPR control is started. (Acceleration starts in the direction set in "OPR.
8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the motor torque. If the torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.) (2) Use an external input signal as the zero signal. Precautions during operation (1) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will become the OP. V OPR.5 Creep speed t Pr.
8 OPR CONTROL MELSEC-Q 8.2.7 OPR method (5): Count 1 The following shows an operation outline of the "count 1" OPR method. Operation chart 1) 2) 3) 4) 5) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". The machine decelerates to the "OPR.
8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precaution during operation (1) If "OPR. 8 Setting for the movement amount after near-point dog ON" is less than the deceleration distance from "OPR. 4 OPR speed" to "OPR. 5 Creep speed", machine OPR control is completed normally.
8 OPR CONTROL MELSEC-Q 8.2.8 OPR method (6): Count 2 The following shows an operation outline of the "count 2" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. Operation chart 1) 2) 3) 4) 5) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".
8 OPR CONTROL MELSEC-Q Precaution during operation (1) If "OPR. 8 Setting for the movement amount after near-point dog ON" is less than the deceleration distance from "OPR. 4 OPR speed" to "OPR. 5 Creep speed", machine OPR control is completed normally. (2) When the near-point dog is ON, starting the axis will cause the "Start during near-point dog ON" error (error code: 201). Perform JOG operation to move the axis to the position where the near-point dog turns OFF.
8 OPR CONTROL MELSEC-Q 8.3 Fast OPR control 8.3.1 Outline of the fast OPR control operation Fast OPR operation In a fast OPR control, positioning control is carried out by a machine OPR control to the "Md. 1 Current feed value" stored in the QD70. By setting "9001" in " Cd. 3 Start method" and turning ON the positioning start signal (Y8 to YF), fast OPR control performs position control at high speed without using the positioning data and near-point dog, zero and other signals.
9 POSITIONING CONTROL MELSEC-Q CHAPTER 9 POSITIONING CONTROL This chapter details the positioning control (control functions using positioning data) of the QD70. 9.1 Outline of positioning controls "Positioning control" uses the "positioning data" stored in the QD70. Position control, speed-position switching control and current value changing are executed by setting the necessary items of these "positioning data". As the control method of "positioning control", set the " Da.
9 POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of positioning controls "Positioning control" starts with positioning data No. 1 and allows you to set in " Da. 1 Operation pattern" whether the subsequent consecutive data will be executed continuously or not. There are the following three different "operation patterns" [1] to [3].
9 POSITIONING CONTROL MELSEC-Q [1] Positioning termination Set this to carry out only the positioning control of the specified one piece of data. When the dwell time has been specified for position control, position control is completed after the specified time has elapsed. V Positioning termination (0) Dwell time Time ON Positioning start signal [Y8 to YF] OFF ON Start complete signal [X10 to X17] OFF ON BUSY signal [X8 to XF] OFF ON Positioning complete signal [X18 to X1F] OFF Fig. 9.
9 POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning control is completed. Acceleration is then carried out after the QD70 command speed reaches 0 to carry out the next positioning data operation. When the dwell time has been specified for position control, acceleration is started after specified time has elapsed. (2) In operation by continuous positioning control (operation pattern "1"), the next positioning data No.
9 POSITIONING CONTROL MELSEC-Q [3] Continuous path control (1) Operation of continuous path control (a) A speed change is made between the command speeds of the "positioning data No. currently executed" and "positioning data No. to be executed next" without a deceleration stop. A speed change is not made if the current speed is equal to the next speed. (b) Dwell time will be ignored, even if set.
9 POSITIONING CONTROL MELSEC-Q (2) Errors If any of the following errors occurs during operation in the operation pattern of "2: Continuous path control", the axis stops immediately on completion of executing the previous positioning data.
9 POSITIONING CONTROL MELSEC-Q V Speed changing Dwell time Dwell time t Positioning control 2 Da. 1 Operation pattern 2 2 1 0 ON Positioning start signal [Y8 to YF] OFF ON Start complete signal [X10 to X17] OFF ON BUSY signal [X8 to XF] OFF ON Positioning complete signal [X18 to X1F] OFF Fig. 9.
9 POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning control is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.
