Mitsubishi Programmable Logic Controller Training Manual QD75 Positioning course(Q-series) Mitsubishi Programmable Logic Controller QD75 Positioning course(Q-series) Training Manual QD75 Positioning course(Q-series) MODEL SCHOOL-Q-QD75-E MODEL CODE 13JW54 SH(NA)-080621ENG-A(0601)MEE HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application
SAFETY PRECAUTIONS (Always read these instructions before the exercise.) When designing the system, always read the relevant manuals and give sufficient consideration to safety. During the exercise, pay full attention to the following points and handle the product correctly. [EXERCISE PRECAUTIONS] WARNING Do not touch the terminals while the power is on to prevent electric shock. When opening the safety cover, turn off the power or conduct a sufficient check of safety before operation.
REVISIONS * The textbook number is given on the bottom left of the back cover. Print Date * Textbook Number Jan., 2006 SH-080621ENG-A First edition Revision This textbook confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this textbook.
CONTENTS CHAPTER1 PRODUCT OUTLINE 1- 1 to 1-18 1.1 Positioning Control.................................................................................................................................. 1- 1 1.1.1 Features of QD75 .......................................................................................................................... 1- 1 1.1.2 Purpose and applications of positioning control............................................................................ 1- 3 1.1.
CHAPTER 4 TYPES AND FUNCTIONS OF SETTING DATA 4- 1 to 4-44 4.1 Parameters ............................................................................................................................................. 4- 2 4.1.1 Basic parameters........................................................................................................................... 4- 2 4.1.2 Detailed parameters ...............................................................................................................
CHAPTER 6 EXERCISE (2) 1-AXIS POSITIONING OPERATION USING SEQUENCE PROGRAM 6- 1 to 6-56 6.1 Positioning System Used in Exercise..................................................................................................... 6- 1 6.2 Practice Question (1) .............................................................................................................................. 6- 2 6.3 Opening Text FD Project..........................................................................................
APPENDICIES App- 1 to App-42 Appendix 1 X-Y-Z Control Demonstration Machine .................................................................................App- 1 Appendix 2 Installing SW D5C-QD75P ..................................................................................................App- 8 Appendix 3 QD75 Maintenance Instructions ...........................................................................................App-12 Appendix 4 Intelligent Function Module Direct Device ..............
INTRODUCTION This textbook is a school textbook that allows you to easily understand the 1-axis and multiple axes control by the positioning module of MELSEC-Q series. For a good understanding of the QD75 positioning module features, this textbook describes the data settings for positioning, the sequence program creating method, the monitoring operation and the test operation by using the QD75D4 positioning module and the Windows version (QD75P, GPPW) software packages for a demonstration machine.
MEMO A-8
CHAPTER1 1.1 1.1.1 PRODUCT OUTLINE Positioning Control Features of QD75 The features of the QD75 are shown below. (1) Availability of modules for one-, two- and four- axis controls (a) There are three models available for both the open collector system pulse output (QD75P1, QD75P2, and QD75P4) and differential driver system pulse output (QD75D1, QD75D2, and QD75D4). An optimum model can be selected by the drive unit type and the number of axes.
(d) Two acceleration/deceleration methods (selectable by users) are provided: automatic trapezoidal acceleration/deceleration and S-curve acceleration/deceleration. (The S-curve acceleration/deceleration control is disabled if stepping motors are used.) (3) Quick startup A positioning operation starts up quickly taking as little as 6 ms to 7 ms. When operation using simultaneous start function (independent operation, interpolation operation) is executed, the axes start without delay.
1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter called "workpiece"), at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.
Compact machining center (ATC magazine positioning) • The ATC tool magazine for a Servomotor Coupling Reduction gear ATC tool magazine Servo amplifier Positioning pin Tool (12 pcs., 20 pcs.) Rotation direction for calling 17 to 20, 1 to 5 Rotation direction for calling 11, 12, 1, 2 or 3 Current value retrieval position Rotation Rotation direction direction
Index table (High-accuracy indexing of angles) • The index table is positioned QD75 at a high accuracy using the 1-axis servo. Digital switch Servo amplifier Index table Detector servomotor Worm gear Inner surface grinder Servomotor Motor Inverter • The grinding of the Workpiece Grinding stone Motor Servo amplifier 220VAC With the fixed grinding stone, the workpiece is fed and ground. Operation panel a. Total feed amount (µm) b. Finishing feed amount (µm) c. Compensation amount (µm) d.
1.1.3 Mechanism of positioning control Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a pulse-generating module.) In the positioning system using the QD75, software packages for the QD75 and the GPP functions and external devices are used as shown in the diagram below. Controlled by a PLC CPU, the QD75 realizes complicated positioning control, by reading in various signals, parameters and positioning data.
(1) Principe of position commands 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 x = No. of pulses required for motor to rotate once Machine (load) side moving distance for each motor rotation *The No. of pulses required for the motor to rotate once is the "encoder resolution" shown in the motor catalog specifications. When this total No.
1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the QD75, is shown below. (1) Positioning system using QD75 PLC CPU Program Positioning module QD75 Forward run pulse train Read, write, etc. Reverse run Drive unit Deviation counter D/A converter Servomotor Speed command Servo amplifier M Setting pulse train data Peripheral devices interface Interface Read, write, etc. PG Feedback pulse Read, write, etc.
(b) Pulse train output from the QD75 1) As shown in Fig. 1.3, the pulse frequency increases as the motor accelerates. The pulses are sparse when the motor starts and more frequent when the motor speed comes close to the target speed. 2) The pulse frequency stabilizes when the motor speed equals the target speed. 3) The QD75 decreases the pulse frequency (sparser pulses) to decelerate the motor before it finally stops the output.
(a) In the system shown in Fig. 1.4, the position detection unit, command pulse frequency, and the deviation counter droop pulse amount are determined as follows: 1) Position detection unit The position detection unit is determined by the worm gear lead, deceleration ratio, and the number of pulse generator's slits. The movement amount per pulse in the QD75 is a position detection unit. The movement amount, therefore, is given as follows: (Number of output pulses) x (Position detection unit).
1.1.5 Communicating signals between QD75 and each module The outline of the signal communication between the QD75 and PLC CPU, peripheral device and drive unit, etc., is shown below.
Flow of the entire processes The positioning control processes, using the QD75, are shown below. Design SW D5C-QD75P QD75 Servo, etc. (1) PLC CPU Installation, wiring Preparation (3) (4) Setting of: · Parameters · Positioning data Creating sequence program for operation (5) Writing setting data (7) (6) Connection check · Test operation Test operation Monitoring GPPW System design (2) Operation 1.2.1 Flow of System Operation Maintenance 1.
The following operations are performed for the processes shown on the previous page. Description 1) Reference Understand the product functions and usage, and related devices and specifications required for positioning control, to determine the operation method and design the system. 2) Install the QD75 onto the base unit, wire the QD75 and external devices (drive unit, etc.), and • QD75 User's Manual (Details) connect the PLC CPU to peripheral devices.
1.2.2 Outline for start The outline for starting each control is shown in the following flowchart. * The following chart is made on the premise that each module installation and required system configuration has been completed.
Setting method : Indicates the sequence program that must be created. Set parameters and positioning data for executing main functions. Write PLC CPU Write QD75 Create sequence program for executing main functions. * Create sequence program by which control signals, such as start signal, are output to QD75. Write · Speed change · Current value changing · Torque limit · Restart, etc. Create a sequence program for the sub functions.
Outline for stop Each control may be stopped in the following cases. (1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When the PLC READY signal is turned OFF. (A stop error such as "parameter error" or "watchdog timer error" occurred.) (4) When an error occurred in the QD75. (5) When control is intentionally stopped by turning on the stop signal from PLC CPU or the stop signal from an external device.
1.2.4 Outline for restart When a stop is caused by a stop factor during position control, the positioning can be restarted from the stop position to the end point specified in the positioning data by using the "restart command". For the case of continuous positioning or continuous path control operation, the positioning is restarted from the stop position shown in the positioning data No. associated with the moment when the movement was stopped.
1.3 Cautions for Using a Stepping Motor Pay attention to the following when using a stepping motor: (1) The S-curve acceleration/deceleration is not available in systems where stepping motors are used. To employ the S-curve acceleration/deceleration, a servomotor is needed. (2) The circular interpolation control is not available in systems where stepping motors are used. (To employ the circular interpolation control, servomotors are needed for both of two controlled axes.
CHAPTER 2 2.1 SYSTEM CONFIGURATION System Overview The entire system including the QD75, a PLC CPU and peripheral devices is shown below. Power supply module *2 PLC CPU Positioning module *1 Servomotor Axis 1 Pulse train Drive unit M Axis 2 Pulse train RS-232C cable or USB cable Drive unit M Connection cable Axis 3 Peripheral devices .......
2.2 Device List The positioning system using the QD75 is composed of the following devices. Product name Type Remarks QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4 Positioning module Software package for QD75 SW QD75 No. of control axes ⋅P ⋅D D5C-QD75P PC9800 series, IBM Peripheral device (Personal computer) PC/AT personal computer Open collector output system Differential driver output system Software package for Windows 95, Windows 98, Windows NT 4.
2.3 Applicable System The QD75 can be used in the following system. (1) Applicable CPU modules The QD 75 is applicable to CPU modules that can be operated in the Q mode. Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU (2) Number of installable modules Within the I/O point range of the PLC CPU, up to 64 modules can be used. (3) Mounting slot The QD 75 can be installed in any slot position in a base unit or extension unit.
CHAPTER 3 3.1 SPECIFICATIONS AND FUNCTIONS Performance Specifications Table 3.1 Performance specifications Model Item No.
Table 3.
3.2 3.2.1 List of Functions QD75 control functions The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows. (1) Main functions 1) OPR control "OPR control" is a function that establishes the start point for carrying out positioning control, and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the OP when the power is turned ON or after positioning stop, to the OP.