9 POSITIONING CONTROL MELSEC-Q 9.1.4 Confirming the current value Values showing the current value The following address is used as value to show the position in the QD70. This address (current feed value) is stored in the monitor data area, is used in monitoring the current value display, etc. • This is the value stored in " Md. 1 Current feed value".
9 POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da. 2 Control method". The following are the setting items of the positioning data for each control. Refer to Section 9.2.2 and later for operation details and setting of each control.
9 POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control In "1-axis linear control" (" Da. 2 Control method" = 1-axis linear control (ABS), 1-axis linear control (INC), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR control are used.
9 POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR control are used. Position control is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da. 6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
9 POSITIONING CONTROL MELSEC-Q 9.2.3 Speed-position switching control In "speed-position switching control" (" Da. 2 Control method" = Speed. Position Ctrl. (Forward), Speed. Position Ctrl. (Reverse)), the pulses of the speed set in " Da. 5 Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in " Da. 6 Positioning address/movement amount" is exercised.
9 POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) The following table shows the " Md. 1 Current feed value" during speed-position switching control corresponding to the " Pr. 4 Current feed value during speed control" settings. " Pr. 4 Current feed value during speed control" setting Speed Md.
9 POSITIONING CONTROL MELSEC-Q Restrictions (1) If "Continuous path control" is set in " Da. 1 Operation pattern", the "Continuous path control not possible" error (error code: 503) occurs, disabling a start. (2) "Speed-position switching control" cannot be set in " Da. 2 Control method" of the positioning data if "Continuous path control" is set in " Da. 1 Operation pattern" of its preceding positioning data. (For example, if the operation pattern of positioning data No.
9 POSITIONING CONTROL MELSEC-Q 9.2.4 Current value changing Current value changing performs control to change " Md. 1 Current feed value" to any address. Operation chart The following chart shows the operation timing for a current value changing. The " Md. 1 Current feed value" is changed to the value set in " Da. 6 Positioning address/movement amount" when the positioning start signal turns ON. ON Positioning start signal [Y8 to YF] OFF ON Positioning complete signal OFF [X18 to X1F] Md.
9 POSITIONING CONTROL MELSEC-Q 9.3 Multiple axes simultaneous start control The QD70 allows the axes to be started simultaneously on a pulse level by turning ON the positioning start signals (Y8 to YF) within the same scan during positioning control. Precautions (1) The speed limit function is valid on an axis basis. (2) To perform stop processing, the stop command (axis stop signal ON) must be given to the corresponding axis. Note that the axes do not stop simultaneously.
10 JOG OPERATION MELSEC-Q CHAPTER 10 JOG OPERATION This chapter details the JOG operation of the QD70. 10.1 Outline of JOG operation Important When performing JOG operation near the moving range, provide a safety circuit externally. If an external safety circuit is not provided, the workpiece may exceed the moving range, causing accidents.
10 JOG OPERATION MELSEC-Q JOG operation monitor When using GX Developer to directly monitor the buffer memory, refer to "Section 4.6 List of monitor data". When using the monitor function of GX Configurator-PT to monitor, refer to "Section 6.6 Monitor/test". Precautions during operation Before starting JOG operation, you must know the following information. (1) Set the JOG data before starting JOG. (Setting cannot be changed during JOG operation.) (2) For safety, first set " JOG.
10 JOG OPERATION MELSEC-Q 10.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation STEP 1 Set the JOG data ( JOG. 1 to JOG. 4 ) Using the GX Developer, set the JOG data and create a sequence program for executing the JOG operation. (Set the JOG date in the QD70 buffer memory using the TO command.) Create a sequence program that turns ON the "JOG start signal". STEP 2 JOG operation start STEP 3 Write the sequence program to the PLC CPU.
10 JOG OPERATION MELSEC-Q 10.3 JOG operation example (1) When "axis operation signal" is turned ON during JOG operation When the "axis operation signal" is turned ON during JOG operation, JOG operation results in a "deceleration stop". Turning ON the JOG start signal when the axis stop signal is ON results in the "Stop signal ON at start" error (error code: 102) and does not start JOG.