Main functions OPR control Sub functions Control registered in QD75 [Positioning start No.] [9001] Machine OPR [9002] Fast OPR OPR retry function OP shift function Backlash compensation function Positioning control Control using "Positioning data" Electronic gear function Near pass function [Positioning start No.
QD75 main functions The outline of the main functions for positioning control with the QD75 is described below. (Refer to QD75 User's Manual for details on each function.) OPR control Main functions Details Mechanically establishes the positioning start point using a zeroing dog or stopper. (Positioning start No. 9001) Positions a target to the OP address (Machine feed value) stored in the QD75 using machine OPR. (Positioning start No.
Main functions Manual control JOG operation Details Outputs a pulse while the JOG start signal is ON. Outputs pulses corresponding to minute movement amount by manual Inching operation operation. (Performs fine adjustment with the JOG start signal.) Manual pulse Outputs pulses sent from the manual pulse generator to servo amplifier. generator operation (Carries out fine adjustment, etc., at the pulse level.
3.2.3 QD75 sub functions and common functions (1) Sub functions The functions that assist positioning control using the QD75 are described below. (Refer to QD75 User's Manual for details on each function.) Sub function Details This function retries the machine OPR with the upper/lower limit Functions OPR retry function characteristic carried out even if the axis is not returned to before the zeroing dog with JOG operation, etc. to machine OPR switches during machine OPR.
Sub function Details This function temporarily stops the operation to confirm the Step function positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next positioning. This function issues a command for a sub work (clamp or drill M code output function stop, tool change, etc.
(2) Common functions The outline of the functions executed as necessary is described below. (Refer to QD75 User's Manual for details on each function.) Common functions Details This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values. Parameter initialization function The following two methods can be used. 1) Method using a sequence program 2) Method using SW D5C-QD75P This function stores the "setting data", currently being executed, into the flash ROM.
3.3 3.3.1 Specifications of Input/Output Signals with PLC CPU List of input/output signals with PLC CPU The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the input signals from the QD75 to the PLC CPU, and device Y refers to the output signals from the PLC CPU to the QD75. Table 3.2 List of Input/output signals Signal direction: QD75 Device No.
3.3.2 Input/output signal timing The following shows the Input/output signal timing at OPR, positioning operation, JOG operation and manual pulse generator operation.
(2) Input/output signal timing of the position control operation Start(Y10,Y11,Y12,Y13) BUSY(X0C,X0D,X0E,X0F) t1 M code ON(X4,X5,X6,X7) (WITH mode) t2 M code OFF request (Axis control data) Start complete (X10,X11,X12,X13) t3 Axis operation status (Axis monitor) Waiting Controlling position Waiting t4 External output pulse (PULSE) Positioning operation t5 * Positioning complete (X14,X15,X16,X17) t6 M code ON(X4,X5,X6,X7) (AFTER mode) t2 M code OFF request (Axis control data) OPR complete flag (Axi
(3) Output signal timing at JOG operation Forward run JOG (Y8,Y0A,Y0C,Y0E) t2 Reverse run JOG (Y9,Y0B,Y0D,Y0F) BUSY(X0C,X0D,X0E,X0F) t1 Axis operation status (Axis monitor) Waiting t4 In JOG operation Waiting t3 External output pulse (PULSE) JOG operation * Positioning complete (X14,X15,X16,X17) Note: If all signals marked with an asterisk (*) are already ON, the signals marked with an asterisk (*) will turn OFF when the positioning start signal turns ON.
3.4 Input/Output Interfaces with External Devices QD75 connector’s signal layout for external devices is shown below. QD75P1 RUN QD75P2 AX1 RUN ERR QD75P4 AX1 AX2 RUN ERR ERR AX1 AX2 AX1 AX3 AX4 AX1 AX2 AX3 AX4 AX1 AX2 Table 3.
3.4.1 Input/output interface signals The input and output signals of input/output interfaces for the QD75P1/QD75D1 are shown below. (1) Input (Common for QD75P1 and QD75D1) External wiring Pin No.
(2) Output (For QD75P1 open collector output) External wiring Pin No. Internal circuit Deviation 1A13 counter clear 1A14 To servo amplifier Signal name 1A15 Need for wiring *1 CLEAR Common CLEAR COM CW PULSE F A phase 1A16 1A17 PULSE PULSE COM CCW PULSE R B phase 1A18 SIGN PULSE COM (3) Output (For QD75D1 differential driver output) External wiring Pin No.
3.5 Buffer Memory The QD75’s buffer memory provides addresses ranging from 0 to 30099. By reading or writing data from or to them using a sequence program, highly precise control is realized. 3.5.1 Buffer memory configuration The following shows the entire configuration of the buffer memory. Table 3.4 Buffer memory configuration Address 0 to Area by use Power on Writing condition Parameter area The parameter value in flash ROM is transferred.
3.5.2 Explanations of frequently-used buffer memory address The following describes the buffer memory addresses which are used in the program of school text. For buffer memories which are not shown below, refer to the Help of SW D5C-DP75P. Table 3.
Table 3.5 Frequently-used buffer memory (Continued) Buffer Memory Address Axis 1 Axis 2 Axis 3 Axis 4 1500 1600 1700 Item 1800 • Set the positioning start No. for executing the positioning 1 to 600: Positioning data No. Positioning start No.
Table 3.5 Frequently-used buffer memory (Continued) Buffer Memory Address Axis 1 Axis 2 Axis 3 Axis 4 Item 1900 Initial value Remarks/Setting range • Write the set details of buffer memory to the flash ROM Flash ROM write request Writing to the flash ROM is executed when the PLC READY signal [Y0] is 0 OFF. 0: Flash ROM write is completed. (set by QD75) 1: Flash ROM write request (set by PLC program) 2004 8004 14004 20004 2005 8005 14005 20005 -1: The command speed setting is omitted.
599 Axis 1 Positioning data No. 1 2 3 Positioning identifier 2020 2000 2010 M code 2001 Dwell time Command speed Positioning address Arc address 2021 600 7980 7990 Up to 600 positioning data items can be set (stored) in the buffer memory address shown on the left for each axis from axis 1 to 4. 7981 7991 One positioning data item is configured of the items shown in the bold box.
CHAPTER 4 TYPES AND FUNCTIONS OF SETTING DATA Setting data refers to data required for positioning control by QD75 and there are eight types of setting data as shown below. (Block start data is not explained.) The "Setting data" can be created for each axis and is stored in the QD75 buffer memory. Some types of the setting data can be changed only while the PLC READY Y0 is OFF. Also note that writing the setting data from a peripheral device can only be executed when the PLC CPU is in the STOP state.
4.1 Parameters Four parameters are available: Basic parameters 1 and 2, detailed parameters 1 and 2. This is basic data determined by the mechanical system to allow the QD75 to perform the positioning control. 4.1.1 Basic parameters Basic parameters are subdivided into basic parameter 1 and 2. Table 4.1 Basic parameter list Setting range Used unit Item Unit setting mm inch degree pulse 0: mm 1: inch 2: degree 3: pulse No.
Unit setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, and pulse. (Example) mm, inch......X-Y table, Conveyor (Select mm or inch depending on the machine specifications.) degree .........Rotating body (360 degrees/rotation) pulse ............X-Y table, Conveyor Each axis unit can be set individually.
When the positioning is carried out by the set "movement amount per pulse", an error sometimes occurs between the command movement amount and the actual movement amount. The QD75 can compensate this error by adjusting the values in No. of pulses per rotation, movement amount per rotation and unit magnification. The method of compensating the errors using the QD75 is shown below. (1) Set the command movement amount (mm) and carry out positioning.
Calculation example Movement amount per pulse....5000 (µm/rev) No. of pulses per rotation ........12000 (pulse/rev) Unit magnification .................... 1 Command movement amount..100000µm Actual movement amount.........100173µm Set the unit magnification which makes the calculation result 6553.5 or less. Unit magnification AL' 5000 = AP' 12000 100173 25043.25 = 100000 60000 2504.3 10 60000 Reduce until the denominator becomes 65535 or less.
Pulse output mode Set the pulse output mode to match the servo amplifier being used. (The QD75 outputs the pulse in negative logic at default.) (1) PLS/SIGN mode Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). • The motor will run in the forward direction when the direction sign is LOW. • The motor will run in the reverse direction when the direction sign is HIGH.
Rotation direction setting Set the relation between the motor rotation direction and the current value address increment/decrement. QD75 Forward run pulse M Reverse run pulse Address increment/decrement Set value Increase/decrease Current value Current value increase decrease 0 1 1 0 Forward Output pulse run pulse Reverse run pulse Figure 4.
Bias speed at start The bias speed at start is a minimum speed required for ensuring the smooth start of the motor, especially when a stepping motor is used. V Speed limit value Positioning speed, OPR speed, JOG speed Movement when setting the bias speed at start Bias speed at start t Acceleration time Deceleration time Figure 4.3 Bias speed at start (1) This setting is valid for the OPR, positioning and JOG operations. (2) If not using this setting, set it to "0".
Acceleration time/Deceleration time Set how long the machine takes to reach the speed limit value, specified in the basic parameter (2), from its start. Speed limit value Speed Positioning speed Time Actual acceleration time Set acceleration time Actual deceleration time Set deceleration time Figure 4.4 Acceleration/deceleration time (1) If the positioning speed is set to lower than the parameter-defined speed limit value, the actual acceleration/deceleration time will be proportionally short.
4.1.2 Detailed parameters The detailed parameters are subdivided into detailed parameter 1 and 2. Table 4.2 Detailed parameters list Setting range Used unit Item Backlash compensation amount mm inch degree pulse 0 to 6553.5µm 0 to 0.65535inch 0 to 0.65535degree 0 to 65535pulse Initial value 0 Software stroke limit upper limit value -214748364.8 to -21474.83648 to 0 to -2147483648 to 214748 214748364.7µm 21474.83647inch 359.