10 JOG OPERATION MELSEC-Q (2) When JOG direction flag is changed to reverse run JOG command during forward run JOG operation When " JOG. 4 JOG direction flag" is changed to the reverse run JOG command during forward run JOG operation, forward run JOG operation is continued. In this case, the reverse run JOG command is made valid when the JOG start signal turns ON after the BUSY signal of the QD70 turned OFF.
10 JOG OPERATION MELSEC-Q (3) When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" The JOG start signal is ignored when the "JOG start signal" is turned ON again during deceleration that was started by turning the "JOG start signal" from ON to OFF. JOG operation t JOG start is ignored. ON JOG start signal [Y18 to Y1F] OFF BUSYsignal [X8 to XF] OFF ON Fig. 10.
11 SUB FUNCTIONS MELSEC-Q CHAPTER 11 SUB FUNCTIONS This chapter details the sub functions of the QD70. 11.1 Outline of sub functions The "sub functions" are used to limit control and add functions, for example, for execution of OPR control, positioning control and JOG operation. These sub functions are executed by parameter setting, sequence programs, etc. There are the following "sub functions".
11 SUB FUNCTIONS MELSEC-Q [2] Setting the speed limit function To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write it to the QD70. (The "speed limit value" depends on the motor used. Set it according to the motor used.) The setting is made valid when the PLC READY signal [Y0] turns from OFF to ON. Setting Setting item Factory-set Setting details value Pr. 5 Speed limit value initial value Set the speed limit value (max.
11 SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The time required to reach a new speed from an old speed at speed change is " Cd. 8 ACC/DEC time at speed change". For a deceleration stop made by axis stop signal ON or JOG start signal OFF after the new speed is reached following a speed change request, the time required to make a stop after reaching " Pr. 6 Bias speed at start" from the operating speed is " Cd. 9 DEC/STOP time at speed change". However, if the new speed ( Cd.
11 SUB FUNCTIONS MELSEC-Q (2) When "0" is set in " Pr. 6 Bias speed at start", making a speed change with the setting of "0" in " Cd. 7 New speed value" results in the following. • A deceleration stop is made and 0 speed ( Md. 7 Status: b2) turns ON. • The axis stops but " Md. 4 Axis operation status" is "Speed.Position Speed" or "JOG Operation" and the BUSY signal remains ON. (When the axis stop signal is turned ON, the BUSY signal turns OFF and " Md. 4 Axis operation status" changes to "Stopped".
11 SUB FUNCTIONS MELSEC-Q (6) If the axis is stopped by the axis stop signal after a speed change has been made during speed control of speed-position switching control, the speed at a restart is as set in " Da. 5 Command speed". V Da. 5 Command speed Speed change command Stop command Cd. 7 New speed value Restart command t Fig. 11.4 Restart speed after speed change during speed control of speed-position switching control 11.
11 SUB FUNCTIONS MELSEC-Q [2] Software stroke limit check details Check details Processing at error " Md. 1 Current feed value" outside the software stroke limit range is 1) defined as an "error". " Da. 6 Positioning address/movement amount" (New current value) 2) outside the software stroke limit range is defined as an "error". An "error" occurs.
11 SUB FUNCTIONS MELSEC-Q [4] Precautions during software stroke limit check (1) A machine OPR control must be executed beforehand for the "software stroke limit function" to function properly. (2) If an error is detected in the "continuous path control" operation pattern of positioning control, the axis comes to an immediate stop upon completion of the execution of the positioning data that precedes the positioning data where the error occurred.
11 SUB FUNCTIONS MELSEC-Q 11.5 Acceleration/deceleration processing function The "acceleration/deceleration processing function" is designed to adjust acceleration/deceleration when OPR control, positioning control or JOG operation is performed. Adjusting the acceleration/deceleration processing according to control enables finer control. The acceleration/deceleration adjusting items that can be set are "bias speed at start", "target speed", "acceleration time" and deceleration time".
11 SUB FUNCTIONS MELSEC-Q The following is the operation of the acceleration/deceleration processing function during position control or speed changing in the operation pattern of continuous path control. V Positioning data No. 1 Positioning data No. 2 Positioning data No. 3 Continuous path control Positioning data No. 4 Positioning termination Da. 5 Da. 5 Da. 5 Da. 3 Da. 3 Da. 5 Da. 3 Pr. 6 t Da. 7 Dwell time Da. 4 Da.
11 SUB FUNCTIONS MELSEC-Q The following is the operation performed during machine OPR control in each OPR method. V Near-point dog ON OPR. 4 OPR. 5 Pr. 6 Machine OPR control complete OPR. 6 t OPR. 6 V OPR. 5 Machine OPR control complete Pr. 6 t OPR. 6 V Near-point dog ON OPR. 4 OPR. 5 Machine OPR control complete OPR. 6 Pr. 6 t OPR.
11 SUB FUNCTIONS MELSEC-Q [2] Precautions for control (1) At the set speed of 1 (pulse/s), the set acceleration/deceleration time is ignored. (2) In the acceleration/deceleration pattern where the movement amount is small relative to the acceleration/deceleration time and a constant-speed part does not exist, operation is not performed at the set acceleration/deceleration time. In such a case, review the setting details.
11 SUB FUNCTIONS MELSEC-Q 11.6 Restart function When the axis has been stopped by the axis stop signal during operation under position control or speed-position switching control, you can resume positioning control from where it had stopped by giving " Cd. 4 Restart request". The following will be described for the "restart function". [1] Control details [2] Precautions for control [1] Control details (1) Restart during position control Setting "1: With restart request" in " Cd.
11 SUB FUNCTIONS MELSEC-Q [2] Precautions for control (1) Setting "1: With restart request" in " Cd. 4 Restart request" when " Md. 4 Axis operation status" is other than "Stopped" results in the "Restart not possible" warning (warning code: 11). (2) If "1: With restart request" is set in " Cd. 4 Restart request" when the axis stop signal [Y10 to Y17] is ON, the "Stop signal ON at start" error (error code: 102) occurs and a restart is not made.
12 COMMON FUNCTIONS MELSEC-Q CHAPTER 12 COMMON FUNCTIONS This chapter details the common functions of the QD70. 12.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Developer. For details of GX Developer, refer to the GX Developer Operating Manual. The following table shows the functions included in the "common functions".
12 COMMON FUNCTIONS MELSEC-Q 12.3 External I/O signal monitor function The "external I/O signal monitor function" monitors the module information, external I/O signal monitor information and intelligent function module switch setting states in the "H/W Information" of the module's detailed information that can be displayed on the system monitor of GX Developer (SW7D5C-GPPW-E or later).
12 COMMON FUNCTIONS MELSEC-Q [H/W SW Information] The setting states of the intelligent function module switches are displayed.
13 TROUBLESHOOTING MELSEC-Q CHAPTER 13 TROUBLESHOOTING This chapter describes the details of errors and warnings that may occur during use of the QD70. 13.1 Error and warning details [1] Errors Types of errors Errors detected by the QD70 include parameter and OPR data setting range errors and errors at the operation start or during operation.
13 TROUBLESHOOTING MELSEC-Q [2] Warnings Types of warnings A warning occurs during OPR control, positioning control or JOG operation. If a warning occurs, operation is continued. Also, if a warning occurs, " Md. 4 Axis operation status" remains unchanged. Warning storage If a warning occurs, the axis warning occurrence signal turns ON and the warning code corresponding to the warning definition is stored into " Md. 6 Axis warning code". Also, the bit of " Md.
13 TROUBLESHOOTING MELSEC-Q 13.2 List of errors The following table shows the error details and remedies to be taken when an error occurs. Error code Error name Error Operation status at error occurrence — — 000 Normal status 100 Faults Hardware is faulty. 101 QD70 not prepared Start was made when the QD70 was not ready. The system stops Start is not made. Stop signal ON at start A start request was given when the axis stop signal (Y10 to Y17) is ON.
13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 — — — — — — — — — — — — — — — — Setting range — — — — — — — — — — — — — — — — — — — — Remedy — • Check that there is no influence from noise. • Check hardware for possibility of fault. After switching power from OFF to ON/resetting the PLC CPU, turn ON the PLC READY signal (Y0) again, make sure that the module READY signal (X0) is ON, and then make a start.