Table 4.2 Detailed parameters list (continued) Setting range Used unit Item mm inch degree pulse Initial value 0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.
Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. Software stroke limit lower limit value Set the lower limit for the machine's movement range during positioning control. (However, the stroke limit value is ignored during the JOG operation.) Software stroke limit lower limit Emergency stop limit switch Software stroke limit upper limit Emergency stop limit switch (Machine movement range) OP Figure 4.
Torque limit setting value The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, the control is performed with the set torque limit value. Usage (1) Limitation for pulse train output type (a) Wiring for a D/A conversion module and wiring between a D/A conversion module and drive unit must be made. (b) A drive unit that can issue the torque limit command with the analog voltage is required.
AFTER mode ... An M code is output and the M code ON signal is turned ON when positioning operation completes. Positioning start BUSY M code ON signal (X4,X5,X6,X7) M code OFF request (1504,1604,1704,1804) M code m1 * m2 * Positioning Operation pattern 01 (continuous) 00 (end) *: m1 and m2 indicate set M codes. Note: If the AFTER mode is used with speed control, an M code will not be output and the M code ON signal will not be turned ON.
Interpolation speed designation method When carrying out the linear interpolation/circular interpolation, select which speed to designate, the composite speed or reference axis speed. • The composite speed designates the movement speed of the control target, and the speed of each axis is calculated by the QD75. • The reference axis speed designates the axis speed set for the reference axis, and the speed for the other axis carrying out interpolation is calculated by the QD75.
S-curve ratio (a) Set the S-curve ratio (1 to 100%) for carrying out the S-curve acceleration/deceleration processing. (b) The S-curve ratio indicates where to draw the acceleration/deceleration curve using a Sin curve as shown below. (Example) A Positioning speed B B/2 V B/2 t When S-curve ratio is 100% V Positioning speed sin curve S-curve ratio = B/A 100% b a b/a=0.
Positioning complete signal output time (a) Set the output time of "positioning complete signal (X14, X15, X16, X17)" that is output from the QD75. Positioning completion refers to a state where the specified dwell time has passed after the QD75 had terminated the output.
(2) In the condition that the positioning pattern is set to "continuous positioning" and the set time of the positioning complete signal is shorter than the next positioning operation time, the positioning complete signal turns ON when the next data No. starts operation after the previous dwell time has passed. It turns OFF when the set time has elapsed.
Allowable circular interpolation error width (a) With the circular interpolation control using the center point designation, the arc path calculated with the start point address and center point address and the end point address may deviate. (b) With the allowable circular interpolation error width, the allowable error range of the calculated arc path and end point address can be set.
4.2 OPR Parameters The OPR parameters consist of the basic parameters and detailed parameters. 4.2.1 OPR basic parameters (Unchangeable during PLC CPU READY) Table 4.
(2) Stopper method (1) (By dwell time elapse) To use this method, caution must be used on the strain to a mechanical system, torque limit settings and OPR dwell time settings. V OPR speed Movement amount after near-point dog ON Creep speed t Range to forcibly stop the servomotor rotation with the stopper.
(4) Stopper method (3) (Without zeroing dogs) To use this method, caution must be used on the strain to a mechanical system and torque limit settings. However, a zeroing dog is not required. V Creep speed Stop with stopper t Zero signal of external switch Torque limit valid range Torque limit (5) Count method (1) (With zero signals) This method does not strain a mechanical system and features high precision.
(6) Count method (2) (Without zero signals) This method does not strain a mechanical system or require zero signals, however it also does not provide high stopping accuracy. V OPR speed Movement amount after near-point dog ON Creep speed t Set in OPR Movement amount after near-point dog ON detailed parameters The near-point dog must turn OFF at a sufficient distance away from the OP position. ON Near-point dog OFF OPR direction Set the direction in which the machine OPR will go at start .
OP address After the completion of OPR, the current position is set as the specified address. This newly specified address can be the reference value of absolute positioning. This OP address is stored in "current feed value" and "machine feed value" when the OPR is completed. OPR speed Set the speed of OPR. Set the OPR speed within the following range.
OPR retry (a) This function retries the machine OPR with the upper/lower limit switches during the machine OPR. This allows the machine OPR to be carried out even if the axis is not returned to before the zeroing dog with JOG operation, etc. (b) When the OPR retry function is validated and the machine OPR is started, the axis will move in the OPR direction.
4.2.2 OPR detailed parameters (Unchangeable during PLC CPU READY) Table 4.4 OPR detailed parameters Setting range Unit Item mm OPR dwell time inch Initial value degree pulse 0 to 65535ms 0 Setting for the movement amount after near-point dog ON 0 to 214748364.7µm 0 to 21474.83647inch OPR acceleration time selection Select acceleration time 0 to 3 from basic parameters 2 and detailed parameters 2.
OP shift amount from zero The OP shift function is used to compensate the OP position obtained by the OPR. With the OP shift function, the OP position can be shifted to a point between zero points or point far from zero point detected. OPR direction When OP shift amount is positive Shift point Shift point Start point Shift after deviation counter clear is canceled When OP shift amount is negative Near-point dog Zero signal Figure 4.
4.3 Positioning Data (Changeable during PLC CPU READY) (a) The positioning data is used for positioning operation (excluding the OPR, JOG operation and manual pulse generator operation), consisting of types of data shown below. (b) Choose a reference axis and axis to be interpolated between axes 1 and 4 when interpolation control, such as 2-axis linear interpolation, 2-axis linear fixed-feed, and 2-axis circular interpolation, is performed to 2 axes.
Table 4.5 Positioning data (Continued) Setting range Unit Item mm inch Initial value degree pulse Axis to be interpolated 0: Axis1 1: Axis 2 2: Axis 3 3: Axis 4 Acceleration time No. Select acceleration time 0 to 3 from the basic parameters 2 and detailed parameters 2. 0 Deceleration time No. Select deceleration time 0 to 3 from the basic parameters 2 and detailed parameters 2. 0 Positioning Absolute address -214748364.8 to -21474.83648 to 0 to -2147483648 to 214748364.7µm 21474.
Operation pattern The operation pattern designates whether positioning of a certain data No. is to be completed with just that data, or whether the positioning is to be carried out with the next data No. in succession. Operation pattern Positioning ................................................................................................Complete complete Positioning continued Continuous positioning with one start signal ............... Continued Continuous path positioning with speed change.........
(3) Continuous path positioning with speed change.................... Positioning is carried out successively in order of data Nos. with one start signal. This positioning control enables speed change during positioning. Start (Y10) Start complete (X10) BUSY(X0C) Path Path V1 V2 Continuous Complete V3 Dwell time V4 Dwell time V1 and V4 indicate that the positioning is reversed. Figure 4.13 Pattern [Path] Control system Set the "control system" for carrying out positioning control.
Positioning address (a) Absolute (ABS) system, current value changing • The setting value (end point address) for the ABS system and current value changing is set with an absolute address (address from OP). Stop position (Positioning start address) -1000 1000 3000 Movement amount:2000 Movement amount:2000 (b) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 • The movement amount (with a sign) for the INC system is set. • Movement direction is specified with a sign.
Command speed Set the command speed for positioning. (1) If the set command speed exceeds the speed limit value, positioning will be carried out at the speed limit value. (2) If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control.
4.3.1 Linear control Control by ABS linear 1 to 4 (absolute system) (1) Positioning control is carried out from the current stop address (address before positioning), that is specified based on the OP, to the designated address. (2) The movement direction is determined by the current stop address and designated address. Item Need of setting in interpolation control Reference axis Interpolation axis Operation pattern Control system Axis to be interpolated Acceleration time No. Deceleration time No.
4.3.2 Fixed-feed Control by fixed feed 1 to 4 (increment system) (1) The positioning control is carried out for the designated movement amount treating the current stop position as 0. (2) The movement direction is determined by the movement amount sign. • When movement direction is positive ... Positioning in the positive direction (address increment direction) • When movement direction is negative ..
4.3.3 Circular interpolation control with sub point designated 2-axis control with ABS circular interpolation (absolute system) (1) Circular interpolation is curried out from the current address (address before positioning), which is specified based on the OP, to the end point address through the designated sub point address.
4.3.4 Circular interpolation control with center point designated 2-axis control with ABS circular in right or left direction (absolute system) (1) Circular interpolation is carried out from the current stop position (address before positioning), which is specified based on the OP and works as a start point in this control, to the end point in an arc movement.
4.3.5 Speed control Speed control in forward and reverse direction (1) After startup, the servomotor continues running at a designated speed until the stop command is input. (2) The current feed value remains 0. (The machine feed value is incremented.
4.3.
4.3.7 Position-speed switching control 1-axis control with forward run position/speed switching and reverse run position/speed switching (increment system).
4.3.8 NOP instruction Instruction to execute nothing (1) The NOP instruction is used for the control system that executes nothing. When the NOP instruction is selected as the control system, all settings (positioning address, command speed, etc.) other than the control system are invalid. (2) The positioning data No. to which the NOP instruction is set is skipped, without any processing, to the operation for the next positioning data No. However, when the NOP instruction is set to the positioning data No.
4.3.9 Current value changing Changing current value of stop position (1) Change the [Current feed data] to a desired value using the current value changing instruction at a stop or during the continuous positioning control. (The current value changing cannot be executed during the continuous path control.) (2) Set a new value in the [Positioning address] column. (3) When this instruction is executed, the current feed value is changed, and the machine feed value is kept.