13 TROUBLESHOOTING Error code Error name MELSEC-Q Error Operation status at error occurrence Setting range outside start method The setting value of " Cd. 3 Start method" is other than Start is not made. 0, 9000 and 9001. 502 New current change not possible • " Da. 1 Operation pattern" is "Continuous path control" in the positioning data whose " Da. 2 Control method" is "Current value changing". • " Da. 2 Control method" is "Current value changing" Current value changing is not made.
13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Axis 1 Axis 2 Axis 3 Axis4 Axis 5 Axis 6 Axis 7 Axis 8 5 152 252 352 452 552 652 Refer to "Section 4.3 List of OPR data". Refer to "Section 4.4 List of JOG data". Refer to "Section 4.5 List of positioning data". Refer to "Section 4.7 List of control data". Refer to "Section 4.5 List of positioning data". 752 Setting range Cd. 3 Start method 0 : Positioning control 9000 : Machine OPR control 9001 : Fast OPR control OPR.
13 TROUBLESHOOTING Error code Error name MELSEC-Q Error 514 Movement amount shortage at 0 bias speed The movement amount is short when operation is performed with 0 set to " Pr. 6 Bias speed at start" in the " Da. 2 control method" setting of "1-axis linear control (ABS)" or "1-axis linear control (INC)". 800 Hold error The setting made for the QD70 is "Hold" in the "Error time output mode" parameter of the CPU module. Operation status at error occurrence Start is not made. Start is not made.
13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Setting range Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Remedy Pr. 6 Bias speed at start 8 9 108 109 208 209 308 309 408 409 508 509 608 609 708 709 Refer to "Section 4.5 List of positioning data". 0 to 200000 (pulse/s) • Set 1 pulse/s or more to " Pr. 6 bias speed at start". Da. 3 ACC/DEC time • If the movement amount is 32 pulse or 0 to 32767 (ms) less, set the value equal to or less than Da.
13 TROUBLESHOOTING Error code Error name MELSEC-Q Error 910 Setting range outside OPR The setting value of " OPR. 1 OPR method" is outside method the setting range. 911 Setting range outside OPR The setting value of " OPR. 2 OPR direction" is direction outside the setting range. 913 Operation status at error occurrence • The setting value of "OPR. 4 OPR speed" is outside the setting range. Setting range outside OPR • The setting value of "OPR. 4 OPR speed" is lower than " Pr.
13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Setting range 20 120 220 320 420 520 620 720 OPR. 1 OPR method 0: Near-point dog method 1: Stopper 1 2: Stopper 2, 3: Stopper 3 4: Count 1, 5: Count 2 21 121 221 321 421 521 621 721 OPR.
13 TROUBLESHOOTING MELSEC-Q 13.3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. Warning code Warning name Warning Operation status at warning occurrence — — 000 Normal status 10 Start during operation The start request is issued while the axis is BUSY. Continue the operation. 11 Restart not possible • A restart request was made when "Md. 4 Axis operation status" is other than "Stopped".
13 TROUBLESHOOTING MELSEC-Q Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Setting range — — — — — — — — — — — — — — — — — — 53 153 253 353 453 553 Cd. 4 Restart request 1: Make restart 653 753 606 607 706 707 1 to 200000 (pulse/s) 0 to 200000 (pulse/s) Remedy — Normalize the start request ON timing. • Do not make a restart request in "Md. 4 Axis operation status" of other than "Stopped".
13 TROUBLESHOOTING MELSEC-Q 13.4 LED display function The states of QD70 and each axis control can be confirmed by the LEDs located on the front panel of the QD70 main module. QD70P8 RUN ERR. AX5 AX6 AX7 AX8 AX1 AX2 AX3 AX4 Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below. Details of indication Goes OFF Goes ON Flashes Points to be confirmed ERR. AX8 AX1 Extinguishment of AX2 RUN LED (The states of ERR.
13 TROUBLESHOOTING MELSEC-Q 13.5 Confirming the error definitions using system monitor of GX Developer Choosing Module's detailed information in the system monitor of GX Developer allows you to confirm the error code at axis error occurrence. (1) Operation of GX Developer Choose [Diagnostics] [System monitor] "QD70 module" and choose Module's Detailed Information . (2) Confirmation of error code The error code stored in " Md. 5 Axis error code" appears in the latest error code field.
APPENDIX MELSEC-Q APPENDIX Appendix 1 External dimension drawing (1) QD70P4 QD70P4 RUN AX1 AX2 AX3 AX4 ERR. 98 CON1 QD70P4 90 27.4 Unit: mm (2) QD70P8 QD70P8 RUN ERR. AX5 AX6 AX7 AX8 AX1 AX2 AX3 AX4 QD70P8 CON1 98 CON2 App 90 27.
APPENDIX MELSEC-Q Appendix 2 Operation timing and processing time in each control (1) Operation timing and processing time of machine OPR control Positioning start signal [Y8 to YF] t1 Pulse output to outside (PULSE) t2 t3 BUSY signal [X8 to XF] Md. 4 Axis operation status Standby Standby OPR t4 Start complete signal [X10 to X17] t5 Machine OPR control operation OPR request flag [ Md. 7 Status : b0] OPR complete flag [ Md. 7 Status : b1] t1 t2 t3 t4 t5 0.3 to 0.5ms 0.
APPENDIX MELSEC-Q (3) Operation timing and processing time of position control Positioning start signal [Y8 toYF] t1 Pulse output to outside (PULSE) t2 t3 BUSY signal [X8 to XF] Md. 4 Axis operation status Standby Standby position control t4 Start complete signal [X10 to X17] t5 Machine OPR control operation Positioning complete signal [X18 to X1F] t6 OPR complete flag [ Md. 7 Status : b1] t1 0.1 to 0.5ms t2 t3 t4 t5 0.
APPENDIX MELSEC-Q (4) Operation timing and processing time of speed-position switching control Positioning start signal [Y8 to YF] t1 Pulse output to outside (PULSE) t2 t3 BUSY signal [X8 to XF] Md. 4 Axis operation status Speed.Position Speed Standby Standby Speed.Position Position t4 Start complete signal [X10 to X17] t5 Speed control t6 Position control Speed-position switching control operation Speed control is exercised until the speed-position switching signal turns ON.
APPENDIX MELSEC-Q (5) Operation timing and processing time of JOG operation ON JOG start signal [Y18 to Y1F] OFF t2 ON BUSY signal [X8 to XF] Md. 4 Axis operation status OFF t1 t3 Standby JOG operation Deceleration (JOG Start OFF) Standby t4 Pulse output to outside (PULSE) JOG operation Positioning complete signal [X18 to X1F] OFF t1 t2 t3 t4 0 to 2.5ms 0 to 2ms 0 to 2ms 0 to 4ms A delay may occur in t1 depending on the operating conditions of the other axes.
APPENDIX MELSEC-Q Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Appendix 3.1 Connection example of QD70P Configure a sequence to turn OFF the MC at alarms and emergency stops.
APPENDIX MELSEC-Q Appendix 3.2 Connection example of QD70P and MR-J2/J2S- A HC-MF, HA-FF series motor Configure a sequence to turn OFF the MC at alarms and emergency stops.
APPENDIX MELSEC-Q Appendix 3.3 Connection example of QD70P Configure a sequence to turn OFF the MC at alarms and emergency stops. NF and MR-C A Regenerative resistor is an external option. C MC L1 Power supply Single-phase 200VAC (A type) or single-phase 100VAC (A1 type) P TE1 L2 U V W E U V W HC-PQ series motor SM MR-C A or MR-C A1 EMG 24VDC Cutoff by servo ON signal OFF alarm signal.
APPENDIX MELSEC-Q Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 4.1 Connection example of QD70P and VEXTA UPD Within 2m 4 VEXTA UPD series QD70P 1 CON1 B4 PULSE F1 PULSE COM1 B3 PULSE R1 B2 PGO1 PGO1 COM B17 B18 24G +24V A1 B1 DOG1 CHG1 COM1-2 Near-point dog B9 Speed-position B11 switching B8 24VDC 2 3 CWCW+ CCWCCW+ H.OFF+ H.OFFTIMING COM O.
APPENDIX MELSEC-Q Appendix 5 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd. Appendix 5.
APPENDIX MELSEC-Q Appendix 6 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 6.