4.3.10 JUMP instruction Jumping to data No. by the JUMP instruction during continuous/path operation (1) The JUMP instruction is used to perform "unconditional JUMP" or "conditional JUMP" to the positioning data No. which is designated during the continuous path control or continuous positioning control. • Unconditional JUMP : When no execution conditions (M code column) are set for the JUMP instruction, executing this instruction unconditionally makes a jump.
4.3.11 LOOP to LEND control Repeat control by repetition (LOOP to LEND) (1) The LOOP to LEND loop is repeated for the set number of cycles. (2) The repeat cycles are set to 1 to 65535 in the M code column. (3) When LOOP is selected as the control system, settings other than the repeat cycles (M code column) are ignored. (4) When LEND is selected as the control system, the settings of other items are ignored.
CHAPTER 5 5.
(2) Wiring and preparation Q61P-A1 Q02HCPU QX42 QY42P Q64 Q62 QD75D4 I/O panel Power supply SW D5C-QD75P SW D5C-GPPW QD75 drive module connection cable RS-232C cable SON AHG STOP AUX EMG : Servo ON signal (Servo amplifier) : External start/switch signal (QD75D4) : External stop signal (QD75D4) : Unused : Emergency stop signal (Servo amplifier) POWER Servo amplifier AUX STOP CHG SON EMG Servomotor 1-axis demonstration machine IMPORTANT Be sure to turn the power off before replacing the mod
5.2 5.2.1 Starting Up and Exiting SW D5C-QD75P Start up operation This section provides explanations from how to start up the SW D5C-QD75P software package for QD75 positioning to how to create a new project. "All Programs" 1) Click "Start" of Windows "MELSOFT Application" "GX Configurator-QP". 2) SW D5C-QD75P starts up. 3) Click "Project" "New project". 4) Confirm that "QD75D4" is set for Module type. 5) Click the OK button to start the project.
5.2.2 Exit operation This section explains how to exit SW D5C-QD75P. 1) Click "Project" "Exit" menu. • If no project is opened, the operation is completed here. • If the settings of the opened project have not been changed, click the "Yes" button on the dialog box asking whether to close the project. • If the settings of the opened project have been changed, go to step 2). 2) The dialog box appears asking whether to save the project. Click the Yes button to save and terminate the project.
5.3 Specifying Connection Target QD75 SW D5C-QD75P accesses the QD75 via PLC CPUs, serial communication modules, etc. Make the settings for the interfaces located midway along the communication path and interfaces on the peripheral device side to perform the online operations (data write/read/monitor/test and so on). 1) Click the "Online" "Connection setup". 2) Change the following items on the Connection setup dialog box. "Transmission speed" 115.2 kbps "I/O adr." A0 3) Click the OK button.
5.4 Initialization and Connection Check Using SW D5C-QD75P When the positioning system is changed or a new system is installed, initialize the QD75 and check the I/O signals from the drive module and the external devices. Also, execute the JOG operation in the test mode to check the rotation direction of the servo motor and the ON/OFF of zeroing and zero point. Note) Make the PLC CPU to the "STOP" status. 1) Double-click the project name to be checked from the project tool bar.
From the previous page 6) The dialog box appears asking whether to move to the online mode (move to the test mode) and to initialize the QD75. Click the Initialize button to initialize the QD75 and then move to the test mode. Parameters and positioning data are not initialized in this process. The internal data of the QD75 module is initialized. 7) The dialog box appears confirming that the QD75 has been successfully changed to TEST MODE. Click the OK button.
5.5 Positioning Exercise Using Test Operation Function Project name TEST Set the parameters, OPR parameters and positioning data using SW D5C-QD75P and write them to the QD75. Perform the test operation and monitoring from the peripheral device in the test mode. Procedure Basic parameter and OPR parameter setting .......... Section 5.5.1 Positioning data setting .......... Section 5.5.2 Simulation .......... Section 5.5.3 Data write to QD75 .......... Section 5.5.
5.5.1 Basic parameter and OPR basic parameter setting Set the parameters according to the devices to be used and the control details. In the procedure below, the initial values (default values) are used except some items. 1) Double-click the "Edit" icon. 2) Double-click the "Parameter data" icon. 3) The parameter edit window appears. Enter "20000" in the Axis #1 column of Basic parameter2 "Speed limit". 4) Scroll down the parameter edit window and set the Axis #1 OPR basic parameter as follows.
5.5.2 Positioning data setting Set the positioning data. 1) Double-click the "Edit" icon. 2) Double-click the "Positioning data Axis #1" icon. 3) The positioning data axis #1 edit window appears. Double-click Pattern, CTRL method, ACC (ms) and DEC (ms) to select a desired item from their lists. Enter a setting value directly for other items. No. Axis to be Acceleration Deceleration Operation Control system interpolated time No. time No.
5.5.3 Simulation Check if the set details of the operation pattern, control method, address and command speed are correct using the simulation (virtual positioning) function. 1) Click "Edit” "Simulation" with the Positioning data Axis #1 displayed. 2) The simulation window appears. Select "1" for "Positioning Start No.". 3) The simulation result of the positioning data No.1 appears. 4) To see the simulation of other positioning data, change "Positioning start No." to "2", "3", and so on.
5.5.4 Data write to QD75 Write the set parameters, OPR parameters and positioning data to the QD75. (For the writing, a data type and range can be designated per axis.) Note) Set the PLC CPU to the "STOP" status. 1) Click "Online" "Write to module". 2) Write to module dialog box appears. Put a checkmark in the check boxes of "Positioning data", "Parameter data" and "Flash ROM write". 3) Click the OK the QD75.
5.5.5 Test operation and monitoring To check how the QD75 operates, perform the OPR test and the test operation using the stored positioning data. Also, monitor the axis status during operation and set details. . [OPR and Positioning test operation] 1) Click "Online" "Test" "Test On/Off". 2) The dialog box appears asking whether to close all windows currently open. Click the Yes button. 3) Remove the checkmark of "Agreement with Module data" on the Test mode set dialog box, then click the OK button.
From the previous page 5) Click toolbar. (Axis #1 operation test) on the 6) The Axis #1 TEST MODE setting dialog box appears. Click the "OPR" tab. 7) Confirm that "Machine OPR" is selected for "OPR type", and then click the REQ OPR button. 8) When "Current feed value" of Monitor item becomes "0", this means the OPR test has completed. 9) From here, perform the test operation on the next positioning data. Click the "Position start" tab.
From the previous page 10) Confirm that "Start type" is set to "Positioning start" and "Data No." to "1", and then click the Start button. When "Current feed value" of Monitor item becomes "70000", this means the 1-axis linear control test has completed. 11) Click the Close button on the Axis #1 TEST MODE setting dialog box to terminate the test mode. 12) Click "Online" "Test" "Test On/Off". 13) The dialog box appears asking whether to terminate the test mode. Click the Yes button.
[Monitoring operation] 1) Double-click the "Monitor" "Operation monitor" icon on the project toolbar. 2) The operation monitor window appears. To display the feed present value, axis feed speed, axis status and positioning data being executed of each axis, click the Monitor Start button. To monitor the details of the settings and status of the QD75, click the [History] / [Signal] / [#1 Operation status] to [#4 Operation status] buttons on the operation monitor window.
5.6 Search Method of Error Code and Warning Code Using Help The example of search operation using the SQ D5C-QD75P is shown below. In this example, the error code 102 is searched. Details of other error codes and warning codes can be searched using the same method. 1) Click "Help" "Error/Warning/List of Buffer memory". 2) The Help Topics dialog box appears. Double-click "Error code List". 3) Double-click "No. 100-199".
From the previous page 4) Double-click "[Number: 102]Drive unit READY OFF". 5) The details of "[Error code 102] Drive unit READY OFF" and the remedy are displayed. REMARK The lists of [Warning code], [I/O signal] and [Buffer memory address] can be viewed by the same operation.
CHAPTER 6 EXERCISE (2) 1-AXIS POSITIONING OPERATION USING SEQUENCE PROGRAM The OPR and positioning operation are carried out by the sequence program of the PLC CPU. 6.
6.2 Practice Question (1) Fulfill the basic parameter 1 of positioning system used in the exercise.
6.3 Opening Text FD Project Project name X This section explains how to open the project of SW D5C-QD75P saved in the text FD. Insert the text FD into FDD. 1) Click [Project] [Open Project]. 2) The dialog box to open the project appears. Enter as follows. • [Project save path] "A: QD75WIN QD75P" • [Project name] "X" 3) Click the Open button. 4) The project name and model name appear on the project toolbar. [Option] to display the Option 5) Click [Tool] setting dialog box.
The parameter and positioning data are already selected in the project "X" of text FD. The items changed from the default settings are shown below. Double-clicking the icon displays the parameter edit window. The items that differ from the default settings in the parameters and OPR parameters are shown below.
M code ON when a positioning operation completes 6-5
3000r/min, 10mm/rev (Output pulse 400kpulse/s) 6-6
Address decrement direction 1000mm/min 300mm/min OPR is available even if it stops between lower limit and DOG 6-7
icon displays the positioning Double-clicking the data edit window (1 axis). Note) The positioning data comment field is not shown because it does not require settings. No.2 No.1 No.3 No.4 No.5 (Standby point) 0mm (OP) 25mm 50mm 75mm 100mm No.
6.4 Saving Project to User FD This section explains how to write and save the currently opened project data to the user FD. Insert the formatted user FD into FDD (A drive). 1) Click [Project] [Save as Project]. 2) Click the Reference button in the "Save as project" dialog box to reference the A drive. 3) Select "A:" in the "Project tree view" dialog box and click the New button. 4) Enter "QD75WIN" in the "New directory create" dialog box. 5) Click the OK button.
From the previous page 7) Enter "QD75P" in the "New directory create" dialog box. 8) Click the OK button. 9) The newly created directory is displayed in the "Project tree view" dialog box. 10) Click the OK button. 11) Enter "TEST" in the "Project name" area of the "Save as project" dialog box and click the OK button.
6.5 Writing Data to QD75 This section explains how to write the project data read from the text FD to the QD75. Refer to Section 5.5.4 for the basic write operation to the QD75. The example below is to explain the method of writing data only to the required range. 1) Click the [Online] [Write to module [QD75P/QD75D4]] menu. 2) Check the data type to be written in the "Main" tab. "Positioning data", "Parameter data" and "Flash ROM write" are selected as target data types in this case.
6.6 6.6.1 Starting Up and Exiting GPPW Startup operation This section provides explanations from how to start up the SW D5C-GPPW software package to how to create a new project. 1) Click [Start] of Windows [All Programs] [MELSOFT Application] [GX Developer]. 2) GPPW starts up. 3) Click the [Project] [New project] menu. 4) The "New Project" dialog box appears. Set as follows: • [PLC series] "QCPU (Q mode)" • [PLC type] "Q02(H)" 5) Click the OK button to set the project PLC type to Q02(H)CPU.
6.6.2 Exit operation This section explains how to exit GPPW and save the project. 1) Click the [Project] [Exit GPPW Developer] menu. If the project contents have not been changed, the operation is completed here. 2) The dialog box appears asking whether to save the project. Click the Yes button to save the project. 3) If the project is a new project, the "Save the project with a new name" dialog box appears. 4) Enter "Drive/Path" and "Project name". If required, enter "Title". 5) Click the Save button.
6.7 Creating Positioning Sequence Program 1) Condition for sequence program For the system using the QD75, always set the following program. (QCPU RUN) SM1039 Interlock Y0A0 X0A0 PLC READY QD75 READY Provide the start interlock. X0A8 Axis 1 error detection Sequence program for QD75 X0A9 Axis 2 error detection X0AA Axis 3 error detection X0AB Axis 4 error detection Figure 6.
6.8 Device Assignment Used in Exercise X0................... OPR command X1................... Stop command X2................... Standby point start X3................... Designated positioning data No. start X4................... Forward run JOG start X5................... Reverse run JOG start Digital switch X3F to Digital switch X30 0 0 0 0 X6................... Inching operation X2F to X20 0 0 0 0 X7................... Setting data registration X8...................
The following shows how to add the intelligent function module parameters to a GPPW project, using the auto refresh setting of SW D5C-QD75P. 1) Click [Tool] [Intelligent function utility]. 2) The GPPW project name dialog box appears. Enter "C: MELSEC GPPW" in [Project save path] and "X" in [Project name] and click the Open button. Note) When the message "Cannot startup the project. The project has already been in use on GPPW." appears, close the project "X" on the GPPW side.
From the previous page 4) The "Auto refresh setting" dialog box appears. Make the settings as follows: Feed present value (Axis #1): D100 Machine feed value (Axis #1): D102 Feed speed (Axis #1): D104 Error No. (Axis #1): D106 Warning No. (Axis #1): D107 Enable M code (Axis #1): D108 Busy (Axis #1): D109 After the settings are made, click the End setup button. 5) Click the Exit button. 6) The dialog box appears asking whether to save the parameter. Click the Yes button.
6.9 Simple Sequence Program Project name SM1039(RUN, Always ON after 1 scan) X0 Y0A0 M201 (Start (Start flag) command) M200 X1 PLS M200 SET M201 A PLC READY Start flag set (Stop) Machine OPR M201 MOVP K9001 D202 Start No. setting System area ZP.PSTRT1 "U0A" D200 M202 Completion device Axis 1 start M202 M203 (Start (Abnormal completion) completion) M204 M221 (Start flag) (Start command) M220 X1 RST M201 PLS M204 PLS M220 SET M221 Start flag reset Start flag reset (Stop) No.
Operation of peripheral devices Create the sequence program above and write to the PLC CPU. 1) Start GPPW on the peripheral device. 2) Create a new circuit. 3) Convert the circuit with (the [Convert] [Convert] menu). 4) Write the parameter and the sequence program to the PLC CPU with [Online] [Write to PLC] menu). (the PLC CPU is STOP (Click the Execute Param+Prog button on the PLC write dialog box, then click the button.) 5) Reset the PLC CPU once, and then put into the RUN state.
6.10 Practice Question (2) JOG Operation • Turning X4 ON carries out the axis 1 forward run JOG. • Turning X5 ON carries out the axis 1 reverse run JOG. • The JOG speed is 1000.00mm/min. • Directly transfer the JOG speed into the buffer memory of the QD75 by the DMOV command from the intelligent function module direct device. • Turn ON the output Y of the JOG start. • Fill in the .
MEMO 6 - 21
Practice question (2) Answer Project name X4(Axis 1 forward run JOG) DMOVP K100000 U0A\ G1518 Y0A8 X5(Axis 1 reverse run JOG) DMOVP K100000 U0A\ G1518 Y0A9 B Axis 1 JOG speed 1000 mm/min Axis 1 forward run JOG Axis 1 JOG speed 1000 mm/min Axis 1 reverse run JOG Reference: When designating the JOG speed by the sequence program, designate -2 100 times as much as the actual value since the unit is [ 10 mm/min]. 6.11 Sample Sequence Program Practice with the sequence program used as a sample.
6.11.1 PLC READY Project name X Always set this program. SM1039 (RUN, Always ON after 1 scan) M10 As the READY output condition, provide an interlock if needed. Y0A0 6.11.
6.11.3 Current value read of axis 1 Display the No. of pulses that is output by the QD75 as a current value. With SM1030, the display of the current value varies every 0.1s. X0A0 SM1030(0.1s clock) D<= K0 D100 DBCD D100 (READY) Current value K8Y40 display of axis 1 (0.1μm unit) Demonstration machine operation Displays the error code of axis 1 that is read from the buffer memory "800" by the automatic refresh, in BCD code on the digital display. Unit is 0.1 m.
6.11.4 JOG operation of axis 1 Write the program that makes the machine perform forward run JOG while X4 is ON and reverse run JOG while X5 is ON. (Axis 1 forward run JOG command) X4 Y0A9 Inter lock DMOVP K100000 U0A\ G1518 Axis 1 JOG speed 1000 mm/min MOVP K0 U0A\ G1517 Inching movement amount 0.0 m MOVP K1000 U0A\ G1517 Inching movement amount 100.
6.11.5 OPR of axis 1 "Retry OPR" is set in "OPR retry" of the OPR basic parameter, therefore when the machine is at a stop inside the DOG, it automatically gets out of the DOG and conducts OPR. (OPR command) X0 M201 (Start (Start flag) command) M200 X1 PLS M200 SET M201 Start flag set (Stop) M201 MOVP K9001 D202 Machine OPR Start No. setting System area ZP.
6.11.6 Start of positioning data Turning X2 ON directly designates the data No.6 and starts it. Turning X3 ON indirectly designates the positioning data No. that was set in 3 digits of digital switch X20 to X2B in D232, and starts it. (Start to standby point) X2 M221 (Start (Start flag) command) M220 X1 PLS M220 SET M221 Start flag set (Stop) No.6 M221 MOVP K6 D222 Start No. setting System area ZP.
2000 mm/min No.1 0 No.2 25 No.3 75 50 No.4 No.5 130 100 150(mm) No.6 No. Operation pattern Control system Axis to be Acceleration Deceleration interpolated time No. time No. Command Dwell Positioning Positioning Arc speed time M code data address address [mm/min] [ms] comment [ m] [ m] 1 0: Completed 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 0 2 0: Completed 1: ABS linear 1 0:100 0:100 75000.0 0.0 2000.
6.11.7 Multiple points continuous positioning In this positioning system, the desired multiple points are positioned by starting just one positioning data. Set the positioning data pattern to "1" (continuous positioning control). (The sequence program needs not be changed.) 5000 mm/min 4000 mm/min 3000 mm/min 2000 mm/min No.14 1000 mm/min No.11 No.13 No.12 0 25 50 No.15 75 130 100 150(mm) No.16 2000 mm/min No.
6.11.8 Multiple points continuous positioning by speed switching In this positioning system, by starting just one positioning data, the machine automatically changes its movement speed at the desired addresses on the movement path, and moves through the multiple points continuously. Set the positioning data pattern to "2" (continuous path control). (The sequence program needs not be changed.) 5000 mm/min 4000 mm/min 3000 mm/min No.23 2000 mm/min No.24 1000 mm/min No.
6.11.9 Stop in operation Turn the axis 1 stop (Y0A4) ON to stop during the BUSY. X1(Stop command) Y0A4 Axis 1 stop Y71 Lamp Demonstration machine operation 1) Turn X1 ON while in operation. REMARK To stop while in operation can also be carried out by wiring the external switch to the external STOP signal, which enables a quick stop regardless of the scan time of the PLC CPU.
6.11.10 Restart after stopping If the restart needs to be continued when the stop X1 turns ON during the continuous positioning of data No.11 to No.16 or data No.21 to No.26, write "1" to the buffer memory 1503 (start of restart). Same as the one in Section 6.11.7. (Restart command) X0AC X9 (BUSY) Y0B0 MOVP K1 (Start) U0A\ G1503 For restart, it is not needed to turn ON the positioning start flag (Y0B0).
6.11.11 Speed change during positioning Speed can be changed during the BUSY. Write the speed in the unit of 0.01mm/min to the axis 1 buffer memory 1514, 1515. (If the speed is set to 0, stop is enabled.) Next, write "1" to the speed change request buffer memory 1516 and execute the speed change. 3000 Forward run 2000 1500 mm/min No.5 Reverse run 150 mm 25 mm No.6 1500 2000 mm/min 3000 Speed is changed into 3000. Speed is changed into 1500.
6.11.12 Address designation by digital switch Changes the positioning address of positioning data No.31 (buffer memory is 2306, 2307) designating in the unit of 1mm. 2000 mm/min 0 (Œ ´ _ “ ) 50 150(mm) 100 No. Operation pattern Control system Axis to be Acceleration Deceleration interpolated time No. time No.