APPENDIX MELSEC-Q Appendix 7 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation and Σ- series Appendix 7.
APPENDIX MELSEC-Q Appendix 8 Comparisons with type QD75 positioning module Model Item Number of control axes Control unit Number of positioning data 2-axes linear interpolation Position 3-axes linear interpolation control interpolation 4-axes linear interpolation function 2-axes circular interpolation ABS system Position INC system control Fixed-feed 1 axis 2-axes linear interpolation Positioning Speed control 3-axes linear control method interpolation 4-axes linear interpolation Speed-position switching
APPENDIX MELSEC-Q Model Item QD70P4 OPR sub function Sub functions Control details change function QD75P1 QD75D1 No QD75P2 QD75D2 QD75P4 QD75D4 OPR retry, OP shift No Electronic gear, backlash compensation, near 3 pass Speed limit, software stroke limit Speed limit, torque limit, software stroke limit, hardware stroke limit Compensation function Control limit function QD70P8 Speed change, override, torque limit value change Speed change Absolute position restoration function Restart Res
APPENDIX MELSEC-Q Comparison of acceleration/deceleration processing function method QD70 (Refer to Section 11.
APPENDIX MELSEC-Q Appendix 9 List of buffer memory addresses Item 0 1 100 101 200 201 300 301 400 401 500 501 600 601 700 701 Pr. 1 Software stroke limit upper limit value 2 3 102 103 202 203 302 303 402 403 502 503 602 603 702 703 Pr. 2 Software stroke limit lower limit value 4 104 204 304 404 504 604 704 Pr. 3 Software stroke limit valid/invalid setting 5 105 205 305 405 505 605 705 Pr.
APPENDIX MELSEC-Q Item 50 150 250 350 450 550 650 750 Cd. 1 Axis error reset 51 151 251 351 451 551 651 751 Cd. 2 OPR request flag OFF request 52 152 252 352 452 552 652 752 Cd. 3 Start method 53 153 253 353 453 553 653 753 Cd. 4 Restart request 54 154 254 354 454 554 654 754 Cd. 5 Speed-position switching request 55 155 255 355 455 555 655 755 Cd. 6 Speed change request 56 57 156 157 256 257 356 357 456 457 556 557 656 657 756 757 Cd.
APPENDIX MELSEC-Q Buffer memory address Item Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Memory area 800 900 1000 1100 1200 1300 1400 1500 Da. 1 Operation pattern 801 901 1001 1101 1201 1301 1401 1501 Da. 2 Control method 802 902 1002 1102 1202 1302 1402 1502 Da. 3 ACC/DEC time 803 903 1003 1103 1203 1303 1403 1503 Da. 4 DEC/STOP time 804 805 904 905 1004 1005 1104 1105 1204 1205 1304 1305 1404 1405 1504 Da.
INDEX Ind [Numeral] 0 speed .......................................................... 4-28 1-axis linear control (ABS) ............................ 9-11 1-axis linear control (INC) ............................. 9-12 Continuous path control..................................9- 5 Continuous positioning control .......................9- 4 Count 1 machine OPR control.......................8-12 Count 2 machine OPR control.......................8-14 Current feed value ..........................................
[I] I/O assignment setting .................................. 5-14 Immediate stop............................................... 9- 6 Incremental system ........................................ 9- 8 Initial setting................................................... 6-11 Initial setting program.................................... 7-12 Input/output interface internal circuit............. 3-11 Input/output interface specifications .............. 3- 7 Installing and uninstalling...............................
Operating environment................................... 6- 4 Operation pattern ........................................... 9- 2 Operation timing and processing time of JOG operation.....................................................App- 5 Operation timing and processing time of fast OPR control .........................................................App- 2 Operation timing and processing time of machine OPR control ................................................
[S] SERIAL ........................................................... 2- 5 Setting data .................................................... 4- 1 Setting items for OPR data ............................ 4- 4 Setting items for parameters.......................... 4- 3 Setting items for positioning data................... 4- 6 Setting the positioning data........................... 9-10 Signal Axis error occurrence signal....................... 3- 5 Axis stop signal...........................................
MEMO Index - 5 Index - 5
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