6.11.13 Teaching playback Move to the position to be registered by the JOG operation (or manual pulse generator operation) and carry out the registration operation. Once the position is registered, the positioning to the registered position is performed by the start switch any number of times. No. Operation pattern Control system Axis to be Acceleration Deceleration interpolated time No. time No.
Demonstration machine operation Repeat 1) Turn X4 ON, operate the forward run JOG, and turn X4 OFF at the desired position. (Jot down the current value address ) 2) Set the digital switch. X3F to X30 0 0 0 0 Arbitrary X2F to X20 0 0 3 5 Setting of positioning data No. 3) Turning X7 ON carries out teaching the current value to the data No.35. 4) Turn X2 ON and move to the standby point. 5) Turning X3 ON executes the data No.35.
6.11.14 Speed/movement amount designation by digital switch Combine the absolute and incremental positioning and designate the speed and move amount of the incremental part by the digital switch. 2000 mm/min X2 is ON Speed V No.41 0 mm (OP) No.42 330 mm/min 25 mm Movement amount P (End point) 50 mm X2 is ON 2000 mm/min No. Operation pattern Control system Axis to be Acceleration Deceleration interpolated time No. time No.
Demonstration machine operation Repeat 1) Turn X2 ON and return to the standby point of 25mm. 2) Set the digital switch and write the speed V to the buffer memory by X7. X3F to X30 0 4 4 4 Speed V (2414, 2417) X2F to X20 0 0 4 1 mm/min Turn X8 OFF. Turn X7 ON. Setting of positioning data No. Set between 0044 to 9999 3) Set the digital switch and write the address P to the buffer memory by X8 and X7. X3F Movement amount P (2416, 2417) to X30 0 0 4 4 mm Set between 0001 to 0100.
6.11.15 Fixed-feed Feed again after feeding a certain amount by the incremental system to carry out "cut" or "drilling". No.51 0 This operation is repeated. 25 150 mm Upper limit Set the current value to 20 mm. No. Operation pattern Control system Axis to be Acceleration Deceleration interpolated time No. time No.
6.11.16 Speed control Speed control is used to move endlessly in the same direction; for example, a conveyer or a carrying machine. Normally, in speed control, the current value does not change regardless of the forward run or the reverse run, and it does not stop until the stop instruction comes. However, if "1" is set to the current feed value update request command in the detailed parameter (1) (buffer memory address 30/180/330/480), the current value increases or decreases.
Demonstration machine operation Repeat 1) Turn X0 ON to carry out OPR. 2) Set the digital switch to 61. X3F to X30 0 0 0 0 X2F to X20 0 0 6 1 Setting of positioning data No. Turn X3 ON for the forward run. The axis-1 current value of the SW remains "0" and is not incremented. Confirm that the speed is displayed. D5C-QD75P operation monitor screen Turn X1 ON during the operation to stop the operation. 3) Set the digital switch to 62.
6.11.17 When external command signal is used After creating the positioning data and writing the start data No. to the buffer memory 1500, "0" needs be written to the external command signal function selection (buffer memory address 62) and "1" to the external command signal valid (buffer memory address 1505) to start the data by the input of the external command signal. No. Operation pattern Control systems Axis to be Acceleration Deceleration interpolated time No. time No.
6.11.18 Speed position switching control by external command signal Inputting the external switching signal (CHG signal) during speed control carries out the positioning for the set movement amount. 1000 mm/min No.81 External command (1-axis demonstration command) signal ON Forward run 0 No.
(Start to setting data No.) Y0B0 X3 PLS M3 (Start) M3 X0AC BIN K3X20 D10 = K81 D10 MOVP K2 U0A\ G62 = K82 D10 MOVP K1 U0A\ G1505 MOVP K1 U0A\ G1528 (BUSY) Digital switch between X20 to X2B Selects the external command signal for the speedposition switching Enables the external command signal Enables the speed-position switching Positioning start data No.
6.11.19 Positioning using M code For an M code, numbers of 0 to 65535 are used for each axis and added to the positioning data. Using the 'M code ON signal output timing' of detailed parameter (1) (buffer memory 27/177/327/477), select when to detect the signal, at the start of "WITH mode [0]" or at the completion of "AFTER mode (1)”. (For this time, "AFTER mode [1]" is set by the parameter.
No. Operation pattern Control systems Axis to be Acceleration Deceleration interpolated time No. time No. Positioning Positioning Arc Command Dwell time M code data address address speed comment [ m] [ m] [mm/min] [ms] 91 1: Continuous 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 500 92 1: Continuous 1: ABS linear 1 0:100 0:100 75000.0 0.0 1000.00 500 3 93 1: Continuous 1: ABS linear 1 0:100 0:100 100000.0 0.0 5000.
X0A4 SM1032(1 second clock) Y73 M code detection K60 T1 K1 D108 = M code "1" detection BCD T1 BCD T2 BCD T1 T2 T3 6 - 47 4.
Demonstration machine operation 1) Click button. Monitor Start button Comment 2) Carry out the circuit monitor of GPPW. (the [Online] [Monitor] [Monitor mode] menu.) Click 3) Turn X0 ON to carry out OPR. 4) Start the positioning data No.91. Repeat X3F to X30 0 0 0 0 X2F to X20 0 0 9 1 Setting of positioning data No. Turn X3 ON. Data from No.91 to 96 are executed consecutively, and weld time is displayed on the digital displays from Y60 to Y6F.
6.11.20 Summary of sequence program Regular programs explained in Section 6.11 are brought into one here. Project name SM1039(RUN, Always ON after 1 scan) M10 Used in Section 6.11.13 As the READY output condition, provide an interlock if needed. M12 Y0A0 0 3 SM1032 SM1006(PLC CPU battery error) Flashes when error occurs BCDP D106 K4Y60 Displays the error code MOVP K1 U0A\ G1502 Error reset RST Y0B0 Reset of positioning start flag D100 K8Y40 Current value read of axis 1 (0.
(OPR command) X0 M201 64 PLS M200 SET M201 (Start command) (Start flag) M200 68 X1 Start flag set (Stop) 71 Machine OPR M201 MOVP K9001 D202 Start No. setting System area ZP.
131 M231 BIN K3X20 D232 Digital switch between X20 to X2B Start No. setting System area ZP.PSTRT1 "U0A" D230 M232 Complete device Axis 1 start 146 M232 M233 RST M231 PLS M234 Start flag reset (Start completion) (Abnormal completion) 150 X1(Stop command) Y0A4 Y71 153 (Restart command) X0AC X9 Y0B0 (BUSY) (Start) MOVP K1 U0A\ G1503 Axis 1 stop Lamp Axis 1 restart X7(Registration of setting data) 160 PLS M7 170 M7 X0AC = K5 D10 M7 BIN K3X20 D10 Positioning data No.
M242 M243 222 SET M10 Turn OFF PLC READY Y0A0 SET M251 Write to flash ROM D250 M252 (Completion) (Abnormal completion) X0A0(QD75 READY OFF) M10 225 (Turn OFF READY Y040) 228 M251 ZP.PFWRT "U0A" Complete device Axis 1 start M252 M253 RST M251 RST M10 (Write completion) (Abnormal completion) 243 M7 X0AC X8 = K41 * D10 D11 System area K100 D13 Flash ROM write flag reset Set to 0.
X0A4 SM1032 320 M code detection K1 D108 = M code "1" detection BCD T1 Y73 Detecting M code K60 T1 6s K4Y60 K44 T2 K3 D108 = M code "3" detection BCD T2 K4Y60 K100 T3 K5 = D108 M code "5" detection BCD T1 357 T3 K4Y60 MOVP K1 U0A\ G1504 T2 T3 END 364 6 - 53 4.
6.12 Monitoring Buffer Memory Using GPPW The QD75 buffer memory can be monitored directly from GPPW. Demonstration machine operation 1) Click the [Online] [Monitor] [Buffer memory batch] menu on GPPW. 2) Set the buffer memory address and display type, etc. in the "Buffer memory batch monitor" dialog box. 3) Clicking the "Monitor Start" button starts monitoring the buffer memory. Set the starting I/O No. of module to be monitored. Enter A0 in this case.
6.13 Practice Question (3) Parameter Change During RUN There may be the cases where the detailed parameter (1) must be changed while the PLC is running. To do this, create the sequence program that executes the following actions: when the PLC READY Y0A0 turns OFF and the QD75 READY X0A0 turns OFF, the MOV instruction is turned ON to rewrite the buffer memory storing the M code ON signal output timing of the detailed parameter (1), using the intelligent function module direct device.
Practice question (3) Answer RUN, Always ON after 1 scan SM1039 X0A (PLC READY OFF command) Y0A0 X0A0 (QD75 READY) BIN "0" or "1" is set by digital switch. K1X30 D2 DMOVP D2 PLC READY U0A\ G27 Write to the buffer memory Designates the buffer memory for M code ON. signal output timing of axis 1 Demonstration machine operation 1) Add the sequence program inside the dotted line above and write the program to the PLC CPU.
CHAPTER 7 EXERCISE (3) 3-AXIS POSITIONING OPERATION USING SEQUENCE PROGRAM (1) Interpolation axis The 2- to 4-axis linear interpolation and 2-axis circular interpolation operation generate the positioning data to the reference axis and set the required items to the interpolation axis. 1) For 2-axis interpolation control, specify the interpolation axis in the "axis to be interpolated" of the positioning data of the reference axis side.
(4) Limits to interpolation control There are limits to the interpolation control that can be executed and speed (Interpolation speed designation method) that can be set, depending on the reference axis and the "Unit setting of the interpolation axis". (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.
7.
7.2 Parameter of Axis 1, Axis 2, Axis 3 and OPR Parameter The "rotation direction setting" is set according to the X, Y, Z table where the axis is forward run increment and the axes 2 and 3 are reverse run increment. The interpolation speed is the composite speed of the initial value of detailed parameter (1). Project name XYZ (In the following screen example, the settings of unused 4 axes (initial value for all) are omitted.
7-5
7.3 Sequence Program for 3-Axis Control The following shows the sequence program for controlling 3 axes, containing the PLC READY, error code reading/resetting, current value reading, JOG operation, OPR and positioning data No. start.
25 X0A0 SM1030(0.1s clock) D<= K0 D/P D100 D100 K10000 D50 Changing 0.1 μm mm (READY) BCD D50 K4Y40 Storing the current value of axis 1 (Automatic refresh) D<= K0 D110 D/P D110 K10000 BCD D60 D60 K4Y50 Displaying the current value of axis 1 Changing 0.1 μm mm Displaying the current value of axis 2 Storing the current value of axis 2 (Automatic refresh) D<= K0 D/P D120 D120 K10000 D70 BCD D70 Forward run JOG command Changing 0.
Reverse run JOG command 120 X5 BIN K1X30 D40 Axis number setting (1 to 3) = D40 K1 Y0A8 DMOVP K100000 Axis 1 reverse run JOG MOVP K807 K0 D11 = D40 K2 Y0AA DMOVP K100000 Axis2 reverse run JOG K807 K0 D11 MOVP = D40 K3 Y0AC DMOVP K100000 Axis 3 reverse run JOG K807 D11 MOVP K0 U0A\ G1518 Axis 1 JOG speed 1000 mm/min U0A\ G1517 Axis 1 inching movement amount 0.0μm Y0A9 Axis 1 reverse run JOG U0A\ G1618 Axis 2 JOG speed 1000 mm/min U0A\ G1617 Axis 2 inching movement amount 0.
196 200 (OPR command) X0 M301 M300 X1 PLS M300 SET M301 (Stop) M301 MOVP K9001 D302 203 ZP.PSTRT1 "U0A" M302 M303 216 221 225 M304 M311 M310 X1 D300 M302 RST M301 PLS M304 PLS M310 SET M311 Axis 1 OPR (Stop) 228 M311 MOVP K9001 D312 ZP.PSTRT2 "U0A" 241 246 250 M312 M313 M314 M321 M320 X1 D310 M312 RST M311 PLS M314 PLS M320 SET M321 Axis 2 OPR (Stop) 253 M321 MOVP K9001 D322 ZP.
269 SM1032(1s clock) U0A\ MOVP G817 D21 Detection of axis 1 OPR request flag U0A\ MOVP G917 D22 Detection of axis 2 OPR request flag U0A\ MOVP G1017 D23 Detection of axis 3 OPR request flag M12 284 N0 D21.3 D22.3 D23.3 (Axis 1) M12 (Axis 2) (Axis 3) Y70 OPR request N0 M12 Turning ON M12 without OPR request of master control No.
M361 MOVP K101 349 ZP.PSTRT1 "U0A" D362 D360 M362 MOVP K101 D372 Operation of Section 7.5 ZP.PSTRT3 375 381 385 M362 X7 M380 M372 M363 "U0A" D370 M372 RST M361 PLS M364 PLS M380 SET M381 Starting the dataNo.101 of interpolation control reference axis 1 (Interpolation of axis 1 and axis 2) Starting the data No.101 of independent control axis 3 M373 (3-axis linear interpolation command) M381 X1 (Stop) M381 MOVP K107 388 ZP.
7.4 Independent Positioning to Standby Point by Each Axis The axis 1, axis 2 and axis 3 are independently operated with the control system of ABS linear 1. 200 200 150 150 Y axis (Axis 2) 100 100 75 75 50 50 Standby point 25 25 No.100 Standby point No.100 0 0 0 25 50 75 100 150 200mm X axis (Axis 1) Z axis (Axis 3) (Independent axis) No. Operation Control system pattern 100 0: Axis to Positioning Acceleration Deceleration be address time No.
Demonstration machine operation 1) The QD75 setting data (parameter and positioning data) is Project name XYZ . Read from the text FD and write to the QD75D4. 2) The sequence program is Project name XYZ . Read from the text FD and write to the Q02HCPU. 3) When turning ON X0, OPR is started in the order of axis 1, axis 2 and axis 3. 4) When turning ON X2, the axis 1, axis 2 and axis 3 carry out positioning together to the standby point of positioning data No.100 (25mm). (The current value is 25000.
7.5 Interpolation Operations (Axis 1/Axis 2) and Simultaneous Operation (Axis 3) When carrying out 2-axis linear interpolation or 2-axis circular interpolation by axis 1 and axis 2, the axis 3 is independently operated. 200 200 (Arc address) (Address) 104 No.102 Sub point 150 No.103 End point 150 Y axis (Interpolation axis 2) 103 100 Center point 75 No.104 No.101 75 End point 50 No.105 25 No.100 (Address) No.
The positioning data ranges from No.1 to 600. As default, however, only No.1 to 100 are displayed on the screen. To display No.101 or higher numbers, specify a range with the following procedure. [Tools] [Options] [Positioning data set] set a specified range. (Reference axis) No. Operation Control system pattern 101 1: Axis to Command Acceleration Deceleration Positioning Arc address Dwell time be speed time No. address [µm] time No.
7.6 3-Axis Interpolation Operation The 3-axis linear interpolation control by axis 1, axis 2 and axis 3 is operated. The following shows the operation image. The actual demonstration machine is the same as that of Section 7.4. Y axis (Interpolation axis 2) No.107 200 mm 150 Z axis (Interpolation axis 3) 100 200 mm 75 150 No.108 50 100 25 75 50 25 X axis (Reference axis 1) 0 25 50 75 100 150 200 mm (Reference axis) No.
APPENDICES Appendix 1 X-Y-Z Control Demonstration Machine Mount the QD75 on the slot of the demonstration machine and connect the MR-H10A amplifier and X-Y-Z table as shown below.
The XYZ table allows you to draw a plain view with a ballpoint pen using three servomotors (HA-FH-053Y) and a ball screw (Lead 8mm). (1) Plain view of XYZ table 200 mm X axis M M RLS DOG Y axis Z axis FLS FLS Ballpoint pen M FLS 200 mm 200 mm DOG RLS DOG RLS Ball screw lead: 8mm/rotation Timing belt: 1/1 coupling Weight: Approx.
(2) Internal connection diagram of XYZ table X axis Y axis Z axis From servo amplifier A B C U Relay amplifier K1.25 mm2 V K1.25 mm2 W K1.
(3) Basic parameter of the MR-H10A servo amplifier (For details, refer to the instruction manual.) (For the demonstration machine, set the parameter No.3 (ST0) to "1".) Pr No. abbr.
Pr No. abbr.
(4) Expansion parameter of the MR-H10A servo amplifier (For details, refer to the instruction manual.) (The expansion parameters of the demonstration machine are the initial values.) Pr No. abbr.
Pr No. abbr. Name Setting value Initial value Setting range Unit Function description 1 0000 42 * IP2 0000 Input signal selection 2 0000 to 1111h 0000 43 * OP4 Function selection 5 44 * OPC Output signal selection 45 * MVC Machine speed conversion constant 0000 to 0012h 0000 0000 0000 to 0011h 10000 10000 0 to 50000 0001 46 * MOA 0000 2 1) LSN input selection 2) LSP input selection 3) SON input selection 4) External torque limit signal 0: OFF Internal limit 1: OFF Max.
Appendix 2 Installing SW D5C-QD75P This section explains how to install and uninstall the SQ D5C-QD75P. Start Installation of SW D5C-QD75P ·Register your name and organization name. ·Register product I/D. (1) Refer to the details on QD75P install operation Startup of application ·Check whether it is correctly installed or not. Completion App - 8 Refer to Section 5.
(1) Installing SW D5C-QD75P This section explains how to install SW D5C-QD75P. POINT • Before installation, close all other applications running on Windows. • When using Windows NT Workstation 4.0, log on as a user with administrative privileges (for computer management). 1) Start the explorer and click the drive where a disk is inserted. Double-click "Setup.exe". To display the explorer, select "Start" "Program" "Explorer".
(From the previous page) 3) Enter the product ID of the software and click the "Next" button. The product ID is indicated on the "software registration certificate". 4) Specify the installation destination folder. Specify the installation destination folder and click the "Next" button. Default is "C: MELSEC". When changing the installation destination, click the "Browse…" button and specify a new destination drive and folder. 5) The installation is completed.
The following icon appears after the installation of SW D5C-QD75P.
Appendix 3 QD75 Maintenance Instructions The following describes the replacement procedures of the QD75 module. The explanations are on the premise that SW D5C-QD75P is installed in a peripheral device (personal computer). 1) Read the positioning data, parameters and block start data from the QD75 buffer memory to a peripheral device (personal computer). 2) Turn the PLC power off and remove the connector connected to the QD75 module. 3) Remove the QD75 from the base unit.
Appendix 4 Intelligent Function Module Direct Device In this document, writing and reading of data are performed using the intelligent function module direct device in order to simplify the sequence program and reduce steps (1) Intelligence function module direct device This device directly accesses the buffer memory of the intelligent function module/special function module from the QCPU.
Appendix 5 QD75 Dedicated Instructions The following describes the QD75 dedicated instruction types, the form of each instruction and how to use them. (1) List of QD75 dedicated instructions Application Instruction symbol Axis 1 ABRST1 Absolute Axis 2 ABRST2 position Axis 3 ABRST3 restoration Positioning start Axis 4 Teaching position of the designated Instruction Z.ABRST "Un" (S) (D) axis of the QD75. (Refer to Section 14.3 of the manual.
(2) Sequence program of dedicated instructions The following shows two examples of the sequence program that starts the axis 1 positioning data No. 100 when X2 is turned on. One of the examples uses the dedicated instruction PSTRT and the other uses the direct device. [When dedicated instruction PSTRT1 is used] X2 M100 PLS M2 (Start command) (Start flag) M2 SET M100 Start flag set No.100 start M100 MOVP K100 D202 Start No. setting ZP.
Appendix 5.1 PSTRT1, PSTRT2, PSTRT3, PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Usable device Setting data Internal device Bit File register Word MELSECNET/10 direct J Bit Word Special module U G Index register Zn constant Others K,H,$ (S) (D) [Instruction symbol] [Execution condition] PSTRT1(Axis 1) PSTRT2(Axis 2) PSTRT3(Axis 3) PSTRT4(Axis 4) ZP.PSTRT1 "Un" (S) (D) ZP.PSTRT2 "Un" (S) (D) ZP.PSTRT3 "Un" (S) (D) ZP.
Control data Device (S)+0 Item System area (S)+1 Complete status (S)+2 Start No. Setting data The state at the time of completion is stored. •0 : Normal completion • Other than 0 : Abnormal completion (error code) The following data Nos. to be started by the PSTRT instruction are designated. • Positioning data No.
Precautions (1) When positioning is started by the PSTRT instruction, the positioning start signals (Y10 to Y13) will not turn ON. To confirm that positioning control is being executed, use the PSTRT start command or the positioning start complete signals (X10 to X13). (2) The following dedicated instructions cannot be executed simultaneously for the same axis. (They can be executed simultaneously for different axes.
(1) Positioning start command reception Positioning start command pulsed X71 Positioning start command M90 Positioning data No.100 start pulse Positioning start command hold X72 Position Positioning -ing data stop No.100 start pulse Positioning data No.100 start storage M98 (2) Positioning data No.100 start Positioning data No.100 setting M91 Positioning start No. Position -ing data No.
Appendix 5.2 TEACH1, TEACH2, TEACH3, TEACH4 These dedicated instructions are used to teach the designated axis. Usable device Setting data Internal device Bit File register Word MELSECNET/10 direct J Bit Word Special module U G Index register Zn Constant Others K,H,$ (S) (D) [Instruction symbol] [Execution condition] TEACH1(Axis 1) TEACH2(Axis 2) TEACH3(Axis 3) TEACH4(Axis 4) ZP.TEACH1 "Un" (S) (D) ZP.TEACH2 "Un" (S) (D) ZP.TEACH3 "Un" (S) (D) ZP.
Control data Device (S)+0 Item System area (S)+1 Complete status (S)+2 Teaching data selection (S)+3 Positioning data No. Setting data The state at the time of completion is stored. 0 : Normal completion Other than 0 : Abnormal completion (error code) The address to write the current feed value to (positioning address/arc address) is set. 0: Writes the current feed value to the positioning address. 1: Writes the current feed value to the arc address. The positioning data No.
Errors (1) When the TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1. Precautions (1) The following dedicated instructions cannot be executed simultaneously for the same axis. (They can be executed simultaneously for different axes.
Appendix 5.3 PFWRT These dedicated instructions are used to write the QD75 parameters, positioning data and block start data to the flash ROM. Usable device Setting data Internal device Bit File register MELSECNET/10 direct J Word Bit Word Special module U G Constant Index register Zn Others K,H,$ (S) (D) [Instruction symbol] [Execution condition] PFWRT ZP.
Functions (1) The PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan in which the PFWRT instruction is completed, and turned OFF by the next END processing. (b) Complete state display device ((D)+1) This device is turned ON and OFF according to how the PFWRT instruction is completed. • When completed normally : Kept unchanged at OFF.
(3) After the power ON and PLC CPU reset operation, writing to the flash ROM using a sequence program is limited up to 25 times. (Not limited up to 25 times when writing to the flash ROM is carried out by a peripheral device.) If writing to the flash ROM is requested more than 25 times after the power ON/PLC CPU reset operation, the flash ROM write number error (error code: 805) will occur, and the writing will be disabled.
Appendix 6 Connection Examples with Servomotors Appendix 6.1 Connection Example of QD75D Configure a sequence to turn OFF the MC at alarms and emergency stops. NF and MR-H A (Differential Driver)*6 N C P MC MR-H R S T Power supply 3-phase 200VAC Regenerative brake option *4 A U V W U V W E R1 S1 10m max.
Appendix 6.2 Connection Example of QD75D and MR-J2/J2S A (Differential Driver) *5 Configure a sequence to turn OFF the MC at alarms and emergency stops.
Appendix 6.3 Connection Example of QD75D and MR-C A (Differential Driver) Regenerative resistor is an external option. Configure a sequence to turn OFF the MC at alarms and emergency stops. NF MC Power supply 1-phase 200VAC (A type) or 1-phase 100VAC (A1 type) *5 C L1 HC-PQ series motor P TE1 L2 U V W E U V W MR-C A or MR-C A1 EMG DC24V ervo-on signal OFF Shut off by alarm signal 10m max.
Appendix 7 Comparisons with Conventional Positioning Modules Appendix 7.1 Comparisons with A1SD71S2 Model The following shows comparisons with the conventional positioning module A1SD71S2 with the main focus on the QD75 specifications. Model Item No. of control axes No.
Appendix 7.2 Comparisons with A1SD75 The following shows the comparisons between the QD75 and the conventional positioning module A1SD75. (1) Comparisons of performance specifications Model Item No. of control axes No.
Model Item JOG operation Inching operation Manual pulse generator function Automatic trapezoidal Acceleratio acceleration/decel n/decelerati eration on S-curve processing acceleration/decel eration Acceleratio No.
(2) Function comparisons Functions added from those of A1SD75 Added functions Remarks I/O signal logic switching function Refer to Section 13.4 of QD75 User's Manual Inching operation Refer to Section 11.3 of QD75 User's Manual Target position change function Refer to Section 12.7.5 of QD75 User's Manual Multiple axes simultaneous start control Refer to Section 10.
Functions changed from those of A1SD75 Changed functions Software stroke limit function Current value changing M code function Acceleration/deceleration control Stop process and restart after stop Positioning operation stop Descriptions 1. The limit check of arc address is carried out only when a sub point is designated. It is not carried out when a center point is designated. 2.
Changed functions Descriptions Near pass For the continuous path control, only the near pass function is available. 2-axis interpolation • 2-axis linear interpolation • 2-axis fixed-feed • Circular interpolation • 2-axis speed control The interpolation target axis can be randomly set with a positioning identifier. Step function 1. "Step stopped" was changed to "Stopped" and "Step error occurring" was changed to "Error occurring" in the axis operation status parameters. 2.
(3) Input/output signal comparisons Input signal comparisons A1SD75 Name QD75 Logic Logic switch with Logic Logic switch with (initial status) parameters (initial status) parameters Negative logic Not possible Negative logic Possible In-position signal Negative logic Not possible Zero signal Negative logic Not possible Negative logic Possible Drive unit READY Manual pulse generator A phase Negative logic Manual pulse generator B (multiple of 4) Not possible Negative logic Possib
Appendix 8 Glossary of MELSEC Positioning Related Terms A ABSOLUTE ENCODER A detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360° in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power failure occurs. On the other hand, with absolute encoders, the axis position is not lost even when a power failure occurs.
D DEVIATION COUNTER Deviation counters have the following two functions. 1) To count the command pulses issued from the QD75, and transmit the count value to the D/A converter. 2) To subtract the feedback pulses from the command pulses, and run the motor by the deviation value (droop pulse) of the command pulses and feedback pulses until the command pulses reaches 0.
F FAST OPR The axis returns to the machine OP at the OPR speed without detecting the zeroing dog. (This is not validated unless machine OPR has been carried out first.) OPR speed I INCREMENTAL SYSTEM The current value is 0 in this system. Target positions are represented by the designated direction and distance of travel from the current value. Also called the relative address system. This system is used in fixed-feed, etc. Stop No.1 No.2 No.
M P MACHINE FEED VALUE The OP address at completion of machine OPR is stored. The current position in machine coordinates determined by a machine having an OP address as a reference is stored. Even if the current value is changed, this value will not change. PLC READY This signal is output when the PLC CPU is in a READY state. Positioning can be started only in this state. MANUAL PULSE GENERATOR The handle of this device is manually rotated to generate pulses.
R REFERENCE AXIS SPEED The speed of the reference axis during interpolation operations. Y axis speed (interpolation axis) X axis speed (reference axis) Reference axis speed REGENERATIVE BRAKE OPTION This function is an option. It is used when carrying out highly repetitive acceleration/deceleration. RESOLVER This device detects the angle by resolving the two voltages of an analog input. Also called a 2-phase synchro.
STROKE LIMIT The range in which a positioning operation is possible, or the range in which the machine can be moved without damage occurring. (Movement outside this range is possible in JOG.) For operations using a worm gear, the stroke limit is determined by the length of the screw. For operations using a fixed-feed, it is determined by the max. dimension to be cut.
Z ZERO PHASE SIGNAL The pulse which is generated one (or two) per rotation of a pulse generator. It is used for OPR of positioning. Also called "Z signal" or "PGO". Feedback pulse PG0 One rotation of axis OP SHIFT FUNCTION The OP position can be shifted in the positive or negative direction by executing OPR and determining the shift amount to the OPR complete position. An OP can be set to a position other than the zero point position or outside of the dog switch.
Mitsubishi Programmable Logic Controller Training Manual QD75 Positioning course(Q-series) Mitsubishi Programmable Logic Controller QD75 Positioning course(Q-series) Training Manual QD75 Positioning course(Q-series) MODEL SCHOOL-Q-QD75-E MODEL CODE 13JW54 SH(NA)-080621ENG-A(0601)MEE HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application
